CN106896393B - Vehicle cooperative type object positioning optimization method and vehicle cooperative positioning device - Google Patents
Vehicle cooperative type object positioning optimization method and vehicle cooperative positioning device Download PDFInfo
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- CN106896393B CN106896393B CN201510967028.7A CN201510967028A CN106896393B CN 106896393 B CN106896393 B CN 106896393B CN 201510967028 A CN201510967028 A CN 201510967028A CN 106896393 B CN106896393 B CN 106896393B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Abstract
The invention discloses a vehicle cooperative object positioning optimization method and a vehicle cooperative positioning device, wherein the method comprises the following steps: receiving an information packet from a vehicle, wherein the information packet comprises a vehicle original coordinate provided by an adjacent vehicle, at least one object original coordinate and the accuracy of each self-positioning; time delay compensation is carried out on the original coordinates of the vehicle and the original coordinates of the object, so that a vehicle coordinate and an object coordinate after adjacent vehicle compensation are obtained respectively; executing an optimization program to respectively optimize the coordinates of the vehicle and the object so as to respectively obtain the optimized coordinates of the vehicle and the optimized coordinates of the object; therefore, the vehicle optimization coordinate and the object optimization seat have higher accuracy compared with coordinate information measured by a GPS receiver, so that the vehicle can more accurately judge the distribution of surrounding objects, and the driving safety is improved.
Description
Technical Field
The present invention relates to an object positioning method, and more particularly, to a cooperative object positioning (cooperative) optimization method.
Background
Related technologies for configuring sensors in vehicles to detect the surrounding environment have been developed for a long time, for example, various sensors such as Global Positioning System (GPS), RADAR, LIDAR, tachograph and the like can provide a plurality of environmental information. However, for the vehicle itself, the environmental information obtained by the environmental information sensor is still limited by many factors, for example, please refer to fig. 9, in the environment of the intersection, the first vehicle 101 traveling in the longitudinal lane can obtain the environmental information of the direction, for example, it can be seen that an object 200 (such as a pedestrian, a vehicle, an animal) is rushing out of the intersection, but for the second vehicle 102 in the transverse lane, because the position of the second vehicle is limited by the blind spot, which may be shielded by the surrounding buildings, even if the second vehicle 102 has the sensor, the sudden situation of the object 200 can not be detected and the second vehicle 102 collides with the blind spot. Therefore, if the environmental information is provided only by the sensor of the vehicle itself, there is still a blind spot in the actual application.
Therefore, a vehicle cooperative positioning method is developed, in which the concept of the cooperative positioning method is that neighboring vehicles around the vehicle or sensing devices around the vehicle (such as Road side sensing units (RSUs)) share respective sensed information, so that the vehicle receives information of other vehicles to expand its sensing range, and as described with reference to the example of fig. 9, if the second vehicle 102 can receive the information provided by the first vehicle, it can be known that an object appears suddenly at the right intersection and there is enough time for emergency.
However, the conventional collaborative positioning technique has a technical disadvantage of poor accuracy, and please refer to the example shown in fig. 10, in which the first vehicle 101 represents a host vehicle, and the second vehicle 102 to the fourth vehicle 104 represent other neighboring vehicles. For the second vehicle 102, it is equipped with a commercial GPS and a camera, and the positioning error of the general commercial GPS is about 5-15 m, and the positioning error of the camera is about 5 m, so the position of the second vehicle 102 measured by the GPS has a GPS error range a1, when the second vehicle 102 senses the position of the third vehicle 103 by the camera, the position of the third vehicle 103 measured by the camera has a camera error range a 2; therefore, if the second vehicle 102 relays the sensed location information of the third vehicle to the first vehicle 101, the location information of the third vehicle 103 received by the first vehicle 101 has a problem of error accumulation, as shown in the accumulated error range a3 of the GPS and the camera.
Further, if the first vehicle 101 shares the position information of the third vehicle 103 with the fourth vehicle 104 in two degrees, the position error of the first vehicle 101 itself will be further added, so that the position information received by the fourth vehicle 104 generates more accumulated error. Therefore, after the information is transmitted and shared for many times, the positioning accuracy of the object will be significantly reduced, even without reference value.
Disclosure of Invention
In view of the problem of poor accuracy of position information in the conventional cooperative positioning technology, the present invention provides a cooperative object positioning optimization method for vehicles to expand the sensing range of vehicles and improve the accuracy of position information to improve the driving safety of vehicles.
To achieve the above object, the method of the present invention is implemented by a co-location device disposed inside a vehicle, the method comprising:
receiving an information packet by a vehicle, wherein the information packet comprises a vehicle original coordinate provided by an adjacent vehicle and at least one object original coordinate, and the vehicle original coordinate and the object original coordinate respectively have respective positioning accuracy;
time delay compensation is carried out on the original coordinates of the vehicle and the original coordinates of the object, so that a vehicle coordinate and an object coordinate after adjacent vehicle compensation are obtained respectively;
executing an optimization program, comprising:
comparing the positioning accuracy, comparing the vehicle coordinate of the vehicle with the vehicle coordinate of the adjacent vehicle, and judging which vehicle has higher positioning accuracy;
preferentially performing an optimization operation on the vehicle coordinates with higher precision, and then performing the optimization operation on the vehicle coordinates with lower positioning precision, wherein the optimization operation performs:
a) calculating a plurality of reference positions according to the vehicle coordinates of the vehicle and the vehicle coordinates of the adjacent vehicle; and
b) respectively calculating a vehicle optimization coordinate and an adjacent vehicle optimization coordinate according to the weight value of each reference position;
optimizing the object coordinate, namely comparing the difference between the original vehicle coordinate of the adjacent vehicle and the optimized coordinate of the adjacent vehicle, and compensating the object coordinate provided by the adjacent vehicle according to the difference to obtain an object optimized coordinate; and comparing the difference between the original vehicle coordinates of the vehicle and the vehicle optimized coordinates of the vehicle, and compensating the object coordinates provided by the vehicle according to the difference to obtain the object optimized coordinates.
By the positioning optimization method, the optimized vehicle coordinates and object coordinates of the vehicle and the adjacent vehicles can be obtained, the optimized coordinates can be closer to the actual positions, the distribution states of the objects and the vehicles in the surrounding environment can be accurately judged in the driving process, and the driving safety of the vehicles is improved.
Drawings
FIG. 1 is a block diagram of a co-location apparatus according to the present invention.
FIG. 2 is a flow chart of a vehicle collaborative object location optimization method of the present invention.
FIG. 3 is a block diagram illustrating a BSM information packet format according to the present invention.
FIG. 4 is a schematic diagram of the present invention performing time delay compensation on a vehicle home position.
FIG. 5 is a flowchart of an optimization procedure performed by the location optimization module of the present invention.
Fig. 6A is a schematic diagram of the present invention obtaining the first reference position H1.
Fig. 6B is a schematic diagram of the present invention obtaining the first reference position H2.
Fig. 6C is a schematic diagram of the present invention obtaining the first reference position H3.
FIG. 6D is a schematic diagram of the present invention obtaining the first reference position H4.
FIG. 7 is a schematic diagram of the present invention for calculating optimal coordinates for a vehicle using multiple reference locations.
FIG. 8 is a schematic diagram of information sharing among multiple vehicles according to the present invention.
Fig. 9 is a schematic view of a vehicle traveling through an intersection.
FIG. 10 is a diagram illustrating error accumulation in a protocol positioning.
Wherein, the reference numbers:
10 vehicle cooperative positioning device
11 Wireless transmission interface
12 delay correction module
13 position optimization module
14 positioning comparison module
15 vehicle body sensor
21 first part
22 second part
101 first vehicle
102 second vehicle
103 third vehicle
104 fourth vehicle
200 object
A1 GPS error Range
A2 camera error range
A3 GPS and camera accumulated error range
H vehicle
R adjacent vehicle
H1-H4 first to fourth reference positions
Reference position of R1
First to fourth coverage ranges M1-M4
Detailed Description
Referring to fig. 1, the present invention utilizes a vehicle body sensor 15 equipped on each vehicle, which includes a GPS receiver and other sensors, such as radar, video camera, etc., to obtain the coordinates of the vehicle and the environmental information around the vehicle, and then the coordinates of the vehicle and the environmental information are transmitted to neighboring vehicles through wireless communication technology. Therefore, any vehicle is in two-way wireless communication with surrounding vehicles for reception and transmission.
The invention arranges a vehicle co-locating device 10 in the vehicle, wherein the vehicle co-locating device 10 comprises a wireless transmission interface 11, a delay correction module 12, a position optimization module 13 and a location comparison module 14. The vehicle cooperative positioning apparatus 10 performs a vehicle cooperative object positioning optimization method, as shown in fig. 2, including the following steps:
s10: receiving an information packet, wherein the information packet comprises a vehicle original coordinate and at least one object original coordinate of an adjacent vehicle and the respective positioning accuracy of the vehicle original coordinate and the object original coordinate;
s20: time delay compensation is carried out on the original coordinates of the vehicle and the original coordinates of the object, so that a vehicle coordinate and an object coordinate after adjacent vehicle compensation are obtained respectively;
s30: executing an optimization program;
s40: and (5) coordinate comparison and fusion.
At step S10: the wireless transmission interface 11 is responsible for the bidirectional data transmission between the vehicle and the neighboring vehicle, in this embodiment, a short range wireless communication interface (DSRC) is adopted to periodically transmit and receive information packets between the vehicles, and the format of the information packets is Basic Safety Message (BSM) packets, referring to fig. 3, the information format of the information packets substantially includes a msgID field, a first portion 21(Part I) and a second portion 22(Part II), wherein the first portion 21 is defined as essential information, includes essential Safety information content, is a portion that each information packet necessarily includes, but the second portion 22 is an unnecessary portion (optional), and a user can add the required information to the second portion 22 according to application requirements, and belongs to a self-defined range.
In the first part 21 of the BSM information packet, longitude and latitude information of the vehicle, i.e., the original coordinates of the vehicle, are necessarily present, indicating the position of the vehicle measured by the GPS receiver in the vehicle.
In the second portion 22 of the BSM information packet, the present invention adds two types of information, the first type of information being the type of sensor (e.g., RTK, GPS) outputting the vehicle's raw coordinates and the positioning accuracy of the sensor. The second type of information includes original coordinates of an object (object), which is information for sensing other objects (such as a vehicle, a pedestrian, a moving object, a fixed object, etc.) other than the host vehicle by using other sensors (such as a radar, a camera, etc.) of the host vehicle, the type of sensor generating the original coordinates of the object, or the accuracy of the sensor. Each vehicle can send the original coordinates of the vehicle and the original coordinates of the object to the outside for the adjacent vehicles around to use; the host vehicle can also receive the original coordinates of the vehicle and the original coordinates of the object provided by the surrounding adjacent vehicles.
At step S20: the delay correction module 12 receives the BSM information packet transmitted from the neighboring vehicle through the wireless transmission interface 11 to obtain the original coordinates of the neighboring vehicle and the original coordinates of the object, and the position optimization module 13 further receives various sensing results provided by the sensor of the vehicle, such as the vehicle coordinates (GPS) and the object coordinates. The delay correction module 12 performs time delay compensation on the original coordinates of the vehicle and the original coordinates of the object provided by the neighboring vehicle, as shown in fig. 4, a first vehicle 101 represents the vehicle, a second vehicle 102 in the vicinity of the first vehicle represents the neighboring vehicle, and when the first vehicle 101 receives an information packet transmitted by the second vehicle 102, the first vehicle 101 can calculate a packet transmission time recorded in the packet and a packet reception time when the first vehicle itself receives the packet according to the packet transmission time recorded in the packet and the packet reception time when the first vehicle 101 itself receives the packetAnd outputting a time delay n between the packet sending time and the packet receiving time. Because the second vehicle 102 continues to travel from the original position P after sending the packetATo position PBTherefore, the original coordinates of the second vehicle 102 received by the first vehicle 101 only represent the original position PAThe delay correction module 12 calculates a compensation distance moved by the second vehicle 102 according to the time delay n, and adds the compensation distance to obtain the instant position PBThe calculation formula can be expressed as follows:
PB＝PA+ V × n, where V represents the vehicle speed of the second vehicle 102.
When the delay correction module 12 calculates the instantaneous position P of the second vehicle 102BCan be based on two positions PA、PBThe compensation distance is added to the original coordinates of the object provided by the second vehicle 102. After the vehicle original coordinates and the object original coordinates are time-compensated, a vehicle coordinate and an object coordinate are obtained respectively and provided to the position optimization module 13 for subsequent processing.
At step S30: the position optimization module 13 receives the time-compensated vehicle coordinates and object coordinates of the neighboring vehicle, receives the vehicle coordinates of the host vehicle and the object coordinates measured by the sensor of the host vehicle, and executes an optimization procedure as shown in fig. 5, where the optimization procedure includes the following steps S31-S33:
s31: and comparing the positioning accuracy, namely comparing the vehicle coordinate of the vehicle with the vehicle coordinate of the adjacent vehicle, and judging which vehicle has higher accuracy. For example, if the vehicle coordinates of the vehicle are obtained by using a Real Time Kinematic (RTK) device, and the vehicle coordinates of the neighboring vehicle are received by using a general GPS receiver, it can be determined that the coordinates provided by the RTK have higher accuracy; for example, the host vehicle and the neighboring vehicle both use the same grade of GPS receiver to provide coordinates, so that the accuracy of the two GPS signals can be determined according to the confidence level of the two GPS signals, for example, the confidence level of the two GPS signals is determined according to the GGA information included in the GPS signals.
S32: and (4) vehicle positioning optimization, namely, after judging which of the vehicle coordinates of the vehicle and the adjacent vehicle has higher precision, performing optimization operation on the vehicle with higher precision, and performing optimization operation on the vehicle with lower precision. No matter the optimization calculation is performed for the position information of the vehicle or the adjacent vehicle, the method comprises the following steps:
a) calculating a plurality of reference positions according to the vehicle coordinates of the vehicle and the adjacent vehicle;
b) and respectively calculating the vehicle optimization coordinate of the vehicle and the adjacent vehicle optimization coordinate of the vehicle according to the weight value of each reference position.
In the present embodiment, it is assumed that the host vehicle and the neighboring vehicle are both equipped with GPS receivers and other sensors, and the vehicle optimization coordinates are calculated according to the four reference positions, and after the vehicle coordinates of the host vehicle H and the vehicle coordinates of the neighboring vehicle are determined, it is known that the vehicle coordinates of the host vehicle H have high accuracy, so the vehicle coordinates of the host vehicle H are preferentially optimized with the host vehicle H as the center, and the steps are described in detail below. First, please refer to fig. 6A, the host vehicle and the neighboring vehicle are respectively represented by H, R, and the two vehicles can obtain their own vehicle coordinates according to their own GPS receivers, wherein the vehicle coordinates obtained by the host vehicle H according to the GPS receivers are used as a first reference position H1, the difference between the actual positions of the host vehicle H and the first reference position H1 is caused by the error of the GPS receivers, and the vehicle coordinates detected by the GPS receivers of the neighboring vehicle R are used as a reference position R1.
Referring to fig. 6B, the sensor of the adjacent vehicle R can sense the existence of the host vehicle H, so that the relative distance D1 and the relative angle θ 1 between the adjacent vehicle R and the host vehicle H can be known, and the relative coordinates of the host vehicle H can be known. The adjacent vehicle R uses the reference position R1 as a reference, and converts the relative coordinates of the vehicle H into longitude and latitude coordinates according to the distance D1 and the angle θ 1, and the longitude and latitude coordinates are used as a second reference position H2. The information packet sent from the neighboring vehicle R includes the longitude and latitude coordinates of the second reference position H2.
Referring to fig. 6C, the sensor of the host vehicle H can sense the existence of the adjacent vehicle R, so that the relative distance D2 and the relative angle θ 2 between the host vehicle H and the adjacent vehicle R can be known. After the host vehicle H obtains the relative distance D2 and the relative angle θ 2 between the host vehicle H and the adjacent vehicle R, the longitude and latitude coordinates of the host vehicle H are reversely deduced by using the reference position R1 of the adjacent vehicle R as a reference, so as to obtain a third reference position H3.
Referring to fig. 6D, since the information packets are transmitted by the wireless signals between the adjacent vehicle R and the host vehicle H, the relative distance D3 between the two vehicles can be estimated according to the intensity attenuation degree between the wireless signals, for example, the power of the wireless signal transmitted by the adjacent vehicle R is preset to-10 dBi, and the power of the wireless signal received by the host vehicle H becomes-30 dBi, which shows that the distance between the two vehicles attenuates the wireless signal by 20dBi, because the attenuation amplitude is proportional to the distance and an attenuation relation table can be preset, the relative distance D3 between the two vehicles can be estimated or found according to the attenuation amount of 20 dBi. On the other hand, since the vehicle coordinates of the host vehicle H and the adjacent vehicle R measured by the GPS receiver are known, that is, the first reference position H1 and the reference position R1 are both known, the direction of the host vehicle H relative to the adjacent vehicle R can be estimated from a straight line extending between the two positions. Therefore, a fourth reference position H4 is calculated based on the relative distance D3 and the direction with reference to the reference position R1 of the adjacent vehicle R.
Referring to fig. 7, after obtaining the first reference position H1-the fourth reference position H4, the reference positions H1-H4 are taken as centers of circles corresponding to the determinable first coverage range M1-the fourth coverage range M4, each coverage range is determined according to the accuracy of the source sensor of the reference position, and assuming that the GPS receiver of the host vehicle H has the best accuracy, the coverage range of the first reference position H1 is the smallest, and the higher the accuracy, the reference position has a higher weight value ω, wherein the GPS receiver provides its own accuracy. If other sensors cannot provide self-accuracy, the weighted value can be determined according to the distance of the position of the sensor after being inferred, and the longer the distance is, the lower the weighted value is. In the present invention, a vehicle optimization coordinate H (x, y) is calculated in the intersection region (indicated by the oblique line region) between the first coverage range M1 and the fourth coverage range M4.
In step b), a vehicle optimization coordinate H (x, y) is calculated according to the weight value ω of each reference position, and the calculation method can be expressed as follows:
in the above formula, m represents the number of reference positions, so that m is 4 in this embodiment; (x)i,yi) Coordinates representing first to fourth reference positions H1 to H4, respectively; weight value omegaiOne of the calculations of (a) may use the Adaboost algorithm or other algorithms.
In addition to the Adaboost algorithm, a way to calculate the weight value is provided. First, assuming that the error values of the first reference position H1 to the fourth reference position H4 are 3, 6, 4, and 5 meters, respectively, four different weight values can be calculated by an error inverse ratio algorithm, which is as follows:
calculating the total error amount, sigmaiεi＝3+4+5+6＝18
The difference between the total error amount and each error value is calculated respectively,
the total amount of the amount of difference is calculated,
the four weighted values are respectively:
vehicle optimization coordinates of host vehicle H
Wherein (x)i,yi) Coordinates representing the four reference positions, respectively; h (x, y) represents vehicle optimization coordinates.
After the optimization of the vehicle coordinates of the vehicle H is completed, the optimization of the vehicle coordinates of the adjacent vehicle R is performed with the adjacent vehicle R as the center, and the calculation process is the same as the above, except that the roles between the vehicle and the adjacent vehicle are exchanged, in other words, the adjacent vehicle data is regarded as the vehicle data in the calculation, and the vehicle data is regarded as the adjacent vehicle data in the calculation. Therefore, the adjacent vehicle optimization coordinates R (x, y) representing the adjacent vehicle can be obtained as well.
S33: and (4) optimizing object positioning, namely optimizing object coordinates measured by sensors of the adjacent vehicle R and the vehicle H. In the vehicle H portion, since the optimized vehicle optimized coordinates H (x, y) of the vehicle H are known, the difference between the original vehicle coordinates of the vehicle H and the optimized vehicle coordinates H (x, y) thereof can be compared according to the object coordinates measured by the vehicle H sensor, and when the optimized object coordinates of the object measured by the vehicle H sensor are calculated, the difference measured by the vehicle H sensor is compensated according to the difference to obtain the optimized object coordinates, thereby completing the optimization calculation of the object coordinates measured by the vehicle H. Similarly, in the adjacent vehicle R part, because the optimized vehicle coordinates of the adjacent vehicle R are known, the difference between the original vehicle coordinates of the adjacent vehicle R and the optimized vehicle coordinates thereof can be compared according to the object coordinates measured by the adjacent vehicle R sensor, and when the object optimized coordinates of the object measured by the pair of adjacent vehicle R sensors are recalculated, the difference measured by the adjacent vehicle R sensor is compensated according to the difference, so as to obtain an optimized object coordinate.
In step S40, the present invention can fuse multiple coordinates from different neighboring vehicles R by using the alignment module 14. For example, referring to fig. 8, for the first vehicle 101, any one of the other vehicles 102-104 senses the surrounding object and shares the sensed object with the first vehicle 101, and the first vehicle 101 receives a plurality of coordinates related to the same object (e.g., the second vehicle 102) and temporarily stores the coordinates in a buffer (buffer), so that the positioning comparison module 14 in the first vehicle 101 extracts the coordinates of the similar object from the buffer and fuses the coordinates into a single position data, and the coordinates of different objects are newly added separately. One of the fusion methods is to calculate an average value of a plurality of coordinates by a K-Means clustering algorithm, calculate a vehicle representative coordinate by an average value of vehicle optimized coordinates of the same vehicle, and calculate an object representative coordinate by an average value of object optimized coordinates of the same object.
In summary, the vehicle cooperative object positioning optimization method of the present invention has the following advantages:
1. by exchanging the sensed data between the vehicle and the adjacent vehicle, the sensing range of each vehicle can be expanded, and more environmental data can be obtained.
2. The coordinate data of the vehicle and the surrounding objects are corrected again through the cooperative positioning device, compared with the coordinate data measured by independently referring to the GPS receiver, the coordinate system can obtain more accurate coordinates, and the driving safety can be improved no matter the coordinate system is applied to an automatic driving system or is used for warning the current condition of the surrounding environment of a driver in advance.
3. By utilizing the cooperative positioning method, after the vehicle completes optimization operation, the optimized vehicle positioning data, adjacent vehicle positioning data and one or more object positioning data can be obtained, the three data are transmitted to the adjacent vehicles around in a BSM information packet format, and the adjacent vehicles can also independently execute the optimization operation of the cooperative positioning method when receiving the BSM information packet, so that the vehicles around can be subjected to dispersive operation, and the positioning data among the vehicles can also be gradually improved in accuracy along with the gradual accumulation of time.
Claims (10)
1. A vehicle cooperative object positioning optimization method is characterized by being executed by a cooperative positioning device arranged in the vehicle, and the method comprises the following steps:
receiving an information packet by a vehicle, wherein the information packet comprises a vehicle original coordinate provided by an adjacent vehicle and at least one object original coordinate, and the vehicle original coordinate and the object original coordinate respectively have respective positioning accuracy;
time delay compensation is carried out on the original coordinates of the vehicle and the original coordinates of the object, so that a vehicle coordinate and an object coordinate after adjacent vehicle compensation are obtained respectively;
executing an optimization program, comprising:
comparing the positioning accuracy, comparing the vehicle coordinate of the vehicle with the vehicle coordinate of the adjacent vehicle, and judging which vehicle has higher positioning accuracy;
preferentially performing an optimization operation on the vehicle coordinates with higher positioning accuracy, and then performing the optimization operation on the vehicle coordinates with lower positioning accuracy, wherein the optimization operation performs:
a) calculating a plurality of reference positions according to the vehicle coordinates of the vehicle and the vehicle coordinates of the adjacent vehicle; and
b) respectively calculating a vehicle optimization coordinate and an adjacent vehicle optimization coordinate according to the weight value of each reference position;
optimizing the object coordinate, namely comparing the difference between the original vehicle coordinate of the adjacent vehicle and the optimized coordinate of the adjacent vehicle, and compensating the object coordinate provided by the adjacent vehicle according to the difference to obtain an object optimized coordinate; and comparing the difference between the original vehicle coordinates of the vehicle and the vehicle optimized coordinates of the vehicle, and compensating the object coordinates provided by the vehicle according to the difference to obtain the object optimized coordinates.
2. The vehicle-collaborative object location optimization method of claim 1, further comprising, after performing the optimization procedure:
and a coordinate comparison and fusion step, namely comparing the vehicle optimized coordinates of a plurality of adjacent vehicles and the optimized coordinates of a plurality of objects obtained after the optimization programs of different adjacent vehicles are executed, averaging the vehicle optimized coordinates of the same vehicle to calculate a vehicle representative coordinate, and averaging the object optimized coordinates of the same object to calculate an object representative coordinate.
3. The vehicle cooperative type object positioning optimization method according to claim 1 or 2, wherein the vehicle coordinates of the own vehicle and the vehicle original coordinates of the neighboring vehicle are output by GPS receivers provided in the own vehicle and the neighboring vehicle, respectively.
4. The vehicle-collaborative object location optimization method according to claim 3, wherein the step of comparing the vehicle coordinates of the host vehicle with the vehicle coordinates of the neighboring vehicle to determine which has higher location accuracy is to compare the location accuracies of the GPS receivers of the host vehicle and the neighboring vehicle.
5. The method as claimed in claim 4, wherein in the step of performing time delay compensation, a compensation distance moved by the neighboring vehicle within the time delay is calculated according to a time delay between a sending time and a receiving time of the information packet, and the vehicle coordinates are obtained by adding the compensation distance to the original vehicle coordinates of the neighboring vehicle.
6. The method as claimed in claim 5, wherein the neighboring vehicle uses the original coordinates of the vehicle outputted from its GPS receiver as a reference position, and the reference positions comprise:
a first reference position, which is the vehicle coordinate output by the vehicle with its own GPS receiver;
a second reference position, which is obtained by the adjacent vehicle sensing a relative coordinate of the vehicle by a sensor of the adjacent vehicle, then using the reference position as a reference point, and obtaining the longitude and latitude of the vehicle by back calculation of the relative coordinate;
a third reference position, which is obtained by using a sensor of the vehicle to sense the relative distance and angle of the adjacent vehicle, then using the reference position as a reference point, and obtaining the longitude and latitude of the vehicle by back calculation of the relative distance and angle;
and a fourth reference position, which is used for estimating the relative distance between the vehicle and the adjacent vehicle according to the attenuation degree of the information packet after the information packet is sent from the adjacent vehicle to the vehicle and received, acquiring the direction of the vehicle relative to the adjacent vehicle according to a straight extension line of the first reference position and the reference position, and obtaining the longitude and latitude of the vehicle according to the relative distance and the direction of the vehicle by back calculation to obtain the fourth reference position.
7. The vehicle cooperative object localization optimization method of claim 6, wherein the vehicle optimization coordinates are calculated by:
wherein the content of the first and second substances,
m represents the number of reference positions, (x)i,yi) Coordinates of the first to fourth reference positions are represented, respectively, and the weight value of each reference position is ωi。
8. The method as claimed in claim 7, wherein the information packet is a basic security information packet.
9. The method as claimed in claim 7, wherein the weight value of each reference position is determined according to the accuracy of the sensor used to generate each reference position.
10. A vehicle co-location apparatus, comprising:
the wireless transmission interface is used for providing data bidirectional transmission between the vehicle and the adjacent vehicle, and receives an information packet which comprises a vehicle original coordinate and at least one object original coordinate of the adjacent vehicle and the respective positioning accuracy of the vehicle original coordinate and the object original coordinate;
a delay correction module, which receives the information packet sent by the adjacent vehicle through the wireless transmission interface, and performs time delay compensation on the original coordinates of the vehicle and the original coordinates of the object to obtain a vehicle coordinate and an object coordinate after the time delay compensation;
a position optimization module, which receives the vehicle coordinates and the object coordinates of the neighboring vehicle provided by the delay correction module, and receives the vehicle coordinates of the host vehicle and the object coordinates measured by the sensor of the host vehicle, wherein the position optimization module executes an optimization program, and the optimization program comprises:
comparing the vehicle coordinates of the vehicle with those of the adjacent vehicles to judge which one has higher positioning accuracy;
preferentially performing an optimization operation on the vehicle coordinates with higher positioning accuracy, and then performing the optimization operation on the vehicle coordinates with lower positioning accuracy, wherein the optimization operation performs:
a) calculating a plurality of reference positions according to the vehicle coordinates of the vehicle and the vehicle coordinates of the adjacent vehicle; and
b) respectively calculating a vehicle optimization coordinate and an adjacent vehicle optimization coordinate according to the weight value of each reference position;
optimizing the object coordinate, namely comparing the difference between the original vehicle coordinate of the adjacent vehicle and the optimized coordinate of the adjacent vehicle, and compensating the object coordinate provided by the adjacent vehicle according to the difference to obtain an object optimized coordinate; and comparing the difference between the original vehicle coordinates of the vehicle and the vehicle optimized coordinates of the vehicle, and compensating the object coordinates provided by the vehicle according to the difference to obtain the object optimized coordinates.
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