CN107044856B - Centimeter-level online positioning device for expressway running vehicle - Google Patents

Abstract

The invention discloses a centimeter-level online positioning method of a highway traveling vehicle, which adopts the corresponding principles of laser mouse positioning and screen display, and utilizes the built coordinates of the original highway as the traveling vehicle positioning parameters, thereby realizing the high-precision positioning of the highway traveling vehicle; the invention applies the big data theory to carry out secondary development and utilization on the original data in the traditional expressway and automobile CAD construction design so as to achieve the ultimate goal of people, namely safety.

Description

Centimeter-level online positioning device for expressway running vehicle

Technical Field

The invention relates to the field of road transportation, in particular to a centimeter-level online positioning device for a highway driving vehicle.

Background

The invention supplements and extends the expressway vehicle-mounted group navigation system based on GPS and GSM platforms, which is CN201620123453 and CN 201610087970.

The existing moving target positioning technical means mainly comprise:

1, GPS satellite positioning, the precision is 50-100 meters;

positioning an LBS base station with the precision of 10-50 meters;

3, wi-Fi indoor positioning, and the accuracy is 0.10-0.5 m.

The existing technical means can achieve millimeter-level GPS (global positioning system) for the static accurate coordinates (such as base stations and base points), but long positioning time is required, the more the satellite monitoring points are seen by a ground plane, the more the detection times are, the more accurate the obtained calculated average value is, and the positioning means are obviously difficult to adapt for vehicles running at high speed, wherein the vehicle length is less than 2 meters, the transverse distance is less than 0.5 meter.

Also, for LEB base station positioning using wave source positioning, such as mobile phone positioning, rapid and accurate positioning of the vehicle is affected due to wave diffraction, reflection, interference, attenuation, etc. The network mapping vector image under the isomorphic vehicle-mounted display interface can generate flash jump, and the running track is incoherent.

When people look up for starry sky and are striving to seek high-precision on-line vehicle positioning technical means, we neglect an important displacement reference, namely the expressway under the foot.

1. Highway construction

The modern large-scale infrastructure generally adopts national highway construction standards, CAD design and static positioning of GPS control networks (namely, the positioned object is in a fixed point displacement-free state), the design and positioning precision are in millimeter level, such as water conservancy, electric power, high-speed rail, highways, bridges and the like, for example, the total length 4778 Mi Run raises the Yangtze river highway bridge, 19 GPS positioning control network points are adopted, and the error value is less than 5 millimeters; the full-length closing error of the Shanghong Shanghai, shanghai and Ning high-speed GPS control network wire is in the centimeter level.

Referring to the GBT 18314-2001 Global Positioning System (GPS) measurement specification, the measurement accuracy of the expressway is in the centimeter level, and fig. 1, 2 and 3 are a CAD design drawing and an array coordinate drawing of a certain section of the expressway, from which it is easy to see that the design accuracy is in the millimeter level, and furthermore, the ground stake coordinates (X, Y) are respectively set in each section of the expressway, and are all static coordinate values. The measurement accuracy is far higher than that of dynamic measurement of people.

In addition, the construction means of modern expressways generally adopt a construction method of cast-in-place formwork pouring of ground piles, factory modularized integral welding and casting of highway panels, and the quality and the precision of the construction method are greatly improved.

It can be seen that the accuracy of dynamic positioning of vehicles traveling on the expressway can reach centimeter level (including construction error value) by constructing coordinates on the expressway itself.

2. Blue shadow positioning (mouse positioning)

Blue shadow positioning is the latest accurate positioning mode developed by Microsoft, a mouse using Blue Track Blue shadow technology uses Blue visible light, but the principle of diffuse reflection is not utilized, and the principle of imaging by utilizing a specular reflection point of a laser engine is utilized, as shown in fig. 3, a Blue light source passes through a high-angle collimating lens to strike the surface of any object, and then reflected light enters a converging lens to be transmitted into a CMOS chip for processing. The optical sensor (cmos detector) takes thousands of photos every second just like a high-speed continuous photo camera, and transmits the photos into the image processing chip, and the chip compares each photo to finally obtain the movement track of the mouse. In addition, the blue-shadow mouse has very good compatibility, can be suitable for various desktops, can be accurately positioned on marble desktops with smooth surfaces or transparent glass, and can be accurately positioned even on rough parlor carpets.

When a person moves the planar mouse, taking VGA1024×768 display screen as an example, the corresponding accuracy of the cross cursor display point is (+ -0.35 mm), and it is deduced that: setting up a model by using a ' mouse cross cursor display point+CAD equal proportion designed expressway prototype top view ', and recovering the corresponding association of the CAD equal proportion routine vehicle+CAD equal proportion expressway ', namely: when a vehicle runs on the expressway, blue shadow positioning light beams at the bottom of a vehicle disc are vertically projected on the ground, and corresponding running tracks can be synchronously displayed on a top view of the prototype expressway of a display screen, so that centimeter-level positioning of the expressway running vehicle is realized.

Disclosure of Invention

Aiming at the defects of the traditional technical means, the invention aims to provide a centimeter-level online positioning device for a highway driving vehicle by using the original highway self-building coordinate parameters.

The technical scheme adopted for solving the technical problems is as follows:

the centimeter-level online positioning device of the expressway running vehicle comprises an expressway digital map cloud base module, a vector vehicle model drawing base module, a radio frequency device, a distance measuring sensor, a speed measuring sensor, a blue image positioning module and a coordinate electronic pile, wherein a digital map stored in the expressway digital map cloud base module is an original CAD engineering drawing for constructing an expressway or a AR (Augmented Reality) enhancement technical drawing derived from the engineering drawing, the precision unit shown by the engineering drawing is millimeter level, and the digital map is a non-optical technical imaging drawing;

the vector vehicle model diagram stored in the vector vehicle model diagram library module is an original vehicle CAD standard product diagram or a AR (Augmented Reality) enhancement technical diagram derived from the product diagram, the accuracy unit of the product diagram is millimeter level, and the vector vehicle model diagram is a non-optical technical imaging diagram;

the radio frequency device is arranged on a highway toll gate, a service area, a curve and a road section with a slow ramp speed and is provided with a power supply;

the distance measuring sensor, the measuring sensor and the blue shadow positioning module are arranged on a running vehicle.

The digital map of the expressway and the vector vehicle type map are respectively synthesized in the form of a map layer in equal proportion and displayed on a digital display screen, wherein the digital map is a grid bottom layer map, and the vector vehicle type map is an upward floating layer map.

The distance measuring sensor and the speed measuring sensor are laser, millimeter wave, microwave and ultrasonic sensors.

The coordinate electronic pile is arranged on a highway toll gate, a service area, a curve road and a road section with a slow ramp speed and is provided with a power supply; the coordinate electronic pile has one of portal frame type and rod type, and the sensing mode is one of interactive type and wave source type.

The positioning method comprises the following steps:

A. highway digital map cloud base module establishment

The method comprises the steps of (1) setting up a map cloud base according to expressway numbers after rasterizing by using a top plan view in an original CAD engineering drawing, wherein the cloud base is arranged on a road detection public platform;

B. road segment digital map download

The vehicle driver downloads a corresponding road section digital map to a vehicle-mounted computer system through a wireless network at a driving destination input before entering a gate;

C. gate radio initialization

The vehicle imports initial coordinate parameters T0, X0 and Y0, establishes a vector running direction, and exports body vehicle number, vehicle type, color, vehicle weight, name, mobile phone number and time parameters;

D. vehicle positioning

Each vehicle sequentially and parallelly passes through, and a ranging sensor, a speed measuring sensor and a blue shadow positioning module are automatically started, so that secondary coordinate parameters are corrected;

E. main body car coordinates

After the main body vehicle logo parameters are established, uploading and deriving a vector vehicle type diagram from a vector vehicle type diagram library module, jumping to a corresponding position of a display screen, and prompting by voice: "secondary positioning is complete";

F. vehicle group establishment

Downloading surrounding vehicle coordinate parameters, deriving a surrounding vehicle corresponding vector vehicle type diagram in a vehicle vector vehicle type diagram library module, displaying the non-jump flash on a display screen, automatically establishing a driving group according to the interval distance, and prompting by voice: "vehicle group setup complete, system begins navigation, please keep the distance, control vehicle speed-! ";

G. CPU group distance array operation of body vehicle

The CPU of the computer on the body vehicle performs vehicle distance array operation on the peripheral group vehicles, and once abnormality occurs, the computer system of the body vehicle sends out early warning and uploads;

H. vehicle group communication

When the surrounding vehicles have abnormal situations of spontaneous combustion, falling objects and leakage, the communication and calling among the vehicle groups are realized.

The invention adopts the corresponding principle of laser mouse positioning and screen display, and utilizes the built coordinates of the original expressway as the positioning parameters of the running vehicle, thereby realizing the high-precision positioning of the expressway running vehicle.

Traditional highway CAD construction and design, after the construction project is completed, all data enter an archive room for later maintenance and archiving, and the same is true of automobile manufacture, and all parameters of the whole vehicle are not more than quality problem. The invention applies big data theory to carry out secondary development and utilization on the original data which is dusted on files so as to reach the ultimate goal of people, namely safety-!

Drawings

FIG. 1 is a diagram of a section of highway design parameters;

fig. 2 and 3 are CAD array coordinate diagrams of the expressway;

FIG. 4 is a schematic diagram of a blue image positioning structure;

FIG. 5 is a schematic view of a grid positioning (front view) of the present invention;

FIG. 6 is a schematic view of the grid positioning (top view) of the present invention;

FIG. 7 is a schematic diagram of a laser radar ranging positioning principle;

FIG. 8 is a live view of aerial shots of a section of a high-speed toll station;

FIG. 9 is a grid-positioning live view of a high-speed toll station;

FIG. 10 is a schematic view of a display screen group navigation (top view) according to the present invention;

FIG. 11 is a flow chart illustrating the structural principles of the present invention;

FIG. 12 is a schematic view of a vehicle travel vector (top view) of the present invention;

FIG. 13 is a schematic view of the vehicle travel vector (deflection angle) of the present invention;

FIG. 14 is a schematic view of the driving track (normal lane change) of the vehicle according to the present invention;

FIG. 15 is a schematic view of a vehicle travel track ("zig-zag lane") according to the present invention;

FIG. 16 is a schematic illustration of a vehicle travel path (continuous lane change) according to the present invention;

FIG. 17 is a diagram of shadow image recognition errors in a conventional spectrum recognition technique;

FIG. 18 is a schematic view of satellite aerial photography stitching;

FIG. 19 is a diagram of a display screen group navigation (road partial closure) according to the present invention;

FIG. 20 is a schematic view of the effect (gate portion) of the present invention;

FIG. 21 is a schematic view of the effect of use (vehicle-mounted part) of the present invention;

fig. 22 is a schematic view of the present invention using a split structure (vehicle-mounted part).

The figure shows that: 1-coordinate electronic piles; 2-gate; 3-embedded induction sensor; 4-radio Frequency (FR); 5-camera; 6-toll booth; 7-a center line; 8-isolation piers; 9-a front three-dimensional sensor; 10-rear three-dimensional sensor.

Detailed Description

The embodiment is specifically illustrated as a preferred embodiment of the present invention as shown in fig. 11:

people detect the traditional highway driving conditions: technical means such as pre-buried sensor, fixed camera, helicopter take photo by plane, unmanned vehicles take photo by plane and satellite take photo by plane all ubiquitous people's a great deal of defect:

1. pixel arrangement

The high-definition image is closely related to human eye recognition, if a camera on an unmanned aerial vehicle is adopted, the problem of crashing must be considered, so that the price is high, and the corresponding pixels are not high (generally in a plurality of K);

2. focal length

Because of high-speed dynamic shooting, fixed points and zooming are difficult, and therefore, the possibility of image blurring exists in images shot by helicopters and unmanned aerial vehicles;

3. fish eye effect

Due to the optical effect of the convex lens, the wide-angle edge of the convex lens can generate deformation of an image;

4. stroke limitation

Space-time limitation exists in the aerial photography of helicopters and unmanned aerial vehicles due to the restriction of fuel and power supply, and the aerial photography radius is difficult to be long;

5. regional restrictions

Due to the flight height limitation of helicopters and unmanned aerial vehicles, the method is difficult to be applied to the geographical environment of the Chong mountain and the severe mountain, and meanwhile, the application of the method is greatly restricted due to aviation management regulations. In addition, the flying heights of helicopters and unmanned aerial vehicles are limited by high-voltage power networks, high-voltage power transmission and transformation towers are distributed along the expressway generally, and the distance between the helicopters and the unmanned aerial vehicles is not suitable for the flight of the aerial vehicles especially in mountain areas;

6. climate limitation

For aerial photography of helicopters and unmanned aerial vehicles, the climate factors are very important, and for windy, snowy and rainy days, aerial photography is hardly realized;

7. side light pollution

Because the imaging of the convex lens depends on optical effect, the light pollution to the environment can not be filtered, and finally the images are all imaged on the synthetic graph;

8. time limitation

Aerial photography by helicopters and unmanned aerial vehicles is mostly in the daytime, and cannot be performed at night, especially in flight situations lacking illumination;

9. color defect

The image recognition relying on optical effect has defects in color resolution, the rainbow effect and the mirage effect of nature are well known, light refraction caused by different media and densities, such as water, air and glass (convex lens), can cause spectral frequency change, when sunlight is decomposed into seven colors, the edges of red, orange, yellow, green, blue and purple are all in gradual colors, and are difficult to distinguish by using a fixed frequency spectrum recognition instrument, and FIG. 17 shows traffic punishment misjudgment cases caused by image recognition at home and abroad, in which case a monitoring system mistakes a car image as a car line;

10. cost limitations

The embedded sensor has high cost, and is difficult to popularize and maintain for expressways with remote mountain areas and power failure.

The invention adopts a digital method, applies the AR (Augmented Reality) enhancement technology of the current popularity to the positioning of vehicles on the expressway, has fewer interference factors on the conditions such as regions, climates and the like than the traditional technical means, and has better imaging and positioning precision than the aerial photographing effect of helicopters and unmanned aircrafts (see fig. 8, 10 and 18).

The superiority of the invention can be seen easily by comparing the three drawings:

1. dynamic state

The invention adopts the technical means of instant condition, millisecond refreshing and isomorphic homomorphism, so that each driver can know the road condition along the line and the self position, and the aerial image is transmitted to the traffic management center and then broadcast rough notification through the radio station. Not only is time lag, but also the effect is far from.

2. Digital quantization

The traditional technical means are mostly only qualitative, and are difficult to be quantitative, such as: when a certain vehicle is anchored on a highway, an alarm telephone of the vehicle is sent to a supervision department, the vehicle owner can not broadcast the position of the vehicle owner (especially at night), and even if the road is marked in daytime, most drivers are not necessarily identified, so that a lot of time is delayed, and the treatment of the accident is delayed.

3. Vehicle search

The expressway of China basically covers and forms a network, and once a case-related vehicle is driven into a high speed for case-related accidents such as robbery and kidnapping, a public security department wants to find the vehicle in a short time, a great amount of manpower and material resources are sometimes required to be used for viewing in a frame-by-frame manner in the image pickup data along the line, and the case is undoubtedly that a needle is fished out in the sea, and the case is always in vain.

The invention realizes the digital positioning of each vehicle entering the highway gate, and can quickly find the vehicle on the relevant road section as long as the license plate parameters are input, and the running track of the vehicle can be found even if the vehicle has already exited the highway network.

1. On-line positioning of vehicle

When entering the gate, the gate machine with a Radio Frequency (RF) will automatically activate the group navigation system to establish the initial coordinates (X0, Y0), and FIG. 9 is a grid positioning real view of the high-speed toll station; because of the time and distance differences, each gate vehicle entering and exiting has a unique three-dimensional coordinate value (T0, X0, Y0) of < timing-distance >, such as A1-A6 lanes as the exiting lanes and B1-B6 as the entering lanes, and at time T0, the initial coordinates of each vehicle are shown in table 1:

TABLE 1

The traditional vehicle mileage calculation adopts an axle transmission counting method, but when the actual vehicle runs, the vehicle runs in a plane curve mileage, so the actual vehicle running mileage is far greater than the road design mileage. Therefore, a conventional linear motion calculation method is adopted: for centimeter-level positioning standards, the accumulated error is large, the invention uses the original CAD expressway and automobile design and manufacturing precision, adopts the method of measuring the length (L value) of the automobile body, and implements on-line positioning on the actual driving mileage of the automobile (see figure 12);

as mentioned above, when the highway is built, the GPS satellite static positioning is utilized, the central line is firstly established by the array type ground stake coordinates, then the bidirectional lanes are established on the left side and the right side in the form of central symmetry, and then the lanes are marked, isolated and sealed in sequence, so that the isolated stake lines, the lane separation lines, the sealed pier lines, the electric appliances, the street lamps, the lighting and control distribution lines on the highway are all parallel to the central line in different planes, and the GPS satellite vector positioning is adopted for each road section, so that the neutral line trend of the road section can be established.

In theory, the running track of a vehicle running on a highway should be parallel to the central line and relaxed (see fig. 5 and 6), however, unlike the high-speed rail with higher safety coefficient, the high-speed rail has rail restriction, while the vehicle does not have the rail restriction, and can randomly change the lane, and most accidents are caused by the lane change.

The invention is characterized in that a three-dimensional distance measuring sensor is respectively arranged on the front and the rear of the axis of the vehicle, the beta value of the different-surface included angle (deflection angle) between the axis of the vehicle and the center line of the expressway, the (X, Y) coordinate value, the vehicle speed, the driving mileage and other parameters are determined according to the distance measuring values of the isolation and sealing device fixed on the left and the right sides of the front and the rear X-axis two-axis laser sensors,

ΔS＝∑ΔY

unlike traditional GPS satellite positioning and LBS base station positioning, the invention is real-time online data sampling, has no wave source precision interference factors of the former two, and when a vehicle is driven into a highway gate, the system is automatically activated by a Radio Frequency (RF) gate, and the initial value of the coordinates (X0, Y0) is input to the vehicle, and when the vehicle is driven out of the highway gate, the system is automatically closed by the Radio Frequency (RF) gate, and the final value of the coordinates (Xm, yn) is input to the vehicle (see figure 9).

And according to the front and back Z axial (to ground) two laser sensors (blue image positioning modules), parameters such as lane changing times, vehicle speed and the like of the vehicle in a certain time period can be sampled and monitored. The front and rear Y-axis two laser sensors are used for reference correction of the vehicle axis line at the time of installation (see fig. 22).

In the "on-vehicle group navigation System of expressway based on GPS and GSM platform" of CN201620123453 and CN201610087970, in original vehicle accident early warning Table 2, after introducing the above-mentioned beta value, the on-line gesture of the vehicle can be displayed immediately, get the following Table 2:

TABLE 2

Non-parking area	Airbag sensor	Electronic gyroscope	Double jumping lamp	Beta value	Accident attributes
						Parking	Opening up	Side-turning over	Flashing	Greater than a limit value	Crash/rollover/malfunction/runaway

Random lane changing, zigzag driving and continuous lane changing of the expressway can threat the running of the expressway and other vehicles, so that accidents can be predicted at any time;

in addition, the brake system of modern vehicles has an anti-lock function so as to prevent the vehicle from turning over and drifting during braking, but the braking mode of the brake system is pneumatic or hydraulic, and the braking force applied to each wheel during braking is rear wheel driving or four-wheel driving, so that the force and time are different, and the posture and the travelling track of the vehicle are changed;

when a vehicle running at a high speed is once subjected to tire burst, drifting and out of control, the instinctive reaction often causes a driver to reversely slap the steering wheel, so that the vehicle is rushed to an isolation pier, a flanking vehicle and a reverse vehicle at a larger deflection angle (beta), or turns down an overhead, and serious accidents are caused.

When the running track of the vehicle is changed drastically, the computer early warning system can send accident warning to the surrounding vehicles according to the limit value range set by the beta value, such as that the front vehicle is out of control, speed reduction-avoidance-parking-! (see FIG. 13)

When a driver with good mind runs on a highway, the running track of the vehicle of the driver is mostly straight line or smooth curve system can be identified and monitored through parameters such as speed (V), unit time (delta t), deflection angle (beta), deflection value (delta X), occurrence frequency, deflection amplitude and the like, and warning is sent to the illegal vehicle: you have changed lanes continuously (frequently) in a short time, the system will upload this violation-!

2. Distance measuring sensor and speed measuring sensor

The invention relates to a rasterization positioning mode, which depends on a vehicle-mounted distance measuring sensor and a speed measuring sensor to accurately measure distance and speed of vehicles left and right and front and back, and reflects the running speed, mileage and gesture among the vehicles; also, the position coordinates of the vehicle in the expressway, and table 3 shows the partial functions of the 1, 2 and 3-dimensional lidar and the application thereof, besides the laser principle sensor, the millimeter wave, microwave, ultrasonic wave and other wave source sensors, and many sensing technical means originally used in the aspects of military and aerospace are gradually applied to civil products (see fig. 7).

3. Navigation map

At present, most of navigation instruments adopt image electronic maps, such as satellite aerial photography, airplane aerial photography, unmanned aerial vehicle aerial photography, vehicle-mounted panoramic photography and the like (see fig. 8 and 18), the resolution of the expressway images is limited, the optical images are affected by shooting angles, sunlight projection, plate splicing, overpass coverage and the like, the quality is low (marked by dotted circles in fig. 18), and accurate navigation is difficult to realize.

The invention adopts the CAD construction design drawing of the original expressway, which does not have the technical defects brought by the image electronic map, and can realize accurate appearance and accurate navigation even when the expressway meets the covering buildings such as tunnels, overpasses, bridges, culverts and the like.

4. Road early warning

When the expressway encounters sudden accident, disastrous weather, highway maintenance and other reasons, temporary closing, diversion and other measures are implemented on the road, the traditional means are to configure a large amount of manpower and material resources, go on the road to dredge and remove the blockage, or broadcast by a radio station or inform by a road electronic display board, often have poor effect (such as foggy weather, rainy and snowy weather) and information lag, the vehicle-mounted group navigation system can easily solve the problem, and as long as relevant information is input on a road administration detection public platform, a vehicle-mounted display screen on a vehicle which is about to pass through the road section can flash immediately to display closing warning, and simultaneously, voice prompts that the left lane construction of the front 1000 meters is closed, and attention to warning marks is as follows! Deceleration ≡! The reroute travel-! Thereby ensuring safety of the traveling vehicle and the construction worker (see fig. 19).

Similarly, for people who are not driven into the road section and inquire the road condition through a mobile phone or a system, the road section closing information can be known in advance, so that the occurrence of road congestion is avoided.

5. Coordinate correction

Because each parameter of the expressway has precision errors, sedimentation errors, repair errors and scribing errors in the actual construction, maintenance and use processes, when a vehicle runs on the expressway, parameters displayed by the vehicle-mounted sensor deviate from original expressway CAD design drawing parameters, and the longer the driving mileage is, the larger the accumulated errors are, the coordinate electronic pile for correcting the coordinate parameters is arranged in a conditional place such as a service area, a curve, a ramp and the like and is provided with a power supply, the outline of the coordinate electronic pile can be a portal frame type or a rod type, and the induction mode can be interactive or wave source type.

6. Danger-avoiding for turn road junction

Fig. 11 is a flow chart of the structural principle of the present invention, when a driver drives into a highway gate, the system downloads a corresponding road section running digital map according to the running destination input by the driver, and the system notifies the driver 1000 meters in front of the destination ramp gate because the distance of 500 meters from the gate of the highway is an accident high-rise region: the front 1000 meters reach the destination exit road junction, you can modify and confirm, please select according to road conditions, and can change to the next exit road junction in advance, if you travel to within 500 meters in front of the exit road junction, you will not have the right to change, you must travel out of the exit road junction, otherwise we will consider as illegal uploading-!

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, but can be modified in other ways, and all equivalent changes and modifications according to the scope of the present invention are included in the present invention.

TABLE 3 laser radar variety

Claims (5)

1. The utility model provides a centimeter level on-line positioning device of highway vehicle that traveles, includes highway digital map cloud storehouse module, vector motorcycle type drawing storehouse module, radio frequency ware, range sensor, speed sensor, blue shadow positioning module and coordinate electronic pile, its characterized in that:

the digital map stored in the expressway digital map cloud base module is an original CAD engineering drawing for constructing an expressway or a AR (Augmented Reality) enhancement technical drawing derived from the engineering drawing, the accuracy unit of the engineering drawing is millimeter level, and the digital map is a non-optical technical imaging drawing;

the vector vehicle model diagram stored in the vector vehicle model diagram library module is an original vehicle CAD standard product diagram or a AR (Augmented Reality) enhancement technical diagram derived from the product diagram, the accuracy unit of the product diagram is millimeter level, and the vector vehicle model diagram is a non-optical technical imaging diagram;

the radio frequency device is arranged on a highway toll gate, a service area, a curve and a road section with a slow ramp speed and is provided with a power supply;

the distance measuring sensor, the measuring sensor and the blue shadow positioning module are arranged on a running vehicle.

2. The centimeter-level online positioning device of the expressway running vehicle according to claim 1, wherein the expressway digital map and the vector vehicle type map are respectively synthesized in equal proportion in a layer form and displayed on a digital display screen, wherein the digital map is a grid bottom layer map, and the vector vehicle type map is an upward floating layer map.

3. The centimeter-level on-line positioning device for the expressway running vehicle according to claim 1, wherein the distance measuring sensor and the speed measuring sensor are laser, millimeter wave, microwave and ultrasonic sensors.

4. The centimeter-level online positioning device of the expressway running vehicle according to claim 1, wherein the coordinate electronic pile is arranged at a expressway toll gate, a service area, a curve, a ramp section with a slower speed and a power supply; the coordinate electronic pile has one of portal frame type and rod type, and the sensing mode is one of interactive type and wave source type.

5. The centimeter-level online positioning device of the expressway running vehicle according to claim 1, wherein the positioning method comprises the steps of:

A. highway digital map cloud base module establishment

The method comprises the steps of (1) setting up a map cloud base according to expressway numbers after rasterizing by using a top plan view in an original CAD engineering drawing, wherein the cloud base is arranged on a road detection public platform;

B. road segment digital map download

The vehicle driver downloads a corresponding road section digital map to a vehicle-mounted computer system through a wireless network at a driving destination input before entering a gate;

C. gate radio initialization

The vehicle imports initial coordinate parameters T0, X0 and Y0, establishes a vector running direction, and exports body vehicle number, vehicle type, color, vehicle weight, name, mobile phone number and time parameters;

D. vehicle positioning

Each vehicle sequentially and parallelly passes through, and a ranging sensor, a speed measuring sensor and a blue shadow positioning module are automatically started, so that secondary coordinate parameters are corrected;

E. main body car coordinates

After the main body vehicle logo parameters are established, uploading and deriving a vector vehicle type diagram from a vector vehicle type diagram library module, jumping to a corresponding position of a display screen, and prompting by voice: "secondary positioning is complete";

F. vehicle group establishment

Downloading surrounding vehicle coordinate parameters, deriving a surrounding vehicle corresponding vector vehicle type diagram in a vehicle vector vehicle type diagram library module, displaying the non-jump flash on a display screen, automatically establishing a driving group according to the interval distance, and prompting by voice: "vehicle group setup complete, system begins navigation, please keep the distance, control vehicle speed-! ";

G. CPU group distance array operation of body vehicle

The CPU of the computer on the body vehicle performs vehicle distance array operation on the peripheral group vehicles, and once abnormality occurs, the computer system of the body vehicle sends out early warning and uploads;

H. vehicle group communication

When the surrounding vehicles have abnormal situations of spontaneous combustion, falling objects and leakage, the communication and calling among the vehicle groups are realized.