CN108051838B - Internet of vehicles positioning method - Google Patents
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- CN108051838B CN108051838B CN201711057369.6A CN201711057369A CN108051838B CN 108051838 B CN108051838 B CN 108051838B CN 201711057369 A CN201711057369 A CN 201711057369A CN 108051838 B CN108051838 B CN 108051838B
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- vehicle
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The invention discloses a positioning method of an internet of vehicles, which utilizes the track of a vehicle to be positioned to be matched with a road, corrects the positioning of a nearby vehicle by using the matched position deviation, and performs path matching again on the corrected track of the nearby vehicle to obtain the position deviation to correct the track of the vehicle to be positioned, thereby improving the precision of the track of the vehicle to be positioned, and further improving the positioning precision of the vehicle to be positioned on an electronic map.
Description
Technical Field
The invention relates to the technical field of map matching, in particular to a positioning method of an automobile.
Background
The vehicle positioning and navigation technology is an important subject in the field of intelligent traffic research, and nowadays, vehicles are generally provided with satellite positioning (GPS system, Beidou system and the like) systems, but because navigation signals inevitably have some errors in the transmission process due to various reasons, the vehicle position displayed on an electronic map often does not accord with the actual position, and the situation of deviating from the road occurs. In order to solve the problem, the currently used method is to improve the positioning accuracy of the satellite positioning sensor and the accuracy of the electronic map, and obviously, the method inevitably brings about the increase of the cost. In another method, a track matching algorithm is adopted to match the moving track of the vehicle with the geometric shape of the road on the electronic map, and then the matching is utilized to correct the position of the positioning point of the vehicle on the electronic map.
Existing trajectory matching algorithms can be divided into three categories: a) a geometry-based algorithm that takes into account geometric information, such as distance, angle, etc., of the GPS points and the roads; b) a topology-based algorithm that is controlled using road geometry information; c) based on a satellite positioning point algorithm, the algorithm takes into account the probability of a satellite positioning point. Each algorithm has its own characteristics, but in general, the matching precision of the track of the vehicle and the geometric shape of the road is not high, so that the position precision of the vehicle on the electronic map is not high.
Disclosure of Invention
In order to solve the problems, the invention provides a method for positioning a vehicle on an electronic map with high precision.
The solution of the invention for solving the technical problem is as follows: a method for Internet of vehicles positioning, comprising:
step 1: receiving a moving track of a vehicle to be positioned;
step 2: matching the moving track of the vehicle to be positioned with the road geometric information of the electronic map by using a track matching algorithm to obtain the position deviation between the moving track of the vehicle to be positioned and the road geometric information;
and step 3: receiving a moving track of a vehicle near the vehicle to be positioned;
and 4, step 4: correcting the moving track of the nearby vehicle obtained in the step 3 by using the position deviation obtained in the step 2 to obtain a corrected moving track;
and 5: matching the corrected moving track in the step 4 with the road geometric information of the electronic map by using a track matching algorithm to obtain the position deviation between the moving track of the nearby vehicle and the road geometric information;
step 6: and (5) correcting the moving track of the vehicle to be positioned by using the position deviation between the moving track of the nearby vehicle and the road geometric information obtained in the step 5.
Further, the track matching algorithm is a map mapping algorithm.
Further, the nearby vehicle refers to a vehicle within 200 meters from the vehicle to be located.
The invention has the beneficial effects that: the method provided by the invention has the advantages that the track of the vehicle to be positioned is matched with the road, the matched position deviation is used for correcting the positioning of the nearby vehicle, the corrected track of the nearby vehicle is matched with the path again, and the obtained position deviation is used for correcting the track of the vehicle to be positioned, so that the precision of the track of the vehicle to be positioned is improved, the positioning precision of the vehicle to be positioned on the electronic map is improved, and the method can be applied to the positioning of the vehicle on the electronic map.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
Fig. 1 is an analysis schematic diagram of the positioning method on an electronic map.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Embodiment 1, a car networking positioning method, includes:
step S1: receiving a moving track of a vehicle to be positioned;
step S2: matching the moving track of the vehicle to be positioned with the road geometric information of the electronic map by using a track matching algorithm to obtain the position deviation between the moving track of the vehicle to be positioned and the road geometric information;
step S3: receiving a moving track of a vehicle near the vehicle to be positioned; the nearby vehicle is a vehicle within 200 meters of the vehicle to be positioned;
step S4: obtaining a corrected movement locus by correcting the movement locus of the nearby vehicle in the step S3 using the positional deviation obtained in the step S2;
step S5: matching the corrected moving track in the step S4 with the road geometric information of the electronic map by using a track matching algorithm to obtain the position deviation between the moving track of the nearby vehicle and the road geometric information;
step S6: and step S5, obtaining the position deviation between the moving track of the nearby vehicle and the road geometry information to correct the moving track of the vehicle to be positioned. And obtaining the positioning information of the vehicle to be positioned by utilizing the moving track.
The principle of the positioning method is as follows: referring to fig. 1, a vehicle 1 to be positioned and a road 12 are arranged on an electronic map 3, wherein a moving track of the vehicle 1 to be positioned is received, a moving track 11 of the vehicle 1 to be positioned can be obtained, the moving track 11 of the vehicle 1 to be positioned is matched with the road 12 on the electronic map 3 by using a track matching algorithm, so that a distance deviation between the moving track 11 of the vehicle 1 to be positioned and the road 12 is obtained, the distance deviation is marked as a set a, the set a is averaged, and an average deviation distance a between the moving track 11 and the road 12 is obtained; receiving the trajectory of the vehicle 2 which is 200 meters away from the vehicle 1 to be positioned, and correcting the trajectory by the deviation distance a to obtain a new trajectory 21, since the transmission performance of the satellite positioning system can be the same by default at two nodes which are relatively close to each other, the actual trajectory errors of the vehicle 1 and the vehicle 2 can be understood as being the same, and therefore, the position deviations of the vehicles 1 and 2 obtained by the trajectory matching algorithm should also be similar. This makes it possible to correct the trajectory of the vehicle 2 in advance to obtain a new trajectory 21 before the trajectory matching algorithm calculates the vehicle 2, using the deviation distance a as a parameter, which trajectory 21 has largely eliminated errors caused by the transmission performance of the satellite positioning system, then using the trajectory matching algorithm to match the trajectory 21 with the road 22 of the electronic map 3 to obtain the average position deviation b of the vehicle 2, and finally correcting the trajectory of the vehicle 1 using the average position deviation b to obtain the trajectory 13, as can be seen from fig. 1, the behavior of the trajectory 13 is already well matched with the road 12, and therefore, the vehicle 1 can be accurately positioned on the basis of the trajectory 13.
As an optimization, the track Matching algorithm is a map mapping (ST-Matching) algorithm. The algorithm is a global algorithm, can synthesize geometric information (distance between a GPS point and a road), road topology information (shortest path) and road attribute information, and has the advantages of high precision, good stability and the like.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention and its scope is defined by the claims appended hereto.
Claims (2)
1. A positioning method of Internet of vehicles is characterized by comprising the following steps,
step 1: receiving a moving track of a vehicle to be positioned;
step 2: matching the moving track of the vehicle to be positioned with the road geometric information of the electronic map by using a track matching algorithm to obtain the position deviation between the moving track of the vehicle to be positioned and the road geometric information;
and step 3: receiving a moving track of a vehicle near the vehicle to be positioned;
and 4, step 4: correcting the moving track of the nearby vehicle obtained in the step 3 by using the position deviation obtained in the step 2 to obtain a corrected moving track;
and 5: matching the corrected moving track in the step 4 with the road geometric information of the electronic map by using a track matching algorithm to obtain the position deviation between the moving track of the nearby vehicle and the road geometric information;
step 6: correcting the moving track of the vehicle to be positioned by using the position deviation between the moving track of the nearby vehicle and the road geometric information obtained in the step 5;
the nearby vehicle refers to a vehicle within 200 meters of the vehicle to be located.
2. The Internet of vehicles positioning method of claim 1, wherein the track matching algorithm is a map mapping algorithm.
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| CN201711057369.6A CN108051838B (en) | 2017-11-01 | 2017-11-01 | Internet of vehicles positioning method |
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| CN201711057369.6A CN108051838B (en) | 2017-11-01 | 2017-11-01 | Internet of vehicles positioning method |
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| CN108051838B true CN108051838B (en) | 2021-04-23 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928296B (en) * | 2018-06-25 | 2021-06-01 | 佛山科学技术学院 | Vehicle anti-collision alarm system |
| CN110058279B (en) * | 2019-04-15 | 2023-07-21 | 北京三快在线科技有限公司 | Method, device, equipment and storage medium for determining traveled path |
| CN111609858B (en) * | 2020-05-28 | 2021-10-22 | 新石器慧通（北京）科技有限公司 | Positioning error determination method, track generation method, device and vehicle |
| CN112406965B (en) * | 2020-11-10 | 2023-02-17 | 北京埃福瑞科技有限公司 | Method and system for improving train positioning safety |
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