CN109633543A - Localization method and device based on car networking - Google Patents
Localization method and device based on car networking Download PDFInfo
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- CN109633543A CN109633543A CN201811534566.7A CN201811534566A CN109633543A CN 109633543 A CN109633543 A CN 109633543A CN 201811534566 A CN201811534566 A CN 201811534566A CN 109633543 A CN109633543 A CN 109633543A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
This disclosure relates to a kind of localization method and device based on car networking, applied to vehicle, this method comprises: obtaining the m target information that m roadside unit is sent, the target information that any roadside unit is sent includes: the identification number of any roadside unit, any roadside unit sends the time of target information and the location information of any roadside unit, wherein, m is the positive integer more than or equal to 3, according to the m time in the m receiving time and m target information for obtaining m target information, determine vehicle at a distance from m roadside unit, according to m location information of the vehicle at a distance from m roadside unit and in m target information, determine the target position of vehicle.The disclosure can realize vehicle location by roadside unit, improve the precision and stability of positioning under conditions of satellite navigation signals weaken or disappear.
Description
Technical field
This disclosure relates to vehicle positioning technology field, and in particular, to a kind of localization method and device based on car networking.
Background technique
With automatic Pilot, intelligent network connection automotive engineering rapid development, mobile positioning technique is widely used, especially
It is in the field of automobile navigation, vehicle positioning technology be automatic Pilot, intelligent network connection automobile in key technology.The prior art
In, vehicle is usually to utilize Global Satellite Navigation System (English: Global Navigation Satellite System, contracting
Write: GNSS) satellite navigation signals are received to carry out navigator fix.But vehicle in the process of moving can by a variety of landform (such as
Urban high-rise building blocks the urban canyons to be formed, tunnel, underground parking etc.) and encounter various weather conditions (such as rain, snow, mist
Equal bad weathers), GNSS signal will receive the influence of many factors such as signal decaying, multi-path jamming and barrier, and causing cannot
Stable, accurate location information is provided.In extreme circumstances, when vehicle enters the regions such as tunnel, culvert, because vehicle is to leading
Navigate satellite-invisible, cannot receive GNSS signal, lead to that location information cannot be provided.
Summary of the invention
Purpose of this disclosure is to provide a kind of localization method and devices based on car networking, are able to solve vehicle and are running over
The problem of can not being positioned as caused by weakening navigation satellite signal or disappearance in journey.
To achieve the goals above, according to the first aspect of the embodiments of the present disclosure, a kind of positioning based on car networking is provided
Method is applied to vehicle, which comprises
Obtain the m target information that m roadside unit is sent, the target information packet that any roadside unit is sent
Include: the identification number of any roadside unit, any roadside unit send time of the target information and described any
The location information of roadside unit, wherein m is the positive integer more than or equal to 3；
According to m a times in the m receiving time and the m target information for obtaining the m target information,
Determine the vehicle at a distance from the m roadside unit；
According to the m at a distance from the m roadside unit and in the m target information, the vehicle position letters
Breath, determines the target position of the vehicle.
Optionally, any roadside unit sends the time of the target information, be any roadside unit according to
The temporal information sent by target device according to preset first frequency received calibrates the clock of any roadside unit
The determining time afterwards；
The method also includes:
According to the temporal information sent by the target device according to preset second frequency received, the vehicle is calibrated
Clock.
Optionally, the m according in the m receiving time and the m target information that obtain the m target information
A time determines the vehicle at a distance from the m roadside unit, comprising:
According to the identification number in first object information, the time in the first object information and acquisition are determined
The first time of the receiving time of first object information is poor, and the first object information is that any roadside unit is sent
The target information；
According to the first time is poor and the light velocity, determines the vehicle and send the roadside unit of the first object information
Distance.
It is optionally, described that according to the vehicle, m is a at a distance from the m roadside unit and in the m target information
The location information determines the target position of the vehicle, comprising:
When m is equal to 3, according to the vehicle m at a distance from the m roadside unit and in the m target information
The location information determines the target position of the vehicle using the first calculation formula；
First calculation formula includes:
When m be greater than 3 when, according to the vehicle at a distance from the m roadside unit, in the m target information m institute
Location information and time error are stated, the target position of the vehicle, the time error are determined using the second calculation formula
For the error of the clock of the clock and any roadside unit of the vehicle；
Second calculation formula includes:
Wherein, d1、d2、d3…dmIndicate the vehicle respectively at a distance from the m roadside unit, (x1, y1, z1) indicate
The location information in the m target information in first aim information, (x2, y2, z2) indicate the m target information
The location information in middle second target information, (x3, y3, z3) indicate third target information in the m target information
In the location information, (xm, ym, zm) indicate the location information in the m target information in m-th of target information,
C indicates that the light velocity, Δ t indicate the time error.
Optionally, the method also includes:
The position location of the vehicle is obtained, the position location is the position that the vehicle is determined by navigation equipment,
The navigation equipment includes: at least one of satellite navigation, inertial navigation set or radar navigation set；
According to the position location and the target position, the physical location of the vehicle is determined.
According to the second aspect of an embodiment of the present disclosure, a kind of positioning device based on car networking is provided, vehicle, institute are applied to
Stating device includes:
First obtains module, for obtaining m target information of m roadside unit transmission, any roadside unit hair
The target information sent includes: the identification number of any roadside unit, any roadside unit transmission target letter
The location information of the time of breath and any roadside unit, wherein m is the positive integer more than or equal to 3；
Determining module, for according in the m receiving time and the m target information for obtaining the m target information
M times, determine the vehicle at a distance from the m roadside unit；
Locating module, for according to the vehicle at a distance from the m roadside unit and in the m target information
The m location informations, determine the target position of the vehicle.
Optionally, any roadside unit sends the time of the target information, be any roadside unit according to
The temporal information sent by target device according to preset first frequency received calibrates the clock of any roadside unit
The determining time afterwards；
Described device further include:
Calibration module, for being believed by the target device according to the time that preset second frequency is sent according to what is received
Breath, calibrates the clock of the vehicle.
Optionally, the determining module includes:
First determines submodule, for determining the first object letter according to the identification number in first object information
The first time of the receiving time of the time and acquisition first object information in breath is poor, and the first object information is
The target information that any roadside unit is sent；
Second determines submodule, for according to the first time is poor and the light velocity, determining the vehicle and sending described the
The distance of the roadside unit of one target information.
Optionally, the locating module includes:
First computational submodule, for when m is equal to 3, according to the vehicle at a distance from the m roadside unit and institute
The m location informations in m target information are stated, the target position of the vehicle is determined using the first calculation formula；
First calculation formula includes:
Second computational submodule is used for when m is greater than 3, according to the vehicle at a distance from the m roadside unit, institute
The m location informations and time error in m target information are stated, the mesh of the vehicle is determined using the second calculation formula
Cursor position, the time error are the error of the clock of the vehicle and the clock of any roadside unit；
Second calculation formula includes:
Wherein, d1、d2、d3…dmIndicate the vehicle respectively at a distance from the m roadside unit, (x1, y1, z1) indicate
The location information in the m target information in first aim information, (x2, y2, z2) indicate the m target information
The location information in middle second target information, (x3, y3, z3) indicate third target information in the m target information
In the location information, (xm, ym, zm) indicate the location information in the m target information in m-th of target information,
C indicates that the light velocity, Δ t indicate the time error.
Optionally, described device further include:
Second obtains module, and for obtaining the position location of the vehicle, the position location is the vehicle by leading
The position that equipment of navigating determines, the navigation equipment includes: in satellite navigation, inertial navigation set or radar navigation set
It is at least one；
The locating module is also used to determine the reality of the vehicle according to the position location and the target position
Position.
Through the above technical solutions, vehicle obtains m target information of m roadside unit transmission first in the disclosure, m is
Positive integer more than or equal to 3, wherein the target information that any roadside unit is sent include: any roadside unit identification number,
Any roadside unit sends the time of target information and the location information of any roadside unit, further according to m target information of acquisition
M receiving time and m target information in m time, vehicle is determined at a distance from m roadside unit, finally according to vehicle
M location information at a distance from m roadside unit and in m target information, determines the target position of vehicle.Disclosure energy
Enough under conditions of satellite navigation signals weaken or disappear, vehicle location is realized by roadside unit, improves the precision of positioning
And stability.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of localization method based on car networking shown according to an exemplary embodiment.
Fig. 2 is the flow chart of another localization method based on car networking shown according to an exemplary embodiment.
Fig. 3 is a kind of flow chart of step 102 shown in embodiment illustrated in fig. 1.
Fig. 4 is a kind of flow chart of step 103 shown in embodiment illustrated in fig. 1.
Fig. 5 is the flow chart of another localization method based on car networking shown according to an exemplary embodiment.
Fig. 6 is a kind of block diagram of positioning device based on car networking shown according to an exemplary embodiment.
Fig. 7 is the block diagram of another positioning device based on car networking shown according to an exemplary embodiment.
Fig. 8 is a kind of block diagram of determining module shown in embodiment illustrated in fig. 6.
Fig. 9 is a kind of block diagram of locating module shown in embodiment illustrated in fig. 6.
Figure 10 is the block diagram of another positioning device based on car networking shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Before the localization method and device based on car networking for introducing disclosure offer, first to each implementation of the disclosure
Application scenarios involved in example are introduced.The application scenarios may include supporting any car networking (English: Vehicle to
Everything, abbreviation: V2X) technology vehicle and roadside unit, such as can be WAVE (English: Wireless Access
In Vehicular Environment, Chinese: vehicle-carrying communication wireless access) technology, DSRC (English: Dedicated Short
Range Communications Chinese: dedicated short-range communication technology), LTE-V (English: Long Term Evolution
Vehicle, Chinese: long term evolution-vehicle communication) (English: 5th-Generation, Chinese: in the 5th generation, moved by technology or 5G
The dynamic communication technology).The vehicle and roadside unit can carry out short-range wireless communication by car networking, be to carry with wireless signal
Body transmits message.Above-mentioned vehicle can be configured with GNSS device, wherein GNSS can include but is not limited to: GPS
(Global Positioning System, global positioning system), Beidou satellite navigation system, GLONASS navigation system, gal
Benefit slightly satellite navigation system etc..The vehicle can be automobile, which is not limited to orthodox car, pure electric automobile or mixed dynamic vapour
In addition to this vehicle can be applicable to other kinds of motor vehicle or non-motor vehicle.
Fig. 1 is a kind of flow chart of localization method based on car networking shown according to an exemplary embodiment.Such as Fig. 1 institute
Show, is applied to vehicle, method includes the following steps:
In a step 101, the m target information that m roadside unit is sent is obtained, the target letter that any roadside unit is sent
Breath includes: the position of the identification number of any roadside unit, the time of any roadside unit transmission target information and any roadside unit
Confidence breath, wherein m is the positive integer more than or equal to 3.
Exemplary, vehicle obtains m roadside unit (English: Road Side Unit, abbreviation: RSU) hair by car networking
The m target information sent, wherein m is the positive integer more than or equal to 3.The mode that vehicle obtains target information, which can be, to be passed through
On board unit (English: On Board Unit, abbreviation: OBU) on vehicle receives the m target letter that m roadside unit is sent
Breath.The target information that any roadside unit is sent includes: the identification number of any roadside unit, any roadside unit transmission target letter
The location information of the time of breath and any roadside unit.Wherein, identification number can the different roadside unit of unique identification, such as can
To be the binary code of presetting digit capacity, identification number can store the memory module being arranged on roadside unit, such as: ROM (English
Text: Read-Only Memory, Chinese: read-only memory) in.Send target information time by be arranged on roadside unit when
Clock determines.The location information of roadside unit also can store in the memory module being arranged on roadside unit, such as roadside is single
Member may be mounted at the place that needs to position, and (such as urban high-rise building blocks the fields such as the urban canyons to be formed, tunnel, underground parking
Ground), when being installed to roadside unit, the position of roadside unit is demarcated in advance, such as can be by establishing with road
Side unit position is the coordinate system of origin, can also be according to where roadside unit to determine the location information of roadside unit
Longitude, latitude and the height above sea level (corresponding to geographic coordinate system) of position are come to determine location information, location information may include three-dimensional seat
Three coordinate values in mark system.After completing to the calibration of roadside unit, the location information of roadside unit is stored in roadside list
In the memory module of member.Each roadside unit in m roadside unit can be read in memory module according to preset frequency
Identification number, location information, and (send the time of target information) at the time of read current, by identification number, location information and
The current time target information of composition is sent out.When vehicle is near by m roadside unit, receive by m roadside unit
M target information of transmission.
In a step 102, according to obtain m target information m receiving time and m target information in m time,
Determine vehicle at a distance from m roadside unit.
In step 103, the m location information according to vehicle at a distance from m roadside unit and in m target information,
Determine the target position of vehicle.
Exemplary, vehicle is first according to the m time in the m receiving time and m target information for obtaining m target information
It determines that target information is sent to time of vehicles from each roadside unit respectively, vehicle and m road is determined respectively with this
The distance between side unit, vehicle receive the receiving time that the time used in target information obtains target information equal to vehicle and subtract
The time of roadside unit transmission target information.Further according to the m at a distance from m roadside unit and in m target information, vehicle
Location information determines the target position of vehicle (target position is the coordinate value being under the same coordinate system with roadside unit).Really
The mode for determining the target position of vehicle can be location information and vehicle and m of the vehicle based on the received in m target information
The distance of roadside unit determines the target position of vehicle by three-point fix, i.e. vehicle at least needs to receive 3 roadside units
Target information to determine the target position of vehicle.Vehicle, which receives the target information that 3 roadside units are sent, can be completed positioning,
When m is greater than 3, the location information mutual calibration that can use in m target information connects to improve the precision of target position
The quantity for receiving target information is more, and the precision of target position is higher.
In conclusion vehicle obtains m target information of m roadside unit transmission first in the disclosure, m is to be greater than or wait
In 3 positive integer, wherein the target information that any roadside unit is sent includes: the identification number of any roadside unit, any roadside
Unit sends the time of target information and the location information of any roadside unit, further according to m reception for obtaining m target information
The m time in time and m target information determines vehicle at a distance from m roadside unit, finally according to vehicle and m road
M location information in the distance of side unit and m target information, determines the target position of vehicle.The disclosure can be in satellite
Under conditions of navigation signal weakens or disappears, vehicle location is realized by roadside unit, improves the precision and stability of positioning.
Fig. 2 is the flow chart of another localization method based on car networking shown according to an exemplary embodiment.Such as Fig. 2
Shown, any roadside unit sends the time of target information, for any roadside unit according to receive by target device according to
The temporal information that preset first frequency is sent calibrates the time determined after the clock of any roadside unit.
This method is further comprising the steps of:
At step 104, according to the temporal information sent by target device according to preset second frequency received, school
The clock of quasi- vehicle.
It is exemplary, since the clock of roadside unit and vehicle is all local clock, it is thus possible to be deposited between the standard time
In error, directly by the clock of roadside unit determine roadside unit transmission target information time and directly by vehicle when
Clock obtains the receiving time of target information, influences whether the precision of target position, so needing to roadside unit and vehicle
Clock is calibrated, to realize the time synchronization of roadside unit and vehicle.When target device is sent according to preset first frequency
Between information to each roadside unit, each roadside unit temporal information that target device is sent based on the received is single to each roadside
The clock of member is calibrated, after the completion of calibration, according to the clock after calibration determine each roadside unit send target information when
Between.Vehicle calibrates the clock of vehicle according to the temporal information sent by target device according to preset second frequency received,
After the completion of calibration, the receiving time of target information is determined according to the clock after calibration.First frequency and second frequency can be identical,
It can not also be identical.Wherein, target device can be determines with satellite navigation systems such as Beidou, GPS, GLONASS, Galileo
Position equipment or NTP (English: Network Time Protocol, Chinese: Network Time Protocol) server.For example, current mark
It is 8:00 between punctual, the time of roadside unit is 8:01, and the time of vehicle is 8:02, and ntp server is sent according to first frequency
Temporal information with the standard time sends the temporal information with the standard time extremely according to second frequency to each roadside unit
Vehicle calibrates the clock of roadside unit and vehicle, until the clock of roadside unit and vehicle is identical as the standard time, completes roadside
The time synchronization of unit and vehicle.
It should be noted that the clock of the calibration vehicle in step 104 can execute at any time, i.e., step 104 can
To be to be also possible to obtain m roadside unit in vehicle before the m target information that vehicle obtains that m roadside unit is sent
After m target information of transmission, it can be understood as vehicle is carried out pair when receiving the temporal information of target device transmission
The calibration operation of clock, in the disclosure without limitation to the execution sequence of step 104.
Fig. 3 is a kind of flow chart of step 102 shown in embodiment illustrated in fig. 1.As shown in figure 3, step 102 includes following
Step:
In step 1021, according to the identification number in first object information, determines the time in first object information and obtain
Take the first time of the receiving time of first object information poor, first object information is the target letter that any roadside unit is sent
Breath.
In step 1022, according to the poor and light velocity at the first time, determines vehicle and send the roadside list of first object information
The distance of member.
Exemplary, the positioning of vehicle is the position letter of the distance and each roadside unit by vehicle away from each roadside unit
Cease to determine (such as can be utilized by the location information of three roadside units and the distance of these three roadside units to vehicle
Three-point fix determines the position of vehicle), vehicle according to the identification number in first object information, determine in first object information when
Between and obtain first object information receiving time first time it is poor, i.e., vehicle obtain first object information receiving time subtract
It goes the time in first object information, first object information is the target information that any roadside unit is sent.Vehicle can basis
The poor at the first time and light velocity, determine vehicle at a distance from the roadside unit for sending first object information, vehicle and the roadside unit
Distance be equal to the product of the poor spread speed (i.e. the light velocity) that first object information is sent with the roadside unit at the first time.
Fig. 4 is a kind of flow chart of step 103 shown in embodiment illustrated in fig. 1.As shown in figure 4, step 103 includes following
Step:
In step 1031, when m is equal to 3, according to vehicle m at a distance from m roadside unit and in m target information
Location information determines the target position of vehicle using the first calculation formula.
First calculation formula includes:
In step 1032, when m is greater than 3, according to vehicle m at a distance from m roadside unit, in m target information
Location information and time error, determine the target position of vehicle using the second calculation formula, time error be vehicle clock with
The error of the clock of any roadside unit.
Second calculation formula includes:
Wherein, d1、d2、d3…dmIndicate vehicle respectively at a distance from m roadside unit, (x1, y1, z1) indicate m target
Location information in information in first aim information, (x2, y2, z2), indicate in m target information in second target information
Location information, (x3, y3, z3) indicate location information in m target information in third target information, (xm, ym, zm) indicate
Location information in m target information in m-th of target information, c indicate that the light velocity, Δ t indicate time error.
Exemplary, vehicle can be according to the location information and vehicle of three and three or more roadside units away from roadside unit
Distance determine the target position of vehicle, when m is equal to 3, i.e. the vehicle target information that receives the transmission of 3 roadside units, vehicle
3 location informations at a distance from 3 roadside units and in 3 target informations according to vehicle, utilize the first calculation formula to determine
The target position of vehicle.When m is greater than 3, i.e., vehicle receives the target information that 3 or more roadside units are sent, vehicle root
According to vehicle at a distance from m roadside unit, in m target information m location information and time error, utilize the second calculation formula
Determine the target position of vehicle, time error is the error of the clock of vehicle and the clock of any roadside unit.Utilize the second meter
Formula is calculated when determining the target position of the vehicle, at least needs the location information of four roadside units, it, can be by when m is greater than 4
The m target information that m roadside unit is sent is screened according to default rule, filters out 4 optimal target informations, then
The target position of the vehicle is determined using the second calculation formula.Default rule for example can be position in m target information of selection
Confidence ceases the smallest 4 target informations (target information for selecting 4 roadside unit nearest apart from vehicle to send).For example,
As m=3, the location informations of three roadside units of identification number 0001,0100,1010 be respectively (0,0,0), (0,60,
0), (120,0,0) are distinguished at a distance from 0001,0100,1010 roadside unit according to the determining vehicle of step 102 with identification number
ForAbove data is brought into first calculation formula to obtain:
Then the target position of vehicle is (x, y, z)=(60,20,0).As m=4, identification number 0001,0100,1010,
The location information of 1011 four roadside units respectively (0,0,0), (0,60,0), (120,0,0), (120,60,0), according to
It is respectively at a distance from the roadside unit that the determining vehicle of step 102 is 0001,0100,1010,1011 with identification number Light velocity c=3 × 108M/s brings above data into second calculation formula and obtains:
Then the target position of vehicle is (x, y, z)=(60,19.03,0), and time error is Δ t=1ns.
Fig. 5 is the flow chart of another localization method based on car networking shown according to an exemplary embodiment.Such as Fig. 5
Shown, this method is further comprising the steps of:
In step 105, the position location of vehicle is obtained, position location is the position that vehicle is determined by navigation equipment,
Navigation equipment includes: at least one of satellite navigation, inertial navigation set or radar navigation set.
In step 106, according to position location and target position, the physical location of vehicle is determined.
Exemplary, when the location of vehicle can receive navigation satellite signal, (intensity of navigation satellite signal can
Can be weaker, it is also possible to stronger), the position location of vehicle can be obtained by navigation equipment, further, vehicle can also be with
Therefore sprocket bit can be combined by the position location that inertial navigation set, camera, radar navigation set etc. obtain vehicle
It sets and target position, to determine the physical location of vehicle, to further increase the precision of vehicle location.By target position and determine
The data of position position carry out data fusion, such as can be vehicle the target position obtained in step 103 is sent to navigation and set
It is standby, carry out data fusion with the position location that navigation equipment obtains, can also with position location that navigation equipment is obtained by vehicle and
The target position obtained in step 103 carries out data fusion.According to position location and target position, the physical location of vehicle is determined
Mode can be using weighted mean method and realize, for example, two weighting coefficient a and b of setting and a+b=1, it is public to pass through weighting
Formula a × A+b × B calculates the weighted average of target position and position location, and using the weighted average being calculated as
Target position and the fused physical location of location position data.Wherein, A is target position, and B is position location, weighting coefficient a
It can be set as needed with the value of b, when target position is (60,20,0), position location is (59,21,0), a=0.2, b=
When 0.8, target position and position location are brought into weighted formula, then physical location are as follows: (59.2,20.8,0).Wherein, navigation is set
Standby may include: at least one of satellite navigation, inertial navigation set or radar navigation set.
In conclusion vehicle obtains m target information of m roadside unit transmission first in the disclosure, m is to be greater than or wait
In 3 positive integer, wherein the target information that any roadside unit is sent includes: the identification number of any roadside unit, any roadside
Unit sends the time of target information and the location information of any roadside unit, further according to m reception for obtaining m target information
The m time in time and m target information determines vehicle at a distance from m roadside unit, finally according to vehicle and m road
M location information in the distance of side unit and m target information, determines the target position of vehicle.The disclosure can be in satellite
Under conditions of navigation signal weakens or disappears, vehicle location is realized by roadside unit, improves the precision and stability of positioning.
Fig. 6 is a kind of block diagram of positioning device based on car networking shown according to an exemplary embodiment.Such as Fig. 6 institute
Show, be applied to vehicle, which includes:
First obtains module 201, and for obtaining m target information of m roadside unit transmission, any roadside unit is sent
Target information include: the identification number of any roadside unit, any roadside unit send target information time and any roadside
The location information of unit, wherein m is the positive integer more than or equal to 3.
Determining module 202, for according to m in the m receiving time and m target information for obtaining m target information
Time determines vehicle at a distance from m roadside unit.
Locating module 203, for being believed according to m position of the vehicle at a distance from m roadside unit and in m target information
Breath, determines the target position of vehicle.
Fig. 7 is the block diagram of another positioning device based on car networking shown according to an exemplary embodiment.Such as Fig. 7 institute
Show, any roadside unit send the time of target information, is any roadside unit according to receiving by target device according to presetting
The temporal information that sends of first frequency, calibrate the time determined after the clock of any roadside unit.
The device 200 further include:
Calibration module 204, for being believed by target device according to the time that preset second frequency is sent according to what is received
Breath, calibrates the clock of vehicle.
Fig. 8 is the block diagram of the first determining module of one kind shown in embodiment illustrated in fig. 6.As shown in figure 8, determining module 202
Include:
First determines submodule 2021, for determining in first object information according to the identification number in first object information
Time and obtain first object information receiving time first time it is poor, first object information be any roadside unit send
Target information.
Second determines submodule 2022, for according to the poor and light velocity at the first time, determining vehicle and sending first object letter
The distance of the roadside unit of breath.
Fig. 9 is the block diagram of the second determining module of one kind shown in embodiment illustrated in fig. 6.As shown in figure 9, locating module 203
Include:
First computational submodule 2031, for when m is equal to 3, according to vehicle at a distance from m roadside unit and m mesh
M location information in information is marked, the target position of vehicle is determined using the first calculation formula.
First calculation formula includes:
Second computational submodule 2032 is used for when m is greater than 3, according to vehicle at a distance from m roadside unit, m target
M location information and time error in information, the target position of vehicle is determined using the second calculation formula, and time error is vehicle
Clock and any roadside unit clock error.
Second calculation formula includes:
Wherein, d1、d2、d3…dmIndicate vehicle respectively at a distance from m roadside unit, (x1, y1, z1) indicate m target
Location information in information in first aim information, (x2, y2, z2) indicate in m target information in second target information
Location information, (x3, y3, z3) indicate location information in m target information in third target information, (xm, ym, zm) indicate m
Location information in a target information in m-th of target information, c indicate that the light velocity, Δ t indicate time error.
Figure 10 is the block diagram of another positioning device based on car networking shown according to an exemplary embodiment.Such as Figure 10
It is shown, the device 200 further include:
Second obtains module 205, and for obtaining the position location of vehicle, position location is that vehicle is determined by navigation equipment
Position, navigation equipment includes: at least one of satellite navigation, inertial navigation set or radar navigation set.
Locating module 203 is also used to determine the physical location of vehicle according to position location and target position.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In conclusion vehicle obtains m target information of m roadside unit transmission first in the disclosure, m is to be greater than or wait
In 3 positive integer, wherein the target information that any roadside unit is sent includes: the identification number of any roadside unit, any roadside
Unit sends the time of target information and the location information of any roadside unit, further according to m reception for obtaining m target information
The m time in time and m target information determines vehicle at a distance from m roadside unit, finally according to vehicle and m road
M location information in the distance of side unit and m target information, determines the target position of vehicle.The disclosure can be in satellite
Under conditions of navigation signal weakens or disappears, vehicle location is realized by roadside unit, improves the precision and stability of positioning.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of localization method based on car networking is applied to vehicle, which comprises
The m target information that m roadside unit is sent is obtained, the target information that any roadside unit is sent includes:
The identification number of any roadside unit, any roadside unit send the target information time and any roadside
The location information of unit, wherein m is the positive integer more than or equal to 3；
According to the m times in the m receiving time and the m target information for obtaining the m target information, determine
The vehicle is at a distance from the m roadside unit；
According to m of the vehicle at a distance from the m roadside unit and in the m target information location informations,
Determine the target position of the vehicle.
2. the method according to claim 1, wherein any roadside unit send the target information when
Between, it is any roadside unit according to the temporal information sent by target device according to preset first frequency received,
Calibrate the time determined after the clock of any roadside unit；
The method also includes:
According to the temporal information sent by the target device according to preset second frequency received, the vehicle is calibrated
Clock.
3. the method according to claim 1, wherein described according to m reception for obtaining the m target information
The m times in time and the m target information determine that the vehicle at a distance from the m roadside unit, wraps
It includes:
According to the identification number in first object information, the time in the first object information and acquisition first are determined
The first time of the receiving time of target information is poor, the institute that the first object information sends for any roadside unit
State target information；
According to the first time is poor and the light velocity, determine the vehicle and send the roadside unit of the first object information away from
From.
4. the method according to claim 1, wherein described according to the vehicle and the m roadside unit
The m location informations, determine the target position of the vehicle in distance and the m target information, comprising:
When m is equal to 3, according to the vehicle at a distance from the m roadside unit and in the m target information described in m
Location information determines the target position of the vehicle using the first calculation formula；
First calculation formula includes:
When m be greater than 3 when, according to the vehicle at a distance from the m roadside unit, in the m target information m institute's rheme
Confidence breath and time error, the target position of the vehicle are determined using the second calculation formula, the time error is institute
State the error of the clock of vehicle and the clock of any roadside unit；
Second calculation formula includes:
Wherein, d1、d2、d3…dmIndicate the vehicle respectively at a distance from the m roadside unit, (x1, y1, z1) indicate the m
The location information in a target information in first aim information, (x2, y2, z2) indicate second in the m target information
The location information in a target information, (x3, y3, z3) indicate institute in the m target information in third target information
Location information is stated, (xm, ym, zm) indicate the location information in the m target information in m-th of target information, c expression
The light velocity, Δ t indicate the time error.
5. method according to any of claims 1-4, which is characterized in that the method also includes:
The position location of the vehicle is obtained, the position location is the position that the vehicle is determined by navigation equipment, described
Navigation equipment includes: at least one of satellite navigation, inertial navigation set or radar navigation set；
According to the position location and the target position, the physical location of the vehicle is determined.
6. a kind of positioning device based on car networking, is applied to vehicle, described device includes:
First obtains module, for obtaining m target information of m roadside unit transmission, what any roadside unit was sent
The target information includes: that the identification number of any roadside unit, any roadside unit send the target information
The location information of time and any roadside unit, wherein m is the positive integer more than or equal to 3；
Determining module, for according to m in the m receiving time and the m target information for obtaining the m target information
The time determines the vehicle at a distance from the m roadside unit；
Locating module, for m according to the vehicle at a distance from the m roadside unit and in the m target information
The location information determines the target position of the vehicle.
7. device according to claim 6, which is characterized in that any roadside unit send the target information when
Between, it is any roadside unit according to the temporal information sent by target device according to preset first frequency received,
Calibrate the time determined after the clock of any roadside unit；
Described device further include:
Calibration module, for according to the temporal information sent by the target device according to preset second frequency that receives,
Calibrate the clock of the vehicle.
8. device according to claim 6, which is characterized in that the determining module includes:
First determines submodule, for determining in the first object information according to the identification number in first object information
The time and obtain first object information the receiving time first time it is poor, the first object information is described
The target information that any roadside unit is sent；
Second determines submodule, for according to the first time is poor and the light velocity, determining the vehicle and sending first mesh
Mark the distance of the roadside unit of information.
9. device according to claim 6, which is characterized in that the locating module includes:
First computational submodule, for when m is equal to 3, according to the vehicle at a distance from the m roadside unit and the m
The m location informations, the target position of the vehicle is determined using the first calculation formula in a target information；
First calculation formula includes:
Second computational submodule is used for when m is greater than 3, according to the vehicle at a distance from the m roadside unit, the m
The m location informations and time error, the target position of the vehicle is determined using the second calculation formula in target information
It sets, the time error is the error of the clock of the vehicle and the clock of any roadside unit；
Second calculation formula includes:
Wherein, d1、d2、d3…dmIndicate the vehicle respectively at a distance from the m roadside unit, (x1, y1, z1) indicate the m
The location information in a target information in first aim information, (x2, y2, z2) indicate second in the m target information
The location information in a target information, (x3, y3, z3) indicate institute in the m target information in third target information
Location information is stated, (xm, ym, zm) indicate the location information in the m target information in m-th of target information, c expression
The light velocity, Δ t indicate the time error.
10. the device according to any one of claim 6-9, which is characterized in that described device further include:
Second obtains module, and for obtaining the position location of the vehicle, the position location is that the vehicle is set by navigation
The standby position determined, the navigation equipment include: in satellite navigation, inertial navigation set or radar navigation set at least
It is a kind of；
The locating module is also used to determine the physical location of the vehicle according to the position location and the target position.
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| US20220060852A1 (en) * | 2020-08-21 | 2022-02-24 | Hyundai Motor Company | Device and method for positioning personal mobility vehicle |
| CN112284404A (en) * | 2020-09-16 | 2021-01-29 | 东风汽车集团有限公司 | Vehicle positioning method, device, equipment and readable storage medium |
| CN112738713A (en) * | 2020-12-28 | 2021-04-30 | 上海汽车工业(集团)总公司 | MSD data packet position acquisition method, eCALL calling method, storage medium and system |
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