CN110930714B

CN110930714B - Position matching method and device

Info

Publication number: CN110930714B
Application number: CN202010084123.3A
Authority: CN
Inventors: 武宏伟; 信思旭; 李智; 马春香
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2020-02-10
Filing date: 2020-02-10
Publication date: 2020-11-13
Anticipated expiration: 2040-02-10
Also published as: CN110930714A

Abstract

The invention provides a position matching method and a position matching device, wherein the method comprises the following steps: determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a running speed of a target vehicle, wherein the first vehicle and the second vehicle are respectively positioned in front of and behind the target vehicle; determining a vehicle-mounted label position range corresponding to the label position of a target vehicle-mounted label in the target vehicle according to the target position, the first position and the second position; the method comprises the steps of obtaining the position of a vehicle-mounted label to be matched, and determining that the target position of a target vehicle and the position of the vehicle-mounted label to be matched meet fault-tolerant position matching under the condition that the position of the vehicle-mounted label to be matched is within the position range of the vehicle-mounted label. The invention solves the problem of low accuracy of position matching in the related technology and realizes the improvement of the accuracy of position matching.

Description

Position matching method and device

Technical Field

The invention relates to the field of intelligent transportation, in particular to a position matching method and device.

Background

In the field of intelligent transportation, a portal system with a position matching function, which is commonly used on a highway, generally comprises a license plate recognition device, a vehicle positioning device, a vehicle speed measuring device, an antenna positioning device, an antenna transaction device and the like, wherein the vehicle positioning device can be a vehicle detector such as laser and radar, and the antenna positioning device can be a road side unit with a function of performing information interaction and acquiring a label position through a special short-range communication technology.

The position matching method generally adopted on the highway is to obtain a vehicle positioning result of a vehicle positioning device and an antenna positioning result of an antenna positioning device, and directly compare the vehicle positioning result with the antenna positioning result within a certain time period to judge whether the vehicle positioning result meets a set fixed distance range, if the vehicle positioning result meets the set fixed distance range, the matching is successful, otherwise, the matching is failed. However, the antenna positioning device usually used in the expressway is generally a road side unit having a function of performing information interaction and acquiring a tag position through a dedicated short-range communication technology, and is limited by conditions such as equipment performance indexes, field environmental factors, vehicle driving states and the like, so that the accuracy of antenna positioning is reduced to different degrees; and because the preset fixed distance range is used as the only static error threshold, the static error threshold is directly limited by the performance index of the equipment, the stability is low, the universality is poor, and particularly under the condition that the field environmental factors (such as shielding, reflection and interference) and the vehicle running state (such as the running speed, direction and area of the vehicle) have great influence, the position matching rate and the accuracy rate can be sharply reduced, and the normal operation of the portal system is influenced.

In the related technology, more vehicle positioning devices can be arranged on different sections or different areas, so that the matching chance of the vehicle positioning result and the label positioning result is increased, and the purpose of improving the position matching rate and the accuracy rate is achieved. Although the matching opportunity of the vehicle positioning result and the antenna positioning result can be increased by installing more vehicle positioning devices on different sections or different areas, and the position matching rate and the accuracy are improved to a certain extent, the equipment operation and maintenance cost is overhigh, and the improvement of the matching rate and the accuracy is very limited.

Aiming at the problem of low accuracy of position matching in the related technology, no technical scheme is provided.

Disclosure of Invention

The embodiment of the invention provides a position matching method and a position matching device, which are used for at least solving the problem of low accuracy of position matching in the related technology.

According to an embodiment of the present invention, there is provided a position matching method including:

determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a running speed of a target vehicle, wherein the first vehicle and the second vehicle are respectively positioned in front of and behind the target vehicle;

determining a vehicle-mounted label position range corresponding to the label position of a target vehicle-mounted label in the target vehicle according to the target position, the first position and the second position;

the method comprises the steps of obtaining the position of a vehicle-mounted label to be matched, and determining that the target position of a target vehicle and the position of the vehicle-mounted label to be matched meet fault-tolerant position matching under the condition that the position of the vehicle-mounted label to be matched is within the position range of the vehicle-mounted label.

Optionally, before determining the first position of the first vehicle and the second position of the second vehicle according to the target position and the traveling speed of the target vehicle, the method further comprises: obtaining a target position of the target vehicle, wherein the obtaining the target position of the target vehicle comprises one of: calculating the target position of the target vehicle in case of receiving an antenna positioning result; or, under the condition that the vehicle positioning result is received, determining the target position according to the received vehicle positioning result.

Optionally, the target position is a position where a vehicle head of the target vehicle is located, the first position is a position where the vehicle head of the first vehicle is located, and the second position is a position where the vehicle head of the second vehicle is located; the determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a travel speed of a target vehicle includes: determining a vehicle distance matching the travel speed, wherein the vehicle distance is indicative of a vehicle distance between the target vehicle and the first vehicle and a vehicle distance between the target vehicle and the second vehicle; and determining the first position and the second position according to the body length of the target vehicle, the target position and the inter-vehicle distance.

Optionally, the determining a vehicle-mounted tag position range corresponding to a tag position of a target vehicle-mounted tag in the target vehicle according to the target position, the first position and the second position includes determining a target positioning error corresponding to the tag position of the target vehicle-mounted tag according to the target position, wherein the tag position of the target vehicle-mounted tag is determined according to the target position; determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position, wherein the tag position of the vehicle-mounted tag in the first vehicle is determined according to the first position; determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position, wherein the tag position of the vehicle-mounted tag in the second vehicle is determined according to the second position; and determining the position range of the vehicle-mounted tag according to the target position, the first position, the second position, the target positioning error, the first positioning error and the second positioning error.

Optionally, the determining the vehicle tag position range according to the target position, the first position, the second position, the target positioning error, the first positioning error and the second positioning error includes: determining a forward positioning maximum value of the target vehicle-mounted label and a backward positioning maximum value of the target vehicle-mounted label according to the label position of the target vehicle-mounted label and the target positioning error; determining a maximum backward positioning value of the vehicle-mounted tag in the first vehicle according to the tag position of the vehicle-mounted tag in the first vehicle and the first positioning error; determining a maximum value of forward positioning of a vehicle-mounted tag in the second vehicle according to the tag position of the vehicle-mounted tag in the second vehicle and the second positioning error; determining a first value according to the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle, wherein the first value is a larger value between the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle; determining a second value according to the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle, wherein the second value is the smaller value between the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle; and determining the position range of the vehicle-mounted label according to the first value and the second value.

Optionally, before the determining, according to the target location, a target positioning error corresponding to the tag location of the target vehicle-mounted tag, the method further includes: and establishing a positioning error model, wherein the positioning error model is used for determining a positioning error corresponding to the label position of the vehicle-mounted label of the vehicle according to the label position of the vehicle-mounted label of the vehicle, and different label positions correspond to different positioning errors.

Optionally, the determining, according to the target location, a target positioning error corresponding to the tag location of the target vehicle-mounted tag includes: inputting the label position of the target vehicle-mounted label into the positioning error model, and taking the output result of the positioning error model as the target positioning error; the determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position includes: inputting the label position of the vehicle-mounted label in the first vehicle into the positioning error model, and taking the output result of the positioning error model as the first positioning error; the determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position includes: and inputting the label position of the vehicle-mounted label in the second vehicle into the positioning error model, and taking the output result of the positioning error model as the second positioning error.

According to an embodiment of the present invention, there is provided a position matching apparatus including:

the device comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a running speed of a target vehicle, and the first vehicle and the second vehicle are respectively positioned in front of and behind the target vehicle;

the second determining module is used for determining a vehicle-mounted label position range corresponding to the label position of a target vehicle-mounted label in the target vehicle according to the target position, the first position and the second position;

and the third determining module is used for acquiring the position of the vehicle-mounted label to be matched, and determining that the target position of the target vehicle and the position of the vehicle-mounted label to be matched meet fault-tolerant position matching under the condition that the position of the vehicle-mounted label to be matched is within the position range of the vehicle-mounted label.

Optionally, the apparatus further comprises: an obtaining module, configured to obtain a target position of the target vehicle, where the obtaining of the target position of the target vehicle includes one of: calculating the target position of the target vehicle in case of receiving an antenna positioning result; or, under the condition that the vehicle positioning result is received, determining the target position according to the received vehicle positioning result.

Optionally, the target position is a position where a vehicle head of the target vehicle is located, the first position is a position where the vehicle head of the first vehicle is located, and the second position is a position where the vehicle head of the second vehicle is located; the first determining module is further configured to: determining a vehicle distance matching the travel speed, wherein the vehicle distance is indicative of a vehicle distance between the target vehicle and the first vehicle and a vehicle distance between the target vehicle and the second vehicle; and determining the first position and the second position according to the body length of the target vehicle, the target position and the inter-vehicle distance.

Optionally, the second determining module is further configured to: determining a target positioning error corresponding to the tag position of the target vehicle-mounted tag according to the target position, wherein the tag position of the target vehicle-mounted tag is determined according to the target position; determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position, wherein the tag position of the vehicle-mounted tag in the first vehicle is determined according to the first position; determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position, wherein the tag position of the vehicle-mounted tag in the second vehicle is determined according to the second position; and determining the position range of the vehicle-mounted tag according to the target position, the first position, the second position, the target positioning error, the first positioning error and the second positioning error.

Optionally, the second determining module is further configured to: determining a forward positioning maximum value of the target vehicle-mounted label and a backward positioning maximum value of the target vehicle-mounted label according to the label position of the target vehicle-mounted label and the target positioning error; determining a maximum backward positioning value of the vehicle-mounted tag in the first vehicle according to the tag position of the vehicle-mounted tag in the first vehicle and the first positioning error; determining a maximum value of forward positioning of a vehicle-mounted tag in the second vehicle according to the tag position of the vehicle-mounted tag in the second vehicle and the second positioning error; determining a first value according to the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle, wherein the first value is a larger value between the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle; determining a second value according to the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle, wherein the second value is the smaller value between the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle; and determining the position range of the vehicle-mounted label according to the first value and the second value.

Optionally, the apparatus further comprises: the system comprises an establishing module and a positioning error model, wherein the establishing module is used for establishing a positioning error model, the positioning error model is used for determining a positioning error corresponding to the label position of a vehicle-mounted label of a vehicle according to the label position of the vehicle-mounted label of the vehicle, and different label positions correspond to different positioning errors.

Optionally, the second determining module is further configured to: inputting the label position of the target vehicle-mounted label into the positioning error model, and taking the output result of the positioning error model as the target positioning error; inputting the label position of the vehicle-mounted label in the first vehicle into the positioning error model, and taking the output result of the positioning error model as the first positioning error; and inputting the label position of the vehicle-mounted label in the second vehicle into the positioning error model, and taking the output result of the positioning error model as the second positioning error.

According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.

According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.

According to the invention, a first position of a first vehicle and a second position of a second vehicle are determined according to a target position and a running speed of a target vehicle, wherein the first vehicle and the second vehicle are respectively positioned in front of and behind the target vehicle; determining a vehicle-mounted label position range corresponding to the label position of a target vehicle-mounted label in the target vehicle according to the target position, the first position and the second position; the method comprises the steps of obtaining the position of a vehicle-mounted label to be matched, and determining that the target position of a target vehicle and the position of the vehicle-mounted label to be matched meet fault-tolerant position matching under the condition that the position of the vehicle-mounted label to be matched is within the position range of the vehicle-mounted label. Therefore, the problem of low accuracy of position matching in the related art can be solved, and the accuracy of position matching is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a location matching method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a range of positions for a vehicle tag according to an embodiment of the present invention;

fig. 3 is a block diagram of a location matching apparatus according to an embodiment of the present invention.

Detailed Description

The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

Example 1

The embodiment of the invention provides a position matching method. Fig. 1 is a flowchart of a location matching method according to an embodiment of the present invention, as shown in fig. 1, including:

step S102, determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a running speed of a target vehicle, wherein the first vehicle and the second vehicle are respectively positioned in front of and behind the target vehicle;

step S104, determining a vehicle-mounted label position range corresponding to the label position of a target vehicle-mounted label in the target vehicle according to the target position, the first position and the second position;

step S106, obtaining the position of the vehicle-mounted label to be matched, and determining that the target position of the target vehicle and the position of the vehicle-mounted label to be matched meet fault-tolerant position matching under the condition that the position of the vehicle-mounted label to be matched is within the position range of the vehicle-mounted label.

According to the invention, a first position of a first vehicle and a second position of a second vehicle are determined according to a target position and a running speed of a target vehicle, wherein the first vehicle and the second vehicle are respectively positioned in front of and behind the target vehicle; determining a vehicle-mounted label position range corresponding to the label position of a target vehicle-mounted label in the target vehicle according to the target position, the first position and the second position; the method comprises the steps of obtaining the position of a vehicle-mounted label to be matched, and determining that the target position of a target vehicle and the position of the vehicle-mounted label to be matched meet fault-tolerant position matching under the condition that the position of the vehicle-mounted label to be matched is within the position range of the vehicle-mounted label. Therefore, the problem of low accuracy of position matching in the related art can be solved, and the accuracy of position matching is improved. In addition, the embodiment can solve the problem of low matching rate of position matching in the related technology, and improves the matching rate of position matching.

Based on the above embodiment, before determining the first position of the first vehicle and the second position of the second vehicle according to the target position and the traveling speed of the target vehicle, the above embodiment may further perform the following technical solutions: obtaining a target position of the target vehicle, wherein the obtaining the target position of the target vehicle comprises one of: calculating the target position of the target vehicle in case of receiving an antenna positioning result; or, under the condition that the vehicle positioning result is received, determining the target position according to the received vehicle positioning result.

Wherein the target position represents a longitudinal position of the target vehicle; the vehicle positioning result is two-dimensional data including a longitudinal position and a lateral position of the vehicle, and the longitudinal position in the vehicle positioning result is taken as the target position.

It should be noted that the acquiring of the position of the vehicle-mounted tag to be matched includes: and taking the longitudinal position in the received antenna positioning result as the position of the vehicle-mounted tag to be matched, or obtaining a target antenna positioning result from an antenna positioning result queue, and taking the longitudinal position in the target antenna positioning result as the position of the vehicle-mounted tag to be matched. The antenna positioning result queue is used for storing antenna positioning results output by the antenna positioning device, and the antenna positioning results are two-dimensional data including longitudinal positions and transverse positions.

In the embodiment of the present invention, among others, the longitudinal position reflects a position generated in the direction along the lane while the vehicle is traveling; the lateral position reflects the position that occurs between the lanes when the vehicle is traveling.

In the above embodiment, the target position of the target vehicle is calculated when the antenna positioning result is received (i.e., when the antenna positioning result comes). As an alternative embodiment, the target vehicle is a vehicle of the vehicle typeThe target position is calculated according to the following formula: target position

Wherein, in the formula,

indicating the longitudinal position in the last motion position of the target vehicle acquired by the vehicle-positioning means,

indicating the corresponding trigger time when the vehicle positioning device acquires the latest target vehicle movement position,

indicating the corresponding trigger time when the antenna positioning device obtains the antenna positioning result,

and the target vehicle running speed obtained by the vehicle speed measuring device is shown.

In an optional embodiment of the present invention, the target position is a position where a vehicle head of the target vehicle is located, the first position is a position where the vehicle head of the first vehicle is located, and the second position is a position where the vehicle head of the second vehicle is located; the determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a travel speed of a target vehicle includes: determining a vehicle distance matching the travel speed, wherein the vehicle distance is indicative of a vehicle distance between the target vehicle and the first vehicle and a vehicle distance between the target vehicle and the second vehicle; and determining the first position and the second position according to the body length of the target vehicle, the target position and the inter-vehicle distance.

Optionally, the determining the inter-vehicle distance matched with the driving speed includes: according to a relation model of the running speed and the inter-vehicle distance, the running speed is input into the relation model, and the output result of the relation model is used as the distanceAnd D, the vehicle distance is obtained. As an alternative embodiment, the first position

The second position

Respectively calculated according to the following formula:

，

and the length of the body of the target vehicle, the length of the body of the first vehicle and the length of the body of the second vehicle are all L.

In an optional embodiment of the present invention, the determining, according to the target location, the first location, and the second location, a vehicle tag location range corresponding to a tag location of a target vehicle tag in the target vehicle includes: determining a target positioning error corresponding to the tag position of the target vehicle-mounted tag according to the target position, wherein the tag position of the target vehicle-mounted tag is determined according to the target position; determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position, wherein the tag position of the vehicle-mounted tag in the first vehicle is determined according to the first position; determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position, wherein the tag position of the vehicle-mounted tag in the second vehicle is determined according to the second position; and determining the position range of the vehicle-mounted tag according to the target position, the first position, the second position, the target positioning error, the first positioning error and the second positioning error.

As an optional implementation manner, before determining, according to the target location, a target positioning error corresponding to the tag location of the target vehicle-mounted tag, the foregoing embodiment is further configured to execute the following technical solution: and establishing a positioning error model, wherein the positioning error model is used for determining a positioning error corresponding to the label position of the vehicle-mounted label of the vehicle according to the label position of the vehicle-mounted label of the vehicle, and different label positions correspond to different positioning errors.

It should be noted that, in the above embodiment, the positioning error model is used to describe the correspondence between the tag positions and the positioning errors, that is, different tag positions correspond to different positioning errors.

Based on the above embodiment, the target positioning error, the first positioning error, and the second positioning error can be obtained as follows ，

，

，

，

Indicating the spacing of the vehicle tag from the head of the vehicle, i.e.

、

、

Respectively representing the tag position of the target vehicle-mounted tag, the tag position of the vehicle-mounted tag in the first vehicle and the tag position of the vehicle-mounted tag in the second vehicle.

As an alternative implementation, the position range of the vehicle-mounted tag is obtained according to the following formula

Wherein, in the step (A),

，

，

，

，

、

respectively represent the maximum value of forward positioning of the target vehicle-mounted tag, the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle and the maximum value of forward positioning of the vehicle-mounted tag in the second vehicle. FIG. 2 is a schematic diagram of a location range of a vehicle tag according to an embodiment of the invention, shown in FIG. 2

、

、

、

And determining the position range of the vehicle-mounted label.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above embodiment is further described below by taking a preferred embodiment as an example:

it should be noted that, in the embodiment of the present invention, the vehicle positioning result queue is used for storing the vehicle positioning result output by the vehicle positioning device, the antenna positioning result queue is used for storing the antenna positioning result output by the antenna positioning device, and the vehicle positioning device and the antenna positioning device continuously output the positioning result. When the antenna positioning result obtained by the antenna positioning device is received at a first moment (namely when the antenna positioning result comes), the vehicle positioning result obtained by the vehicle positioning device before the first moment is stored in the vehicle positioning result queue at the moment; and when the vehicle positioning result acquired by the vehicle positioning device is received at the second time (namely when a vehicle positioning result arrives), the antenna positioning result acquired by the antenna positioning device before the second time is stored in the antenna positioning result queue at the time.

In the embodiment of the invention, the vehicle positioning and speed measuring device is adopted for position matching, and the technical scheme of the embodiment of the invention is as follows:

step 1, when the antenna positioning result comes (namely, the antenna positioning result is received)The antenna positioning device obtains an antenna positioning result, wherein the antenna positioning result comprises a longitudinal position and a transverse position), and the longitudinal position in the antenna positioning result is used as a vehicle-mounted label position to be matched; traversing a vehicle positioning result queue (the vehicle positioning result comprises the longitudinal position and the transverse position of the vehicle), and acquiring the longitudinal position in the latest motion position of the target vehicle from the vehicle positioning result queue

(namely, the longitudinal position in the latest vehicle positioning result of the target vehicle is obtained from the vehicle positioning result queue), and the motion position of the head of the target vehicle is calculated

(i.e., the target position in the above embodiment);

wherein the content of the first and second substances,

indicating vehicle positioning device acquisition

The time is the corresponding trigger time,

the driving speed of the target vehicle obtained by the vehicle speed measuring device is shown.

Step 2, calculating the distance between the target vehicle and the front vehicle and the rear vehicle which possibly appear according to the relation model of the running speed and the following distance

；

Wherein the content of the first and second substances,

and the n positive integer represents a relevant parameter in a relation model of the driving speed and the following distance. Alternatively to this, the first and second parts may,

is predetermined.

Step 3, calculating the possible head movement position of the front vehicle

Front movement position of rear vehicle

；

In the formula, the length of the body of the target vehicle and the length of the body of the preceding vehicle are used

And (4) showing.

Step 4, according to the positioning error model of the antenna positioning system, determining the positioning errors corresponding to different label positions, namely determining the target vehiclePositioning error of target vehicle-mounted tag

And positioning error of the tag mounted on the front vehicle

Positioning error of vehicle-mounted label of rear vehicle

；

，

，

Indicating the distance between the vehicle-mounted tag and the head of the vehicle,

representing relevant parameters in a positioning error model of the antenna positioning system, n is a positive integer,

a tag location of a target in-vehicle tag representing a target vehicle,

a tag position of a car-mounted tag indicating a preceding car,

indicating the tag location of the in-vehicle tag of the following vehicle. Alternatively to this, the first and second parts may,

is predetermined.

Step 5, calculating the maximum forward positioning position of the target vehicle-mounted label of the target vehicle

Maximum position of target vehicle tag backward position of target vehicle

And maximum position of backward positioning of the in-vehicle tag of the preceding vehicle

Maximum position of front-located vehicle-mounted label of rear vehicle

；

Step 6, determining a dynamic error threshold value matched with the fault-tolerant position of the target vehicle

(i.e., the in-vehicle tag location range in the above embodiment);

and 7, judging whether the longitudinal position (namely the position of the vehicle-mounted tag to be matched) in the antenna positioning result meets a dynamic error threshold, namely judging whether the longitudinal position in the antenna positioning result is within the dynamic error threshold. Wherein the longitudinal position in the antenna positioning result reflects a position generated in the along-lane direction while the target vehicle is traveling.

Optionally, the transverse position in the antenna positioning result is further compared with the transverse position in the latest motion position of the target vehicle obtained from the vehicle positioning result queue, and the trigger time corresponding to the antenna positioning result is compared (that is, the trigger time is the trigger time corresponding to the antenna positioning result is compared

) The triggering time corresponding to the last movement position of the target vehicle (i.e. the time of the trigger

) And then determining whether the antenna positioning result meets the fault-tolerant position matching. Namely, determining whether the antenna positioning result meets the fault-tolerant position matching further comprises: is judged at

The transverse position and in the antenna positioning result obtained at any moment

Whether the difference value of the transverse position of the target vehicle acquired by the vehicle positioning device at the moment is within a preset distance range or not is judged, and

and

is within a preset threshold. Wherein, in

Time of flightThe transverse position in the obtained antenna positioning result and

and when the difference value of the transverse position of the target vehicle acquired by the vehicle positioning device at the moment is within a preset distance range, determining that the transverse position in the antenna positioning result meets the fault-tolerant position matching. Wherein the lateral position reflects the position that is produced between the lanes when the vehicle is travelling.

In the above embodiment, the longitudinal position in the antenna positioning result is within the dynamic error threshold and the lateral position in the antenna positioning result satisfies the fault-tolerant position matching, an

And

when the difference value is within a preset threshold value, the antenna positioning result is determined to meet the fault-tolerant position matching.

In another embodiment of the present invention, when the vehicle positioning result output by the vehicle positioning device is obtained, the step 1 (i.e., the target position is not required to be obtained through calculation) is not required to be performed, but the longitudinal position in the vehicle positioning result is taken as the target position of the target vehicle, and the subsequent steps 2 to 6 are performed sequentially. Namely, in another embodiment of the present invention, the technical solution is as follows:

step 1, when a vehicle positioning result comes (namely a vehicle positioning result obtained by a vehicle positioning device is received, wherein the vehicle positioning result comprises a longitudinal position and a transverse position), taking the longitudinal position in the vehicle positioning result as a target position Y; according to the relation model of the running speed and the following distance, the distance between the target vehicle and the front vehicle and the rear vehicle which possibly appear is calculated ；

In the formula (I), the compound is shown in the specification,

represents the running speed of the target vehicle obtained by the vehicle speed measuring device,

and representing relevant parameters in the relation model of the driving speed and the following distance.

Step 2, calculating the possible head movement position of the front vehicle

Front movement position of rear vehicle

；

Wherein the content of the first and second substances,

the length of the vehicle body and the length of the front vehicle body

And (4) showing.

Step 3, according to the positioning error model of the antenna positioning system, determining the positioning errors corresponding to different label positions, namely determining the positioning error of the target vehicle-mounted label of the target vehicle

And positioning error of the tag mounted on the front vehicle

Positioning error of vehicle-mounted label of rear vehicle

；

Wherein the content of the first and second substances,

a tag position of a vehicle-mounted tag indicating a target vehicle,

a tag position of a car-mounted tag indicating a preceding car,

indicating the tag location of the in-vehicle tag of the following vehicle.

Step 4, calculating the maximum forward positioning position of the target vehicle-mounted label of the target vehicle

Target on-board tag of target vehicleMaximum position of rear positioning

Maximum position of front-located vehicle-mounted label of rear vehicle

；

Step 5, determining a dynamic error threshold value matched with the fault-tolerant position of the target vehicle

；

And 6, obtaining a target antenna positioning result from the antenna positioning result queue, and judging whether a longitudinal position (namely, the position of the vehicle-mounted tag to be matched in the embodiment) in the target antenna positioning result meets a dynamic error threshold, namely judging whether the longitudinal position in the target antenna positioning result is within the dynamic error threshold, wherein the target antenna positioning result comprises the longitudinal position and a transverse position.

Optionally, the transverse position in the target antenna positioning result and the transverse position in the vehicle positioning result are further compared, and the trigger time corresponding to the target antenna positioning result and the trigger time corresponding to the vehicle positioning result are compared, so as to determine whether the target antenna positioning result meets the fault-tolerant position matching. Namely, determining whether the positioning result of the target antenna meets the fault-tolerant position matching further comprises: and judging whether the difference value between the trigger time corresponding to the antenna positioning device when acquiring the target antenna positioning result and the trigger time corresponding to the vehicle positioning device when acquiring the vehicle positioning result is within a preset threshold value, and judging whether the difference value between the transverse position in the target antenna positioning result and the transverse position in the vehicle positioning result is within a preset distance range. And if the difference value between the transverse position in the target antenna positioning result and the transverse position in the vehicle positioning result is within the preset distance range, determining that the transverse position in the target antenna positioning result meets the fault-tolerant position matching.

In the above embodiment, when the longitudinal position in the target antenna positioning result is within the dynamic error threshold, and the lateral position in the target antenna positioning result meets the fault-tolerant position matching, and the difference between the trigger time corresponding to the antenna positioning device obtaining the target antenna positioning result and the trigger time corresponding to the vehicle positioning device obtaining the vehicle positioning result is within the preset threshold, it is determined that the target antenna positioning result meets the fault-tolerant position matching.

It should be noted that the vehicle-mounted tag in the above embodiment of the present invention includes, but is not limited to: single-piece single-sub labels, two-piece electronic labels, V2X car labels, and composite pass cards.

In the embodiment of the invention, the position matching is performed by combining the running speed of the vehicle and the positioning precision of the antenna, and the dynamic error threshold is adopted for judging the longitudinal position to judge whether the longitudinal position meets the position matching condition. And further, the triggering time and the transverse position can be judged by adopting a static error threshold value, so that the fault-tolerant position matching judgment is realized from three dimensions of the triggering time, the transverse position and the longitudinal position.

The embodiment of the invention can be applied to an expressway system, fully utilizes the expressway application scene where the position matching action is located and the differentiation characteristic of the antenna positioning precision at different point positions, greatly improves the position matching rate and the accuracy rate on the premise of lower equipment operation and maintenance cost, and solves the problems of low system stability and poor universality caused by equipment performance indexes, field environment factors and vehicle running states.

Example 2

According to another embodiment of the present invention, a position matching device is provided, which is used for implementing the above embodiments and preferred embodiments, and which has been already described and will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 3 is a block diagram of a location matching apparatus according to an embodiment of the present invention, the apparatus including:

a first determining module 32, configured to determine a first position of a first vehicle and a second position of a second vehicle according to a target position and a traveling speed of a target vehicle, where the first vehicle and the second vehicle are located in front of and behind the target vehicle, respectively;

a second determining module 34, configured to determine, according to the target location, the first location, and the second location, a vehicle tag location range corresponding to a tag location of a target vehicle tag in the target vehicle;

a third determining module 36, configured to obtain a vehicle-mounted tag position to be matched, and determine that a target position of the target vehicle and the vehicle-mounted tag position to be matched meet fault-tolerant position matching when the vehicle-mounted tag position to be matched is within the vehicle-mounted tag position range.

In an optional embodiment of the invention, the apparatus further comprises: an obtaining module, configured to obtain a target position of the target vehicle, where the obtaining of the target position of the target vehicle includes one of: calculating the target position of the target vehicle in case of receiving an antenna positioning result; or, under the condition that the vehicle positioning result is received, determining the target position according to the received vehicle positioning result.

In an optional embodiment of the present invention, the target position is a position where a vehicle head of the target vehicle is located, the first position is a position where the vehicle head of the first vehicle is located, and the second position is a position where the vehicle head of the second vehicle is located; the first determining module 32 is further configured to: determining a vehicle distance matching the travel speed, wherein the vehicle distance is indicative of a vehicle distance between the target vehicle and the first vehicle and a vehicle distance between the target vehicle and the second vehicle; and determining the first position and the second position according to the body length of the target vehicle, the target position and the inter-vehicle distance.

In an optional embodiment of the present invention, the second determining module 34 is further configured to: determining a target positioning error corresponding to the tag position of the target vehicle-mounted tag according to the target position, wherein the tag position of the target vehicle-mounted tag is determined according to the target position; determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position, wherein the tag position of the vehicle-mounted tag in the first vehicle is determined according to the first position; determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position, wherein the tag position of the vehicle-mounted tag in the second vehicle is determined according to the second position; and determining the position range of the vehicle-mounted tag according to the target position, the first position, the second position, the target positioning error, the first positioning error and the second positioning error.

In an optional embodiment of the present invention, the second determining module 34 is further configured to: determining a forward positioning maximum value of the target vehicle-mounted label and a backward positioning maximum value of the target vehicle-mounted label according to the label position of the target vehicle-mounted label and the target positioning error; determining a maximum backward positioning value of the vehicle-mounted tag in the first vehicle according to the tag position of the vehicle-mounted tag in the first vehicle and the first positioning error; determining a maximum value of forward positioning of a vehicle-mounted tag in the second vehicle according to the tag position of the vehicle-mounted tag in the second vehicle and the second positioning error; determining a first value according to the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle, wherein the first value is a larger value between the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle; determining a second value according to the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle, wherein the second value is the smaller value between the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle; and determining the position range of the vehicle-mounted label according to the first value and the second value.

In an optional embodiment of the invention, the apparatus further comprises: the system comprises an establishing module and a positioning error model, wherein the establishing module is used for establishing a positioning error model, the positioning error model is used for determining a positioning error corresponding to the label position of a vehicle-mounted label of a vehicle according to the label position of the vehicle-mounted label of the vehicle, and different label positions correspond to different positioning errors.

In an optional embodiment of the present invention, the second determining module 34 is further configured to: inputting the label position of the target vehicle-mounted label into the positioning error model, and taking the output result of the positioning error model as the target positioning error; inputting the label position of the vehicle-mounted label in the first vehicle into the positioning error model, and taking the output result of the positioning error model as the first positioning error; and inputting the label position of the vehicle-mounted label in the second vehicle into the positioning error model, and taking the output result of the positioning error model as the second positioning error.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.

Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of position matching, comprising:

2. The method of claim 1, wherein prior to determining the first position of the first vehicle and the second position of the second vehicle based on the target position and the travel speed of the target vehicle, the method further comprises:

obtaining a target position of the target vehicle, wherein the obtaining the target position of the target vehicle comprises one of:

calculating the target position of the target vehicle in case of receiving an antenna positioning result; or the like, or, alternatively,

and under the condition that a vehicle positioning result is received, determining the target position according to the received vehicle positioning result.

3. The method of claim 1, wherein the target position is a position at which a head of the target vehicle is located, the first position is a position at which a head of the first vehicle is located, and the second position is a position at which a head of the second vehicle is located; the determining a first position of a first vehicle and a second position of a second vehicle according to a target position and a travel speed of a target vehicle includes:

determining a vehicle distance matching the travel speed, wherein the vehicle distance is indicative of a vehicle distance between the target vehicle and the first vehicle and a vehicle distance between the target vehicle and the second vehicle;

and determining the first position and the second position according to the body length of the target vehicle, the target position and the inter-vehicle distance.

4. The method of claim 3, wherein determining a tag location range corresponding to a tag location of a target in-vehicle tag in the target vehicle based on the target location, the first location, and the second location comprises:

determining a target positioning error corresponding to the tag position of the target vehicle-mounted tag according to the target position, wherein the tag position of the target vehicle-mounted tag is determined according to the target position;

determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position, wherein the tag position of the vehicle-mounted tag in the first vehicle is determined according to the first position;

determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position, wherein the tag position of the vehicle-mounted tag in the second vehicle is determined according to the second position;

and determining the position range of the vehicle-mounted tag according to the target position, the first position, the second position, the target positioning error, the first positioning error and the second positioning error.

5. The method of claim 4, wherein said determining the in-vehicle tag position range from the target position, the first position, the second position, the target positioning error, the first positioning error, and the second positioning error comprises:

determining a forward positioning maximum value of the target vehicle-mounted label and a backward positioning maximum value of the target vehicle-mounted label according to the label position of the target vehicle-mounted label and the target positioning error;

determining a maximum backward positioning value of the vehicle-mounted tag in the first vehicle according to the tag position of the vehicle-mounted tag in the first vehicle and the first positioning error;

determining a maximum value of forward positioning of a vehicle-mounted tag in the second vehicle according to the tag position of the vehicle-mounted tag in the second vehicle and the second positioning error;

determining a first value according to the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle, wherein the first value is a larger value between the maximum value of forward positioning of the target vehicle-mounted tag and the maximum value of backward positioning of the vehicle-mounted tag in the first vehicle;

determining a second value according to the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle, wherein the second value is the smaller value between the maximum backward positioning value of the target vehicle-mounted tag and the maximum forward positioning value of the vehicle-mounted tag in the second vehicle;

and determining the position range of the vehicle-mounted label according to the first value and the second value.

6. The method of claim 4, wherein prior to said determining a target positioning error corresponding to a tag location of said target vehicle tag from said target location, said method further comprises:

and establishing a positioning error model, wherein the positioning error model is used for determining a positioning error corresponding to the label position of the vehicle-mounted label of the vehicle according to the label position of the vehicle-mounted label of the vehicle, and different label positions correspond to different positioning errors.

7. The method of claim 6,

the determining a target positioning error corresponding to the tag position of the target vehicle-mounted tag according to the target position includes: inputting the label position of the target vehicle-mounted label into the positioning error model, and taking the output result of the positioning error model as the target positioning error;

the determining a first positioning error corresponding to a tag position of a vehicle-mounted tag in the first vehicle according to the first position includes: inputting the label position of the vehicle-mounted label in the first vehicle into the positioning error model, and taking the output result of the positioning error model as the first positioning error;

the determining a second positioning error corresponding to a tag position of a vehicle-mounted tag in the second vehicle according to the second position includes: and inputting the label position of the vehicle-mounted label in the second vehicle into the positioning error model, and taking the output result of the positioning error model as the second positioning error.

8. A position matching device, comprising:

9. The apparatus of claim 8, further comprising:

an obtaining module, configured to obtain a target position of the target vehicle, where the obtaining of the target position of the target vehicle includes one of:

10. The device of claim 8, wherein the target position is a position at which a head of the target vehicle is located, the first position is a position at which a head of the first vehicle is located, and the second position is a position at which a head of the second vehicle is located; the first determining module is further configured to:

11. The apparatus of claim 10, wherein the second determining module is further configured to:

12. The apparatus of claim 11, wherein the second determining module is further configured to:

13. The apparatus of claim 11, further comprising:

the system comprises an establishing module and a positioning error model, wherein the establishing module is used for establishing a positioning error model, the positioning error model is used for determining a positioning error corresponding to the label position of a vehicle-mounted label of a vehicle according to the label position of the vehicle-mounted label of the vehicle, and different label positions correspond to different positioning errors.

14. The apparatus of claim 13, wherein the second determining module is further configured to: inputting the label position of the target vehicle-mounted label into the positioning error model, and taking the output result of the positioning error model as the target positioning error; inputting the label position of the vehicle-mounted label in the first vehicle into the positioning error model, and taking the output result of the positioning error model as the first positioning error; and inputting the label position of the vehicle-mounted label in the second vehicle into the positioning error model, and taking the output result of the positioning error model as the second positioning error.