CN111595290A - Method and system for determining relative position of remote vehicle and vehicle - Google Patents
Method and system for determining relative position of remote vehicle and vehicle Download PDFInfo
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Abstract
The invention provides a method and a system for determining the relative position of a remote vehicle and a vehicle, comprising the following steps: converting GPS information of the on-board unit OBU and the remote vehicle RV into an initial rectangular coordinate system by taking the on-board unit OBU as an origin, a due north direction as a y axis and a due east direction as an x axis; calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system; the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation; determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system; the invention determines the relative position of the remote vehicle and the vehicle according to the longitude and latitude, the orientation of the vehicle and the longitude and latitude of the remote vehicle.
Description
Technical Field
The invention relates to the field of positioning systems, in particular to a method and a system for determining the relative position of a remote vehicle and a vehicle, and more particularly to a method for converting longitude and latitude into the relative position.
Background
There are many ways to convert longitude and latitude into relative position, some of which are converted into polar coordinates, and some of which calculate the relative position first and then judge the relative position according to the orientation.
Patent document CN104898699A (application No. 201510284823.6) discloses a flight control method, a flight control device, and an electronic apparatus, wherein the method includes: determining a relative positional relationship between the aircraft and the control user; determining a polar coordinate system with the control user as an origin according to the relative position relation; receiving a flight direction control instruction sent by the control user, wherein the flight direction control instruction is generated based on the polar coordinate system; and driving the aircraft to fly according to the flight direction control instruction according to the coordinate information of the aircraft in the polar coordinate system.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a method and a system for determining the relative position between a remote vehicle and a host vehicle.
The method for determining the relative position of the remote vehicle and the host vehicle comprises the following steps:
step M1: converting GPS information of the on-board unit (OBU) and the Remote Vehicle (RV) into an initial rectangular coordinate system by taking the on-board unit (OBU) as an origin, taking the north direction as the positive y-axis direction and taking the east direction as the positive x-axis direction;
step M2: calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system;
step M3: the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation;
step M4: determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system;
preferably, the initial coordinate system in step M1 includes: the abscissa of the remote vehicle RV represents a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitude direction; the ordinate of the remote vehicle RV represents a vector value of the remote vehicle RV in the longitudinal direction with respect to the on-board unit OBU;
preferably, the step M2 includes:
latitude plane radius in the initial rectangular coordinate system of on-board unit OBU:
r1＝r0*cos(la_obu*(π/180))； (1)
vector values of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitudinal direction are as follows:
lolen1＝(lo_rv-lo_obu)*(2*π*r1/360) (2)
vector values in the longitudinal direction of the remote vehicle RV with respect to the on-board unit OBU:
lalen1＝(la_rv-la_obu)*(2*π*r0/360) (3)
wherein lo _ RV denotes the longitude of the remote vehicle RV; la _ RV represents the latitude of the remote vehicle RV; lo _ OBU denotes the longitude of the on-board unit OBU; la _ OBU represents the latitude of the on board unit OBU; r is0Representing the radius of the earth.
Preferably, the step M3 includes:
the initial rectangular coordinate system rotates clockwise with an included angle from the due north direction to the direction of the head of the vehicle HV;
the vector values of the remote vehicle RV relative to the OBU in longitude and latitude after rotation comprise:
calculating the coordinate value of the remote vehicle RV in the new rectangular coordinate system comprises the following steps:
x-axis coordinates of the faraway RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading) (4)
Y-axis coordinates of the faraway RV: lolen2 ═ lolen1 cos (heading) + lalen1 sin (heading) (5)
Wherein, the heading represents a clockwise included angle from the north direction to the head direction.
Preferably, the step M4 includes: the coordinates of the remote vehicle RV are (lolen2, lalen2), the distance a1 from the vehicle-mounted unit OBU to the vehicle head, the distance a2 from the vehicle-mounted unit OBU to the vehicle tail, the distance a3 from the vehicle-mounted unit OBU to the vehicle left side and the distance a4 from the vehicle-mounted unit OBU to the vehicle right side;
according to the invention, the system for determining the relative position of the remote vehicle and the host vehicle comprises:
module M1: converting GPS information of the on-board unit (OBU) and the Remote Vehicle (RV) into an initial rectangular coordinate system by taking the on-board unit (OBU) as an origin, taking the north direction as the positive y-axis direction and taking the east direction as the positive x-axis direction;
module M2: calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system;
module M3: the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation;
module M4: determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system;
preferably, the initial coordinate system in the module M1 includes: the abscissa of the remote vehicle RV represents a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitude direction; the ordinate of the remote vehicle RV represents a vector value of the remote vehicle RV in the longitudinal direction with respect to the on-board unit OBU;
preferably, said module M2 comprises:
latitude plane radius in the initial rectangular coordinate system of on-board unit OBU:
r1＝r0*cos(la_obu*(π/180))； (1)
vector values of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitudinal direction are as follows:
lolen1＝(lo_rv-lo_obu)*(2*π*r1/360) (2)
vector values in the longitudinal direction of the remote vehicle RV with respect to the on-board unit OBU:
lalen1＝(la_rv-la_obu)*(2*π*r0/360) (3)
wherein lo _ RV denotes the longitude of the remote vehicle RV; la _ RV represents the latitude of the remote vehicle RV; lo _ OBU denotes the longitude of the on-board unit OBU; la _ OBU represents the latitude of the on board unit OBU; r is0Representing the radius of the earth.
Preferably, said module M3 comprises:
the initial rectangular coordinate system rotates clockwise with an included angle from the due north direction to the direction of the head of the vehicle HV;
the vector values of the remote vehicle RV relative to the OBU in longitude and latitude after rotation comprise:
calculating the coordinate value of the remote vehicle RV in the new rectangular coordinate system comprises the following steps:
x-axis coordinates of the faraway RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading) (4)
Y-axis coordinates of the faraway RV: lolen2 ═ lolen1 cos (heading) + lalen1 sin (heading) (5)
Wherein, the heading represents a clockwise included angle from the north direction to the head direction.
Preferably, said module M4 comprises: the coordinates of the remote vehicle RV are (lolen2, lalen2), the distance a1 from the vehicle-mounted unit OBU to the vehicle head, the distance a2 from the vehicle-mounted unit OBU to the vehicle tail, the distance a3 from the vehicle-mounted unit OBU to the vehicle left side and the distance a4 from the vehicle-mounted unit OBU to the vehicle right side;
compared with the prior art, the invention has the following beneficial effects:
1. the relative position of the remote vehicle and the vehicle is determined according to the longitude and latitude, the orientation and the longitude and latitude of the remote vehicle;
2. the earth is an approximate sphere, and the radius of a circle corresponding to the latitude changes along with the change of the latitude. And the relative positions of the OBU and the remote vehicle on the earth surface are three-dimensional and can not be converted into a two-dimensional rectangular coordinate system for calculation according to the reason. However, since the change of the circle radius of the latitude is linear, and the OBU only focuses on the message of the faraway car within 200m, the area where the OBU and the faraway car are located is extremely small relative to the earth, the change of the circle radius caused by the latitude can be ignored, and the change of the circle radius can also be considered to be in a two-dimensional plane.
3. The method is adopted to calculate the relative positions of the two, so that some consideration conditions can be reduced, some calculation is further reduced, and the relative positions of the two can be obtained quickly.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is an initial coordinate system established by the present invention;
FIG. 2 is a coordinate system of the present invention after the initial coordinate system is rotated by a predetermined angle.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The method for determining the relative position of the remote vehicle and the host vehicle comprises the following steps:
in the Vehicle-road cooperation, the HV (Host Vehicle) only needs to care about the road condition of a square circle of about 200 meters, while the earth is large, and the HV and the RV (Remote Vehicle) near the HV can be regarded as a two-dimensional plane in a small area on the earth surface.
Step M1: in an assumed two-dimensional plane, converting the GPS (global positioning System) of an on-board unit (OBU) on a vehicle (HV) and a Remote Vehicle (RV) into an initial rectangular coordinate System by taking the on-board unit (OBU) as an origin, taking the north direction as the positive y-axis direction and taking the east direction as the positive x-axis direction;
specifically, the initial coordinate system in step M1 includes: the abscissa of the remote vehicle RV represents a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitude direction; the ordinate of the remote vehicle RV represents a vector value of the remote vehicle RV in the longitudinal direction with respect to the on-board unit OBU;
step M2: calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system;
specifically, the step M2 includes:
latitude plane radius in the initial rectangular coordinate system of on-board unit OBU:
r1＝r0*cos(la_obu*(π/180))； (1)
the earth is a sphere, and the latitude plane of the OBU is a circle, and the radius of the latitude plane refers to the radius of the circle.
Vector values of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitudinal direction are as follows:
lolen1＝(lo_rv-lo_obu)*(2*π*r1/360) (2)
vector values in the longitudinal direction of the remote vehicle RV with respect to the on-board unit OBU:
lalen1＝(la_rv-la_obu)*(2*π*r0/360) (3)
wherein lo _ RV denotes the longitude of the remote vehicle RV; la _ RV represents the latitude of the remote vehicle RV; lo _ OBU denotes the longitude of the on-board unit OBU; la _ OBU represents the latitude of the on board unit OBU; r is0Representing the radius of the earth.
Step M3: the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation;
specifically, the step M3 includes:
the initial rectangular coordinate system rotates clockwise with an included angle from the due north direction to the direction of the head of the vehicle HV;
the vector values of the remote vehicle RV relative to the OBU in longitude and latitude after rotation comprise:
calculating the coordinate value of the remote vehicle RV in the new rectangular coordinate system comprises the following steps:
x-axis coordinates of the faraway RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading) (4)
Y-axis coordinates of the faraway RV: lolen2 ═ lolen1 cos (heading) + lalen1 sin (heading) (5)
Wherein, the heading represents a clockwise included angle from the north direction to the head direction.
Step M4: determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system; the method comprises the following steps: right front, left rear, right rear, left front and right rear;
specifically, the step M4 includes: the coordinates of the remote vehicle RV are (lolen2, lalen2), the distance a1 from the vehicle-mounted unit OBU to the vehicle head, the distance a2 from the vehicle-mounted unit OBU to the vehicle tail, the distance a3 from the vehicle-mounted unit OBU to the vehicle left side and the distance a4 from the vehicle-mounted unit OBU to the vehicle right side;
according to the invention, the system for determining the relative position of the remote vehicle and the host vehicle comprises:
in the Vehicle-road cooperation, the HV (Host Vehicle) only needs to care about the road condition of a square circle of about 200 meters, while the earth is large, and the HV and the RV (Remote Vehicle) near the HV can be regarded as a two-dimensional plane in a small area on the earth surface.
Module M1: in an assumed two-dimensional plane, converting the GPS (global positioning System) of the on-board unit OBU and the far vehicle RV on the vehicle HV into an initial rectangular coordinate System by taking the on-board unit OBU as an origin, the due north direction as a y axis and the due east direction as an x axis;
specifically, the initial coordinate system in the module M1 includes: the abscissa of the remote vehicle RV represents a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitude direction; the ordinate of the remote vehicle RV represents a vector value of the remote vehicle RV in the longitudinal direction with respect to the on-board unit OBU;
module M2: calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system;
specifically, the module M2 includes:
latitude plane radius in the initial rectangular coordinate system of on-board unit OBU:
r1＝r0*cos(la_obu*(π/180))； (1)
the earth is a sphere, and the latitude plane of the OBU is a circle, and the radius of the latitude plane refers to the radius of the circle.
Vector values of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitudinal direction are as follows:
lolen1＝(lo_rv-lo_obu)*(2*π*r1/360) (2)
vector values in the longitudinal direction of the remote vehicle RV with respect to the on-board unit OBU:
lalen1＝(la_rv-la_obu)*(2*π*r0/360) (3)
wherein lo _ RV denotes the longitude of the remote vehicle RV; la _ RV represents the latitude of the remote vehicle RV; lo _ OBU denotes the longitude of the on-board unit OBU; la _ OBU represents the latitude of the on board unit OBU; r is0Representing the radius of the earth.
Module M3: the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation;
specifically, the module M3 includes:
the initial rectangular coordinate system rotates clockwise with an included angle from the due north direction to the direction of the head of the vehicle HV;
the vector values of the remote vehicle RV relative to the OBU in longitude and latitude after rotation comprise:
calculating the coordinate value of the remote vehicle RV in the new rectangular coordinate system comprises the following steps:
x-axis coordinates of the faraway RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading) (4)
Y-axis coordinates of the faraway RV: lolen2 ═ lolen1 cos (heading) + lalen1 sin (heading) (5)
Wherein, the heading represents a clockwise included angle from the north direction to the head direction.
Module M4: determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system; the method comprises the following steps: right front, left rear, right rear, left front and right rear;
specifically, the module M4 includes: the coordinates of the remote vehicle RV are (lolen2, lalen2), the distance a1 from the vehicle-mounted unit OBU to the vehicle head, the distance a2 from the vehicle-mounted unit OBU to the vehicle tail, the distance a3 from the vehicle-mounted unit OBU to the vehicle left side and the distance a4 from the vehicle-mounted unit OBU to the vehicle right side;
example 2
Example 2 is a modification of example 1
In the Vehicle-road cooperation, the HV (Host Vehicle) only needs to care about the road condition of a square circle of about 200 meters, while the earth is large, and the HV and the RV (Remote Vehicle) near the HV can be regarded as a two-dimensional plane in a small area on the earth surface.
In an assumed two-dimensional plane, a direct coordinate system is established, in which an OBU (On Board Unit) On HV is used as an origin, and a headstock direction is a positive y-axis direction, and then the following steps are performed:
a conversion step:
1) converting GPS (Global positioning System) information of the OBU and the RV into a rectangular coordinate System with the OBU as an origin and the due north direction as the y positive axis direction; wherein the abscissa of the RV is the vector value of the RV relative to the OBU in the latitudinal direction; the ordinate of the RV is the vector value of the RV in the longitudinal direction relative to the OBU.
2) And converting the whole rectangular coordinate system clockwise, and taking the direction of the vehicle head as the direction of the Y positive axis. The size of the rotating angle is the clockwise included angle from the positive north direction to the HV headstock direction.
3) Determining the orientation of the RV relative to the HV according to the position of the RV in the new coordinate system: right front, right back, left back, right back, left front, right back.
Suppose that:
RV longitude is lo _ RV, and latitude is la _ RV;
the OBU has longitude lo _ OBU, latitude la _ OBU,
the vehicle: a headstock heading (the size is a clockwise included angle from the north to the headstock direction, and the value range is 0-360 degrees);
the earth radius is r 0.
The method specifically comprises the following steps:
1) the radius r1 of the latitude plane of the OBU is r0 cos (la _ OBU (pi/180));
in the longitudinal plane (x axis): vector value lolen1 ═ (lo _ RV-lo _ OBU) (2 × π r1/360) of OBU- > RV
On the latitudinal plane (y axis): vector value of OBU- > RV, lalen1 ═ (la _ RV-la _ OBU) × (2 × π r0/360)
When the OBU is 30 degrees north latitude, the remote vehicle (Rv) is 45 degrees north latitude;
assuming that they are longitude identical, they are on a circle with the center of the earth as the dot, the radius of this circle being r 0. The circumference L of this circle is 2 x pi r 0/360. This circle has a radian measure of L/360 degrees corresponding to 1 degree.
Then the vector distance of the faraway vehicles Rv to the OBU, i.e. their arc value, is (45-30) × (L/360).
When the OBU is 30 degrees east longitude, the faraway car (Rv) is 45 degrees east longitude.
Assuming that they are at the same latitude, all at 45 degrees, they are also at a circle of the earth with 45 degrees pi/4, the radius of which is r0 × cos (pi/4). The circumference L1 of this circle is 2 x pi r 1/360. This circle has an arc of L1/360 corresponding to 1 degree.
Then the vector distance of the faraway vehicles Rv to the OBU, i.e. their arc value, is (45-30) × (L1/360).
The circles in which the latitude and longitude both lie are perpendicular to each other.
For example, the OBU is 30 degrees north latitude and 45 degrees east longitude; the faraway car is 30.5 degrees north latitude and 45.5 degrees east longitude.
And establishing a rectangular coordinate system by taking the OBU as a reference point, wherein the longitude is the y axis, the positive north is the positive direction of the y, the latitude is the x axis, and the positive east is the positive direction of the x.
The radius of the circle on the X axis is r0 × cos (π/6), the circumference L3 of the circle is 2 π (r0 × cos (π/6), and the relative vector value of the distant vehicle on the X axis is (45.5-45) × (L3/360).
The radius of the circle on the Y axis is r0, the circumference L4 of the circle is 2 pi r0, and the relative vector value of the distant vehicle on the Y axis is (30.5-30) × (L4/360).
In a rectangular coordinate system before rotation, the included angle between the head of the vehicle and the positive direction of y is alpha, the coordinate value of the distant vehicle is (x, y), the angle with the positive direction of y is beta, and the distance between the distant vehicle and the origin is d. Then x d sin β and y d cos β.
2) After the coordinate axes are rotated:
and after rotating according to the rotating angle, changing the direction of the vehicle head into a rectangular coordinate system with the positive direction of the y axis. This step results in the coordinate values in the new rectangular coordinate system. The new coordinate values are calculated from the trigonometric function.
In the rotated rectangular coordinate system, the angle between the distant vehicle and the positive direction of the y-axis is γ, and the new coordinate value is (x1, y 1).
γ＝β-α
x1＝dsinγ＝dsin(β-α)＝dsinβcosα–dcosβsinα＝xcosα–yβsinα
y1＝dcosγ＝dcos(β-α)＝dcosβcosα+dsinβsinα＝ycosα+xsinα
Y-axis coordinates of RV: lolen2 ═ lolen1 ═ cos (heading) + lalen1 ═ sin (heading);
x-axis coordinates of RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading);
3) determining the relative position of the RV according to the coordinate value of the RV:
the RV coordinates are (lolen2, lalen2), OBU to nose distance a1, to tail distance a2, to left side a3, to right side a 4.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method of determining a relative position of a remote vehicle to a host vehicle, comprising:
step M1: converting GPS information of the on-board unit (OBU) and the Remote Vehicle (RV) into an initial rectangular coordinate system by taking the on-board unit (OBU) as an origin, taking the north direction as the positive y-axis direction and taking the east direction as the positive x-axis direction;
step M2: calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system;
step M3: the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation;
step M4: and determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system.
2. The method for determining the relative position of a remote vehicle to a host vehicle according to claim 1, wherein the initial coordinate system in step M1 comprises: the abscissa of the remote vehicle RV represents a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitude direction; the ordinate of the distant vehicle RV represents a vector value of the distant vehicle RV in the longitudinal direction with respect to the on-board unit OBU.
3. The method for determining the relative position of a remote vehicle to a host vehicle as claimed in claim 1, wherein said step M2 comprises:
latitude plane radius in the initial rectangular coordinate system of on-board unit OBU:
r1＝r0*cos(la_obu*(π/180))； (1)
vector values of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitudinal direction are as follows:
lolen1＝(lo_rv-lo_obu)*(2*π*r1/360) (2)
vector values in the longitudinal direction of the remote vehicle RV with respect to the on-board unit OBU:
lalen1＝(la_rv-la_obu)*(2*π*r0/360) (3)
wherein lo _ RV denotes the longitude of the remote vehicle RV; la _ RV represents the latitude of the remote vehicle RV; lo _ OBU denotes the longitude of the on-board unit OBU; la _ OBU represents the latitude of the on board unit OBU; r is0Representing the radius of the earth.
4. The method for determining the relative position of a remote vehicle to a host vehicle as claimed in claim 3, wherein said step M3 comprises:
the initial rectangular coordinate system rotates clockwise with an included angle from the due north direction to the direction of the head of the vehicle HV;
the vector values of the remote vehicle RV relative to the OBU in longitude and latitude after rotation comprise:
calculating the coordinate value of the remote vehicle RV in the new rectangular coordinate system comprises the following steps:
x-axis coordinates of the faraway RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading) (4)
Y-axis coordinates of the faraway RV: lolen2 ═ lolen1 cos (heading) + lalen1 sin (heading) (5)
Wherein, the heading represents a clockwise included angle from the north direction to the head direction.
5. The method for determining the relative position of a remote vehicle to a host vehicle as claimed in claim 4, wherein said step M4 comprises: the coordinates of the remote vehicle RV are (lolen2, lalen2), the distance a1 from the vehicle-mounted unit OBU to the vehicle head, the distance a2 from the vehicle-mounted unit OBU to the vehicle tail, the distance a3 from the vehicle-mounted unit OBU to the vehicle left side and the distance a4 from the vehicle-mounted unit OBU to the vehicle right side;
6. a system for determining the relative position of a remote vehicle to a host vehicle, comprising:
module M1: converting GPS information of the on-board unit (OBU) and the Remote Vehicle (RV) into an initial rectangular coordinate system by taking the on-board unit (OBU) as an origin, taking the north direction as the positive y-axis direction and taking the east direction as the positive x-axis direction;
module M2: calculating a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in longitude and latitude according to the longitude and latitude of the vehicle-mounted unit OBU and the longitude and latitude of the remote vehicle RV in the established initial rectangular coordinate system;
module M3: the method comprises the steps that after an initial rectangular coordinate system rotates according to a preset angle, a new rectangular coordinate system is obtained, and according to the vector value of a remote vehicle RV relative to an on-board unit OBU in longitude and latitude, the coordinate value of the remote vehicle RV in the new rectangular coordinate system is obtained through calculation;
module M4: and determining the relative position of the remote vehicle RV relative to the vehicle HV according to the coordinate value of the remote vehicle RV in the new rectangular coordinate system.
7. The system for determining the relative position of a remote vehicle to a host vehicle as claimed in claim 6, wherein the initial coordinate system of the module M1 comprises: the abscissa of the remote vehicle RV represents a vector value of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitude direction; the ordinate of the distant vehicle RV represents a vector value of the distant vehicle RV in the longitudinal direction with respect to the on-board unit OBU.
8. The system for determining the relative position of a remote vehicle to a host vehicle of claim 6, wherein said module M2 comprises:
latitude plane radius in the initial rectangular coordinate system of on-board unit OBU:
r1＝r0*cos(la_obu*(π/180))； (1)
vector values of the remote vehicle RV relative to the vehicle-mounted unit OBU in the latitudinal direction are as follows:
lolen1＝(lo_rv-lo_obu)*(2*π*r1/360) (2)
vector values in the longitudinal direction of the remote vehicle RV with respect to the on-board unit OBU:
lalen1＝(la_rv-la_obu)*(2*π*r0/360) (3)
wherein lo _ RV denotes the longitude of the remote vehicle RV; la _ RV represents the latitude of the remote vehicle RV; lo _ OBU denotes the longitude of the on-board unit OBU; la _ OBU represents the latitude of the on board unit OBU; r is0Representing the radius of the earth.
9. The system for determining the relative position of a remote vehicle to a host vehicle of claim 8, wherein said module M3 comprises:
the initial rectangular coordinate system rotates clockwise with an included angle from the due north direction to the direction of the head of the vehicle HV;
the vector values of the remote vehicle RV relative to the OBU in longitude and latitude after rotation comprise:
calculating the coordinate value of the remote vehicle RV in the new rectangular coordinate system comprises the following steps:
x-axis coordinates of the faraway RV: lalen2 ═ lolen1 ═ cos (heading) -lalen1 ═ sin (heading) (4)
Y-axis coordinates of the faraway RV: lolen2 ═ lolen1 cos (heading) + lalen1 sin (heading) (5)
Wherein, the heading represents a clockwise included angle from the north direction to the head direction.
10. The system for determining the relative position of a remote vehicle to a host vehicle of claim 9, wherein said module M4 comprises: the coordinates of the remote vehicle RV are (lolen2, lalen2), the distance a1 from the vehicle-mounted unit OBU to the vehicle head, the distance a2 from the vehicle-mounted unit OBU to the vehicle tail, the distance a3 from the vehicle-mounted unit OBU to the vehicle left side and the distance a4 from the vehicle-mounted unit OBU to the vehicle right side;
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