CN111913200A - Vehicle group differential positioning method, RSU (remote subscriber Unit) equipment, fusion sensing equipment and system - Google Patents
Vehicle group differential positioning method, RSU (remote subscriber Unit) equipment, fusion sensing equipment and system Download PDFInfo
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- CN111913200A CN111913200A CN202010598360.1A CN202010598360A CN111913200A CN 111913200 A CN111913200 A CN 111913200A CN 202010598360 A CN202010598360 A CN 202010598360A CN 111913200 A CN111913200 A CN 111913200A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to a vehicle group differential positioning method, RSU equipment, fusion sensing equipment and a system, wherein the method comprises the following steps: acquiring satellite positioning information and measurement position information which respectively correspond to a plurality of internet connected vehicles entering a sensing area one by one in a preset time period; determining position differential data of each internet vehicle according to the satellite positioning information and the measurement position information of the plurality of internet vehicles; processing the position difference data of each internet vehicle to obtain target position difference data; and broadcasting the target position difference data in real time so that the internet connected vehicles in the coverage range of the broadcast signals correct the satellite positioning information after receiving the target position difference data. By implementing the embodiment of the invention, the positioning precision of the internet vehicle can be improved and the error of satellite positioning data caused by factors such as environment and the like can be overcome through the vehicle group position differential data.
Description
Technical Field
The invention relates to the field of Intelligent Transportation (ITS), in particular to a vehicle group differential positioning method, RSU equipment, fusion sensing equipment and a System.
Background
With the development of the automatic driving technology, high-precision traveling positioning puts high requirements on a positioning system, and firstly, the high precision is required and is usually required to reach centimeter level; second, high availability is required, and automated driving tests have shifted from closed to more open scenarios, which requires the positioning system to remain stable in the face of more complex situations; thirdly, high reliability is required, and the positioning system is used for automatic driving, which can cause serious consequences if the positioning system has deviation.
The high-precision positioning technology adopted at present is based on an RTK (Real-time Kinematic Differential) GPS and an inertial sensor; however, this method has a high dependence on GPS, and to obtain high-precision positioning, it also needs the cooperation of a ground-based enhanced station, and GPS positioning is easily affected by the environment, and there are a series of technical defects:
(1) limited by satellite conditions: the current GPS system always has two blind areas in middle and low latitude areas every day, the structural strength of the geometric figure of the blind area satellite is low, the RTK measurement is difficult to obtain a fixed solution, the signal strength is weak, and the GPS can not be normally applied to places with serious empty shielding.
(2) Affected by the ionosphere: at noon in the daytime, the interference of an ionized layer is large, the number of shared satellites is small, the initial time is long, even the initialization cannot be carried out, and the measurement cannot be carried out.
(3) Influenced by the transmission distance of the data chain radio station: the data link radio station signals are easily influenced by external environments in the transmission process, such as interference of high mountains, buildings and high-frequency signal sources, the attenuation in the transmission process is serious, and the operation precision and the operation radius are influenced.
(4) Influenced by the air communication environment: in mountainous areas, forest areas and urban dense building areas, GPS signals are easy to block, the signal intensity is low, the satellite space structure is poor, the lock is easy to lose, and the operation is affected.
(5) The inertial sensor has errors: the function of the method is mainly to replace GPS positioning under the condition that GPS signals are weak, but positioning errors of the inertial sensor become large along with the increase of the operation time, and the method is very expensive.
Disclosure of Invention
The invention provides a vehicle group differential positioning method, RSU equipment, fusion sensing equipment and a system, which can improve the positioning accuracy of internet vehicles and overcome errors caused by factors such as environment and the like of satellite positioning data.
In a first aspect, a vehicle group differential positioning method is provided, which is applied to an RSU, and includes:
acquiring satellite positioning information and measurement position information which respectively correspond to a plurality of internet connected vehicles entering a sensing area one by one in a preset time period;
determining position differential data of each internet vehicle according to the satellite positioning information and the measurement position information of the plurality of internet vehicles;
processing the position difference data of each internet vehicle to obtain target position difference data;
and broadcasting the target position difference data in real time so that the internet connected vehicles in the coverage range of the broadcast signals can correct the satellite positioning information of the internet connected vehicles after receiving the target position difference data.
By implementing the embodiment of the invention, the differential positioning of the vehicle group can be realized through the information exchange among the RSU equipment, the fusion sensing equipment and the internet connection vehicle. Through vehicle group differential positioning, the positioning accuracy of the internet vehicle can be improved, and errors caused by factors such as environment and the like of satellite positioning data are overcome.
In an optional embodiment, in a preset time period, the acquiring satellite positioning information and measurement position information of a plurality of internet connected vehicles entering a sensing area, which are respectively in one-to-one correspondence, includes:
when the plurality of internet connected vehicles respectively enter the perception areas in sequence:
receiving and obtaining satellite positioning information and vehicle identity information of the plurality of internet connected vehicles through OBU communication with the plurality of internet connected vehicles respectively; wherein the OBU comprises a satellite positioning module, the satellite positioning module is used for acquiring the satellite positioning information;
respectively obtaining the measurement positioning information and the vehicle identity information of the plurality of networked vehicles through the fusion sensing equipment; the measurement positioning information is obtained by measuring the position offset of the internet vehicle in the sensing area and the position of a known ground reference point;
and respectively matching the satellite positioning information and the measurement positioning information with the same vehicle identity information, thereby obtaining the satellite positioning information and the measurement position information which are respectively in one-to-one correspondence with the plurality of internet connected vehicles.
By implementing the invention, the RSU acquires the position information of the vehicle by fusing the sensing equipment and the OBU respectively, and the acquisition time of the position information is not absolutely synchronous because the position information comes from two different devices, so the two devices can be directly associated and matched through the identity information of the vehicle.
In an optional embodiment, the position offset represents a relative position between the internet connected vehicle and the fusion sensing device, and the ground known reference point is latitude and longitude information of the fusion sensing device.
In an optional embodiment, the processing the position difference data of each internet connection vehicle to obtain target position difference data specifically includes: and carrying out arithmetic average calculation on the position difference data of each internet vehicle to obtain target position difference data.
By implementing the embodiment of the invention, the position differential data of each internet vehicle entering the sensing area in the preset period is subjected to arithmetic average calculation, and the obtained target position differential data can be more accurate.
In an optional embodiment, the arithmetic mean calculation is performed on the position difference data of each internet vehicle to obtain target position difference data, and specifically, the method includes: and if the quantity of the obtained position difference data exceeds a preset threshold value, carrying out arithmetic average calculation on the position difference data of each internet vehicle to obtain target position difference data.
By implementing the embodiment of the invention, the correlation calculation is carried out after enough position difference data is ensured, so that the reliability of the target position difference data is higher.
In a second aspect, a vehicle group differential positioning method is provided, which is applied to a fusion sensing device, and includes:
when the internet vehicle enters the sensing area:
carrying out position detection on the internet connected vehicle to obtain the measurement position information of the internet connected vehicle;
sending the measured position information of the internet vehicles to the RSU, so that the RSU calculates and obtains target position difference data according to the accumulated measured position information of the internet vehicles and the satellite positioning information corresponding to the internet vehicles one by one in a preset time period; the target position differential data is used for rectifying satellite positioning information of the internet vehicles in the coverage range of the RSU broadcast signals.
By implementing the embodiment of the invention, the positioning precision of the internet vehicle can be improved and the error of satellite positioning data caused by factors such as environment and the like can be overcome through the vehicle group position differential data.
In an optional embodiment, when the internet vehicle enters the sensing area, the method further includes:
carrying out vehicle detection on the internet connected vehicle to obtain vehicle identity information of the internet connected vehicle;
correspondingly, the network connection vehicle measurement position information is sent to the RSU, specifically:
sending the online vehicle measurement position information and the vehicle identity information to an RSU;
wherein the RSU associates the measured position information and the satellite positioning information by the vehicle identity information matching.
By implementing the method, the RSU acquires the position information of the vehicle through the fusion sensing device and the OBU respectively, the position information is used for coming from two different devices, and the acquisition time of the two devices cannot be absolutely synchronized, so that the two devices can be directly associated and matched through the identity information of the vehicle.
In an optional embodiment, the position of the internet connection vehicle is detected to obtain the measurement position information of the internet connection vehicle, and specifically, the method includes: obtaining the position offset of the internet vehicle in a radar sensing area coordinate system through a radar sensing area coordinate system pre-established for the sensing area; the radar sensing area coordinate system takes a known ground reference point position as an origin; and determining the measurement position information of the internet connected vehicle according to the position offset and the known ground reference point position.
By implementing the method, the radar sensing area coordinate system is established in advance, so that the fusion sensing equipment can more conveniently acquire the position offset of the internet connection vehicle, namely the relative position of the internet connection vehicle and the known ground reference point position.
In a third aspect, an RSU device is provided, comprising a processor and a memory storing a computer program, wherein the processor implements the steps of the vehicle population differential positioning method according to any one of the embodiments of the first aspect when executing the computer program stored in the memory.
In a fourth aspect, a fusion sensing apparatus is provided, which includes a processor and a memory storing a computer program, wherein the processor implements the steps of the vehicle group differential positioning method according to any one of the embodiments of the second aspect when executing the computer program stored in the memory.
In a fifth aspect, a vehicle population differential positioning system is provided, comprising: the RSU device of the third aspect; the fusion sensing apparatus of the fourth aspect.
By implementing the embodiment of the invention, the positioning precision of the internet vehicle can be improved and the error of satellite positioning data caused by factors such as environment and the like can be overcome through the vehicle group position differential data.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort. In the drawings:
fig. 1 is a schematic view of an application scenario of a vehicle group differential positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle group differential positioning system according to an embodiment of the present invention;
FIG. 3 is a flowchart of a first method for differentially locating a group of vehicles according to an embodiment of the present invention;
FIG. 4 is a flowchart of a second method for differentially locating a group of vehicles according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an RSU device according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of a fusion sensing device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a vehicle group differential positioning method. As shown in fig. 1, the OBU is installed in a networked vehicle, for example, on a front windshield or in a car roof, and the RSU and the fusion sensing device may be installed on the same roadside support, wherein the fusion sensing device may be a single sensor or a device integrating multiple sensors, which specifically integrates multiple sensor data computing capabilities. It should be noted that the RSU and the fusion sensing device may also be installed on different roadside brackets of the road at a certain distance, and the installation on the same roadside bracket is only one preferred embodiment of the present invention.
With reference to fig. 2, fig. 2 is a schematic diagram of a vehicle group differential positioning system, when a networked vehicle enters a sensing area, a fusion sensing device measures and obtains measurement position information of the networked vehicle, and sends the measurement position information to an RSU; the RSU is communicated with the OBU of the internet vehicle, and the RSU can obtain satellite positioning information sent by the OBU. In a preset time period, the RSU can accumulate and acquire satellite positioning information and measurement position information which are respectively in one-to-one correspondence with a plurality of internet connection vehicles entering a sensing area, then, position difference data of each internet connection vehicle can be determined according to the satellite positioning information and the measurement position information of the plurality of internet connection vehicles, the position difference data of each internet connection vehicle is processed to obtain target position difference data, and finally, the RSU broadcasts the target position difference data to the outside in real time, so that the internet connection vehicles in a signal coverage range can correct the satellite positioning information of the vehicles when receiving the target position difference data.
In the above embodiment, the fusion sensing device may be a camera, and the internet connection information and the measurement position information of the internet connection vehicle may be obtained by combining the camera with an image recognition technology; the fusion perception equipment can also be a combination of a camera and the geomagnetic or laser radar, wherein the camera is used for acquiring the internet connection information, and the geomagnetic or laser radar is used for acquiring the measurement position information of the internet connection; the fusion perception equipment can also be an ETC phased array antenna, and the Internet connection information and the measurement position information can be obtained through the ETC phased array antenna. The RSU can be based on an ETC road side unit and can also be a V2X road side unit, and correspondingly, the OBU can be an ETC vehicle-mounted unit and can also be a V2X vehicle-mounted unit. In some embodiments, if the convergence sensing device employs an ETC phased array antenna, the ETC phased array antenna may also function as an RSU, i.e., the convergence sensing device and the RSU are the same device.
The positioning information related in the embodiment of the present invention may be obtained based on a GPS positioning technology, a beidou positioning technology, or a GLONASS positioning technology, which is not specifically limited in the present invention.
Referring to fig. 3, fig. 3 is a flowchart of a first vehicle group differential positioning method. As shown in fig. 3, the method is applied to an RSU device, and the method includes:
s101, in a preset time period, satellite positioning information and measurement position information which correspond to a plurality of internet connected vehicles entering a sensing area one by one are obtained.
In the implementation of the present invention, the satellite positioning information is obtained after the RSU device interactively communicates with an OBU installed on an internet vehicle, where the OBU is a vehicle-mounted unit including a satellite positioning module, specifically, an ETC vehicle-mounted unit with the satellite positioning module, or a V2X vehicle-mounted unit with the satellite positioning module, the satellite positioning module is used to obtain the satellite positioning information of the internet vehicle where the OBU is located, in other embodiments, the OBU may be the ETC vehicle-mounted unit without the satellite positioning module or the V2X vehicle-mounted unit, and the satellite positioning information may be sent to the OBU through other devices on the internet vehicle; the measurement positioning information can be obtained by measuring the position offset of the networked vehicle in the sensing area and the position of a known ground reference point through the fusion sensing equipment. When a plurality of internet connected vehicles enter a sensing area successively, the RSU equipment receives and obtains satellite positioning information and vehicle identity information of the plurality of internet connected vehicles through OBU communication with the plurality of internet connected vehicles; the RSU equipment also obtains the measurement positioning information and the vehicle identity information of the plurality of networked vehicles through the fusion sensing equipment respectively; then, the RSU device may match the satellite positioning information and the measurement positioning information having the same vehicle identity information, respectively, to obtain the satellite positioning information and the measurement position information of the plurality of internet connected vehicles, which are respectively in one-to-one correspondence.
It should be noted that the RSU acquires the location information of the vehicle through the fusion sensing device and the OBU, respectively, and the location information is used for two different devices, and the acquisition times of the two devices cannot be absolutely synchronized, so that the two devices can be directly associated and matched through the vehicle identity information.
The position offset represents the relative position of the internet connected vehicle and the fusion sensing equipment, and the position of the known reference point on the ground is preferably latitude and longitude information of the fusion sensing equipment, also can be latitude and longitude information of RSU equipment, and also can be latitude and longitude information of other reference points.
S102, determining position differential data of each internet vehicle according to the satellite positioning information and the measurement position information of the plurality of internet vehicles.
For example, when the RSU receives the measured position information S and the satellite positioning information S 'of the internet connected vehicle with the same vehicle identity information, the position difference data can be calculated by using the formula Δ S — S'. It should be understood that the above is only an example, and the calculation formula for calculating the position difference data according to the satellite positioning information and the measured position information may be other formulas, and the present invention is not particularly limited thereto.
And S103, processing the position difference data of each internet vehicle to obtain target position difference data.
In some embodiments, the position difference data Δ S1+ Δ S2+ Δ S3+ … + Δ Sn may be obtained by the above, and the target position difference data Δ S 'may be obtained by calculating Δ S' ═ Δ S1+ Δ S2+ Δ S3+ … + Δ Sn)/n by arithmetically averaging the position difference data of the respective internet vehicles. In this embodiment, the position differential data of each internet vehicle entering the sensing area in the preset period is subjected to arithmetic average calculation, and the obtained target position differential data is more accurate.
Further, in the above calculation, if the number of the obtained position difference data is insufficient and less than a preset threshold in the preset time period, the position difference data is not calculated for the preset time period. And in the preset time period, performing arithmetic mean calculation on the position difference data of each internet vehicle only when the quantity of the obtained position difference data exceeds a preset threshold value. In this embodiment, it is ensured that the correlation calculation is performed after a sufficient number of position difference data, so that the reliability of the target position difference data can be made higher.
And S104, broadcasting the target position difference data in real time so that the internet connected vehicles in the coverage range of the broadcast signals can correct the satellite positioning information of the internet connected vehicles after receiving the target position difference data.
The RSU equipment broadcasts the target position differential data in real time, so that the internet OBU in the coverage area of the broadcast signal can receive the target position differential data, the internet OBU can correct the satellite positioning information according to the target position differential data, and the corrected satellite positioning information is higher in precision and more accurate.
By implementing the embodiment of the invention, the differential positioning of the vehicle group can be realized through the information exchange among the RSU equipment, the fusion sensing equipment and the internet connection vehicle. The positioning precision of the internet of vehicles can be improved through the differential positioning of the vehicle group, and errors caused by factors such as environment and the like of satellite positioning data are overcome.
Referring to fig. 4, fig. 4 is a flowchart of a second vehicle group differential positioning method. As shown in fig. 4, the method is applied to a fusion sensing apparatus, and includes:
s201, judging whether the internet connected vehicle enters a sensing area.
If yes, go to step S202; if not, step S201 is executed.
Specifically, whether a networked vehicle enters a sensing area can be detected through the fusion sensing device, for example, when the fusion sensing device is a camera, vehicle detection is performed on an image shot by the camera, so that whether the networked vehicle enters the sensing area can be judged; for example, one sensor in the fusion sensing equipment is a laser radar and a millimeter wave radar, and whether the internet connected vehicle enters a sensing area can be detected through the laser radar and the millimeter wave radar. It should be noted that, the determination of whether the internet connected vehicle enters the sensing area may be in other manners, and the present invention is not limited to this.
S202, carrying out position detection on the internet connection vehicle to obtain the measurement position information of the internet connection vehicle.
Specifically, a coordinate system of the radar sensing area may be pre-established for the sensing area, the coordinate system uses a known reference point on the ground as an origin, and the known reference point on the ground may be latitude and longitude information of the fusion sensing device, may also be latitude and longitude information of the RSU device, may also be latitude and longitude information of other reference points, and may specifically be set according to actual requirements. Through the established radar sensing area coordinate system, when the internet connection vehicle enters the sensing area, the position offset of the internet connection vehicle in the radar sensing area coordinate system can be obtained, the position offset is the relative position of the internet connection vehicle and a known ground reference point, and the measurement position information of the internet connection vehicle can be determined according to the position offset and the known ground reference point.
And S203, sending the network connection vehicle measurement position information to the RSU, so that the RSU calculates target position difference data according to the accumulated measurement position information of the plurality of network connection vehicles and the satellite positioning information corresponding to the network connection vehicles one by one in a preset time period.
In some embodiments, the RSU acquires the location information of the vehicle by fusing the sensing device and the OBU, respectively, and since the location information comes from two different devices and the acquisition times of the two devices cannot be absolutely synchronized, when the internet connection vehicle enters the sensing area, the vehicle detection of the internet connection vehicle is required to obtain the vehicle identity information of the internet connection vehicle; and transmits the vehicle identity information to the RSU device along with the measured location information. After the RSU receives the vehicle identity information, the RSU can match and associate the measurement position information and the satellite positioning information through the vehicle identity information.
And the RSU calculates to obtain target position difference data according to the accumulated measured position information of the plurality of internet connected vehicles and the satellite positioning information corresponding to the internet connected vehicles one by one in a preset time period. The RSU equipment broadcasts the target position differential data in real time, so that the internet OBU in the coverage area of the broadcast signal can receive the target position differential data, the internet OBU can correct the satellite positioning information according to the target position differential data, and the corrected satellite positioning information is higher in precision and more accurate.
By implementing the embodiment of the invention, the differential positioning of the vehicle group can be realized through the information exchange among the RSU equipment, the fusion sensing equipment and the internet connection vehicle. The positioning precision of the internet of vehicles can be improved through the differential positioning of the vehicle group, and errors caused by factors such as environment and the like of satellite positioning data are overcome.
Referring to fig. 5, fig. 5 is a schematic diagram of a hardware structure of an RSU device according to an embodiment of the present invention. The RSU device includes: a processor 501 and a memory 504 storing computer programs and data resources, which processor implements the method and steps of the embodiment of fig. 3 when executing the computer programs stored in the memory. In a possible embodiment, the RSU device may further include: one or more input interfaces 503 and one or more output interfaces 502.
The processor 501, the input interface 502, the output interface 503, and the memory 504 are connected by a bus 505. The memory 504 is used for storing instructions and data required for program execution, the processor 501 is used for executing the instructions stored in the memory 504, the input interface 502 is used for receiving data such as satellite positioning information and measured position information, and the like, and the output interface 503 is used for outputting data such as target position difference data, and the like.
Wherein the processor 501 is configured to call the program instruction to perform: the embodiment of fig. 3 relates to method steps associated with a processor of an RSU device.
It should be understood that in the embodiments of the present disclosure, the Processor 501 may be a Central Processing Unit (CPU), and may be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 504 may include read-only memory and random access memory as well as read-write programmable non-volatile memory such as a computer hard drive (e.g., solid state drive or mechanical hard drive), a U-disk, etc., the memory 504 providing instructions and data to the processor 501. A portion of the memory 504 may also include non-volatile random access memory. For example, the memory 504 may also store information of the interface type.
In some implementations, the above components of the RSU device described in the embodiments of the present disclosure may be used to execute the method steps in the method embodiment of fig. 3, and are not described herein again for brevity.
Referring to fig. 6, fig. 6 is a schematic diagram of a hardware structure of the fusion sensing apparatus according to the embodiment of the present invention. The fusion sensing apparatus includes: a processor 601 and a memory 604 storing computer programs and data resources, which processor implements the method and steps of the embodiment of fig. 4 when executing the computer programs stored in the memory. In a possible embodiment, the fusion sensing apparatus may further include: one or more input interfaces 603 and one or more output interfaces 602.
The processor 601, the input interface 602, the output interface 603, and the memory 604 are connected by a bus 605. The memory 604 is used for storing instructions and data required for program execution, the processor 601 is used for executing the instructions stored in the memory 604, the input interface 602 is used for receiving data such as measurement position information, and the like, and the output interface 603 is used for outputting data such as measurement position information, and the like.
Wherein the processor 601 is configured to call the program instruction to perform: the embodiment of fig. 4 relates to method steps associated with a processor of a fusion sensing apparatus.
It should be understood that in the embodiments of the present disclosure, the Processor 601 may be a Central Processing Unit (CPU), and the Processor may be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 604 may include read-only memory and random access memory as well as read-write programmable non-volatile memory such as a computer hard drive (e.g., solid state drive or mechanical hard drive), a U-disk, etc., the memory 604 providing instructions and data to the processor 601. A portion of the memory 604 may also include non-volatile random access memory. For example, the memory 604 may also store information of the interface type.
In some implementations, the above components of the fusion sensing apparatus described in the embodiments of the present disclosure may be used to execute the method steps in the method embodiment of fig. 4, and are not described herein again for brevity.
The invention also provides a vehicle group differential positioning system, comprising: the RSU device described in the embodiment of fig. 5 and the fusion sensing device described in the embodiment of fig. 6. The specific method and steps executed by the RSU device may refer to the description of the embodiment of the method in fig. 3, and the specific method and steps executed by the fusion sensing device may refer to the description of the embodiment of the method in fig. 4, and for brevity, are not described again here.
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 spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (11)
1. A vehicle group differential positioning method is applied to an RSU and comprises the following steps:
acquiring satellite positioning information and measurement position information which respectively correspond to a plurality of internet connected vehicles entering a sensing area one by one in a preset time period;
determining position differential data of each internet vehicle according to the satellite positioning information and the measurement position information of the plurality of internet vehicles;
processing the position difference data of each internet vehicle to obtain target position difference data;
and broadcasting the target position difference data in real time so that the internet connected vehicles in the coverage range of the broadcast signals can correct the satellite positioning information of the internet connected vehicles after receiving the target position difference data.
2. The vehicle group differential positioning method according to claim 1, wherein acquiring satellite positioning information and measurement position information of a plurality of networked vehicles entering a sensing area, which respectively correspond to one another one by one, in a preset time period comprises:
when the plurality of internet connected vehicles respectively enter the perception areas in sequence:
receiving and obtaining satellite positioning information and vehicle identity information of the plurality of internet connected vehicles through OBU communication with the plurality of internet connected vehicles respectively; wherein the OBU comprises a satellite positioning module, the satellite positioning module is used for acquiring the satellite positioning information;
respectively obtaining the measurement positioning information and the vehicle identity information of the plurality of networked vehicles through the fusion sensing equipment; the measurement positioning information is obtained by measuring the position offset of the internet vehicle in the sensing area and the position of a known ground reference point;
and respectively matching the satellite positioning information and the measurement positioning information with the same vehicle identity information, thereby obtaining the satellite positioning information and the measurement position information which are respectively in one-to-one correspondence with the plurality of internet connected vehicles.
3. The vehicle group differential positioning method according to claim 2, wherein the position offset represents a relative position of a networked vehicle and the fusion sensing device, and the ground known reference point is latitude and longitude information of the fusion sensing device.
4. The vehicle group differential positioning method according to claim 1, wherein the position differential data of each internet vehicle is processed to obtain target position differential data, and specifically:
and carrying out arithmetic average calculation on the position difference data of each internet vehicle to obtain target position difference data.
5. The vehicle group differential positioning method according to claim 4, wherein the position differential data of each internet vehicle is subjected to arithmetic mean calculation to obtain target position differential data, and specifically:
and if the quantity of the obtained position difference data exceeds a preset threshold value, carrying out arithmetic average calculation on the position difference data of each internet vehicle to obtain target position difference data.
6. A vehicle group differential positioning method is applied to fusion sensing equipment and comprises the following steps:
when the internet vehicle enters the sensing area:
carrying out position detection on the internet connected vehicle to obtain the measurement position information of the internet connected vehicle;
sending the measured position information of the internet vehicles to the RSU, so that the RSU calculates and obtains target position difference data according to the accumulated measured position information of the internet vehicles and the satellite positioning information corresponding to the internet vehicles one by one in a preset time period; the target position differential data is used for rectifying satellite positioning information of the internet vehicles in the coverage range of the RSU broadcast signals.
7. The vehicle group differential positioning method according to claim 6, wherein when the internet vehicle enters the sensing area, the method further comprises:
carrying out vehicle detection on the internet connected vehicle to obtain vehicle identity information of the internet connected vehicle;
correspondingly, the network connection vehicle measurement position information is sent to the RSU, specifically:
sending the online vehicle measurement position information and the vehicle identity information to an RSU;
wherein the RSU associates the measured position information and the satellite positioning information by the vehicle identity information matching.
8. The vehicle group differential positioning method according to claim 6, wherein the position detection is performed on the internet connected vehicle to obtain the measurement position information of the internet connected vehicle, and specifically comprises:
obtaining the position offset of the internet vehicle in a radar sensing area coordinate system through a radar sensing area coordinate system pre-established for the sensing area; the radar sensing area coordinate system takes a known ground reference point position as an origin;
and determining the measurement position information of the internet connected vehicle according to the position offset and the known ground reference point position.
9. An RSU device comprising a processor and a memory having a computer program stored thereon, wherein the processor when executing the computer program stored in the memory performs the steps of the vehicle population differential localization method of any of claims 1-5.
10. A fusion perception device comprising a processor and a memory storing a computer program, wherein the processor implements the steps of the vehicle population differential localization method of any one of claims 6-8 when executing the computer program stored in the memory.
11. A vehicle population differential locating system, comprising:
the RSU device of claim 9;
the fusion perception device as claimed in claim 10.
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