CN111928845A - Vehicle positioning calibration method, RSU equipment, MEC equipment and system - Google Patents

Abstract

The invention relates to a vehicle positioning calibration method, an RSU device, an MEC device and a system. The method is applied to the RSU, and specifically includes: when the vehicle travels through a preset identification area, receiving the data sent by the OBU of the vehicle and obtained through the navigation application Second positioning information; receiving the first positioning information of the vehicle sent by the MEC device, wherein the first positioning information is calculated by the MEC device according to its known positioning information on the ground and the relative position information detected by the vehicle detection sensor; The second positioning information and the first positioning information are calculated to obtain positioning differential data. Implementing the embodiment of the present invention, the RSU calculates differential data through the first vehicle positioning information sent by the MEC device and the second vehicle positioning information sent by the OBU, and relevant navigation positioning applications can use the differential data to accurately calibrate the vehicle positioning information.

Description

Vehicle positioning calibration method, RSU equipment and MEC equipment and system

technical field

The invention relates to the field of Intelligent Transportation System (ITS), in particular to a vehicle positioning calibration method, MEC equipment, RSU equipment and a vehicle positioning calibration system.

Background technique

At present, vehicle positioning is usually a related positioning application that uses GPS positioning system to achieve vehicle positioning. However, when the vehicle is driving in a place with weak positioning signal (such as overpass, multi-obstacle blocking area, indoor parking area, etc.), GPS positioning information is prone to deviation or Error, at this time the relevant navigation and positioning application cannot accurately locate the vehicle's location information.

SUMMARY OF THE INVENTION

The invention provides a vehicle positioning calibration method. The RSU calculates differential data through the vehicle first positioning information sent by the MEC device and the vehicle second positioning information sent by the OBU, and the navigation positioning application can use the differential data to accurately calibrate the vehicle positioning information.

In a first aspect, a method for calibrating a vehicle positioning is provided, which is applied to an RSU, including: when the vehicle passes through a preset identification area, receiving second positioning information sent by the OBU of the vehicle and obtained through a navigation application; receiving the second positioning information sent by the MEC device; The first positioning information of the vehicle, wherein the first positioning information is calculated by the MEC device according to its known positioning information on the ground and the relative position information obtained by the detection of the vehicle detection sensor; calculated according to the second positioning information and the first positioning information Positioning difference data; the positioning difference data is used for calibrating the second positioning information, and/or calibrating the positioning information obtained by the vehicle through a navigation application in the preset identification area and within a preset time.

In an optional embodiment, after calculating and obtaining the positioning differential data according to the second positioning information and the first positioning information, the above method further includes:

The positioning differential data is sent to the in-vehicle navigation application of the vehicle through the OBU, so that the in-vehicle navigation application calibrates the second positioning information according to the positioning differential data, and/or calibrates the information obtained by the vehicle through the navigation application within the preset identification area and the preset time. location information; or:

The second positioning information is calibrated according to the positioning difference data to obtain the calibrated positioning information; the calibrated positioning information is sent to the vehicle-mounted navigation application of the vehicle through the OBU.

In the case that the in-vehicle navigation application supports receiving the positioning differential data, the in-vehicle navigation application receives the positioning differential data through the OBU, and performs positioning calibration according to the positioning differential data itself. Since the positioning differential data is stable within a preset time period, the vehicle navigation application can use this differential data to calibrate the vehicle positioning both in the identified area and within the preset time.

In the case that the in-vehicle navigation application does not support receiving positioning differential data, the RSU calibrates the second positioning information according to the positioning differential data, and sends the calibrated positioning information to the vehicle's in-vehicle navigation application through the OBU.

Implementing the embodiment of the present invention, the RSU can determine to send the positioning differential data or positioning information to the vehicle navigation application according to whether the vehicle navigation application supports the positioning differential data, so that the application scope of the positioning calibration method of the embodiment of the present invention is wider.

In an optional embodiment, receiving the first positioning information of the vehicle sent by the MEC device is specifically:

Receive the first positioning information of the vehicle and the speed of the vehicle sent by the MEC device. The speed is calculated by the MEC device by detecting the displacement difference of the vehicle within a certain time difference through the vehicle detection sensor;

Correspondingly, before calculating and obtaining the positioning differential data according to the second positioning information and the first positioning information, the above method further includes:

According to the speed and the time interval, the first positioning information is updated to obtain the updated first positioning information; wherein the time interval is calculated according to the transmission time between the MEC device and the RSU;

Correspondingly, the positioning difference data is calculated and obtained according to the second positioning information and the first positioning information, specifically:

The positioning difference data is obtained by calculating according to the second positioning information and the updated first positioning information.

Specifically, the MEC calculates the current speed of the vehicle and then sends the first positioning information and the vehicle speed to the RSU. There is a certain time interval in between. At this time, the vehicle is continuing to drive, and the positioning information of the vehicle has also changed. Therefore, the RSU needs to calculate and obtain the updated first positioning information of the vehicle according to the speed and time interval of the vehicle.

Implementing the embodiment of the present invention, the RSU obtains the current real-time positioning information of the vehicle according to the vehicle speed and time interval, so that the subsequent calculation of the positioning differential data is more accurate.

In an optional embodiment, the above method further includes: within a preset time, calculating and obtaining multiple positioning differential data of multiple vehicles, and multiple vehicles are in one-to-one correspondence with multiple positioning differential data; The positioning differential data is filtered to obtain target positioning differential data; according to the target positioning differential data, differential services are provided for in-vehicle navigation applications within a preset range within a preset time.

Implementing the embodiment of the present invention, the RSU obtains target positioning differential data by filtering according to multiple positioning differential data, provides target positioning differential data for navigation applications within a preset range, and provides more accurate positioning differential data for navigation applications, which can further improve vehicle positioning. Precise calibration.

In an optional embodiment, a differential service is provided for a vehicle-mounted navigation application within a preset range within a preset time according to the target positioning differential data, which specifically includes:

The target positioning differential data is sent to the differential server, so that the differential server provides differential services for vehicle navigation applications within a preset range through the network within a preset time.

By implementing the embodiment of the present invention, the server sends the positioning differential data to all vehicles within a preset range, so that the utilization rate of the positioning differential data is higher.

In a second aspect, a vehicle positioning calibration method is provided, which is applied to MEC equipment, including: when the vehicle travels through a preset recognition area, obtaining relative position information of the vehicle through a vehicle detection sensor; and calculating the relative position information according to the relative position information. The first positioning information of the vehicle; the first positioning information is sent to the RSU, so that the RSU calculates and obtains the positioning differential data according to the first positioning information and the second positioning information sent by the OBU of the vehicle and obtained through the navigation application; the positioning differential data It is used for calibrating the second positioning information, and/or, calibrating the positioning information obtained by the vehicle through the navigation application within the preset identification area and the preset time.

Implementing the embodiment of the present invention, the MEC device converts the relative position information (coordinate information) of the vehicle into the first positioning information (latitude and longitude information), so that the RSU can quickly calculate the positioning difference data according to the first positioning information and the second positioning information.

In an optional embodiment, when the vehicle passes through the preset recognition area, the relative position information of the vehicle is obtained through the vehicle detection sensor, including:

When the vehicle travels through the preset recognition area, the displacement difference of the vehicle within a certain time difference is obtained through the vehicle detection sensor, and the speed of the vehicle is calculated according to the displacement difference and the certain time difference;

Correspondingly, the first positioning information is sent to the RSU, so that the RSU calculates and obtains the positioning difference data according to the first positioning information and the second positioning information sent by the OBU of the vehicle and obtained through the navigation application, specifically:

Send the first positioning information and the speed to the RSU, so that the RSU updates the first positioning information according to the speed and time interval to obtain the updated first positioning information, and according to the updated first positioning information and the first positioning information Two positioning information is calculated to obtain positioning differential data; wherein the time interval is calculated according to the transmission time between the MEC device and the RSU.

Specifically, the MEC calculates the vehicle speed according to the displacement difference and time difference between any two moments of the vehicle, and sends the speed to the RSU, so that the RSU calculates the real-time positioning information of the vehicle according to the vehicle speed and the transmission time of the MEC device sending the vehicle speed to the RSU.

Implementing the embodiment of the present invention, the MEC sends the vehicle speed to the RSU, so that the subsequent calculation of the positioning differential data by the RSU is more accurate.

In an optional embodiment, the relative position information is coordinate data, the first positioning information is latitude and longitude data, and determining the first positioning information of the vehicle according to the relative position information includes: converting the relative position information through a coordinate-to-latitude and longitude algorithm to determine the position of the vehicle. first positioning information.

Implementing the embodiment of the present invention, since the second positioning information sent by the OBU to the RSU is the latitude and longitude data of the vehicle, the MEC device needs to convert the relative position information (coordinate data) of the vehicle into the latitude and longitude data, which is convenient for the RSU to quickly locate according to the first positioning. The information and the second positioning information are calculated to obtain positioning difference data.

In a third aspect, an RSU device is provided, characterized in that it includes a processor and a memory, the processor and the memory are connected to each other, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to invoke the program instructions to execute the method described in the first aspect.

In a fourth aspect, a MEC device is provided, characterized in that it includes a processor and a memory, and the processor and the memory are connected to each other, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the The program instructions are used to execute the method described in the second aspect.

A fifth aspect provides a vehicle positioning calibration system, comprising the RSU device described in the third aspect, the MEC device described in the fourth aspect, a vehicle detection sensor connected to the MEC device, and an OBU installed on the vehicle and communicating with the RSU device. .

Description of drawings

In order to illustrate the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, which are common in the art. As far as technical personnel are concerned, other drawings can also be obtained based on these drawings without any creative effort. In the attached picture:

1 is a schematic diagram of the architecture and application layout of a vehicle positioning calibration system provided by an embodiment of the present invention;

2 is a schematic diagram of a vehicle positioning calibration method provided by an embodiment of the present invention;

3 is a schematic diagram of a first positioning information calculation method provided by an embodiment of the present invention;

4 is a schematic diagram of a coordinate provided by an embodiment of the present invention;

5 is a schematic diagram of a vehicle positioning calibration method provided by an embodiment of the present invention;

6 is a schematic diagram of a vehicle positioning calibration method provided by an embodiment of the present invention;

7 is a structural block diagram of an RSU provided by an embodiment of the present invention;

8 is a structural block diagram of an MEC device provided by an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a vehicle positioning calibration system provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1, FIG. 1 is a schematic diagram of the architecture and application layout of a vehicle positioning calibration system provided by an embodiment of the present invention. As shown in Figure 1, the RSU and vehicle detection sensor can be installed on the same roadside bracket, the MEC device, also known as edge computing device, can be installed on the roadside near the roadside bracket, and the OBU can be installed on the windshield of the vehicle . It should be noted that, the RSU and the vehicle sensor can also be installed on different roadside brackets of the road at a certain distance, and the installation on the same roadside bracket is only a preferred embodiment of the embodiment of the present invention.

When the vehicle passes through the vehicle preset recognition area, the vehicle detection sensor identifies the basic information of the vehicle, including: license plate number, vehicle type, vehicle color, etc., and obtains the relative position information (coordinate information) of the vehicle. The vehicle detection sensor Send the basic information and relative position information of the vehicle to the MEC device. It should be noted that the relative position information of the vehicle described in this embodiment of the present invention is determined by preset reference position information, where the reference position may be the position of the MEC, the position of the vehicle detection sensor, or the position of the RSU. The position may also be another reference point, which is not limited in this embodiment of the present invention.

The MEC device receives the vehicle information and relative position information sent by the vehicle detection sensor, and converts the relative position information of the vehicle into the first positioning information. Preset ground known positioning information (ground longitude and latitude data) is calculated to obtain the first positioning information, wherein the preset ground known positioning information may be the longitude and latitude data preset in the MEC device, and the longitude and latitude data represent the position of the MEC device . After calculating and obtaining the first positioning information, the MEC device sends the first positioning information of the vehicle to the RSU device.

When passing through the preset identification area, the OBU sends the second positioning information sent by the in-vehicle navigation application to the RSU, where the second positioning information is latitude and longitude data.

After receiving the first positioning information sent by the MEC device and the second positioning information sent by the OBU, the RSU calculates and obtains the positioning differential data according to the first positioning information and the second positioning information, and sends the calculated differential data to the OBU, so that the on-board navigation The reference is to perform a positioning calibration of the vehicle based on the positioning differential data.

In the above embodiment, the vehicle detection sensor can be a camera, and the vehicle information and the relative position information of the vehicle can be obtained by combining the camera with image recognition technology; Information, geomagnetic or lidar is used to obtain the relative position information of the vehicle; the vehicle detection sensor can also be an ETC phased array antenna, and the vehicle information and relative position information of the vehicle can be obtained through the ETC phased array antenna. The RSU can be based on an ETC roadside unit or a V2X roadside unit. Correspondingly, the OBU can be an ETC on-board unit or a V2X on-board unit. In some embodiments, if the vehicle detection sensor adopts an ETC phased array antenna, the ETC phased array antenna can also function as an RSU, that is, the vehicle detection sensor and the RSU are the same device.

The positioning information involved in the embodiments of the present invention may be obtained based on the GPS positioning technology, the Beidou positioning technology, or the GLONASS positioning technology, which is not specifically limited in the present invention.

Referring to FIG. 2 , FIG. 2 is a schematic diagram of a method for calibrating vehicle positioning according to an embodiment of the present invention. As shown in Figure 2, the method is applied to RSU equipment, and the method includes:

S201: When the vehicle passes through the preset identification area, the RSU receives the second positioning information sent by the OBU of the vehicle and obtained through the navigation application.

Specifically, the preset identification area may be a circular area with a vehicle detection sensor as the center and a diameter distance of several tens of meters or several hundreds of meters.

When the vehicle passes through the preset identification area, the on-board navigation application on the vehicle sends the vehicle's positioning information to the OBU, and the OBU sends the positioning information and vehicle information (such as license plate information) to the RSU device.

S202: The RSU receives the first positioning information of the vehicle sent by the MEC device.

Specifically, the first positioning information is calculated by the MEC device according to its known positioning information on the ground and relative position information detected by the vehicle detection sensor.

Referring to FIG. 3 , FIG. 3 is a schematic diagram of a first positioning information calculation method provided by an embodiment of the present invention. As shown in Figure 3, the first positioning information calculation method is applied to the MEC device, and the method includes:

S301: The MEC receives the relative position information sent by the vehicle detection sensor.

Specifically, the relative position information is determined based on preset reference position information, where the reference position may be the position of the MEC, the position of the vehicle detection sensor, the position of the RSU, or other reference points. This embodiment of the invention does not limit this. The vehicle relative position information is relative coordinate data relative to a preset reference position.

S302: The MEC device calculates the first positioning information of the vehicle according to the known positioning information and relative information on the ground.

Specifically, the known positioning information on the ground is ground longitude and latitude data, and calculating the first positioning information of the vehicle according to the known ground positioning information and the relative information is specifically: the MEC device determines the first positioning information of the vehicle by converting the relative position information through the coordinate to longitude and latitude algorithm. .

Referring to FIG. 4, FIG. 4 is a schematic diagram of coordinates provided by an embodiment of the present invention. As shown in Figure 4, for example, take the preset reference position information of the relative position information as an example of the MEC device, the MEC device is the origin, the coordinates are (0,0), the positioning information of the MEC relative to the ground, and the latitude and longitude coordinates are (116.42 , 39.92) The relative position coordinates of the test vehicle relative to the MEC device are (30, 40). The MEC device converts the relative position coordinates of the vehicle through the coordinate latitude and longitude algorithm, and converts the coordinate data of the vehicle relative to the MEC device into the latitude and longitude data of the vehicle.

S303: The MEC device updates the first positioning information according to the first positioning information, the speed and the time interval, and obtains the updated first positioning information.

In an optional embodiment, the vehicle speed is calculated by the MEC device by detecting the displacement difference of the vehicle within a certain time difference by the vehicle detection sensor.

For example, a vehicle sensor at 27'21" and 27'89" gets the vehicle's displacement difference of 1 meter. Divide the displacement difference by the time difference to get the vehicle speed.

Specifically, since the MEC device sends the first positioning information and the vehicle speed to the RSU, there is a certain data transmission time. At this time, the vehicle is continuing to drive, and the positioning information of the vehicle relative to the ground has also changed. Therefore, the RSU needs to be based on the vehicle. The speed and time interval are calculated to obtain the updated first positioning information of the vehicle. The time interval is calculated from the information transmission time interval between the MEC device and the RSU. The RSU updates the coordinate information of the vehicle relative to the ground in real time, and uses the updated coordinate information as the first positioning information.

By implementing the embodiment of the present invention, the RSU obtains the current real-time positioning information of the vehicle according to the vehicle speed and time interval, so that the subsequent calculation of the positioning differential data is more accurate.

It should be noted that the present invention does not limit the execution order of steps S201 and S202. In some embodiments, step S201 is before step S202, and in other embodiments, step S202 is before step S201, and steps S201 and S202 may also be are executed simultaneously.

S203: The RSU calculates and obtains positioning difference data according to the second positioning information and the first positioning information.

Implementing this embodiment of the present invention, the RSU calculates differential data through the first vehicle positioning information sent by the MEC device and the second vehicle positioning information sent by the OBU, and the positioning application can use the differential data to accurately calibrate the vehicle positioning information.

In one embodiment, after the RSU calculates and obtains the positioning differential data, for an in-vehicle navigation application that supports differential data, the RSU can send the positioning differential data to the in-vehicle navigation application through the OBU, so that the in-vehicle navigation application is calibrated according to the positioning differential data. the second positioning information, and/or, calibrating the positioning information obtained by the vehicle through the navigation application within the preset identification area and the preset time;

In another embodiment, for a vehicle navigation application that does not support differential data, the RSU can calibrate the second positioning information according to the positioning differential data to obtain the calibrated positioning information; send the calibrated positioning information to the In-vehicle navigation applications for the vehicles described above.

Specifically, the way in which the RSU sends the positioning differential data sum to the OBU may be data transmission through a dedicated channel, or may be sent to all vehicles traveling through the preset identification area in the form of broadcast. When the RSU transmits data through broadcast, the RSU also sends the OBU identification information to the OBU. When the OBU receives the broadcast of the RSU, the OBU filters the broadcast through the OBU identification, so that all positioning differential data is correctly matched with the vehicle.

In the case that the in-vehicle navigation application supports receiving positioning differential data, the in-vehicle navigation application receives the positioning differential data through the OBU, and performs positioning calibration by itself according to the positioning differential data. Since the positioning differential data is stable within a preset time period, the vehicle navigation application can use this differential data to calibrate the vehicle positioning both in the identified area and within the preset time.

In the case that the in-vehicle navigation application does not support receiving positioning differential data, the RSU calibrates the second positioning information according to the positioning differential data, and sends the calibrated positioning information to the vehicle's in-vehicle navigation application through the OBU.

Implementing the embodiment of the present invention, the RSU sends the positioning differential data and/or positioning information according to the receiving support of the positioning differential data by the vehicle's in-vehicle navigation application, so that the vehicles in the preset identification area can calibrate the vehicle's own positioning according to the positioning differential data. .

Referring to FIG. 5 , FIG. 5 is a schematic diagram of a vehicle positioning calibration method provided by an embodiment of the present invention. The above embodiment performs vehicle positioning calibration for a single vehicle. In another embodiment, differential positioning data of multiple vehicles is calculated to provide differential services. As shown in Figure 5, the method includes:

S501: Within a preset time, the RSU calculates and obtains a plurality of positioning differential data of a plurality of vehicles in the manner of the above embodiment.

Specifically, multiple vehicles are in one-to-one correspondence with multiple positioning differential data.

S502: The RSU filters the plurality of positioning differential data according to the filtering algorithm to obtain target positioning differential data.

Specifically, when the signal of the vehicle navigation application is particularly weak or the information deviation occurs, the deviation between the second positioning information of the vehicle and the first positioning information is relatively large. At this time, the positioning difference data calculated by the RSU is calculated from the vehicle with better signal. The positioning differential data has a large deviation. Therefore, by filtering multiple positioning differential data, more accurate target positioning differential data can be obtained.

S503: The RSU provides a differential service for a vehicle navigation application within a preset range within a preset time according to the target positioning differential data.

Specifically, the RSU sends the target positioning differential data to the differential server, so that the differential server provides differential services for vehicle navigation applications within a preset range through the network within a preset time.

By implementing the embodiment of the present invention, the server sends the positioning differential data to all vehicles within a preset range, so that the utilization rate of the positioning differential data is higher.

Referring to FIG. 6, FIG. 6 is a schematic diagram of a vehicle positioning calibration method provided by an embodiment of the present invention. As shown in Figure 6, the method is applied to MEC equipment, and the method includes:

S601: When the vehicle passes through the preset recognition area, the MEC device obtains the relative position information of the vehicle through the vehicle detection sensor.

Specifically, when the vehicle passes through the preset recognition area, the vehicle detection sensor detects the relative position information and vehicle information of the vehicle. The relative position information is determined by the preset reference position information, and the vehicle information can be the license plate, model, vehicle color. and other information. The vehicle detection sensor sends the relative position information and vehicle information of the vehicle to the MEC device.

S602: The MEC calculates and obtains the first positioning information of the vehicle according to the relative position information.

Specifically, the MEC device calculates the first positioning information of the vehicle according to the relative position information with reference to the method described in FIG. 3 or FIG. 4 , and details are not repeated here.

S603: The MEC sends the first positioning information to the RSU.

Specifically, the MEC device sends the first positioning information to the RSU, so that the RSU calculates and obtains the positioning difference data according to the first positioning information and the second positioning information sent by the OBU of the vehicle and obtained through the navigation application; the positioning difference data is used for The second positioning information is calibrated, and/or the positioning information obtained by the vehicle through the navigation application within the preset identification area and the preset time is calibrated.

For the calculation method of the positioning difference data, refer to the steps in the methods described in FIG. 2 , FIG. 3 , FIG. 4 or FIG. 5 , and details are not repeated here.

Implementing the embodiment of the present invention, the MEC device converts the relative position information (coordinate information) of the vehicle into the first positioning information (latitude and longitude information), so that the RSU can quickly calculate the positioning difference data according to the first positioning information and the second positioning information, which is convenient for the vehicle The navigation application performs vehicle positioning calibration based on the positioning differential data.

In an optional embodiment, when the vehicle passes through the preset recognition area, the relative position information of the vehicle is obtained through the vehicle detection sensor, including:

When the vehicle travels through the preset recognition area, the displacement difference of the vehicle within a certain time difference is obtained through the vehicle detection sensor, and the speed of the vehicle is calculated according to the displacement difference and the certain time difference;

Correspondingly, the first positioning information is sent to the RSU, so that the RSU calculates and obtains the positioning difference data according to the first positioning information and the second positioning information sent by the OBU of the vehicle and obtained through the navigation application, specifically:

Send the first positioning information and the speed to the RSU, so that the RSU updates the first positioning information according to the speed and time interval to obtain the updated first positioning information, and according to the updated first positioning information and the first positioning information Two positioning information is calculated to obtain positioning differential data; wherein the time interval is calculated according to the transmission time between the MEC device and the RSU.

Specifically, the MEC calculates the vehicle speed according to the displacement difference and time difference between any two moments of the vehicle, and sends the speed to the RSU, so that the RSU calculates the real-time positioning information of the vehicle according to the vehicle speed and the transmission time of the MEC device sending the vehicle speed to the RSU.

Implementing the embodiment of the present invention, the MEC sends the vehicle speed to the RSU, so that the subsequent calculation of the positioning differential data by the RSU is more accurate.

In an optional embodiment, the relative position information is coordinate data, the first positioning information is latitude and longitude data, and determining the first positioning information of the vehicle according to the relative position information includes: converting the relative position information through a coordinate-to-latitude and longitude algorithm to determine the position of the vehicle. first positioning information.

Implementing the embodiment of the present invention, since the second positioning information sent by the OBU to the RSU is the latitude and longitude data of the vehicle, the MEC device needs to convert the relative position information (coordinate data) of the vehicle into the latitude and longitude data, which is convenient for the RSU to quickly locate according to the first positioning. The information and the second positioning information are calculated to obtain positioning difference data.

Referring to FIG. 7, FIG. 7 is a structural block diagram of an RSU provided by an embodiment of the present invention. The RSU includes: a processor 701 and a memory 702 storing a computer program, and the processor implements FIG. 2 when executing the computer program stored in the memory , or the method and steps of the embodiment of FIG. 5 .

In a possible embodiment, the RSU may further include: one or more input interfaces 703 and one or more output interfaces 704 .

The above-mentioned processor 701 , input interface 703 , output interface 704 and memory 702 are connected through a bus 705 . The memory 702 is used to store instructions, the processor 701 is used to execute the instructions stored in the memory 702, the input interface 703 is used to receive data, such as the first positioning information and the second positioning information, etc., and the output interface 704 is used to output data, such as positioning differential data etc.

Wherein, the processor 701 is configured to invoke the program instructions to execute: the methods and steps of the embodiments of FIG. 2 and FIG. 5 . The embodiments relate to method steps for vehicle positioning calibration. It should be understood that, in the embodiment of the present disclosure, the so-called processor 701 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP) , Application Specific Integrated Circuit (ASIC), off-the-shelf Programmable Gate Array (Field-Programmable GateArray, FPGA) 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 702 may include read-only memory, random access memory, and readable and writable programmable non-volatile memory, such as computer hard disks (eg, solid-state hard disks or mechanical hard disks), U disks, etc., and the memory 702 provides instructions to the processor 701 and data. A portion of memory 702 may also include non-volatile random access memory. For example, memory 702 may also store information on interface types.

In some implementation manners, the above-mentioned components of the RSU described in the embodiments of the present disclosure can be used for the methods and steps of the embodiments of FIG. 2 and FIG. 5 , and for brevity, details are not repeated here.

Referring to FIG. 8, FIG. 8 is a structural block diagram of an MEC device provided by an embodiment of the present invention. The MEC device includes: a processor 801 and a memory 802 storing a computer program, and the processor is implemented when executing the computer program stored in the memory. The method and steps of the method embodiment of FIG. 3 or FIG. 6 .

In a possible embodiment, the MEC device may further include: one or more input interfaces 803 and one or more output interfaces 804 .

The above-mentioned processor 801 , input interface 803 , output interface 804 and memory 802 are connected through a bus 805 . The memory 802 is used for storing instructions, the processor 801 is used for executing the instructions stored in the memory 802, the input interface 803 is used for receiving data, and the output interface 804 is used for outputting data.

The processor 801 is configured to invoke the program instructions to execute: execute the method steps involved in the embodiment of FIG. 3 or FIG. 6 . It should be understood that, in this embodiment of the present disclosure, the so-called processor 801 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP) , Application Specific Integrated Circuit (ASIC), off-the-shelf Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 802 may include read-only memory and random access memory and readable and writable programmable non-volatile memory, such as computer hard disks (eg solid state hard disks or mechanical hard disks), U disks, etc. The memory 802 provides instructions to the processor 801 and data. A portion of memory 802 may also include non-volatile random access memory. For example, memory 802 may also store information on interface types.

In some implementation manners, the above-mentioned components of the MEC device described in the embodiments of the present disclosure may be used to execute the method steps in the method embodiment of FIG. 3 or FIG. 6 , which are not repeated here for brevity.

Referring to FIG. 9 , FIG. 9 is a schematic structural diagram of a vehicle positioning calibration system provided by an embodiment of the present invention. As shown in Figure 9, the vehicle positioning calibration system includes: RSU equipment, MEC equipment, vehicle detection sensors connected with the MEC equipment, and OBU installed on the vehicle and communicating with the RSU equipment.

The RSU is the RSU described in the embodiment of FIG. 7 , and is used to implement the methods and steps described in the embodiment of FIG. 2 or FIG. 5 . The MEC is the MEC described in the embodiment of FIG. 8 , and is used to implement the methods and steps described in the embodiment of FIG. 3 or FIG. 6 .

Optionally, the vehicle detection sensor is installed at a position close to the RSU, the vehicle detection sensor detects the vehicle relative position information and vehicle information in the preset identification area, and sends the vehicle relative position information and vehicle information to the MEC, and the OBU recognizes the vehicle in the preset identification area. The area sends the second positioning information of the in-vehicle navigation application to the RSU.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims (11)

1. a vehicle positioning calibration method, is characterized in that, is applied to RSU, comprises: When the vehicle passes through the preset identification area, receiving the second positioning information sent by the OBU of the vehicle and obtained through the navigation application; Receive the first positioning information of the vehicle sent by the MEC device, wherein the first positioning information is calculated from relative position information detected by a vehicle detection sensor; The positioning difference data is calculated and obtained according to the second positioning information and the first positioning information; the positioning difference data is used for calibrating the second positioning information, and/or calibrating in the preset identification area and preset The positioning information obtained by the vehicle through the navigation application within the time period. 2 . The vehicle positioning calibration method according to claim 1 , wherein, after calculating and obtaining positioning differential data according to the second positioning information and the first positioning information, the method further comprises: 3 . The positioning differential data is sent to the in-vehicle navigation application of the vehicle through the OBU, so that the in-vehicle navigation application calibrates the second positioning information according to the positioning differential data, and/or the calibration is performed in the preset Set the positioning information obtained by the vehicle through the navigation application within the identification area and within the preset time; or: calibrating the second positioning information according to the positioning differential data to obtain calibrated positioning information; The calibrated positioning information is sent to the in-vehicle navigation application of the vehicle through the OBU. 3. The vehicle positioning calibration method according to claim 1, wherein receiving the first positioning information of the vehicle sent by the MEC device is specifically: receiving the first positioning information of the vehicle and the speed of the vehicle sent by the MEC device, where the speed is calculated by the MEC device by detecting the displacement difference of the vehicle within a certain time difference by the vehicle detection sensor; Correspondingly, before calculating and obtaining the positioning difference data according to the second positioning information and the first positioning information, the method further includes: According to the speed and the time interval, the first positioning information is updated to obtain the updated first positioning information; wherein the time interval is calculated according to the transmission time between the MEC device and the RSU; Correspondingly, the positioning difference data is calculated and obtained according to the second positioning information and the first positioning information, specifically: The positioning difference data is obtained by calculating according to the second positioning information and the updated first positioning information. 4. The vehicle positioning calibration method according to claim 1, wherein the method further comprises: Within a preset time, multiple positioning differential data of multiple vehicles are obtained by calculation, and the multiple vehicles are in one-to-one correspondence with the multiple positioning differential data; Filter the plurality of positioning differential data according to a filtering algorithm to obtain target positioning differential data; According to the target positioning differential data, a differential service is provided for a vehicle navigation application within a preset range within a preset time. 5 . The vehicle positioning calibration method according to claim 4 , wherein, according to the target positioning differential data within a preset time, differential services are provided for in-vehicle navigation applications within a preset range, specifically comprising: 6 . The target positioning differential data is sent to a differential server, so that the differential server provides differential services for vehicle navigation applications within a preset range through a network within a preset time. 6. A vehicle positioning calibration method, characterized in that, applied to MEC equipment, comprising: When the vehicle travels through the preset recognition area, obtain the relative position information of the vehicle through the vehicle detection sensor; Calculate the first positioning information of the vehicle according to the relative position information; Send the first positioning information to the RSU, so that the RSU calculates and obtains positioning difference data according to the first positioning information and the second positioning information sent by the OBU of the vehicle and obtained through the navigation application; the positioning difference The data is used for calibrating the second positioning information, and/or calibrating the positioning information obtained by the vehicle through the navigation application within the preset identification area and within the preset time. 7 . The vehicle positioning calibration method according to claim 6 , wherein, when the vehicle travels through a preset identification area, obtaining relative position information of the vehicle through a vehicle detection sensor, comprising: 8 . When the vehicle travels through the preset recognition area, obtain the displacement difference of the vehicle within a certain time difference through a vehicle detection sensor, and calculate the speed of the vehicle according to the displacement difference and the certain time difference; Correspondingly, the first positioning information is sent to the RSU, so that the RSU calculates and obtains positioning differential data according to the first positioning information and the second positioning information sent by the OBU of the vehicle and obtained through the navigation application. for: Send the first positioning information and the speed to the RSU, so that the RSU updates the first positioning information according to the speed and the time interval to obtain the updated first positioning information, and according to the update Then, the first positioning information and the second positioning information are calculated to obtain positioning differential data; wherein the time interval is calculated according to the transmission time between the MEC device and the RSU. 8 . The vehicle positioning calibration method according to claim 6 , wherein the relative position information is coordinate data, and the first positioning information is longitude and latitude data, 9 . According to the relative position information, determining the first positioning information of the vehicle includes: The first positioning information of the vehicle is determined by converting the relative position information through a coordinate-to-latitude and longitude algorithm. 9. An RSU device, characterized in that it comprises a processor and a memory, wherein the processor and the memory are connected to each other, wherein the memory is used to store a computer program, and the computer program includes program instructions, the processing The processor is configured to invoke the program instructions to perform the method of any of claims 1-5. 10. A MEC device, characterized in that it comprises a processor and a memory, wherein the processor and the memory are connected to each other, wherein the memory is used to store a computer program, and the computer program includes program instructions, the processing The device is configured to invoke the program instructions to perform the method of claims 6-8. 11. A vehicle positioning calibration system, comprising: The RSU device of claim 9; The MEC device of claim 10; a vehicle detection sensor connected to the MEC; An OBU that is installed on the vehicle and communicates with the RSU device.

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