CN111928845A - Vehicle positioning calibration method, RSU equipment, MEC equipment and system - Google Patents
Vehicle positioning calibration method, RSU equipment, MEC equipment and system Download PDFInfo
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- CN111928845A CN111928845A CN202010574777.4A CN202010574777A CN111928845A CN 111928845 A CN111928845 A CN 111928845A CN 202010574777 A CN202010574777 A CN 202010574777A CN 111928845 A CN111928845 A CN 111928845A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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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- 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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Abstract
The invention relates to a vehicle positioning calibration method, RSU equipment, MEC equipment and a system, wherein the method is applied to the RSU and specifically comprises the following steps: when the vehicle runs through the preset identification area, receiving second positioning information which is sent by an OBU of the vehicle and obtained through a navigation application; receiving first positioning information of a vehicle sent by MEC equipment, wherein the first positioning information is obtained by calculating the MEC equipment according to known ground positioning information of the MEC equipment and relative position information obtained by detecting through a vehicle detection sensor; and calculating to obtain positioning difference data according to the second positioning information and the first positioning information. By implementing the embodiment of the invention, the RSU calculates the differential data through the first positioning information of the vehicle sent by the MEC equipment and the second positioning information of the vehicle sent by the OBU, and the related navigation positioning application can accurately calibrate the positioning information of the vehicle by using the differential data.
Description
Technical Field
The invention relates to the field of Intelligent Transportation Systems (ITS), in particular to a vehicle positioning calibration method, MEC equipment, RSU equipment and a vehicle positioning calibration System.
Background
Currently, vehicle positioning is usually realized by a related positioning application through a GPS positioning system, but when a vehicle runs in a place with a weak positioning signal (such as an overpass, a multi-obstacle sheltered area, an indoor parking area, etc.), the GPS positioning information is prone to deviation or error, and at this time, the related navigation positioning application cannot accurately position the vehicle.
Disclosure of Invention
The invention provides a vehicle positioning calibration method.A differential data is calculated by an RSU through first positioning information of a vehicle sent by MEC equipment and second positioning information of the vehicle sent by an OBU, and navigation positioning application can accurately calibrate the vehicle positioning information by using the differential data.
In a first aspect, a vehicle positioning calibration method is provided, which is applied to an RSU, and includes: when the vehicle runs through the preset identification area, receiving second positioning information which is sent by an OBU of the vehicle and obtained through a navigation application; receiving first positioning information of a vehicle sent by MEC equipment, wherein the first positioning information is obtained by calculating the MEC equipment according to known ground positioning information of the MEC equipment and relative position information obtained by detecting through a vehicle detection sensor; calculating to obtain positioning difference data 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 the positioning information obtained by the vehicle through a navigation application in the preset identification area and the preset time.
In an optional embodiment, after the position difference data is obtained by calculation according to the second positioning information and the first positioning information, the method further includes:
the positioning differential data are sent to a vehicle-mounted navigation application of the vehicle through the OBU, so that the vehicle-mounted navigation application calibrates second positioning information according to the positioning differential data, and/or calibrates positioning information obtained by the vehicle through the navigation application in a preset identification area and preset time; or:
calibrating the second positioning information according to the positioning differential data to obtain calibrated positioning information; and sending the calibrated positioning information to the vehicle-mounted navigation application of the vehicle through the OBU.
And under the condition that the vehicle-mounted navigation application supports receiving of the positioning differential data, the vehicle-mounted navigation application receives the positioning differential data through the OBU and carries out positioning calibration according to the positioning differential data. Since the positioning differential data is stable for a predetermined period of time, the vehicle navigation application can calibrate the vehicle positioning by the differential data in the identification area and the predetermined time.
And under the condition that the vehicle-mounted navigation application does not support receiving of the 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-mounted navigation application of the vehicle through the OBU.
By implementing the embodiment of the invention, the RSU can determine to send the positioning differential data or the positioning information to the vehicle-mounted navigation application according to whether the vehicle-mounted navigation application supports the positioning differential data, so that the application range of the positioning calibration method of the embodiment of the invention is wider.
In an optional embodiment, the receiving of the first positioning information of the vehicle sent by the MEC device specifically includes:
receiving first positioning information of a vehicle and the speed of the vehicle, which are sent by MEC equipment, wherein the speed is obtained by calculating the displacement difference of the vehicle in a certain time difference detected by the MEC equipment through a vehicle detection sensor;
correspondingly, before the position difference data is calculated according to the second positioning information and the first positioning information, the method further includes:
updating the first positioning information according to the speed and the time interval to obtain updated first positioning information; wherein the time interval is calculated according to the transmission time of the MEC equipment and the RSU;
correspondingly, the calculation according to the second positioning information and the first positioning information to obtain positioning difference data specifically comprises:
and calculating to obtain positioning difference data 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, and a certain time interval exists between the first positioning information and the RSU, so that the vehicle continues to run, and the positioning information of the vehicle is changed. Therefore, the RSU needs to calculate updated first positioning information of the vehicle according to the speed and the time interval of the vehicle.
By implementing the embodiment of the invention, the RSU obtains the current real-time positioning information of the vehicle according to the vehicle speed and the time interval, so that the subsequent calculation of the positioning differential data is more accurate.
In an optional embodiment, the method further includes: calculating to obtain a plurality of positioning differential data of a plurality of vehicles within preset time, wherein the plurality of vehicles correspond to the plurality of positioning differential data one to one; filtering the positioning differential data according to a filtering algorithm to obtain target positioning differential data; and providing differential service for the vehicle navigation application within a preset range within preset time according to the target positioning differential data.
By implementing the embodiment of the invention, the RSU obtains the target positioning differential data by filtering according to the plurality of positioning differential data, provides the target positioning differential data for the navigation application in the preset range, provides more accurate positioning differential data for the navigation application, and can further accurately calibrate the vehicle positioning.
In an optional embodiment, providing a difference service for the vehicle navigation application within a preset range according to the target positioning difference data within a preset time specifically includes:
and sending the target positioning differential data to a differential server so that the differential server provides differential service for the vehicle navigation application within a preset range through a network within a preset time.
By implementing the embodiment of the invention, the positioning differential data are sent to all vehicles within the preset range through the server, 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 an MEC device, and includes: when a vehicle runs through a preset identification area, acquiring relative position information of the vehicle through a vehicle detection sensor; calculating to obtain first positioning information of the vehicle according to the relative position information; sending first positioning information to the RSU, so that the RSU calculates to obtain positioning difference data according to the first positioning information and second positioning information which is sent by the OBU of the vehicle and obtained through navigation application; the positioning difference data is used for calibrating the second positioning information and/or calibrating the positioning information obtained by the vehicle through the navigation application in the preset identification area and the preset time.
By implementing the embodiment of the invention, the MEC equipment converts the relative position information (coordinate information) of the vehicle into the first positioning information (longitude and latitude information), so that the RSU can quickly calculate the positioning differential data according to the first positioning information and the second positioning information.
In an optional embodiment, when the vehicle travels through the preset identification area, the acquiring, by the vehicle detection sensor, the relative position information of the vehicle includes:
when the vehicle runs through the preset identification area, acquiring the displacement difference of the vehicle within a certain time difference through a vehicle detection sensor, and calculating 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 to obtain positioning difference data according to the first positioning information and second positioning information, which is sent by the OBU of the vehicle and obtained through a navigation application, specifically:
sending the first positioning information and the speed to an RSU (remote subscriber Unit), so that the RSU updates the first positioning information according to the speed and the time interval to obtain updated first positioning information, and calculating to obtain positioning difference data according to the updated first positioning information and the second positioning information; wherein the time interval is calculated according to the transmission time of the MEC equipment and the RSU.
Specifically, the MEC calculates the vehicle speed according to the displacement difference and the time difference of 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 vehicle speed sent to the RSU by the MEC equipment.
By implementing the embodiment of the invention, the MEC sends the vehicle speed to the RSU, so that the RSU can calculate the positioning differential data more accurately.
In an optional embodiment, the determining the first positioning information of the vehicle according to the relative position information includes: and determining first positioning information of the vehicle according to the relative position information through a coordinate-to-longitude-latitude algorithm.
By implementing the embodiment of the invention, the second positioning information sent by the OBU to the RSU is longitude and latitude data of the vehicle, so that the MEC equipment needs to convert the relative position information (coordinate data) of the vehicle into the longitude and latitude data, and the RSU can calculate and obtain the positioning difference data quickly according to the first positioning information and the second positioning information.
In a third aspect, an RSU device is provided, comprising a processor and a memory, the processor and the memory being interconnected, wherein the memory is configured to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to perform the method as described in the first aspect.
In a fourth aspect, an MEC apparatus is provided, comprising a processor and a memory, the processor and the memory being interconnected, wherein the memory is configured to store a computer program, the computer program comprising program instructions, the processor being configured to invoke said program instructions to perform the method as described in the second aspect.
In a fifth aspect, a vehicle positioning calibration system is provided, 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 mounted on a vehicle and in interactive communication with the RSU device.
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 diagram of a vehicle positioning calibration system architecture and an application layout according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle position calibration method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a first positioning information calculating method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of coordinates provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle position calibration method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a vehicle position calibration method according to an embodiment of the present invention;
fig. 7 is a block diagram of an RSU according to an embodiment of the present invention;
fig. 8 is a block diagram of an MEC device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a vehicle positioning calibration system 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 diagram of a vehicle positioning calibration system architecture and an application layout according to an embodiment of the present invention. As shown in fig. 1, the RSU and vehicle detection sensors may be mounted on the same roadside stand, the MEC equipment, also known as edge computing equipment, may be mounted on the roadside near the roadside stand, and the OBU is mounted on the windshield of the vehicle. It should be noted that the RSU and the vehicle sensor may also be mounted on different roadside brackets of a road at a certain distance, and the mounting on the same roadside bracket is only one preferred embodiment of the present invention.
When the vehicle runs through a preset vehicle identification area, identifying basic information of the vehicle at a vehicle detection sensor, wherein the basic information comprises: a license plate number, a vehicle type, a vehicle color, and the like, and relative position information (coordinate information) of the vehicle is acquired, the vehicle detection sensor transmits basic information and the relative position information of the vehicle to the MEC apparatus. It should be noted that the relative position information of the vehicle described in the embodiment of the present invention is determined by preset reference position information, where the reference position may be a position of the MEC, a position of a vehicle detection sensor, a position of the RSU, or another reference point, and the embodiment of the present invention is not limited thereto.
The MEC device receives vehicle information and relative position information sent by the vehicle detection sensor, converts the relative position information of the vehicle into first positioning information, and specifically, the MEC device calculates the first positioning information according to the relative position information (relative coordinate data) between the vehicle and a preset reference point and preset ground known positioning information (ground longitude and latitude data), wherein the preset ground known positioning information can be longitude and latitude data preset in the MEC device, and the longitude and latitude data represent the position of the MEC device. After the first positioning information is obtained through calculation, the MEC equipment sends the first positioning information of the vehicle to the RSU equipment.
And when the OBU passes through the preset identification area, sending second positioning information sent by the vehicle-mounted navigation application to the RSU, wherein the second positioning information is latitude and longitude data.
After receiving the first positioning information sent by the MEC equipment and the second positioning information sent by the OBU, the RSU calculates according to the first positioning information and the second positioning information to obtain positioning difference data, and sends the calculated difference data to the OBU, so that the vehicle navigation quotes to position and calibrate the vehicle according to the positioning difference data.
In the above embodiment, the vehicle detection sensor may be a camera, and the vehicle information and the relative position information of the vehicle may be obtained by the camera in combination with an image recognition technology; the vehicle detection sensor can also be a camera combined with geomagnetic or laser radar, wherein the camera is used for acquiring vehicle information, and the geomagnetic or laser radar is used for acquiring relative position information of the vehicle; the vehicle detection sensor may also be an ETC phased array antenna, through which vehicle information and relative position information of the vehicle may be obtained. 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 vehicle detection sensor employs an ETC phased array antenna, the ETC phased array antenna may also function as an RSU, i.e., the vehicle detection sensor 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. 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 fig. 2, the method is applied to an RSU device, and the method includes:
and S201, when the vehicle passes through a preset identification area, the RSU receives second positioning information which is sent by the OBU of the vehicle and is obtained through a navigation application.
Specifically, the preset identification region may be a circular region having a diameter distance of several tens or several hundreds of meters with the vehicle detection sensor as a center.
When a vehicle passes through a preset identification area, the vehicle-mounted navigation application on the vehicle sends the positioning information of the vehicle to the OBU, and the OBU sends the positioning information and the vehicle information (such as license plate information) to the RSU equipment.
S202: the RSU receives first positioning information of the vehicle sent by the MEC equipment.
Specifically, the first positioning information is calculated by the MEC device according to the known ground positioning information of the MEC device and the relative position information obtained through detection of the vehicle detection sensor.
Referring to fig. 3, fig. 3 is a schematic diagram of a first positioning information calculating method according to an embodiment of the present invention. As shown in fig. 3, the first positioning information calculation method is applied to the MEC apparatus, and the method includes:
s301: the MEC receives the relative position information sent by the vehicle detection sensors.
Specifically, the relative position information is determined by preset reference position information, where the reference position may be a position of the MEC, a position of the vehicle detection sensor, a position of the RSU, or another reference point, and the embodiment of the present invention is not limited thereto. The vehicle relative position information is relative coordinate data with respect to a preset reference position.
S302: the MEC device calculates first positioning information of the vehicle according to the known positioning information and the relative information on the ground.
Specifically, the known ground positioning information is ground longitude and latitude data, and the calculation of the first vehicle positioning information according to the known ground positioning information and the relative information specifically comprises the following steps: and the MEC equipment determines first positioning information of the vehicle according to the relative position information through a coordinate-to-longitude-latitude algorithm.
Referring to fig. 4, fig. 4 is a schematic coordinate diagram provided in the embodiment of the present invention. As shown in fig. 4, for example, taking the preset reference position information of the relative position information as the MEC device as an example, the MEC device is the origin, the coordinates are (0,0), the positioning information of the MEC with respect to the ground, and the longitude and latitude coordinates are (116.42,39.92), and the relative position coordinates of the test vehicle with respect to the MEC device are (30, 40). And the MEC equipment converts the coordinate data of the vehicle relative to the MEC equipment into longitude and latitude data of the vehicle through a coordinate longitude and latitude algorithm according to the relative position coordinate of the vehicle.
S303: and the MEC equipment updates the first positioning information according to the first positioning information, the speed and the time interval to obtain the updated first positioning information.
In an optional embodiment, the vehicle speed is calculated by the MEC device by detecting a displacement difference of the vehicle within a certain time difference by the vehicle detection sensor.
For example, the vehicle sensors at 27 '21 "and 27' 89" give a vehicle displacement difference of 1 meter, and the vehicle speed is obtained by dividing the displacement difference by the time difference.
Specifically, since there is a certain data transmission time when the MEC device sends the first positioning information and the vehicle speed to the RSU, the vehicle is also running continuously at this time, and the positioning information of the vehicle relative to the ground is also changed, so that the RSU needs to calculate the updated first positioning information of the vehicle according to the vehicle speed and the time interval. The time interval is calculated for the information transmission time interval between the MEC device and the RSU. And the RSU updates to obtain the real-time coordinate information of the vehicle relative to the ground, and the updated coordinate information is used as first positioning information.
By implementing the embodiment of the invention, the RSU obtains the current real-time positioning information of the vehicle according to the vehicle speed and the 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 sequence of step S201 and step S202, in some embodiments, step S201 is before step S202, in other embodiments, step S202 is before step S201, and step S201 and step S202 may also be executed simultaneously.
S203: and the RSU calculates to obtain positioning difference data according to the second positioning information and the first positioning information.
By implementing the embodiment of the invention, the RSU calculates the differential data through the first positioning information of the vehicle sent by the MEC equipment and the second positioning information of the vehicle sent by the OBU, and the positioning application can accurately calibrate the positioning information of the vehicle by using the differential data.
In one embodiment, after the RSU calculates the positioning difference data, for the vehicle navigation application supporting the difference data, the RSU may send the positioning difference data to the vehicle navigation application through the OBU, so that the vehicle navigation application calibrates the second positioning information according to the positioning difference data, and/or calibrates the positioning information obtained by the vehicle through the navigation application within the preset identification area and the preset time;
in another embodiment, for the vehicle navigation application that does not support differential data, the RSU may calibrate the second positioning information according to the positioning differential data, to obtain calibrated positioning information; and sending the calibrated positioning information to the vehicle-mounted navigation application of the vehicle through the OBU.
Specifically, the RSU sends the positioning differential data to the OBU in a manner of data transmission through a dedicated channel, or in a manner of broadcast to all vehicles traveling through a preset identification area. When the RSU carries out data transmission in a broadcasting mode, the RSU also sends OBU identification information to the OBU, and when the OBU receives the broadcast of the RSU, the OBU filters the broadcast through the OBU identification, so that all the positioning differential data are correctly matched with the vehicle.
And under the condition that the vehicle-mounted navigation application supports receiving of the positioning differential data, the vehicle-mounted navigation application receives the positioning differential data through the OBU and carries out positioning calibration according to the positioning differential data. Since the positioning differential data is stable for a predetermined period of time, the vehicle navigation application can calibrate the vehicle positioning by the differential data in the identification area and the predetermined time.
And under the condition that the vehicle-mounted navigation application does not support receiving of the 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-mounted navigation application of the vehicle through the OBU.
By implementing the embodiment of the invention, the RSU sends the positioning differential data and/or the positioning information according to the receiving support condition of the positioning differential data by the vehicle-mounted navigation application, so that the vehicles in the preset identification area can calibrate the self positioning of the vehicles according to the positioning differential data.
Referring to fig. 5, fig. 5 is a schematic diagram of a vehicle positioning calibration method according to an embodiment of the present invention. The above embodiment performs vehicle positioning calibration for a single vehicle, and in another embodiment, calculates positioning differential data for a plurality of vehicles, providing a differential service. As shown in fig. 5, the method includes:
s501: within the preset time, the RSU calculates a plurality of positioning difference data of a plurality of vehicles by the above embodiment.
Specifically, a plurality of vehicles correspond to a plurality of positioning difference data one to one.
S502: and the RSU filters the positioning differential data according to a filtering algorithm to obtain target positioning differential data.
Specifically, when the vehicle-mounted navigation application is used when the signal is particularly weak or information deviation occurs, the deviation between the second positioning information and the first positioning information of the vehicle is large, and the deviation between the positioning differential data obtained by the RSU calculation and the positioning differential data obtained by the vehicle calculation with a good signal is large. Therefore, filtering is carried out on the plurality of positioning difference data, and more accurate target position difference data can be obtained.
S503: and the RSU provides differential service for the vehicle navigation application in a preset range within 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 a differential service for the vehicle navigation application within the preset range through the network within the preset time.
By implementing the embodiment of the invention, the positioning differential data are sent to all vehicles within the preset range through the server, 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 according to an embodiment of the present invention. As shown in fig. 6, the method is applied to an MEC apparatus, and includes:
s601: when the vehicle travels through the preset identification area, the MEC apparatus acquires relative position information of the vehicle through the vehicle detection sensor.
Specifically, when the vehicle travels through the preset identification area, the vehicle detection sensor detects relative position information of the vehicle and vehicle information, the relative position information is determined by preset reference position information, and the vehicle information may be information such as a license plate, a vehicle type, and a vehicle color. The vehicle detection sensor transmits the relative position information of the vehicle and the vehicle information to the MEC apparatus.
S602: and the MEC calculates 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, which is not described herein again.
S603: the MEC sends first positioning information to the RSU.
Specifically, the MEC device sends first positioning information to the RSU, so that the RSU calculates to obtain positioning difference data according to the first positioning information and second positioning information which is sent by the OBU of the vehicle and obtained through navigation application; the positioning difference data is used for calibrating the second positioning information and/or calibrating the positioning information obtained by the vehicle through the navigation application in the preset identification area and the preset time.
The method for calculating the positioning difference data refers to the steps in the methods described in fig. 2, fig. 3, fig. 4, or fig. 5, and is not described herein again.
By implementing the embodiment of the invention, the MEC equipment converts the relative position information (coordinate information) of the vehicle into the first positioning information (longitude and latitude information), so that the RSU can quickly calculate the positioning differential data according to the first positioning information and the second positioning information, and the vehicle navigation application can conveniently carry out vehicle positioning calibration according to the positioning differential data.
In an optional embodiment, when the vehicle travels through the preset identification area, the acquiring, by the vehicle detection sensor, the relative position information of the vehicle includes:
when the vehicle runs through the preset identification area, acquiring the displacement difference of the vehicle within a certain time difference through a vehicle detection sensor, and calculating 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 to obtain positioning difference data according to the first positioning information and second positioning information, which is sent by the OBU of the vehicle and obtained through a navigation application, specifically:
sending the first positioning information and the speed to an RSU (remote subscriber Unit), so that the RSU updates the first positioning information according to the speed and the time interval to obtain updated first positioning information, and calculating to obtain positioning difference data according to the updated first positioning information and the second positioning information; wherein the time interval is calculated according to the transmission time of the MEC equipment and the RSU.
Specifically, the MEC calculates the vehicle speed according to the displacement difference and the time difference of 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 vehicle speed sent to the RSU by the MEC equipment.
By implementing the embodiment of the invention, the MEC sends the vehicle speed to the RSU, so that the RSU can calculate the positioning differential data more accurately.
In an optional embodiment, the determining the first positioning information of the vehicle according to the relative position information includes: and determining first positioning information of the vehicle according to the relative position information through a coordinate-to-longitude-latitude algorithm.
By implementing the embodiment of the invention, the second positioning information sent by the OBU to the RSU is longitude and latitude data of the vehicle, so that the MEC equipment needs to convert the relative position information (coordinate data) of the vehicle into the longitude and latitude data, and the RSU can calculate and obtain the positioning difference data quickly according to the first positioning information and the second positioning information.
Referring to fig. 7, fig. 7 is a block diagram of an RSU according to an embodiment of the present invention, where the RSU includes: a processor 701 and a memory 702 storing a computer program, the processor implementing the methods and steps of the embodiment of fig. 2, or fig. 5, when executing the computer program stored in the memory.
In a possible embodiment, the RSU may further include: one or more input interfaces 703 and one or more output interfaces 704.
The processor 701, the input interface 703, the output interface 704, and the memory 702 are connected by a bus 705. The memory 702 is used for storing instructions, the processor 701 is used for executing the instructions stored in the memory 702, the input interface 703 is used for receiving data, such as first positioning information and second positioning information, and the like, and the output interface 704 is used for outputting data, such as positioning differential data, and the like.
Wherein, the processor 701 is configured to call the program instruction to execute: fig. 2, fig. 5 illustrate the method and steps of the embodiment. Embodiments relate to method steps for vehicle positioning calibration. It should be understood that in the embodiments of the present disclosure, the Processor 701 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, or 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 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 702 providing instructions and data to the processor 701. A portion of the memory 702 may also include non-volatile random access memory. For example, the memory 702 may also store information of the interface type.
In some implementations, the above components of the RSU described in the embodiments of the present disclosure may be used in the methods and steps of the embodiments of fig. 2 and 5, and are not described herein again for brevity.
Referring to fig. 8, fig. 8 is a block diagram of an MEC device according to an embodiment of the present invention, where the MEC device includes: a processor 801 and a memory 802 storing a computer program, the processor implementing the methods and steps of the method embodiments of fig. 3 or 6 when executing the computer program stored in the memory.
In a possible embodiment, the MEC apparatus may further include: one or more input interfaces 803 and one or more output interfaces 804.
The processor 801, the input interface 803, the output interface 804, and the memory 802 are connected by 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.
Wherein the processor 801 is configured to invoke the program instructions to perform: the method steps as referred to in the embodiment of fig. 3 or 6 are performed. It should be understood that in the disclosed embodiment, the Processor 801 may be a Central Processing Unit (CPU), and the Processor may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. 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 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 802 providing instructions and data to the processor 801. A portion of the memory 802 may also include non-volatile random access memory. For example, the memory 802 may also store information of the interface type.
In some implementations, the above components of the MEC device described in the embodiments of the present disclosure may be used to perform the method steps in the method embodiments of fig. 3 or fig. 6, and are not described herein again for brevity.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a vehicle positioning calibration system according to an embodiment of the present invention. As shown in fig. 9, the vehicle positioning calibration system includes: the vehicle detection system comprises an RSU device, an MEC device, a vehicle detection sensor connected with the MEC device and an OBU which is installed on a vehicle and interactively communicates with the RSU device.
The RSU is the RSU described in the embodiment of fig. 7, and is used to implement the method and steps described in the embodiment of fig. 2 or fig. 5. The MEC is the MEC described in the embodiment of fig. 8 for implementing the method and steps described in the embodiment of fig. 3 or 6.
Optionally, the vehicle detection sensor is installed at a position close to the RSU, the vehicle detection sensor detects vehicle relative position information and vehicle information in a preset identification region, the vehicle relative position information and the vehicle information are sent to the MEC, and the OBU sends second positioning information of the vehicle navigation application to the RSU in the preset identification region.
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 positioning calibration method is applied to an RSU and comprises the following steps:
when the vehicle runs through the preset identification area, receiving second positioning information which is sent by an OBU of the vehicle and obtained through a navigation application;
receiving first positioning information of the vehicle sent by the MEC equipment, wherein the first positioning information is obtained by calculating relative position information obtained by detecting through a vehicle detection sensor;
calculating to obtain positioning difference data 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 the positioning information obtained by the vehicle through a navigation application in the preset identification area and the preset time.
2. The vehicle positioning calibration method according to claim 1, wherein after calculating positioning difference data from the second positioning information and the first positioning information, the method further comprises:
sending the positioning differential data to a vehicle-mounted navigation application of the vehicle through the OBU, so that the vehicle-mounted navigation application calibrates the second positioning information according to the positioning differential data, and/or calibrates the positioning information obtained by the vehicle through the navigation application in the preset identification area and preset time; or:
calibrating the second positioning information according to the positioning differential data to obtain calibrated positioning information;
and sending the calibrated positioning information to the vehicle-mounted navigation application of the vehicle through the OBU.
3. The vehicle positioning calibration method according to claim 1, wherein receiving first positioning information of the vehicle sent by the MEC device specifically includes:
receiving first positioning information of the vehicle and the speed of the vehicle, which are sent by MEC equipment, wherein the speed is calculated by the MEC equipment through detecting the displacement difference of the vehicle within a certain time difference by the vehicle detection sensor;
correspondingly, before the position difference data is calculated according to the second position information and the first position information, the method further includes:
updating the first positioning information according to the speed and the time interval to obtain updated first positioning information; wherein the time interval is calculated according to the transmission time of the MEC equipment and the RSU;
correspondingly, the calculation according to the second positioning information and the first positioning information to obtain positioning difference data specifically includes:
and calculating to obtain positioning difference data according to the second positioning information and the updated first positioning information.
4. The vehicle position calibration method of claim 1, further comprising:
calculating to obtain a plurality of positioning differential data of a plurality of vehicles within preset time, wherein the plurality of vehicles correspond to the plurality of positioning differential data one by one;
filtering the positioning differential data according to a filtering algorithm to obtain target positioning differential data;
and providing differential service for the vehicle navigation application within a preset range within preset time according to the target positioning differential data.
5. The vehicle positioning calibration method according to claim 4, wherein providing a differential service for the vehicle navigation application within a preset range within a preset time according to the target positioning differential data specifically comprises:
and sending the target positioning differential data to a differential server so that the differential server provides differential service for the vehicle navigation application within a preset range through a network within a preset time.
6. A vehicle positioning calibration method is applied to MEC equipment and comprises the following steps:
when a vehicle runs through a preset identification area, acquiring relative position information of the vehicle through a vehicle detection sensor;
calculating to obtain first positioning information of the vehicle according to the relative position information;
sending the first positioning information to an RSU (remote terminal unit), so that the RSU calculates to obtain positioning difference data according to the first positioning information and second positioning information which is sent by an OBU (on-board unit) of the vehicle and obtained through a navigation application; 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 the preset time.
7. The vehicle positioning calibration method according to claim 6, wherein acquiring the relative position information of the vehicle by a vehicle detection sensor when the vehicle travels through a preset identification area comprises:
when a vehicle runs through the preset identification area, acquiring a displacement difference of the vehicle within a certain time difference through a vehicle detection sensor, and calculating to obtain 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 to obtain positioning difference data according to the first positioning information and second positioning information, which is sent by the OBU of the vehicle and obtained through a navigation application, specifically:
sending the first positioning information and the speed to an RSU (remote subscriber Unit), so that the RSU updates the first positioning information according to the speed and the time interval to obtain updated first positioning information, and calculating to obtain positioning difference data according to the updated first positioning information and the second positioning information; wherein the time interval is calculated according to the transmission time of the MEC device and the RSU.
8. The vehicle positioning calibration method according to claim 6, wherein the relative position information is coordinate data, the first positioning information is latitude and longitude data,
determining first positioning information of the vehicle according to the relative position information, comprising:
and determining first positioning information of the vehicle according to the relative position information through a coordinate-to-longitude-latitude algorithm.
9. An RSU device comprising a processor and a memory, the processor and the memory being interconnected, wherein the memory is configured to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of claims 1-5.
10. An MEC apparatus comprising a processor and a memory, the processor and the memory being interconnected, wherein the memory is configured to store a computer program comprising program instructions, the processor being 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 plant of claim 10;
a vehicle detection sensor coupled to the MEC;
an OBU mounted on the vehicle and in interactive communication with the RSU device.
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| CN202010574777.4A CN111928845A (en) | 2020-06-22 | 2020-06-22 | Vehicle positioning calibration method, RSU equipment, MEC equipment and system |
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