CN112019997A - Vehicle positioning method and device - Google Patents

Vehicle positioning method and device Download PDF

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Publication number
CN112019997A
CN112019997A CN202010776022.2A CN202010776022A CN112019997A CN 112019997 A CN112019997 A CN 112019997A CN 202010776022 A CN202010776022 A CN 202010776022A CN 112019997 A CN112019997 A CN 112019997A
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China
Prior art keywords
vehicle
passing
information
time point
calibration information
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Pending
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CN202010776022.2A
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Chinese (zh)
Inventor
陈建祥
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Ruijie Networks Co Ltd
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Ruijie Networks Co Ltd
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Priority to CN202010776022.2A priority Critical patent/CN112019997A/en
Publication of CN112019997A publication Critical patent/CN112019997A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

The invention provides a vehicle positioning method and a vehicle positioning device.A vehicle receives first position calibration information sent by a road side node; the first position calibration information comprises a passing time point and a passing speed of the vehicle passing through a first preset position; the method comprises the steps that after a vehicle determines that no GNSS signal of a global navigation satellite system can be detected, at least one piece of first acceleration information from an elapsed time point to a current time point is obtained; the first acceleration information is acquired by an inertial measurement unit of the vehicle; the vehicle calibrates the position information of the vehicle according to the first position calibration information and the at least one first acceleration information. In the mode, the passing time point and the passing speed in the first position calibration information sent by the road side node to the vehicle to be positioned are accurate, so that when the vehicle receives the position calibration information, the vehicle can adjust the position of the vehicle at the current moment by calling the acceleration information from the passing time point to the current time point, and the accuracy can reach the sub-meter level.

Description

Vehicle positioning method and device
Technical Field
The embodiment of the invention relates to the technical field of wireless communication, in particular to a vehicle positioning method and device.
Background
In the field of current internet of vehicles and automatic driving, an automobile needs to acquire the accurate position of the automobile at the current moment, and position judgment is performed, so that the direction on a map is identified, and then the position of the automobile is informed to other vehicles around the automobile through wireless protocols such as Dedicated Short Range Communication (DSRC), Long Term Evolution (Long Term Evolution) to Evolution (LTE-V2X), and the like, so that the purpose of safety early warning is achieved.
In an open scene, sub-meter Positioning can be obtained by a Global Navigation Satellite System (GNSS), such as a Global Positioning System (GPS) and the beidou, using a differential Positioning technology. However, in the actual driving process of the vehicle, a large number of tunnels and high racks may be encountered, and in these situations, the GNSS usually shows no signal or weak signal, so that the vehicle cannot acquire the precise position of the vehicle at the current moment, and cannot meet the application requirements of internet of vehicles and automatic driving.
In view of the above problems, the prior art provides a solution for performing auxiliary positioning by using an Inertial Measurement Unit (IMU). The method comprises the following specific steps:
the acceleration of the vehicle is obtained by utilizing an inertia measuring unit of the vehicle, and the updated position of the vehicle is deduced according to a physical motion law by combining the initial speed and the initial position. It is also possible to use the number of wheel revolutions or the like for additional identification. However, due to the accumulated error of the sensors, which is typically over 300 meters, the positioning error derived from the inertial sensors is too large, resulting in inaccurate positioning.
In summary, the prior art cannot provide a high-precision sub-meter-level vehicle positioning method for a vehicle passing through a road section with weak GNSS signals or even no GNSS.
Disclosure of Invention
The invention provides a vehicle positioning method and device, which are used for solving the problem of inaccurate positioning of a vehicle when a route GNSS signal is weak or even a route GNSS does not exist.
In a first aspect, an embodiment of the present invention provides a vehicle positioning method, including: the vehicle receives first position calibration information sent by the road side node; the first position calibration information comprises a passing time point and a passing speed of the vehicle passing a first preset position; the vehicle acquires at least one piece of first acceleration information from the elapsed time point to the current time point after determining that no GNSS signal of the global navigation satellite system is detected; the first acceleration information is acquired by an inertial measurement unit of the vehicle; the vehicle calibrates the position information of the vehicle according to the first position calibration information and the at least one first acceleration information.
Based on the scheme, when the vehicle receives first position calibration information sent by the road side node, the vehicle acquires at least one piece of first acceleration information from the acceleration information stored locally to the current time when the vehicle passes through the passing time corresponding to the first preset position, so that the vehicle can calibrate the position of the vehicle at the current time according to the information. According to the mode, the passing time point and the passing speed of the vehicle in the first position calibration information sent by the road side node to the vehicle to be positioned are accurate when the vehicle passes through the first preset position, so that when the vehicle receives the position calibration information, the vehicle can adjust the position of the vehicle at the current moment by calling the acceleration information from the passing time point to the current time point, and the accuracy can reach the sub-meter level.
In a possible implementation method, before the vehicle receives the first position calibration information sent by the roadside node, the method further includes: after the GNSS assembly of the vehicle cannot detect the GNSS signal, acquiring second acceleration information of the vehicle, which is acquired by the inertial measurement unit; and the vehicle determines the position information of the vehicle according to the historical position determined by the historical GNSS signals and the second acceleration information.
Based on the scheme, when the vehicle enters a tunnel or an overhead zone where some GNSS signals are weak or even disappear, the GNSS assembly arranged on the vehicle cannot detect the GNSS signals, which indicates that the vehicle cannot continuously locate the position of the vehicle by means of the GNSS signals. In this regard, the vehicle uses a built-in inertial measurement unit to obtain acceleration information of the vehicle, and by obtaining a historical position and a historical speed when the vehicle just enters a zone where GNSS signals are weak or even disappear, the position of the vehicle in the zone can be determined.
In one possible implementation method, after the calibrating the position information of the vehicle, the method further includes: before the vehicle does not receive second position calibration information sent by the road side node, updating the position information of the vehicle according to third acceleration information collected by the inertial measurement unit; the second position calibration information is the passing time point and the passing speed of the vehicle passing a second preset position, which are acquired by the road side node; and setting the driving direction of the vehicle from the first preset position to the second preset position.
Based on the scheme, after the vehicle determines the position of the vehicle according to the first position calibration information sent by the road side node, when the vehicle continues to drive along the same direction, the vehicle can determine the position of the vehicle based on the vehicle position information determined according to the position calibration information sent by the road side node and the vehicle acceleration information acquired by the vehicle inertia measurement unit, and the process of determining the position of the vehicle according to the inertia measurement unit continues until the vehicle receives the second position calibration information sent by the road side node again.
In one possible implementation method, after the calibrating the position information of the vehicle, the method further includes: the vehicle broadcasts the location information of the vehicle to the roadside nodes and other vehicles.
Based on the scheme, after the vehicle obtains the position information of the vehicle, the position information of the vehicle is broadcasted to the road side nodes and other vehicles, so that the purpose of safety early warning can be achieved, and the cooperative vehicle and road demand is realized.
In a possible implementation method, before the vehicle receives the first position calibration information sent by the roadside node, the method further includes: the vehicle sends a clock synchronization request to the road side node after the GNSS signal cannot be detected; the vehicle synchronizes with the roadside node based on the received clock synchronization reply.
Based on the scheme, when the vehicle enters a tunnel or an overhead zone where some GNSS signals are weak or even disappear, and the GNSS assembly on the vehicle finds that the GNSS signals cannot be acquired, the vehicle at the moment determines that the mode of determining the position of the vehicle is switched to other positioning modes from the original mode of determining according to the GNSS signals, therefore, the vehicle can realize clock synchronization between the vehicle and the road side node by sending a clock synchronization request to the road side node, and the time of the subsequent vehicle receiving the position calibration information sent by the road side node is the same for the vehicle and the road side node.
In a second aspect, an embodiment of the present invention provides a vehicle positioning method, including: the method comprises the steps that a road side node collects the passing time point and the passing speed of a vehicle passing through a first preset position; the roadside node sends first position calibration information to the vehicle, wherein the first position calibration information comprises a passing time point and a passing speed of the vehicle passing a first preset position; the first position calibration information is used for calibrating the position information of the vehicle according to the first position calibration information after the vehicle determines that no GNSS signal can be detected.
Based on the scheme, road side nodes are arranged in the zones where some GNSS signals are weak or even disappear, such as tunnels or elevated frames, where the vehicles enter, the arranged road side nodes are used for detecting the passing time point and the passing speed of the vehicles passing through the preset positions and sending the data to the vehicles in the mode of position calibration information, and when the corresponding vehicles receive the position calibration information, the position information of the corresponding vehicles can be determined accordingly. According to the mode, the passing time point and the passing speed of the vehicle in the first position calibration information sent by the road side node to the vehicle to be positioned are accurate when the vehicle passes through the first preset position, so that when the vehicle receives the position calibration information, the vehicle can adjust the position of the vehicle at the current moment by calling the acceleration information from the passing time point to the current time point, and the accuracy can reach the sub-meter level.
In one possible implementation method, the road side node collects a passing time point and a passing speed of a vehicle passing through a first preset position, and the method includes: the vehicle networking base station of the road side node acquires position information reported by each vehicle; the radar sensor of the road side node acquires the passing time point and the passing speed of the vehicle passing through the first preset position; and the edge computing equipment of the road side node determines the vehicles passing through the first preset position at the passing time point from the position information reported by each vehicle according to the passing time point and the passing speed passing through the first preset position.
Based on the scheme, any one roadside node may include a vehicle networking base station, a millimeter wave radar sensor and an edge computing device; the vehicle networking base station is communicated with the communication equipment on the vehicle to acquire the position information of the vehicle in the driving process, the millimeter wave radar sensor can acquire the passing time point and the passing speed of the vehicle passing through the preset position, and the two data are accurate time and speed, so that the edge computing equipment can accurately match the vehicle passing through the preset position, corresponding to the passing time point and the passing speed from the reported information.
In a possible implementation method, the number of the roadside nodes is multiple, and the multiple roadside nodes are arranged at intervals according to a set distance.
Based on the scheme, road side nodes are arranged in some zones where GNSS signals are weak or even disappear, such as tunnels or elevated frames, where vehicles drive in, and the appropriate number of road side nodes can be determined according to the length of the zones.
In a third aspect, an embodiment of the present invention provides a vehicle positioning apparatus, including: the device comprises a receiving unit, an acquiring unit and a positioning unit; the receiving unit is used for receiving first position calibration information sent by the road side node; the first position calibration information comprises a passing time point and a passing speed of the vehicle passing through a first preset position; the acquisition unit is used for acquiring at least one piece of first acceleration information from the elapsed time point to the current time point after determining that no GNSS signal can be detected; the first acceleration information is acquired by an inertial measurement unit of the vehicle; the positioning unit is used for calibrating the position information of the vehicle according to the first position calibration information and the at least one piece of first acceleration information.
Based on the scheme, when the vehicle receives first position calibration information sent by the road side node, the vehicle acquires at least one piece of first acceleration information from the acceleration information stored locally to the current time when the vehicle passes through the passing time corresponding to the first preset position, so that the vehicle can calibrate the position of the vehicle at the current time according to the information. According to the mode, the passing time point and the passing speed of the vehicle in the first position calibration information sent by the road side node to the vehicle to be positioned are accurate when the vehicle passes through the first preset position, so that when the vehicle receives the position calibration information, the vehicle can adjust the position of the vehicle at the current moment by calling the acceleration information from the passing time point to the current time point, and the accuracy can reach the sub-meter level.
In a possible implementation method, the obtaining unit is further configured to obtain second acceleration information of the vehicle, which is collected by the inertial measurement unit, after no GNSS signal is detected; and the positioning unit is further used for determining the position information of the vehicle according to the historical position determined by the historical GNSS signals and the second acceleration information.
Based on the scheme, when the vehicle enters a tunnel or an overhead zone where some GNSS signals are weak or even disappear, the GNSS assembly arranged on the vehicle cannot detect the GNSS signals, which indicates that the vehicle cannot continuously locate the position of the vehicle by means of the GNSS signals. In this regard, the vehicle uses a built-in inertial measurement unit to obtain acceleration information of the vehicle, and by obtaining a historical position and a historical speed when the vehicle just enters a zone where GNSS signals are weak or even disappear, the position of the vehicle in the zone can be determined.
In a possible implementation method, the positioning unit is further configured to update the position information of the vehicle according to third acceleration information collected by the inertial measurement unit before receiving the second position calibration information sent by the roadside node; the second position calibration information is the passing time point and the passing speed of the vehicle passing a second preset position, which are acquired by the road side node; and setting the driving direction of the vehicle from the first preset position to the second preset position.
Based on the scheme, after the vehicle determines the position of the vehicle according to the first position calibration information sent by the road side node, when the vehicle continues to drive along the same direction, the vehicle can determine the position of the vehicle based on the vehicle position information determined according to the position calibration information sent by the road side node and the vehicle acceleration information acquired by the vehicle inertia measurement unit, and the process of determining the position of the vehicle according to the inertia measurement unit continues until the vehicle receives the second position calibration information sent by the road side node again.
In one possible implementation, the apparatus further comprises a broadcasting unit; the broadcasting unit is used for broadcasting the position information of the vehicle to the road side nodes and other vehicles.
Based on the scheme, after the vehicle obtains the position information of the vehicle, the position information of the vehicle is broadcasted to the road side nodes and other vehicles, so that the purpose of safety early warning can be achieved, and the cooperative vehicle and road demand is realized.
In one possible implementation, the apparatus further comprises a clock synchronization unit; the clock synchronization unit is used for sending a clock synchronization request to the road side node after the GNSS signal cannot be detected; and synchronizing with the road side node based on the received clock synchronization reply.
Based on the scheme, when the vehicle enters a tunnel or an overhead zone where some GNSS signals are weak or even disappear, and the GNSS assembly on the vehicle finds that the GNSS signals cannot be acquired, the vehicle at the moment determines that the mode of determining the position of the vehicle is switched to other positioning modes from the original mode of determining according to the GNSS signals, therefore, the vehicle can realize clock synchronization between the vehicle and the road side node by sending a clock synchronization request to the road side node, and the time of the subsequent vehicle receiving the position calibration information sent by the road side node is the same for the vehicle and the road side node.
In a fourth aspect, an embodiment of the present invention provides a vehicle positioning apparatus, including: an acquisition unit and a transmission unit; the acquisition unit is used for acquiring the passing time point and the passing speed of the vehicle passing through the first preset position; the sending unit is used for sending first position calibration information to the vehicle, wherein the first position calibration information comprises a passing time point and a passing speed of the vehicle passing through a first preset position; the first position calibration information is used for calibrating the position information of the vehicle according to the first position calibration information after the vehicle determines that no GNSS signal can be detected.
Based on the scheme, road side nodes are arranged in the zones where some GNSS signals are weak or even disappear, such as tunnels or elevated frames, where the vehicles enter, the arranged road side nodes are used for detecting the passing time point and the passing speed of the vehicles passing through the preset positions and sending the data to the vehicles in the mode of position calibration information, and when the corresponding vehicles receive the position calibration information, the position information of the corresponding vehicles can be determined accordingly. According to the mode, the passing time point and the passing speed of the vehicle in the first position calibration information sent by the road side node to the vehicle to be positioned are accurate when the vehicle passes through the first preset position, so that when the vehicle receives the position calibration information, the vehicle can adjust the position of the vehicle at the current moment by calling the acceleration information from the passing time point to the current time point, and the accuracy can reach the sub-meter level.
In a possible implementation method, the obtaining unit is specifically configured to obtain location information reported by each vehicle; the vehicle speed acquisition device is used for acquiring the passing time point and the passing speed of the vehicle passing through the first preset position; and the vehicle determination device is used for determining the vehicles passing through the first preset position at the passing time point from the position information reported by each vehicle according to the passing time point and the passing speed passing through the first preset position.
Based on the scheme, any one roadside node may include a vehicle networking base station, a millimeter wave radar sensor and an edge computing device; the vehicle networking base station is communicated with the communication equipment on the vehicle to acquire the position information of the vehicle in the driving process, the millimeter wave radar sensor can acquire the passing time point and the passing speed of the vehicle passing through the preset position, and the two data are accurate time and speed, so that the edge computing equipment can accurately match the vehicle passing through the preset position, corresponding to the passing time point and the passing speed from the reported information.
In a possible implementation method, the number of the roadside nodes is multiple, and the multiple roadside nodes are arranged at intervals according to a set distance.
Based on the scheme, road side nodes are arranged in some zones where GNSS signals are weak or even disappear, such as tunnels or elevated frames, where vehicles drive in, and the appropriate number of road side nodes can be determined according to the length of the zones.
In a fifth aspect, an embodiment of the present invention provides a computing device, including:
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the implementation method of the first aspect or the second aspect according to the obtained program.
In a sixth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method according to any one of the first and second aspects.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a system architecture diagram according to an embodiment of the present invention;
FIG. 2 illustrates a vehicle positioning method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an inside of a tunnel provided with a plurality of road side nodes according to an embodiment of the present invention;
FIG. 4 is a schematic view of a vehicle positioning apparatus according to an embodiment of the present invention;
fig. 5 is a vehicle positioning device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, 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.
As shown in fig. 1, a schematic diagram of a system architecture provided in an embodiment of the present invention includes a vehicle 110 and a roadside node 120. Vehicle 110 may include, among other things, a GNSS component 1101, a V2X wireless component 1102, an inertial measurement unit 1103, and a CPU and onboard interface 1104. Roadside node 120 may include V2X base station 1201, millimeter-wave radar sensor 1202, and edge computing device 1203, optionally, roadside node 120 also includes image sensor 1204.
The GNSS module 1101 may be configured to receive GNSS signals when the vehicle is traveling in an open area, and implement positioning of the vehicle. In an embodiment of the invention, the GNSS assembly may also be used for initial position location of the vehicle just entering a zone where GNSS signals are weak or even vanishing. For example, when the vehicle has just entered the tunnel entrance, the GNSS assembly of the vehicle is used to obtain the precise position of the vehicle at the tunnel entrance.
The V2X wireless component 1102 may be used to broadcast the location of the vehicle itself to meet application requirements for vehicle-to-vehicle coordination. In the embodiment of the invention, the V2X wireless component can also be used for receiving correction data sent by the road side node, so that the vehicle can update the position of the vehicle according to the correction data.
The inertial measurement unit 1103 may be configured to continuously obtain acceleration information of the vehicle during the driving process when the GNSS assembly of the vehicle cannot obtain the GNSS signal, so that the vehicle may calculate a displacement of the vehicle during the driving process according to the acceleration information and the law of physical displacement, and the vehicle may obtain the position information of the vehicle in the GNSS signal disappearance zone.
The CPU and vehicle interface 1104 may be used to provide the necessary computing and support capabilities for each of the vehicle components described above in developing their respective functions.
The V2X base station 1201 is installed on the road side, and can implement basic application requirements of vehicle-road coordination through communication with the vehicle-mounted V2X wireless component. In an embodiment of the present invention, V2X base station 1201 may also be used to issue position correction data to the vehicle.
Millimeter wave radar sensor 1202 may be installed on the roadside, and the millimeter wave radar emitted therefrom may detect a substance in a certain region, may be configured to obtain the accurate speed and the accurate time of the vehicle passing through a preset position, and send data to edge computing device 1203, where the preset position belongs to the detection region of the millimeter wave radar sensor, and the preset position may be a physical reference line or a virtual reference line set on the road.
Edge computing device 1203 may be installed on the road side, and may be configured to receive data sent by V2X base station 1201 and millimeter wave radar sensor 1202, and determine whether there is an abnormality in the vehicle during driving through calculation. If a vehicle running at an overspeed is found, the violation information of the vehicle can be recorded in the driving record of the vehicle; and if the scene is serious, prompting information can be sent to the staff, so that the staff can execute certain interception measures and the like on the overspeed vehicle. In an embodiment of the present invention, the edge computing device 1203 may also be configured to feed back the calculation result to the V2X base station 1201, so that the V2X base station 1201 may issue position correction data to the vehicle.
Optionally, the image sensor 1204 may be a camera, and is configured to collect state data of the vehicle during driving in the tunnel, and send the collected vehicle state data to the edge computing device. The function of the base station is similar to that of the V2X base station, and the base station can be combined with the V2X base station in the implementation process, so that the effect is better.
Based on the system architecture shown in fig. 1, an embodiment of the present invention provides a vehicle positioning method. As shown in fig. 2, the method comprises the steps of:
step 201, a roadside node acquires an elapsed time point and an elapsed speed of a vehicle passing through a first preset position.
In this step, the elapsed time point and the elapsed speed of the vehicle passing through the first preset position, which are collected by the roadside node, are both accurate numerical values.
Step 202, the road side node sends first position calibration information to the vehicle; accordingly, the vehicle receives the first position calibration information.
In this step, the first position calibration information includes a passing time point and a passing speed at which the vehicle passes a first preset position.
In step 203, the vehicle acquires at least one first acceleration information from the elapsed time point to the current time point after determining that no GNSS signal is detected.
In this step, the first acceleration information is collected by an inertial vehicle unit of the vehicle.
Step 204, the vehicle calibrates the position information of the vehicle according to the first position calibration information and the at least one first acceleration information.
In the step, the vehicle takes a first preset position as an initial position when the vehicle calibrates the position information this time, takes a passing speed when the vehicle passes through the first preset position as an initial speed when the vehicle calibrates the position information this time, calculates the passing speed and the at least one first acceleration information by using a physical displacement law until the vehicle receives the first position calibration information (namely, the current time), obtains a displacement when the vehicle travels from the first preset position to the current time, and calculates the initial position and the displacement, thereby obtaining the position information of the vehicle at the current time and calibrating the position information.
Based on the scheme, when the vehicle receives first position calibration information sent by the road side node, the vehicle acquires at least one piece of first acceleration information from the acceleration information stored locally to the current time when the vehicle passes through the passing time corresponding to the first preset position, so that the vehicle can calibrate the position of the vehicle at the current time according to the information. According to the mode, the passing time point and the passing speed of the vehicle in the first position calibration information sent by the road side node to the vehicle to be positioned are accurate when the vehicle passes through the first preset position, so that when the vehicle receives the position calibration information, the vehicle can adjust the position of the vehicle at the current moment by calling the acceleration information from the passing time point to the current time point, and the accuracy can reach the sub-meter level.
The above steps will be described in detail with reference to examples.
In one implementation of step 201, the time point and the speed of the vehicle passing through the first preset position may be obtained by a millimeter wave radar sensor of the road side node, and the data may be reported to the edge computing device of the road side node. And acquiring the position information reported by each vehicle through the vehicle networking base station (V2X base station) of the road side node, and reporting the data to the edge computing equipment of the road side node. After the edge computing device obtains the data respectively sent by the millimeter wave radar sensor and the V2X base station, the edge computing device may match and confirm the vehicles passing through the first preset position with the elapsed time and the elapsed speed from the vehicles reporting the position information.
For example, in a tunnel, the lanes traveling in the same direction are two lanes, and two vehicles, i.e., vehicle a and vehicle B, are provided and travel on two lanes in the same direction. After the vehicle A enters the tunnel from the entrance of the tunnel, the vehicle-mounted V2X wireless component may broadcast the current state information of the vehicle A, where the current state information may include the position information, speed information, and other data of the vehicle, where the position information of the vehicle may include the three-dimensional space coordinates of the vehicle. The frequency of broadcasting the current state information of the vehicle a itself may be periodically or aperiodically, and the present invention is not limited in particular. For the current state information broadcast by the vehicle A, on one hand, the information can be received by other vehicles (such as the vehicle B) which travel in the tunnel together, so that the basic vehicle cooperation requirement is realized; on the other hand, the information can be received by the V2X base station of the road side node, and the V2X base station of the road side node reports the state information to the edge computing device of the road side node, so that a set of state information about the A vehicle in the driving process of the tunnel can be formed by the edge computing device of the road side node. The process of forming the set of the state information about the vehicle B during the tunnel driving process may refer to the vehicle a, which is not described herein again.
It is understood that due to the complexity of the vehicles during driving, both the set of status information formed about the a vehicle during driving in the tunnel and the set of status information formed about the B vehicle during driving in the tunnel will not be the same.
In the running process of the vehicle in the tunnel, when the vehicle passes through a road side node, for example, a vehicle a passes through a first preset position, the millimeter wave radar sensor of the road side node can acquire that a vehicle passes through the first preset position of the area where the vehicle is located at a certain time point at a certain speed, and send the acquired record data to the edge computing device of the road side node.
It is understood that the millimeter wave radar sensor is only used to acquire the passing time and the passing speed of the vehicle passing through the first preset position of the area where the vehicle is located, but the millimeter wave radar sensor cannot know which vehicle is on the road surface in particular, for example, the millimeter wave radar sensor does not know that the vehicle passing through the first preset position is the a vehicle.
After the edge computing device of the roadside node receives the record that the vehicle sent by the millimeter wave radar sensor passes through the first preset position at the passing time point and the passing speed, the edge computing device compares and matches the record with the data in the set of the state information reported by each vehicle and stored in the local database, so that the edge computing device can determine that the vehicle A passes through the first preset position at the passing time point and the passing speed, but not the vehicle B.
In one implementation of step 202, the V2X base station of the roadside node sends out the first position calibration information, which may include identification information of a target vehicle, determined by the edge computing device of the roadside node to pass through the first preset position at a passing speed and a passing time point, in a broadcast manner. At this time, when the vehicle running in the tunnel receives the first position calibration information sent by the road side node, if and only if the target vehicle finds that the first position calibration information is sent to the target vehicle, the target vehicle can make a position adjustment reaction according to the first position calibration information; for those non-target vehicles, when it is found that the first position calibration information received by the non-target vehicles is not sent to the non-target vehicles, the non-target vehicles can directly ignore the information.
In one implementation of step 203, when a vehicle entering a region where the GNSS signals are weak or even disappear enters the tunnel entrance and the vehicle-mounted GNSS module cannot acquire the GNSS signals, on one hand, the GNSS module may acquire position information of the vehicle at the tunnel entrance and retain the position information; on the other hand, the vehicle may send a clock synchronization request to the road side node, and the vehicle synchronizes the clock with the road side node based on the received clock synchronization response. In the implementation process, 1ms is generally recommended, which means that the positioning error caused by clock synchronization is less than 5 cm, the roadside node can obtain the clock synchronization precision of 10us level through the synchronous network, and the vehicle can also obtain the clock synchronization precision of 10us level when the design is good.
With the fact that the vehicle continues to move forwards, the vehicle-mounted inertia measurement unit can acquire acceleration information, namely second acceleration information, of the vehicle in the moving process, and therefore the vehicle can determine the position information of the vehicle in the tunnel according to the position information and the acceleration information of the vehicle at the tunnel entrance through a physical displacement law. On the other hand, the local database of the vehicle may store the acceleration information acquired by the inertia measurement unit, and optionally, the acceleration information of a preset duration closest to the current time point may be selected for storage, which is beneficial to saving the storage space. Therefore, when the vehicle receives the first position calibration information sent by the road side node, the acceleration information stored locally by the vehicle comprises at least one piece of first acceleration information within a period from the time when the vehicle passes the first preset position to the time when the vehicle receives the first position calibration information sent by the road side node.
It will be appreciated that the duration of time for which the vehicle locally stores acceleration information will be much greater than the duration of time from the elapsed time to the time the vehicle receives the first position calibration information. Therefore, when the vehicle receives the first position calibration information sent by the road side node, the vehicle can determine the position of the vehicle according to the physical displacement law by acquiring the stored acceleration information from the local database.
In one implementation of step 204, there are a plurality of road-side nodes, and the plurality of road-side nodes are arranged at intervals of a set distance. As shown in fig. 3, for the schematic view of the inside of a tunnel provided with a plurality of roadside nodes provided by the embodiment of the present invention, the tunnel is divided into at least one inertial navigation area and at least one correction area, the inertial navigation area and the correction area are alternately arranged, and the distances between two adjacent correction areas may be the same or different, which is not specifically limited in the present invention. Each of the V2X base stations is installed at a position set in the correction area. When the vehicle drives in the tunnel supporting the scheme, in the inertial navigation area, the vehicle mainly obtains acceleration information according to the inertial sensor and updates the position of a new time point. In the correction area, the vehicle receives correction data transmitted by the roadside node through the wireless V2X, the vehicle performs correction updating of the position according to a corresponding algorithm, then the vehicle continues to travel, inertial navigation is maintained in the next inertial navigation area, and the steps are repeated until a GNSS signal is obtained through the whole tunnel, and the GNSS positioning mode is re-entered. In other words, after the vehicle determines its position information according to the first position calibration information and the at least one first acceleration information, the vehicle continues to drive forward, and during the continuous driving, the inertia measurement unit of the vehicle continues to acquire acceleration information (i.e., third acceleration information) of the vehicle during the driving, and determines its position based on the physical displacement law. When the vehicle passes through the second preset position, the corresponding road side node can refer to the work flow of the road side node at the first preset position, the passing time point and the passing speed of the vehicle passing through the second preset position are determined again, then the vehicle is sent to the vehicle in the tunnel in a broadcasting mode, and after the target vehicle receives the vehicle, the position of the target vehicle is determined again. Therefore, the vehicle can periodically update the position of the vehicle in the zone where the GNSS signal is weak or even disappears, so that the vehicle running in the zone can be accurately positioned, the vehicle does not need to accurately position the vehicle only by waiting for the vehicle to run out of the zone like the prior art, and the position of the vehicle in the zone cannot be accurately determined.
In one implementation of step 204, after the vehicle determines its own position information according to the first position calibration information and the at least one first acceleration information, the vehicle may broadcast its own position information to the roadside node and other vehicles, so as to meet the application requirement of vehicle cooperation on one hand, and on the other hand, the roadside node may continue to store the state information of the vehicle during driving, so as to continue to send subsequent position calibration information, such as the second position calibration information, to the vehicle.
The updating logic of vehicle positioning generally judges whether the GNSS signal exists or not, carries out an inertial navigation mode after the GNSS signal does not exist, and infers the vehicle position after a certain time interval according to a physical formula of acceleration, speed and displacement distance. And if the correction data transmitted by the road side node is received, updating the position calculation of the inertial navigation algorithm again by using the correction algorithm, thereby obtaining the high-precision positioning effect.
In the embodiment of the invention, the high-precision positioning result in the tunnel can be obtained only by depending on the conventional vehicle-road cooperative system without adding additional equipment, so that the vehicle can meet the vehicle-road cooperative early warning broadcast positioning requirement and the automatic driving positioning requirement. From actual data, after the scheme is adopted, the positioning effect of the ultra-wideband positioning system close to good debugging in the tunnel can be obtained. The ultra-wideband positioning system needs to deploy ultra-wideband base stations in a tunnel at intervals of 30 meters, and can obtain a good positioning effect only by accurately installing ultra-wideband tags on a vehicle, so that the vehicle positioning requirement is met. Compare super wide positioning system, the roadside equipment of this scheme is the same with current vehicle and road side node in coordination, and the installation interval is unchangeable, and the vehicle side also only needs support general inertia measurement unit, under the condition that does not increase system complexity hardly, has satisfied the high accuracy location demand of vehicle and road in the tunnel.
Based on the same concept, an embodiment of the present invention provides a vehicle positioning apparatus, as shown in fig. 4, the apparatus includes a receiving unit 401, an obtaining unit 402, and a positioning unit 403:
a receiving unit 401, configured to receive first position calibration information sent by a roadside node; the first position calibration information includes a passing time point and a passing speed at which the vehicle passes a first preset position.
An obtaining unit 402, configured to obtain at least one first acceleration information from the elapsed time point to a current time point after determining that no GNSS signal is detected; the first acceleration information is collected by an inertial measurement unit of the vehicle.
A positioning unit 403, configured to calibrate the position information of the vehicle according to the first position calibration information and the at least one first acceleration information.
Further, for the apparatus, the obtaining unit 402 is further configured to obtain second acceleration information of the vehicle, which is collected by the inertial measurement unit, after the GNSS signal is not detected; the positioning unit 403 is further configured to determine the position information of the vehicle according to the historical position determined by the historical GNSS signal and the second acceleration information.
Further, for the apparatus, the positioning unit 403 is further configured to update the position information of the vehicle according to third acceleration information collected by the inertial measurement unit before receiving the second position calibration information sent by the roadside node; the second position calibration information is the passing time point and the passing speed of the vehicle passing a second preset position, which are acquired by the road side node; and setting the driving direction of the vehicle from the first preset position to the second preset position.
Further, for the apparatus, a broadcasting unit 404 is further included, configured to broadcast the position information of the vehicle to the road side nodes and other vehicles.
Further, for the apparatus, the apparatus further includes a clock synchronization unit 405, configured to send a clock synchronization request to the roadside node after the GNSS signal is not detected; and synchronizing with the road side node based on the received clock synchronization reply.
Based on the same concept, the embodiment of the present invention provides a vehicle positioning apparatus, as shown in fig. 5, the apparatus includes an acquisition unit 501 and a transmission unit 502:
the acquiring unit 501 is configured to acquire a time point and a speed of the vehicle passing through a first preset position.
A sending unit 502, configured to send first position calibration information to the vehicle, where the first position calibration information includes a time point and a speed of the vehicle passing through a first preset position; the first position calibration information is used for calibrating the position information of the vehicle according to the first position calibration information after the vehicle determines that no GNSS signal can be detected.
Further, for the apparatus, the obtaining unit 501 is specifically configured to obtain location information reported by each vehicle; the vehicle speed acquisition device is used for acquiring the passing time point and the passing speed of the vehicle passing through the first preset position; and the vehicle determination device is used for determining the vehicles passing through the first preset position at the passing time point from the position information reported by each vehicle according to the passing time point and the passing speed passing through the first preset position.
Furthermore, for the device, the roadside nodes are multiple, and the roadside nodes are arranged at intervals according to a set distance.
The embodiment of the invention also provides a computing device, which can be specifically a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (PDA) and the like. The computing device may include a Central Processing Unit (CPU), memory, input/output devices, etc., the input devices may include a keyboard, mouse, touch screen, etc., and the output devices may include a Display device, such as a Liquid Crystal Display (LCD), a Cathode Ray Tube (CRT), etc.
Memory, which may include Read Only Memory (ROM) and Random Access Memory (RAM), provides the processor with program instructions and data stored in the memory. In an embodiment of the invention, the memory may be used to store program instructions for a vehicle localization method;
and the processor is used for calling the program instructions stored in the memory and executing the vehicle positioning method according to the obtained program.
Embodiments of the present invention also provide a computer-readable storage medium, which stores computer-executable instructions for causing a computer to execute a vehicle positioning method.
It should be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (12)

1. A vehicle positioning method, characterized by comprising:
the vehicle receives first position calibration information sent by the road side node; the first position calibration information comprises a passing time point and a passing speed of the vehicle passing a first preset position;
the vehicle acquires at least one piece of first acceleration information from the elapsed time point to the current time point after determining that no GNSS signal of the global navigation satellite system is detected; the first acceleration information is acquired by an inertial measurement unit of the vehicle;
the vehicle calibrates the position information of the vehicle according to the first position calibration information and the at least one first acceleration information.
2. The method of claim 1,
before the vehicle receives the first position calibration information sent by the roadside node, the method further includes:
after the GNSS assembly of the vehicle cannot detect the GNSS signal, acquiring second acceleration information of the vehicle, which is acquired by the inertial measurement unit;
and the vehicle determines the position information of the vehicle according to the historical position determined by the historical GNSS signals and the second acceleration information.
3. The method of claim 1,
after the calibrating the position information of the vehicle, the method further comprises:
before the vehicle does not receive second position calibration information sent by the road side node, updating the position information of the vehicle according to third acceleration information collected by the inertial measurement unit; the second position calibration information is the passing time point and the passing speed of the vehicle passing a second preset position, which are acquired by the road side node; and setting the driving direction of the vehicle from the first preset position to the second preset position.
4. The method of claim 1,
after the calibrating the position information of the vehicle, the method further comprises:
the vehicle broadcasts the location information of the vehicle to the roadside nodes and other vehicles.
5. The method of any one of claims 1 to 4,
before the vehicle receives the first position calibration information sent by the roadside node, the method further includes:
the vehicle sends a clock synchronization request to the road side node after the GNSS signal cannot be detected;
the vehicle synchronizes with the roadside node based on the received clock synchronization reply.
6. A vehicle positioning method, characterized by comprising:
the method comprises the steps that a road side node collects the passing time point and the passing speed of a vehicle passing through a first preset position;
the roadside node sends first position calibration information to the vehicle, wherein the first position calibration information comprises a passing time point and a passing speed of the vehicle passing a first preset position; the first position calibration information is used for calibrating the position information of the vehicle according to the first position calibration information after the vehicle determines that no GNSS signal can be detected.
7. The method of claim 6,
the roadside node collects the passing time point and the passing speed of the vehicle passing a first preset position, and comprises:
the vehicle networking base station of the road side node acquires position information reported by each vehicle;
the radar sensor of the road side node acquires the passing time point and the passing speed of the vehicle passing through the first preset position;
and the edge computing equipment of the road side node determines the vehicles passing through the first preset position at the passing time point from the position information reported by each vehicle according to the passing time point and the passing speed passing through the first preset position.
8. The method of claim 6, wherein the roadside nodes are multiple, and the multiple roadside nodes are spaced apart by a set distance.
9. A vehicle positioning device, comprising:
the receiving unit is used for receiving first position calibration information sent by the road side node; the first position calibration information comprises a passing time point and a passing speed of the vehicle passing through a first preset position;
the acquisition unit is used for acquiring at least one piece of first acceleration information from the elapsed time point to the current time point after determining that no GNSS signal can be detected; the first acceleration information is acquired by an inertial measurement unit of the vehicle;
a positioning unit for calibrating the position information of the vehicle according to the first position calibration information and the at least one first acceleration information.
10. A vehicle positioning device, comprising:
the acquisition unit is used for acquiring the passing time point and the passing speed of the vehicle passing through the first preset position;
a transmitting unit, configured to transmit first position calibration information to the vehicle, where the first position calibration information includes a time point and a speed at which the vehicle passes through a first preset position; the first position calibration information is used for calibrating the position information of the vehicle according to the first position calibration information after the vehicle determines that no GNSS signal can be detected.
11. A computing device, comprising:
a memory for storing program instructions;
a processor for calling program instructions stored in said memory to execute the method of any of claims 1-4 and 6-8 in accordance with the obtained program.
12. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1-4 and 6-8.
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CN112833897A (en) * 2020-12-24 2021-05-25 浙江合众新能源汽车有限公司 Vehicle positioning method and device based on vehicle-road cooperation and high-precision positioning fusion
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CN114363813A (en) * 2022-03-16 2022-04-15 深圳市赛格导航科技股份有限公司 V2X communication terminal, system and method based on broadcast
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Application publication date: 20201201