CN112731498A - Method for positioning vehicle and cloud device - Google Patents
Method for positioning vehicle and cloud device Download PDFInfo
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- CN112731498A CN112731498A CN202011450809.6A CN202011450809A CN112731498A CN 112731498 A CN112731498 A CN 112731498A CN 202011450809 A CN202011450809 A CN 202011450809A CN 112731498 A CN112731498 A CN 112731498A
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- vehicle
- position offset
- gnss
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The invention discloses a method for locating a vehicle, comprising the following steps: the method includes acquiring position offsets corresponding to different groups of satellites within a road segment, and providing positioning services to vehicles within the road segment based on the position offsets corresponding to the different groups of satellites. The invention also provides a cloud device arranged to perform the method. By means of the vehicle positioning method and the cloud equipment, lane-level high-precision positioning can be provided for most of common vehicle types at low cost, and requirements of users of common vehicles are met.
Description
Technical Field
The invention relates to the technical field of automobiles and communication, in particular to a method for positioning a vehicle and cloud equipment.
Background
With the development requirements of smart cities, intelligent transportation, automatic driving and other technologies, the high-precision positioning requirement of vehicles is more and more urgent. Currently, civil vehicle positioning services are mainly provided by a Global Navigation Satellite System (GNSS). After the GNSS positioning apparatus on the vehicle is started, firstly, the satellites in the air are scanned through the ephemeris to obtain a satellite group (for example, four satellites) with better signals, and the distance from each satellite is calculated according to the time when the satellite signals are received, so as to obtain the coordinate actual position, namely the GNSS position, of the GNSS positioning apparatus on the vehicle on the earth. However, current global satellite navigation systems do not provide high-precision positioning at the civilian lane level. Civilian-level positioning error provided by global satellite navigation systems is typically 5 to 10 meters, and in some cases even much greater than 10 meters.
Currently, there are three main ways to provide high-precision positioning: 1. RTK (ground based positioning) and RTD (satellite based positioning) based methods; 2. utilizing a fusion inertial navigation technology and an RTK or other position matching technology; 3. high-precision positioning technology based on image recognition or laser point cloud recognition. However, the hardware and software configuration of a typical vehicle does not support the above techniques, and in addition, these techniques are expensive and cannot be tolerated by typical vehicle users.
Therefore, a high-precision positioning solution with low cost suitable for most common vehicle models needs to be found to meet the requirements of common vehicle users.
Disclosure of Invention
The present invention is directed to a method and a cloud device for locating a vehicle, so as to solve the above problems in the prior art.
An embodiment of the present invention provides a method for locating a vehicle, the method comprising:
obtaining positional offsets corresponding to different groups of satellites within a road segment, and
providing location services to vehicles within the road segment based on position offsets corresponding to different groups of satellites.
Optionally, the position offset includes a lateral position offset, and acquiring the lateral position offset in the road segment includes:
receiving GNSS data from each vehicle within the segment, the GNSS data including a set of satellites selected for use by each vehicle and a GNSS location,
considering that the GNSS position of the vehicle is laterally offset and taking the distance between the GNSS position of the vehicle and the normal driving lane of the vehicle as the lateral position offset of the vehicle in the road section if the GNSS position of the vehicle is outside the normal driving lane of the vehicle in the high-precision map, and
and taking the maximum credible transverse position offset in the transverse position offsets of all vehicles which select the same satellite group as the transverse position offset corresponding to the satellite group in the road section.
Optionally, the maximum trusted lateral position offset is determined by:
a confidence threshold is set that is used,
obtaining all trusted lateral position offsets from the trusted threshold, an
The maximum of all the plausible lateral position offsets is taken as the maximum plausible lateral position offset.
Optionally, the position offset further includes a longitudinal position offset, and acquiring the longitudinal position offset in the road segment includes:
obtaining a lateral position offset within another road segment at an angle to the road segment, and
and taking the component of the transverse position offset in the other road section in the longitudinal direction of the road section as the longitudinal position offset in the road section.
Optionally, a lateral position offset in another road segment perpendicular to the road segment is taken as a longitudinal position offset of the road segment.
Optionally, providing location services to vehicles within the road segment based on the position offsets corresponding to different satellite groups comprises:
receiving a request for location services from a vehicle and GNSS data including a set of satellites selected for use by each vehicle and a GNSS location,
selecting a corresponding position offset according to the satellite group selected by the vehicle,
calculating a corrected GNSS position based on the GNSS position of the vehicle and the selected position offset, an
The corrected GNSS position is sent to the vehicle.
Optionally, providing location services to vehicles within the road segment based on the position offsets corresponding to different satellite groups comprises:
receiving a request for location services from a vehicle and GNSS data, the GNSS data including a set of satellites selected for use by each vehicle,
selecting a corresponding position offset based on the set of satellites selected for use by the vehicle, an
The corresponding position offset is sent to the vehicle.
Optionally, the method further comprises:
determining the position offset in other road sections of which the distance between the road section and the position offset in the other road sections is less than a set threshold value according to the position offset in the road section, and
providing location services to vehicles within the other road segments based on the position offsets within the other road segments.
Optionally, the position offset in the road segment is used as the position offset in the other road segment.
Embodiments of the present invention further provide a cloud device, which is configured to execute the above method provided by the present invention.
The method and the cloud device for positioning the vehicle provided by the embodiment of the invention have at least the following advantages:
by means of the method for positioning the vehicle and the cloud equipment, the lane-level high-precision positioning can be provided for most of common vehicle types at low cost, and the requirements of common vehicle users are met.
Drawings
Further details and advantages of the present invention will become apparent from the detailed description provided hereinafter. It is to be understood that the following drawings are merely illustrative and not drawn to scale and are not to be considered limiting of the application, the detailed description being made with reference to the accompanying drawings, in which:
FIG. 1 shows a flowchart of a method for locating a vehicle according to an embodiment of the invention.
Fig. 2 schematically shows a scenario for GNSS positioning of a vehicle by means of 4 satellites.
FIG. 3 schematically illustrates a GNSS position offset for a vehicle.
Fig. 4 schematically shows the lateral position offset of the GNSS positions of all vehicles within a road segment.
Fig. 5 schematically illustrates a manner of determining the maximum trusted lateral position offset in the scenario of fig. 4.
Fig. 6 schematically illustrates an application scenario for providing high-precision location services to vehicles within a road segment.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of, and enabling description for, those skilled in the art. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. Furthermore, it should be understood that the invention is not limited to the specific embodiments described. Rather, any combination of the features and elements described below is contemplated as carrying out the invention, whether or not they relate to different embodiments. Thus, the following aspects, features, embodiments and advantages are merely illustrative and are not considered elements or limitations of the claims except where explicitly recited in a claim.
Referring now to FIG. 1, a flowchart of a method for locating a vehicle is shown in accordance with one embodiment of the present invention. As shown in fig. 1, the method includes:
in step S101, position offsets corresponding to different satellite groups within a road segment are obtained.
Specifically, the GNSS positioning apparatus on the vehicle may first scan the satellites in the air through ephemeris, select a group of satellites (e.g., four satellites) with better signals, calculate the distance to each satellite through the time when the satellite signals are received, and then derive the GNSS position of the vehicle. Fig. 2 schematically shows a scenario for GNSS positioning of a vehicle by means of 4 satellites. Currently, civil-level positioning errors provided by global satellite navigation systems are typically 5 to 10 meters. Within a limited range (e.g. within a circular area with a radius of less than 30 km), the positioning errors of the GNSS positioning apparatus in open territory are substantially the same or similar if the set of selected satellites is the same.
After calculating the GNSS position of the vehicle, the vehicle may send the GNSS position to a device with greater data processing capability, such as a cloud device. The GNSS data includes a set of satellites selected for use by the vehicle and a GNSS position.
After receiving GNSS data from vehicles within a limited road segment (e.g., a road segment having a length of less than 30 km), the cloud-end device performs big data analysis on the data to obtain position offsets corresponding to different satellite groups within the road segment. For example, FIG. 3 schematically illustrates a GNSS position offset for a vehicle. As shown in fig. 3, the actual position of the vehicle is a, its GNSS position is a ', a' is offset with respect to a, and the position offset can be decomposed into a lateral position offset X perpendicular to its driving lane and a longitudinal position offset Y parallel to its driving lane.
The cloud device can acquire the lateral position offset in the road section by means of the following methods: the cloud device may compare the GNSS location of each vehicle with the location of each vehicle in the high-precision map. If the vehicle's GNSS position is outside of the vehicle's normal driving lane in the high-accuracy map (e.g., in a reverse lane or in an isolation zone), then the vehicle's GNSS position is considered to be laterally offset and the distance between the vehicle's GNSS position and the vehicle's normal driving lane is taken as the vehicle's lateral position offset within the road segment. After obtaining the lateral position offset of each vehicle in the road segment, the lateral position offset corresponding to the satellite group in the road segment may be determined as the lateral position offset that is most reliable among the lateral position offsets of the vehicles that select the same satellite group.
Fig. 4 schematically shows the lateral position offset of the GNSS positions of all vehicles within a road segment. As shown in fig. 4, for a vehicle traveling from bottom to top, the lane 1, the lane 2, and the lane 3 are normal traveling lanes, and the areas outside the lane 1, the lane 2, and the lane 3 (e.g., the isolation zone 4 and the reverse lane 5) are not normal traveling lanes. Since the GNSS position of the vehicle traveling on the normal travel lane may be shifted, the GNSS position of the vehicle whose actual position is in the normal travel lane may be shifted out of the normal travel lane on the high-precision map.
The maximum trusted lateral position offset may be determined by: first, a confidence threshold is set. And then obtaining all credible transverse position offsets according to the credible threshold value. Finally, the maximum value of all the reliable transverse position offset is used as the maximum reliable transverse position offset.
Fig. 5 schematically illustrates a manner of determining the maximum trusted lateral position offset in the scenario of fig. 4. As shown in fig. 5, the confidence threshold may be set to 90%, and the shaded area in the graph is all the confidence lateral position offsets. The maximum a of all the plausible lateral position offsets is the maximum plausible lateral position offset.
The cloud device can acquire the longitudinal position offset in the road section by means of the following methods: the cloud device acquires a transverse position offset in another road section forming an angle with the road section, and then takes a component of the transverse position offset in the other road section in the longitudinal direction of the road section as a longitudinal position offset in the road section. Preferably, the lateral position offset of another link perpendicular to the link is taken as the longitudinal position offset of the link. The distance between the road segment and the other road segment is less than a set threshold, for example less than 30 km, to ensure that the positioning errors on the two road segments are substantially the same.
Based on the mode, the cloud device can acquire the transverse position offset and the longitudinal position offset corresponding to different satellite groups in a road section, and further acquire the position offset in the road section, so that lane-level high-precision positioning service is provided for vehicles in the road section.
Step S102, positioning service is provided to vehicles in the road section based on the position offset corresponding to different satellite groups.
Specifically, the cloud device may provide high-precision positioning service in two ways:
mode 1: the cloud device receives a positioning service request and GNSS data from the vehicles, wherein the GNSS data comprises a satellite group selected by each vehicle and a GNSS position. And then, the cloud equipment selects a corresponding position offset according to the satellite group selected by the vehicle, calculates a corrected GNSS position according to the GNSS position of the vehicle and the selected position offset, and finally sends the corrected GNSS position to the vehicle. In this way, the vehicle can directly obtain the corrected GNSS position, and the processor resources of the vehicle can be occupied less.
Mode 2: the cloud device receives a positioning service request and GNSS data from the vehicles, and the GNSS data only comprises a satellite group selected by each vehicle. And then, the cloud equipment selects the corresponding position offset according to the satellite group selected by the vehicle. And finally, the cloud equipment sends the corresponding position offset to the vehicle. By adopting the method, the vehicle does not need to upload the GNSS position of the vehicle, but needs to further process the position offset from the cloud equipment to obtain the corrected GNSS position, and the occupation of the processor resource of the vehicle is high.
Within a limited range (e.g. within a circular area with a radius of less than 30 km), the positioning errors of the GNSS positioning apparatus in open territory are substantially the same or similar if the set of selected satellites is the same. Therefore, the GNSS position offset in other nearby road segments (the distance between the other road segments and the specific road segment is less than 30 kilometers, for example) can be calculated according to the GNSS position offset of the specific road segment which has been acquired, and for example, the GNSS position offset of the specific road segment which has been acquired can be directly used as the GNSS position offset in the other nearby road segments to be used for high-precision positioning of vehicles running on the other road segments.
Fig. 6 schematically illustrates an application scenario for providing high-precision location services to vehicles within a road segment. As shown in fig. 6, the vehicle a and the vehicle B upload the selected satellite group information and the GNSS position to the cloud device, and the cloud device sends the corrected GNSS position to the vehicle a and the vehicle B. The vehicle C only uploads the selected satellite group information to the cloud device without uploading the GNSS position of the vehicle C, and the cloud device sends the position offset to the vehicle C. And then, the vehicle C calculates and obtains the corrected self GNSS position according to the position offset from the cloud equipment.
It should be noted that the above description is only an example and not a limitation of the present invention. In other embodiments of the invention, the method may have more, fewer, or different steps, and the order, inclusion, or functional relationship between the steps may be different from that described and illustrated. For example, in general, multiple steps may be combined into a single step, or a single step may be split into multiple steps. For a person skilled in the art, the sequence of the steps is not changed without creative efforts and is within the protection scope of the invention.
The technical solution of the present invention may be substantially implemented or partially implemented in the prior art, or all or part of the technical solution may be implemented in a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor or a microcontroller to execute all or part of the steps of the method according to the embodiments of the present invention.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Although the present invention has been described with reference to the preferred embodiments, it is not to be limited thereto. Various changes and modifications within the spirit and scope of the present invention will become apparent to those skilled in the art from this disclosure, and it is intended that the scope of the present invention be defined by the appended claims.
Claims (10)
1. A method for locating a vehicle, the method comprising:
obtaining positional offsets corresponding to different groups of satellites within a road segment, and
providing location services to vehicles within the road segment based on position offsets corresponding to different groups of satellites.
2. The method of claim 1, wherein the position offset comprises a lateral position offset, and obtaining the lateral position offset within the road segment comprises:
receiving GNSS data from each vehicle within the segment, the GNSS data including a set of satellites selected for use by each vehicle and a GNSS location,
considering that the GNSS position of the vehicle is laterally offset and taking the distance between the GNSS position of the vehicle and the normal driving lane of the vehicle as the lateral position offset of the vehicle in the road section if the GNSS position of the vehicle is outside the normal driving lane of the vehicle in the high-precision map, and
and taking the maximum credible transverse position offset in the transverse position offsets of all vehicles which select the same satellite group as the transverse position offset corresponding to the satellite group in the road section.
3. The method of claim 2, wherein the maximum trusted lateral position offset is determined by:
a confidence threshold is set that is used,
obtaining all trusted lateral position offsets from the trusted threshold, an
The maximum of all the plausible lateral position offsets is taken as the maximum plausible lateral position offset.
4. The method of claim 2, wherein the position offset further comprises a longitudinal position offset, and obtaining the longitudinal position offset within the segment comprises:
obtaining a lateral position offset within another road segment at an angle to the road segment, and
and taking the component of the transverse position offset in the other road section in the longitudinal direction of the road section as the longitudinal position offset in the road section.
5. The method according to claim 4, wherein a lateral position offset within another road segment perpendicular to the road segment is taken as a longitudinal position offset within the road segment.
6. The method of claim 1, wherein providing positioning services to vehicles within the road segment based on position offsets corresponding to different groups of satellites comprises:
receiving a request for location services from a vehicle and GNSS data including a set of satellites selected for use by each vehicle and a GNSS location,
selecting a corresponding position offset according to the satellite group selected by the vehicle,
calculating a corrected GNSS position based on the GNSS position of the vehicle and the selected position offset, an
The corrected GNSS position is sent to the vehicle.
7. The method of claim 1, wherein providing positioning services to vehicles within the road segment based on position offsets corresponding to different groups of satellites comprises:
receiving a request for location services from a vehicle and GNSS data, the GNSS data including a set of satellites selected for use by each vehicle,
selecting a corresponding position offset based on the set of satellites selected for use by the vehicle, an
The corresponding position offset is sent to the vehicle.
8. The method of claim 1, wherein the method further comprises:
determining the position offset in other road sections of which the distance between the road section and the position offset in the other road sections is less than a set threshold value according to the position offset in the road section, and
providing location services to vehicles within the other road segments based on the position offsets within the other road segments.
9. The method according to claim 8, wherein the position offset in the road segment is taken as the position offset in the other road segment.
10. A cloud device arranged to perform the method of any one of claims 1-9.
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