CN112833897A - 基于车路协同与高精度定位融合的车辆定位方法与装置 - Google Patents
基于车路协同与高精度定位融合的车辆定位方法与装置 Download PDFInfo
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- CN112833897A CN112833897A CN202011548379.1A CN202011548379A CN112833897A CN 112833897 A CN112833897 A CN 112833897A CN 202011548379 A CN202011548379 A CN 202011548379A CN 112833897 A CN112833897 A CN 112833897A
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- 238000000034 method Methods 0.000 title claims abstract description 49
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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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
- G01S19/47—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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
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CN202011548379.1A CN112833897B (zh) | 2020-12-24 | 2020-12-24 | 基于车路协同与高精度定位融合的车辆定位方法与装置 |
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CN202011548379.1A CN112833897B (zh) | 2020-12-24 | 2020-12-24 | 基于车路协同与高精度定位融合的车辆定位方法与装置 |
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CN112833897A true CN112833897A (zh) | 2021-05-25 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113395663A (zh) * | 2021-07-19 | 2021-09-14 | 交通运输部公路科学研究所 | 一种基于车路协同的隧道内车辆定位方法 |
CN114076601A (zh) * | 2021-11-16 | 2022-02-22 | 北京经纬恒润科技股份有限公司 | 辅助定位方法及装置 |
EP4286795A1 (en) * | 2022-06-01 | 2023-12-06 | Volvo Autonomous Solutions AB | A method for determining an error with anchor point detection for an at least partly autonomous vehicle |
Citations (10)
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CN101173860A (zh) * | 2006-11-03 | 2008-05-07 | 行毅科技股份有限公司 | 车辆精确定位系统及方法 |
CN101696886A (zh) * | 2009-10-29 | 2010-04-21 | 哈尔滨工业大学 | 一种在gps盲区内的电子地图辅助惯性导航方法 |
US20130211708A1 (en) * | 2010-12-02 | 2013-08-15 | Ntt Docomo, Inc. | Mobile terminal, system and method |
CN106123906A (zh) * | 2016-08-17 | 2016-11-16 | 深圳市金立通信设备有限公司 | 一种辅助导航方法及终端 |
CN107885201A (zh) * | 2017-10-31 | 2018-04-06 | 平潭诚信智创科技有限公司 | 一种基于rfid的智能隧道导航装置及导航系统 |
CN109737971A (zh) * | 2019-03-18 | 2019-05-10 | 爱驰汽车有限公司 | 车载辅助导航定位系统、方法、设备及存储介质 |
CN109946730A (zh) * | 2019-03-06 | 2019-06-28 | 东南大学 | 一种车路协同下基于超宽带的车辆高可靠融合定位方法 |
JP2019120629A (ja) * | 2018-01-10 | 2019-07-22 | 三菱電機株式会社 | 位置計算装置、位置計算プログラム及び座標マーカ |
CN111967301A (zh) * | 2020-06-30 | 2020-11-20 | 北京百度网讯科技有限公司 | 定位导航方法、装置、电子设备和存储介质 |
CN112019997A (zh) * | 2020-08-05 | 2020-12-01 | 锐捷网络股份有限公司 | 一种车辆定位方法及装置 |
-
2020
- 2020-12-24 CN CN202011548379.1A patent/CN112833897B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101173860A (zh) * | 2006-11-03 | 2008-05-07 | 行毅科技股份有限公司 | 车辆精确定位系统及方法 |
CN101696886A (zh) * | 2009-10-29 | 2010-04-21 | 哈尔滨工业大学 | 一种在gps盲区内的电子地图辅助惯性导航方法 |
US20130211708A1 (en) * | 2010-12-02 | 2013-08-15 | Ntt Docomo, Inc. | Mobile terminal, system and method |
CN106123906A (zh) * | 2016-08-17 | 2016-11-16 | 深圳市金立通信设备有限公司 | 一种辅助导航方法及终端 |
CN107885201A (zh) * | 2017-10-31 | 2018-04-06 | 平潭诚信智创科技有限公司 | 一种基于rfid的智能隧道导航装置及导航系统 |
JP2019120629A (ja) * | 2018-01-10 | 2019-07-22 | 三菱電機株式会社 | 位置計算装置、位置計算プログラム及び座標マーカ |
CN109946730A (zh) * | 2019-03-06 | 2019-06-28 | 东南大学 | 一种车路协同下基于超宽带的车辆高可靠融合定位方法 |
CN109737971A (zh) * | 2019-03-18 | 2019-05-10 | 爱驰汽车有限公司 | 车载辅助导航定位系统、方法、设备及存储介质 |
CN111967301A (zh) * | 2020-06-30 | 2020-11-20 | 北京百度网讯科技有限公司 | 定位导航方法、装置、电子设备和存储介质 |
CN112019997A (zh) * | 2020-08-05 | 2020-12-01 | 锐捷网络股份有限公司 | 一种车辆定位方法及装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113395663A (zh) * | 2021-07-19 | 2021-09-14 | 交通运输部公路科学研究所 | 一种基于车路协同的隧道内车辆定位方法 |
CN114076601A (zh) * | 2021-11-16 | 2022-02-22 | 北京经纬恒润科技股份有限公司 | 辅助定位方法及装置 |
CN114076601B (zh) * | 2021-11-16 | 2024-03-19 | 北京经纬恒润科技股份有限公司 | 辅助定位方法及装置 |
EP4286795A1 (en) * | 2022-06-01 | 2023-12-06 | Volvo Autonomous Solutions AB | A method for determining an error with anchor point detection for an at least partly autonomous vehicle |
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CN112833897B (zh) | 2022-11-04 |
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Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: Hozon New Energy Automobile Co., Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: Hozon New Energy Automobile Co., Ltd. |
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GR01 | Patent grant | ||
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Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Patentee after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Patentee before: Hozon New Energy Automobile Co., Ltd. |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
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Denomination of invention: Vehicle positioning method and device based on vehicle road collaboration and high-precision positioning fusion Granted publication date: 20221104 Pledgee: Tongxiang Science and Technology Entrepreneurship Service Center Co.,Ltd. Pledgor: United New Energy Automobile Co.,Ltd. Registration number: Y2024330000709 |