CN112950978A - Vehicle positioning method and device based on road side equipment and related equipment - Google Patents
Vehicle positioning method and device based on road side equipment and related equipment Download PDFInfo
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- CN112950978A CN112950978A CN202110166951.6A CN202110166951A CN112950978A CN 112950978 A CN112950978 A CN 112950978A CN 202110166951 A CN202110166951 A CN 202110166951A CN 112950978 A CN112950978 A CN 112950978A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a vehicle positioning method based on roadside equipment, which is applied to the technical field of intelligent traffic and is used for improving the positioning accuracy of vehicle positions in a roadside equipment scanning area. The method comprises the following steps: the method comprises the steps of acquiring a preset scanning mode and a target area corresponding to each roadside device, wherein each target area comprises M target sub-areas, M is a positive integer, acquiring a clock signal and a communication signal of the roadside device, selecting the target scanning mode of the roadside device from the preset scanning mode based on the clock signal and the communication signal, wherein the preset scanning mode comprises an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode, and scanning the target sub-areas in the target area according to the target scanning mode to determine vehicle position information in the target area.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a vehicle positioning method and device based on road side equipment, computer equipment and a storage medium.
Background
With the rapid development of economy, automobiles are more and more popular in use, and at some high-speed intersections or gas stations, when a plurality of vehicles are refueled through the high-speed intersections or the gas stations, the vehicles are mainly positioned and identified through roadside equipment (RSU), wherein the roadside equipment (RSU) is a device which is installed at the roadside and is communicated with on-board units (OBUs) by adopting a dsrc (direct short distance communication) technology to realize vehicle positioning and identity identification.
In the process of implementing the invention, the inventor finds that the existing implementation mode has at least the following problems: in some complex scenes (such as vehicle identification of multiple vehicle channel scenes, vehicle identification scenes with a large area range, and the like), when multiple road side devices are used in a linkage manner, a single road side device is used for independent operation and no linkage, and the aim is to cover all service areas, so that the road side devices are poor in expansibility when being used, microwave antenna signals of adjacent road side devices are easy to interfere with each other, and the vehicle position in a road side device scanning area is not accurately positioned.
Disclosure of Invention
The embodiment of the invention provides a vehicle positioning method and device based on roadside equipment, computer equipment and a storage medium, so as to improve the accuracy of positioning the position of a vehicle in a scanning area of the roadside equipment.
A vehicle positioning method based on roadside equipment is characterized by comprising the following steps:
acquiring a preset scanning mode and a target area corresponding to each piece of roadside equipment, wherein each target area comprises M target sub-areas, and M is a positive integer;
collecting a clock signal and a communication signal of the road side equipment;
selecting a target scanning mode of the road side equipment from the preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning modes comprise an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode;
and scanning the target sub-area in the target area according to the target scanning mode to determine the vehicle position information in the target area.
Vehicle positioner based on roadside equipment includes:
the target area acquisition module is used for acquiring a preset scanning mode and a target area corresponding to each piece of roadside equipment, wherein each target area comprises M target sub-areas, and M is a positive integer;
the signal acquisition module is used for acquiring a clock signal and a communication signal of the road side equipment;
the scanning mode selection module is used for selecting a target scanning mode of the roadside device from the preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning modes comprise an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode;
and the scanning module is used for scanning the target sub-area in the target area according to the target scanning mode so as to determine the vehicle position information in the target area.
A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the roadside device-based vehicle positioning method described above when executing the computer program.
A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the roadside apparatus-based vehicle positioning method described above.
The method, the device, the computer equipment and the storage medium for positioning the vehicle based on the road side equipment acquire the preset scanning mode and the target area corresponding to each road side equipment, wherein each target area comprises M target sub-areas, M is a positive integer, a clock signal and a communication signal of the road side equipment are collected, a target scanning mode of the road side equipment is selected from the preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning mode comprises an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode, and according to the target scanning mode, and scanning the target sub-area in the target area to determine the vehicle position information in the target area, so as to improve the accuracy of positioning the vehicle position in the road side equipment scanning area.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention 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 that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of an application environment of a roadside apparatus-based vehicle positioning method according to an embodiment of the invention;
FIG. 2 is a flow chart of a roadside apparatus based vehicle positioning method in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a roadside apparatus-based vehicle positioning device in an embodiment of the invention;
FIG. 4 is a schematic diagram of a computer device in one embodiment of the invention;
FIG. 5 is a schematic diagram of a calibrated microwave antenna signal of the roadside apparatus in accordance with an embodiment of the present invention;
FIG. 6 is a diagram illustrating the partitioning of the target sub-region according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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.
The vehicle positioning method based on the Road Side equipment can be applied to the application environment shown in fig. 1, wherein the Road Side equipment (RSU) and the monitoring end communicate with the server through a network. The monitoring terminal can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices. The server may be implemented as a stand-alone server or as a server cluster consisting of a plurality of servers.
In an embodiment, as shown in fig. 2, a roadside apparatus-based vehicle positioning method is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps S201 to S204:
s201, acquiring a preset scanning mode and a target area corresponding to each roadside device, wherein each target area comprises M target sub-areas, and M is a positive integer.
Specifically, a preset scanning mode and a target region corresponding to each roadside device may be obtained from a pre-configured configuration file, where the preset scanning mode is a mode of scanning a target sub-region in the target region, which is set in the roadside device in advance, the target region refers to an entire range that can be scanned by a phased array antenna in each roadside device, the target sub-region is obtained by dividing the target region, the target region is divided into M non-overlapping sub-regions, and each sub-region is a target sub-region.
Each preset scanning mode and the coordinate information of the target area and the target sub-area corresponding to each drive test device are written in the pre-configured configuration file.
It should be understood that, in practical application, a dynamic writing mode may be adopted according to actual needs to update the pre-configured configuration file, so as to update the target area corresponding to the road side device, so as to improve the flexibility of the road side device in responding to different scanning ranges.
For example, the target area and the target sub-area corresponding to the road-side device are further explained with reference to fig. 6:
as shown in fig. 6, three roadside devices are respectively vertically installed (e.g., embedded) on the ceiling, where 1, 2, and 3 are three target sub-areas, and each group 1, 2, and 3 constitutes a target area corresponding to each roadside device.
In an alternative embodiment, before step S201, the roadside apparatus-based vehicle positioning method further includes the following steps a to b:
a. and calibrating the transmitting direction of the microwave antenna signal of the road side equipment, so that the transmitting direction is perpendicular to the opposite surface of the road side equipment.
b. And when the transmitting direction of the microwave antenna signal is detected to be vertical to the opposite surface of the roadside device, obtaining a calibrated microwave antenna signal.
Specifically, for the above step a and step b, the step a and step b are further described with reference to fig. 5:
the method includes the steps that the road side equipment is vertically installed (e.g., embedded) on a ceiling, the ground is the opposite surface of the road side equipment at the moment, as shown in fig. 5, when the emitting direction of the microwave antenna signal of the road side equipment is detected to be perpendicular to the ground, a calibrated microwave antenna signal is obtained, and the calibrated microwave antenna signal is used for scanning a target sub-region in a target region.
It should be noted that the roadside device may be installed on the side or lifted.
S202, collecting clock signals and communication signals of road side equipment.
Specifically, the signal acquisition device may be used to acquire a clock signal and a communication signal of the roadside device, where the clock signal is used to control scanning time information of each roadside device, and the communication signal is used for signal transmission between each roadside device.
It should be noted that the scanning time information includes a scanning period, a scanning interval period, and a start scanning time, where the scanning period is a time period when the roadside device scans the target region once, and the scanning interval period is an interval time period between every two adjacent scanning periods.
The scanning interval period is set according to the actual application requirement, and the scanning period, the scanning interval period and the starting scanning time of each road side device can be equal or unequal.
S203, selecting a target scanning mode of the road side equipment from preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning modes comprise an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode.
Specifically, the independent scanning mode and the asynchronous linkage scanning mode are that a scanning period and a scanning interval period preset by each roadside device are equal or unequal, and the starting scanning time of each roadside device is equal or unequal, wherein in the asynchronous linkage scanning mode, scanning data are shared among the roadside devices, and the scanning data comprise scanning time, scanning areas and the like; in the synchronous scanning mode, the scanning period and the scanning interval period preset by each roadside device are equal, and the time for starting scanning by each roadside device is equal, it should be specially noted that both the scanning period and the scanning interval period are greater than 0.
In an optional embodiment, in step S203, based on the clock signal and the communication signal, selecting a target scanning mode of the roadside device from preset scanning modes specifically includes the following steps S2031 to S2034:
s2031, determining a real-time state of a clock signal between roadside devices as a first state, and determining a real-time state of a communication signal between roadside devices as a second state.
Specifically, the first state includes that the real-time state of the clock signal is non-linked or linked, wherein the real-time state of the clock signal is linked, that is, the clock signals corresponding to the road-side devices may or may not be synchronized, and the clock signals corresponding to the road-side devices do not interfere with each other, the real-time state of the clock signal is linked, that is, the clock signals between the road-side devices may or may not be synchronized, and the clock signals between the road-side devices affect each other, and the second state includes that the real-time state of the communication signal is disconnected or connected, wherein the real-time state of the communication signal is disconnected, that is, no communication signal is connected between the road-side devices, and the real-time state of the communication signal is connected, that is, the road-side devices are connected by a communication signal, which is a wired signal or wireless signal, and it should be particularly described here, the cases where the clock signals between the respective roadside devices affect each other include c1 and c 2:
c1, controlling the clock signal synchronization between each road side device in the synchronous scanning mode, and correcting the clock signal between each road side device to synchronize the clock signal when the clock signal is not synchronized between each road side device.
And c2, monitoring the clock signal of each road side device and the target sub-region correspondingly scanned by each road side device in real time in an asynchronous linkage scanning mode, and adjusting the clock signal of one road side device to enable the road side device to perform delay scanning or switch to other target sub-regions in the same target region to perform scanning when the adjacent road side device is monitored to scan the adjacent target sub-region.
S2032, when the first state is no linkage and the second state is disconnection, determining that the target scanning mode is an independent scanning mode.
Specifically, when the clock signals between the roadside devices are not linked and the communication signals are disconnected, each roadside device randomly scans the target sub-region in the corresponding target region according to the clock signal of the roadside device.
In step S2032, it should be specifically noted that, when it is monitored that the adjacent roadside devices scan the adjacent target sub-regions, the clock signal of one of the roadside devices is adjusted to make the roadside device perform the delay scanning or switch to another target sub-region in the same target region for scanning.
S2033, when the first state is linkage and the second state is disconnection, determining that the target scanning mode is a synchronous scanning mode.
Specifically, when the clock signals between the roadside devices are linked and the communication signals are disconnected, each roadside device synchronously scans the target sub-region in the corresponding target region according to the same clock signal.
In an embodiment, when the roadside device scans a target sub-region in a target region in a synchronous scanning manner, when linkage abnormal disconnection is monitored, the synchronous scanning manner is switched to an independent scanning manner until linkage is normal, and the independent scanning manner is switched to the synchronous scanning manner.
S2034, when the first state is linkage and the second state is connection, determining that the target scanning mode is an asynchronous linkage scanning mode.
Specifically, when the clock signals of the roadside devices are linked and the communication signals are connected, each roadside device scans the target sub-region in the corresponding target region according to the clock signal of the roadside device.
It should be noted that, in the scanning process, if it is monitored that two adjacent roadside devices scan the adjacent target sub-regions, the clock signal of one of the roadside devices is adjusted according to the communication signal, and the microwave antenna signal of the roadside device is controlled to be scanned in a delayed manner or switched to the next target sub-region for scanning.
In the above embodiment, based on the linkage state and the non-linkage state of the clock signals between the road side devices and the connection state and the disconnection state of the communication signals between the road side devices, the road side device may select a corresponding scanning mode from multiple preset scanning modes according to the actual application requirements and the actual application scenarios to scan the target sub-region in the target region corresponding to the road side device, and in an abnormal environment, that is, when the linkage state of the clock signals between the road side devices and/or the connection state of the communication signals between the road side devices fails, the road side device may automatically switch the applicable scanning mode, so that the road side device is prevented from stopping working in the abnormal environment, and the scanning robustness and efficiency of the road side device are improved.
In one embodiment, under the condition that the roadside equipment scans a target sub-region in a target region in an asynchronous linkage scanning mode, when linkage abnormal disconnection and communication signal connection are monitored, the asynchronous linkage scanning mode is switched to a synchronous scanning mode until linkage is normal, and the synchronous scanning mode is switched to the asynchronous linkage scanning mode; or the like, or, alternatively,
and when monitoring that the linkage is abnormally disconnected and the communication signal is disconnected, switching the asynchronous linkage scanning mode into the independent scanning mode until the linkage is normal and the communication signal is reconnected, and switching the independent scanning mode into the asynchronous linkage scanning mode.
S204, scanning the target sub-area in the target area according to the target scanning mode to determine the vehicle position information in the target area.
Specifically, when the target scanning mode is an independent scanning mode, each roadside device independently scans a target sub-region in the target region, when the target scanning mode is a synchronous scanning mode, the target sub-region in the target region is synchronously scanned, and when the target scanning mode is an asynchronous linkage scanning mode, the target sub-region in the target region is asynchronously linkage scanned.
For the step S204, when the target scanning mode is the independent scanning mode, the step of scanning the target sub-area in the target area to determine the vehicle position information in the target area specifically includes the following step S2041:
s2041, driving the microwave antenna signal of each roadside device to independently scan the target sub-region in the target region.
Specifically, the microwave antenna signal of each roadside device is driven to sequentially scan the target sub-regions in the respective corresponding target regions in each scanning period according to a preset scanning sequence.
The preset scanning sequence specifically includes, but is not limited to: left to right order, right to left order, etc.
When independent scanning is performed, the scanning sequence, the scanning cycle, the scanning start time, and the scanning interval cycle of each roadside device may be the same or different because the clock signals of each roadside device are not linked and the roadside devices are not connected by the communication signal.
In this embodiment, the scanning manner described above is adopted to ensure that each roadside device can complete scanning of all target sub-regions in the corresponding target region in each scanning cycle, thereby avoiding omission.
For the step S204, when the target scanning mode is the synchronous scanning mode, the step of scanning the target sub-area in the target area to determine the vehicle position information in the target area specifically includes the following step S2042:
and S2042, driving the microwave antenna signal of each roadside device to synchronously scan the target sub-region in the target region at the same time.
Specifically, the microwave antenna signal of each roadside device is driven to scan the target sub-regions in the respective corresponding target region at the same time in each scanning period in sequence according to a preset scanning sequence.
It should be noted that the scanning sequence, the scanning period, the scanning start time, and the scanning interval period of each roadside device need to be the same.
In this embodiment, the scanning manner described above is adopted to ensure that each roadside device can complete scanning of all target sub-regions in the target region corresponding to each roadside device in each scanning cycle, so as to avoid omission, avoid a situation that adjacent roadside devices interfere with each other when scanning the target sub-regions in their respective target regions, and improve the scanning efficiency and the accuracy of the results obtained by scanning.
For the step S204, when the target scanning mode is the asynchronous linkage scanning mode, the step of scanning the target sub-area in the target area to determine the vehicle position information in the target area specifically includes the following step S2043:
and S2043, driving the microwave antenna signal of each roadside device to asynchronously scan the target sub-region in the target region in a linkage manner at the same time.
For step S2043, driving the microwave antenna signal of each roadside device to asynchronously scan the target sub-region in the target region in an interlocking manner at the same time further includes the following step d 1:
d1, when detecting that the microwave antenna signals of two adjacent road side devices scan the adjacent target sub-regions, controlling the microwave antenna signal of one road side device to perform delay scanning; or the like, or, alternatively,
and switching the microwave antenna signal of one piece of road side equipment to the next target sub-area for scanning.
For better understanding of the step d1, the step d1 is described as follows with reference to the following example:
as shown in FIG. 6, the roadside apparatus 1, the roadside apparatus 2 and the roadside apparatus 3 are adjacently installed two by twoIf the current scanning time T is detectediWhen the microwave antenna signal of the roadside device 1 scans the corresponding target sub-region 3, and the microwave antenna signal of the roadside device 2 scans the corresponding target sub-region 1, the microwave antenna signal of the roadside device 1 is delayed to enable the microwave antenna signal to be at the scanning time Ti+1The target sub-region 3 is scanned, and the microwave antenna signal of the road side device 2 is scanned at the scanning time Ti+1Has started to scan its corresponding target sub-area 2 or target sub-area 3; or the like, or, alternatively,
the microwave antenna signal of the road side equipment 1 is scanned at the time TiSwitching to the target sub-area 1 or the target sub-area 2 for scanning, wherein the microwave antenna signal of the roadside device 2 is scanned at a scanning time TiThe target sub-area 1 is scanned.
In another optional embodiment, in step S2043, driving the microwave antenna signal of each roadside device to asynchronously scan the target sub-region in the target region in an interlocking manner at the same time, further includes:
when the next scanning time of the two adjacent road side devices at the current scanning time is judged in advance, controlling the microwave antenna signal of one road side device to scan the adjacent target sub-region, and controlling the microwave antenna signal of one road side device to perform delay scanning; or the like, or, alternatively,
and switching the microwave antenna signal of one piece of road side equipment to the next target sub-area for scanning.
As shown in fig. 6, the roadside apparatus 1, the roadside apparatus 2 and the roadside apparatus 3 are adjacently arranged two by two, and if the current scanning time T is detectediNext scanning time Ti+1When the microwave antenna signal of the roadside device 1 is to scan the corresponding target sub-region 3 and the microwave antenna signal of the roadside device 2 is to scan the corresponding target sub-region 1, delaying the microwave antenna signal of the roadside device 1 to enable the microwave antenna signal to be at the scanning time Ti+2The target sub-region 3 is scanned, and the microwave antenna signal of the road side device 2 is scanned at the scanning time Ti+2Has started to scan its corresponding target sub-area 2 or target sub-area 3; or the like, or, alternatively,
microwave antenna for roadside equipment 1Signal at scanning time Ti+1Switching to the target sub-area 1 or the target sub-area 2 for scanning, wherein the microwave antenna signal of the roadside device 2 is scanned at a scanning time Ti+1The target sub-area 1 is scanned.
Here, it should be particularly noted that when the microwave antenna of the roadside device scans the target sub-region 1, the target sub-region 2, and the target sub-region 3 in the target region, according to actual requirements, the roadside device may be configured to sequentially scan the target sub-region 1, the target sub-region 2, and the target sub-region 3 in sequence, and may also be configured to randomly scan the target sub-region 1, the target sub-region 2, and the target sub-region 3.
The vehicle positioning method based on the road side equipment provided by the embodiment of the invention comprises the steps of acquiring a preset scanning mode and a target area corresponding to each road side equipment, wherein each target area comprises M target sub-areas, M is a positive integer, acquiring a clock signal and a communication signal of the road side equipment, and selecting the target scanning mode of the road side equipment from the preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning mode comprises an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In an embodiment, a vehicle positioning device based on roadside equipment is provided, and the vehicle positioning device based on the roadside equipment corresponds to the vehicle positioning method based on the roadside equipment in the above embodiment one to one. As shown in fig. 3, the vehicle positioning device based on the roadside apparatus includes a target area obtaining module 30, a signal collecting module 31, a scanning mode selecting module 32 and a scanning module 33. The functional modules are explained in detail as follows:
the target area obtaining module 30 is configured to obtain a preset scanning mode and a target area corresponding to each roadside device, where each target area includes M target sub-areas, and M is a positive integer.
And the signal acquisition module 31 is used for acquiring a clock signal and a communication signal of the road side equipment.
The scanning mode selecting module 32 is configured to select a target scanning mode of the roadside device from preset scanning modes based on the clock signal and the communication signal, where the preset scanning modes include an independent scanning mode, a synchronous scanning mode, and an asynchronous linkage scanning mode.
The scanning module 33 is configured to scan a target sub-area in the target area according to the target scanning manner, so as to determine vehicle position information in the target area.
Further, the scanning mode selecting module 32 includes a state determining unit, a first determining unit, a second determining unit, and a third determining unit, and each functional unit is described in detail as follows:
and the state judgment unit is used for judging the real-time state of the clock signals between the road side devices as a first state and judging the real-time state of the communication signals between the road side devices as a second state.
And the first determining unit is used for determining that the target scanning mode is the independent scanning mode when the first state is in no linkage and the second state is in disconnection.
And the second determining unit is used for determining that the target scanning mode is the synchronous scanning mode when the first state is linkage and the second state is disconnection.
And the third determining unit is used for determining that the target scanning mode is an asynchronous linkage scanning mode when the first state is linkage and the second state is connection.
Further, the scanning module 33 includes a separate scanning unit, and the detailed description of the functional unit is as follows:
and the independent scanning unit is used for driving the microwave antenna signal of each roadside device to independently scan the target sub-region in the target region.
Further, the scanning module 33 includes a synchronous scanning unit, and the detailed description of the functional unit is as follows:
and the synchronous scanning unit is used for driving the microwave antenna signals of each piece of road side equipment to synchronously scan the target sub-area in the target area at the same time.
Further, the scanning module 33 includes an asynchronous linkage scanning unit, and the detailed description of the functional unit is as follows:
and the asynchronous linkage scanning unit is used for driving the microwave antenna signals of each roadside device to asynchronously linkage scan the target sub-region in the target region at the same time.
Further, the asynchronous linkage scanning unit also comprises a control unit, and the detailed description of the functional unit is as follows:
the control unit is used for controlling the microwave antenna signal of one road side device to perform delay scanning before the microwave antenna signals of two adjacent road side devices scan the adjacent target sub-regions at the same time; or the like, or, alternatively,
and switching the microwave antenna signal of one piece of road side equipment to the next target sub-area for scanning.
Further, the device also comprises a calibration unit and a detection unit, and the detailed description of each functional unit is as follows:
and the calibration unit is used for calibrating the transmission direction of the microwave antenna signal of the road side equipment, so that the transmission direction is perpendicular to the opposite surface of the road side equipment.
And the detection unit is used for obtaining the calibrated microwave antenna signal when detecting that the transmitting direction of the microwave antenna signal is vertical to the opposite surface of the roadside device.
Wherein the meaning of "first" and "second" in the above modules/units is only to distinguish different modules/units, and is not used to define which module/unit has higher priority or other defining meaning. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, article, or apparatus, and such that a division of modules presented in this application is merely a logical division and may be implemented in a practical application in a further manner.
For specific definition of the roadside device-based vehicle positioning device, reference may be made to the above definition of the roadside device-based vehicle positioning method, which is not described herein again. Each module in the roadside apparatus-based vehicle positioning apparatus described above may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data involved in the roadside device-based vehicle positioning method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a roadside apparatus-based vehicle positioning method.
In one embodiment, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps of the roadside device-based vehicle positioning method of the embodiments described above, such as steps 201-204 shown in fig. 2 and extensions of other extensions and related steps of the method. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units of the roadside apparatus-based vehicle positioning apparatus in the above-described embodiments, such as the functions of the modules 30 to 33 shown in fig. 3. To avoid repetition, further description is omitted here.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like which is the control center for the computer device and which connects the various parts of the overall computer device using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the cellular phone, etc.
The memory may be integrated in the processor or may be provided separately from the processor.
In one embodiment, a computer readable storage medium is provided, having stored thereon a computer program that, when executed by a processor, implements the steps of the roadside apparatus based vehicle positioning method of the embodiments described above, such as the steps 201-204 shown in fig. 2 and extensions of other extensions and related steps of the method. Alternatively, the computer program is executed by the processor to implement the functions of the modules/units of the roadside apparatus-based vehicle positioning apparatus in the above-described embodiments, such as the functions of the modules 30 to 33 shown in fig. 3. To avoid repetition, further description is omitted here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A vehicle positioning method based on roadside equipment is characterized by comprising the following steps:
acquiring a preset scanning mode and a target area corresponding to each piece of roadside equipment, wherein each target area comprises M target sub-areas, and M is a positive integer;
collecting a clock signal and a communication signal of the road side equipment;
selecting a target scanning mode of the road side equipment from the preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning modes comprise an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode;
and scanning the target sub-area in the target area according to the target scanning mode to determine the vehicle position information in the target area.
2. The method of claim 1, wherein the step of selecting the target scanning mode of the roadside device from the preset scanning modes based on the clock signal and the communication signal comprises:
judging the real-time state of the clock signals between the road side devices as a first state, and judging the real-time state of the communication signals between the road side devices as a second state;
when the first state is in no linkage and the second state is in disconnection, determining that the target scanning mode is the independent scanning mode;
when the first state is linkage and the second state is disconnection, determining that the target scanning mode is the synchronous scanning mode;
and when the first state is linkage and the second state is connection, determining that the target scanning mode is the asynchronous linkage scanning mode.
3. The method of claim 1, wherein prior to the step of scanning the target sub-area in the target area to determine vehicle position information in the target area according to the target scanning manner, the method further comprises:
calibrating the transmitting direction of the microwave antenna signal of the road side equipment, so that the transmitting direction is perpendicular to the opposite surface of the road side equipment;
and when the transmitting direction of the microwave antenna signal is detected to be vertical to the opposite surface of the roadside device, obtaining a calibrated microwave antenna signal.
4. The method according to any one of claims 1 to 3, wherein the target scanning mode is an independent scanning mode, and the scanning the target sub-region in the target region according to the target scanning mode comprises:
and driving the microwave antenna signal of each piece of road side equipment to independently scan the target sub-area in the target area.
5. The method according to any one of claims 1 to 3, wherein the target scanning mode is a synchronous scanning mode, and the step of scanning the target sub-region in the target region according to the target scanning mode comprises:
and driving the microwave antenna signal of each piece of roadside equipment to synchronously scan the target sub-region in the target region at the same time.
6. The method according to any one of claims 1 to 3, wherein the target scanning mode is an asynchronous linked scanning mode, and the scanning the target sub-region in the target region according to the target scanning mode comprises:
and driving the microwave antenna signal of each piece of roadside equipment to asynchronously scan the target sub-area in the target area in a linkage manner at the same time.
7. The method of claim 6, wherein the step of driving the microwave antenna signal of each of the roadside devices to asynchronously scan the target sub-region in the target region in a coordinated manner at the same time further comprises:
when the microwave antenna signals of two adjacent road side devices are detected to scan the adjacent target sub-regions, controlling the microwave antenna signal of one road side device to perform delay scanning; or the like, or, alternatively,
and switching the microwave antenna signal of one piece of road side equipment to the next target sub-area for scanning.
8. Vehicle positioner based on roadside equipment includes:
the target area acquisition module is used for acquiring a preset scanning mode and a target area corresponding to each piece of roadside equipment, wherein each target area comprises M target sub-areas, and M is a positive integer;
the signal acquisition module is used for acquiring a clock signal and a communication signal of the road side equipment;
the scanning mode selection module is used for selecting a target scanning mode of the roadside device from the preset scanning modes based on the clock signal and the communication signal, wherein the preset scanning modes comprise an independent scanning mode, a synchronous scanning mode and an asynchronous linkage scanning mode;
and the scanning module is used for scanning the target sub-area in the target area according to the target scanning mode so as to determine the vehicle position information in the target area.
9. Computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the roadside device based vehicle positioning method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the roadside apparatus based vehicle positioning method as claimed in any one of claims 1 to 7.
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| CN202110166951.6A CN112950978B (en) | 2021-02-04 | 2021-02-04 | Vehicle positioning method and device based on road side equipment and related equipment |
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| US20210016777A1 (en) * | 2017-12-10 | 2021-01-21 | Anatoly S. Weiser | Smart traffic control devices and beacons, methods of their operation, and use by vehicles of information provided by the devices and beacons |
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