CN113218413B - Method and system for positioning running vehicle - Google Patents
Method and system for positioning running vehicle Download PDFInfo
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- CN113218413B CN113218413B CN202110518573.3A CN202110518573A CN113218413B CN 113218413 B CN113218413 B CN 113218413B CN 202110518573 A CN202110518573 A CN 202110518573A CN 113218413 B CN113218413 B CN 113218413B
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- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention provides a method and a system for positioning a running vehicle, belongs to the technical field of navigation, and can at least partially solve the problem that the existing method for positioning the running vehicle is easily affected by the environment to cause inaccurate positioning. The invention provides a method for positioning a traveling vehicle, which comprises the following steps: obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle; and obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the road condition of the running vehicle.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a method and a system for positioning a running vehicle.
Background
With the continuous development of worldwide traffic, the position navigation positioning system has long become an indispensable auxiliary means for people to travel so as to adapt to the specific position of the driven vehicle which can be accurately known by the user.
One navigation technology in the prior art is a positioning mode such as a GPS (global positioning system), a Beidou and the like, namely, positioning satellites are arranged on a circular earth orbit to position a global or a certain area, and the longitude, latitude and altitude information of the same position can be obtained through calculation of star images, month calendars and the like of a plurality of satellites.
Another navigation technology in the prior art adopts base station positioning, namely, through a plurality of base stations, the user position is roughly judged according to the communication interaction between positioning equipment and the base stations, the signal strength, the time stamp and the signal phase, and the positioning mode is very inaccurate, is greatly influenced by building and obstruction and needs to be connected with a plurality of base stations at the same time.
However, the above-mentioned positioning method for the running vehicle is easily affected by the surrounding environment, especially in rainy days, surrounding of high buildings, under bridges, etc., thereby resulting in inaccurate positioning for the running vehicle.
Disclosure of Invention
The invention at least partially solves the problem that the existing running vehicle positioning method is easy to be influenced by the environment to cause inaccurate positioning, and provides the running vehicle positioning method capable of accurately positioning the running vehicle at the running road position.
The technical scheme adopted for solving the technical problem of the invention is a method for positioning a running vehicle, which comprises the following steps: obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle; and obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the road condition of the running vehicle.
Further preferably, the number of the base stations is at least three, the base stations are distributed along a running road of the running vehicle, and the obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle includes: according to the running direction of the running vehicle, distances between the running vehicle and different base stations are sequentially obtained; the obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the road condition of the running vehicle comprises: and obtaining the current position of the running vehicle according to the distance between the running vehicle and the base station, the road condition of the running vehicle and the time for different base stations to acquire the response signals.
It is further preferable that the number of the base stations is at least two, the two base stations are respectively located at two sides of a running road of the running vehicle, and the obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle includes: according to the response signals of the running vehicles, the distances between the running vehicles and the two base stations are respectively obtained; the obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the road condition of the running vehicle comprises: and obtaining the current position of the running vehicle according to the distance between the running vehicle and the two base stations and the road condition of the running vehicle.
Further preferably, the obtaining the distance between the traveling vehicle and at least one base station according to the response signal of the traveling vehicle further includes: when the distance between the running vehicle and the base station is smaller than or equal to a threshold distance, the base station is enabled to send a time stamp signal to the running vehicle, so that a communication module of the running vehicle sends a response signal to the base station; and acquiring a response signal sent by the communication module of the running vehicle.
Further preferably, the obtaining the distance between the traveling vehicle and at least one base station according to the response signal of the traveling vehicle includes: and obtaining the distance between the running vehicle and at least one base station according to the intensity, the propagation time and the phase of the response signal of the running vehicle.
Further preferably, the base station is a 5G base station, and the communication module is a 5G communication module.
The technical scheme adopted for solving the technical problem of the invention is a traveling vehicle positioning system, comprising: the first processing module is used for obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle; and the second processing module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the running road condition of the running vehicle.
It is further preferred that the number of the base stations is at least three, the base stations are distributed along a travel path of the traveling vehicle, and the first processing module includes: the first sub-module is used for sequentially obtaining the distances between the running vehicle and different base stations according to the running direction of the running vehicle; the second processing module includes: and the first sub-module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the base station, the road condition of the running vehicle and the time for different base stations to acquire the response signals.
It is further preferable that the number of the base stations is at least two, and the two base stations are respectively located at two sides of the running road of the running vehicle, and the first processing module includes: the second sub-module is used for respectively obtaining the distance between the running vehicle and the two base stations according to the response signals of the running vehicle; the second processing module includes: and the second sub-module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the two base stations and the road condition of the running vehicle.
It is further preferred that the traveling vehicle positioning system further comprises: a transmitting module, configured to, when a distance between a traveling vehicle and the base station is equal to or smaller than a threshold distance, cause the base station to transmit a time stamp signal to the traveling vehicle, so that a communication module of the traveling vehicle transmits a response signal to the base station; and the acquisition module is used for acquiring the response signal sent by the communication module of the running vehicle.
In the method for positioning a traveling vehicle according to the present embodiment, a signal is transmitted between a base station and a traveling vehicle, and a traveling vehicle or other vehicles traveling on a traveling road are positioned by combining with a traveling road traffic system. The 5G communication module is arranged in the running vehicle or other vehicles, and can transmit signals through a 5G network and a 5G base station beside a running road. At the same time, vehicles such as running vehicles can receive signals of a plurality of base stations, and when signals of at least one base station are received, the rear end server calculates the distance from the automobile to the base station by calculating the communication signal strength, time stamp and phase difference of different base stations and the automobile 5G module. Because the global longitude and latitude coordinates and the altitude information of the base station are accurately determined when the base station is installed, the coordinates of the running vehicle in the map can be calculated. Therefore, the method for positioning the running vehicle in the embodiment does not need the assistance of satellite positioning systems such as GPS and the like, and positions automobiles or other vehicles running on the road independently by means of the current high-density 5G communication base station, so that the influence of the surrounding environment on positioning can be avoided, particularly in rainy days, high-rise surrounding, under-bridge and the like, and the accuracy of positioning the running vehicle is ensured.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a flow chart of a method for locating a moving vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for locating a moving vehicle according to an embodiment of the present invention;
FIG. 3 is a block schematic diagram of a travel vehicle positioning system according to an embodiment of the invention;
FIG. 4 is a schematic illustration of a driving vehicle positioning according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a driving vehicle positioning according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a driving vehicle positioning according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a driving vehicle positioning according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of better understanding of the technical solution of the present invention to those skilled in the art.
The invention will be described in more detail below with reference to the accompanying drawings. Like elements are denoted by like reference numerals throughout the various figures. For clarity, the various features of the drawings are not drawn to scale. Furthermore, some well-known portions may not be shown in the drawings.
Numerous specific details of the invention, such as construction, materials, dimensions, processing techniques and technologies, may be set forth in the following description in order to provide a thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
Example 1:
as shown in fig. 1 to 7, the present embodiment provides a running vehicle positioning method including:
s11, obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle.
Wherein, first, base stations (such as 5G communication base stations) are deployed around a driving road (highway); after the base station is built, the accurate longitude and latitude coordinates of the base station can be determined, namely, the detailed longitude and latitude coordinates of each base station and the altitude of the base station are known and correspondingly marked to a server side.
It should be noted that, a communication module (such as a 5G communication module) is built in the driving vehicle (or other vehicles) and can communicate with a 5G base station near the driving road, so as to determine the straight line distance between the base station and the driving vehicle.
And S12, obtaining the current position of the running vehicle according to the distance between the running vehicle and at least one base station and the road condition of the running vehicle.
The specific position of the running vehicle is obtained through comprehensive calculation through the sequence of different base stations connected to the running vehicle, the actual running road information in the map and the actual running road information.
It should be noted that, the base station is a 5G base station, and the communication module is a 5G communication module.
In the method for positioning a traveling vehicle according to the present embodiment, a signal is transmitted between a base station and a traveling vehicle, and a traveling vehicle or other vehicles traveling on a traveling road are positioned by combining with a traveling road traffic system. The 5G communication module is arranged in the running vehicle or other vehicles, and can transmit signals through a 5G network and a 5G base station beside a running road. At the same time, vehicles such as running vehicles can receive signals of a plurality of base stations, and when signals of at least one base station are received, the rear end server calculates the distance from the automobile to the base station by calculating the communication signal strengths, time stamps and phase differences of different base stations and the automobile 5G module. Because the global longitude and latitude coordinates and the altitude information of the base station are accurately determined when the base station is installed, the coordinates of the running vehicle in the map can be calculated. Therefore, the method for positioning the running vehicle in the embodiment does not need the assistance of satellite positioning systems such as GPS and the like, and positions automobiles or other vehicles running on the road independently by means of the current high-density 5G communication base station, so that the influence of the surrounding environment on positioning can be avoided, particularly in rainy days, high-rise surrounding, under-bridge and the like, and the accuracy of positioning the running vehicle is ensured.
Example 2:
as shown in fig. 1 to 7, the present embodiment provides a running vehicle positioning method including:
and S21, when the distance between the running vehicle and the base station is smaller than or equal to a threshold distance, the base station is enabled to send a time stamp signal to the running vehicle, so that the communication module of the running vehicle sends a response signal to the base station.
Specifically, the number of base stations is at least three, and the base stations are distributed along the running road of the running vehicle.
As shown in fig. 5, at least three base stations are distributed along the extending direction of the driving road and on both sides of the driving road.
When the running vehicle runs on the running road, the running vehicle gradually approaches each base station and then moves away from each base station, that is, the distances between the running vehicle and the base stations A, B and C are smaller than or equal to the threshold distances in sequence, so that the base stations A, B and C sequentially send time stamp signals to the running vehicle, and the communication module of the running vehicle sequentially sends response signals to the base stations A, B and C.
S22, acquiring a response signal sent by a communication module of the running vehicle.
Wherein, that is to say each basic station obtains the response signal that the communication module of the vehicle of travelling sent in proper order.
S23, obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle.
Specifically, the distance between the traveling vehicle and at least one base station is obtained according to the intensity, propagation time and phase of the response signal of the traveling vehicle.
Preferably, obtaining the distance between the traveling vehicle and the at least one base station according to the response signal of the traveling vehicle includes:
s231, according to the running direction of the running vehicle, the distances between the running vehicle and different base stations are sequentially obtained.
S24, obtaining the current position of the running vehicle according to the distance between the running vehicle and at least one base station and the road condition of the running vehicle.
Preferably, obtaining the current position of the traveling vehicle according to the distance between the traveling vehicle and at least one base station and the traveling road condition of the traveling vehicle includes:
s241, obtaining the current position of the running vehicle according to the distance between the running vehicle and the base station, the road condition of the running vehicle and the time of obtaining response signals by different base stations.
Preferably, the base station is a 5G base station, and the communication module is a 5G communication module.
Specifically, if the traveling vehicle travels on the traveling road, the positioning information of one base station is received, and at this time, the straight line distance from the traveling vehicle to the base station can be calculated, so as to obtain a concentric circle position diagram, and the distance from the traveling vehicle to the base station is a concentric circle position with the base station as the center, as shown in fig. 4, and at this time, it is impossible to determine whether the traveling vehicle itself is located or is marked with a five-pointed star according to the actual road condition information.
In order to solve the above problems, as shown in fig. 5, the traveling vehicle travels from left to right on the traveling road, passes through the positions of X, Y and Z points sequentially, and meanwhile, the 5G communication module of the traveling vehicle is sequentially connected with the base station a, the base station B and the base station C, and only one signal of the base station can be received in each road. The server may perform the following calculations:
1) And accurately calculating the running direction of the running vehicle according to the sequence of the running vehicle accessing the base station.
2) The running vehicle runs from the X point to the base station A, is connected to the base station B at the same time, is more and more close to the base station B, and can calculate the Y2 point of the running vehicle at the Y point or the same distance according to the positioning information when reaching the Y point, but because the running direction of the first-step automobile is obtained from the connection sequence of the base stations, when the running vehicle is connected to the base station B and reaches the position Y, the running vehicle at the Y point can be calculated instead of the Y2 point.
When the traveling vehicle is traveling to the Y2 point, since the traveling vehicle has traveled the Y point in front, it is possible to obtain that the traveling vehicle is not at the Y point but at the Y2 point, based on the actual road condition information of the road and the traveling direction of the vehicle.
3) The traveling vehicles sequentially travel backwards, and when the Z-point access base station C is reached, experience information, namely the traveling direction and the traveling speed, is accumulated in the front. So that the position information of the traveling vehicle can be calculated.
Another method for positioning a traveling vehicle provided in this embodiment includes:
and S31, when the distance between the running vehicle and the base station is smaller than or equal to a threshold distance, the base station is enabled to send a time stamp signal to the running vehicle, so that the communication module of the running vehicle sends a response signal to the base station.
Specifically, the number of the base stations is at least two, and the two base stations are respectively positioned at two sides of a running road of a running vehicle.
As shown in fig. 6 and 7, at least two base stations are located next to the road.
When the traveling vehicle travels on the traveling road, when the distance between the traveling vehicle and a certain base station is smaller than or equal to a threshold distance, the base station is caused to transmit a time stamp signal to the traveling vehicle, so that the communication module of the traveling vehicle transmits a response signal to the base station.
S32, acquiring a response signal sent by a communication module of the running vehicle.
S33, obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle.
Specifically, the distance between the traveling vehicle and at least one base station is obtained according to the intensity, propagation time and phase of the response signal of the traveling vehicle.
Preferably, obtaining the distance between the traveling vehicle and the at least one base station according to the response signal of the traveling vehicle includes:
s331, according to response signals of the running vehicle, distances between the running vehicle and the two base stations are obtained respectively.
S34, obtaining the current position of the running vehicle according to the distance between the running vehicle and at least one base station and the road condition of the running vehicle.
Preferably, obtaining the current position of the traveling vehicle according to the distance between the traveling vehicle and at least one base station and the traveling road condition of the traveling vehicle includes:
s341, obtaining the current position of the running vehicle according to the distance between the running vehicle and the two base stations and the road condition of the running vehicle.
Preferably, the base station is a 5G base station, and the communication module is a 5G communication module.
Specifically, one case is: as shown in fig. 6, the traveling vehicle travels on the traveling road while the base station transmits the positioning signals with the time stamps to the automobile terminals, and the straight-line distance of the traveling vehicle to any one base station (the base station height information has been considered in the calculation) can be obtained by the received signal strength, the signal transfer time stamp calculation, and the signal phase calculation. Thus, the distance and position information of the traveling vehicle can be directly obtained by utilizing the linear distance from the traveling vehicle to more than three base stations.
The second case is: as shown in fig. 7, the running vehicle runs on the running road and receives the positioning signals of the two base stations, according to the same method, the server calculates the straight line distance from the running vehicle to the two base stations, so that two position coordinates can be obtained on two sides of the connecting line of the two base stations, but in combination with the actual road condition information, one of the two coordinates is on the road, and one of the two coordinates is on the green belt beside the road, and the running vehicle is unlikely to enter the green belt in the running process, so that the pentagram mark position is ignored, and the server accurately positions the running vehicle to the coordinates on the road as shown in fig. 7.
In the method for positioning a traveling vehicle according to the present embodiment, a signal is transmitted between a base station and a traveling vehicle, and a traveling vehicle or other vehicles traveling on a traveling road are positioned by combining with a traveling road traffic system. The 5G communication module is arranged in the running vehicle or other vehicles, and can transmit signals through a 5G network and a 5G base station beside a running road. At the same time, vehicles such as running vehicles can receive signals of a plurality of base stations, and when signals of at least one base station are received, the rear end server calculates the distance from the automobile to the base station by calculating the communication signal strength, time stamp and phase difference of different base stations and the automobile 5G module. Because the global longitude and latitude coordinates and the altitude information of the base station are accurately determined when the base station is installed, the coordinates of the running vehicle in the map can be calculated. Therefore, the method for positioning the running vehicle in the embodiment does not need the assistance of satellite positioning systems such as GPS and the like, and positions automobiles or other vehicles running on the road independently by means of the current high-density 5G communication base station, so that the influence of the surrounding environment on positioning can be avoided, particularly in rainy days, high-rise surrounding, under-bridge and the like, and the accuracy of positioning the running vehicle is ensured.
Example 3:
as shown in fig. 1 to 7, the present embodiment provides a traveling vehicle positioning system including: a first processing module and a second processing module.
The first processing module is used for obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle; and the second processing module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and at least one base station and the road condition of the running vehicle.
Preferably, the number of base stations is at least three, the three base stations are distributed along a driving road of a driving vehicle, and the first processing module includes: and the first sub-module is used for sequentially obtaining the distances between the running vehicle and different base stations according to the running direction of the running vehicle. The second processing module includes: the first sub-module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the base station, the road condition of the running vehicle and the time of obtaining response signals by different base stations.
Preferably, the number of the base stations is at least two, and the two base stations are respectively located at two sides of a running road of the running vehicle, and the first processing module comprises: the second sub-module is used for respectively obtaining the distance between the running vehicle and the two base stations according to the response signals of the running vehicle; the second processing module includes: and the second sub-module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the two base stations and the road condition of the running vehicle.
Preferably, the traveling vehicle positioning system of the present embodiment further includes: a sending module and an obtaining module.
The transmission module is used for enabling the base station to transmit a time stamp signal to the running vehicle when the distance between the running vehicle and the base station is smaller than or equal to a threshold value distance, so that the communication module of the running vehicle transmits a response signal to the base station; the acquisition module is used for acquiring the response signal sent by the communication module of the running vehicle.
The vehicle positioning system for traveling in this embodiment does not need the assistance of satellite positioning systems such as GPS, but positions the vehicles or other vehicles traveling on the road independently by means of the current high-density 5G communication base station, so as to avoid the influence of the surrounding environment on positioning, especially in rainy days, high-rise surrounding, under-bridge, etc., thereby ensuring the accuracy of positioning the traveling vehicles.
It should be noted that in this document relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Embodiments in accordance with the present invention, as described above, are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. A method of locating a traveling vehicle, comprising:
obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle;
obtaining a current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the running road condition of the running vehicle, wherein the base station is a 5G base station, the response signal is sent out by a communication module of the running vehicle, the communication module is a 5G communication module, and the current position is a coordinate of the running vehicle in a map;
wherein, according to the response signal of the running vehicle, obtaining the distance between the running vehicle and at least one base station includes: according to the running direction of the running vehicle, distances between the running vehicle and at least three different base stations are sequentially obtained, and the at least three base stations are distributed along the running road of the running vehicle;
the obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the road condition of the running vehicle comprises:
obtaining experience information of the running vehicle according to the distance between the running vehicle and the at least three different base stations, the road condition of the running vehicle and the time of the at least three different base stations to obtain the response signals, and obtaining the current position of the running vehicle according to the experience information, wherein the experience information comprises the running direction and the running speed of the running vehicle.
2. The method for locating a traveling vehicle according to claim 1, wherein the obtaining a distance between the traveling vehicle and at least one base station based on the response signal of the traveling vehicle further comprises:
according to the response signals of the running vehicle, the distance between the running vehicle and at least two base stations is obtained respectively, and the at least two base stations are located on two sides of a running road of the running vehicle respectively;
the obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the road condition of the running vehicle further includes:
and obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least two base stations and the road condition of the running vehicle.
3. The method for locating a traveling vehicle according to claim 1, wherein the step of obtaining the distance between the traveling vehicle and at least one base station based on the response signal of the traveling vehicle further comprises:
when the distance between the running vehicle and the base station is smaller than or equal to a threshold distance, the base station sends a time stamp signal to the running vehicle so that the communication module sends a response signal to the base station;
and obtaining a response signal sent by the communication module.
4. The method for locating a traveling vehicle according to claim 1, wherein the obtaining a distance between the traveling vehicle and at least one base station based on the response signal of the traveling vehicle further comprises:
and obtaining the distance between the running vehicle and at least one base station according to the intensity, the propagation time and the phase of the response signal of the running vehicle.
5. A traveling vehicle positioning system, comprising:
the first processing module is used for obtaining the distance between the running vehicle and at least one base station according to the response signal of the running vehicle;
the second processing module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least one base station and the running road condition of the running vehicle, wherein the base station is a 5G base station, the response signal is sent out by a communication module of the running vehicle, the communication module is a 5G communication module, and the current position is coordinate data of the running vehicle;
the first processing module includes: the first sub-module is used for sequentially obtaining the distances between the running vehicle and at least three different base stations according to the running direction of the running vehicle, and the at least three base stations are distributed along the running road of the running vehicle;
the second processing module includes: the first sub-module is used for obtaining experience information of the running vehicle according to the distance between the running vehicle and the at least three different base stations, the road condition of the running vehicle and the time of the at least three different base stations for obtaining the response signals, and obtaining the current position of the running vehicle according to the experience information, wherein the experience information comprises the running direction and the running speed of the running vehicle.
6. The traveling vehicle positioning system according to claim 5, characterized in that,
the first processing module further includes: the second sub-module is used for respectively obtaining the distance between the running vehicle and at least two base stations according to the response signals of the running vehicle, and the at least two base stations are respectively positioned at two sides of a running road of the running vehicle;
the second processing module further includes: and the second sub-module is used for obtaining the current position of the running vehicle according to the distance between the running vehicle and the at least two base stations and the road condition of the running vehicle.
7. The running vehicle positioning system according to claim 5, characterized by further comprising:
a transmitting module, configured to, when a distance between a traveling vehicle and the base station is equal to or smaller than a threshold distance, cause the base station to transmit a time stamp signal to the traveling vehicle, so that the communication module transmits a response signal to the base station;
the acquisition module is used for acquiring the response signal sent by the communication module.
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| CN105792135B (en) * | 2014-12-23 | 2019-04-19 | 中国移动通信集团公司 | A kind of method and device in positioning vehicle place lane |
| CN105206089A (en) * | 2015-09-29 | 2015-12-30 | 深圳市金溢科技股份有限公司 | Vehicle positioning and automatic vehicle release control method and system and base stations |
| US20200132467A1 (en) * | 2018-10-30 | 2020-04-30 | Navico Holding As | Systems and associated methods for generating navigation charts and navigable routes in an open environment |
| CN109348414B (en) * | 2018-11-30 | 2021-03-12 | 中国联合网络通信集团有限公司 | Method and equipment for positioning lane where vehicle is located |
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