CN113392709A - Road vehicle auxiliary positioning method based on road surface fluctuation mark - Google Patents
Road vehicle auxiliary positioning method based on road surface fluctuation mark Download PDFInfo
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Abstract
The invention discloses a road vehicle auxiliary positioning method based on a road surface fluctuation mark, which is implemented according to the following steps: step 1, designing a positioning code; step 2, paving a road surface undulation mark; changing the fluctuation distribution of the road surface according to the rule of the road section corresponding to the positioning codes, so that vehicles driving through the road section generate regular up-and-down fluctuation, and the vehicles identify the corresponding positioning codes according to the up-and-down fluctuation rule of the vehicle body, thereby realizing vehicle positioning; step 3, detecting and identifying the positioning code; the detection and identification of the positioning codes require the perception of the vehicle body undulation state, the detection of the road surface undulation mark and the identification of the positioning codes in turn; and 4, inquiring and updating the geographical position information. The problem of in the traffic scene that lacks satellite coverage or effective positioning infrastructure, realize high accuracy vehicle assistance-localization real-time with lower construction maintenance cost is solved.
Description
Technical Field
The invention belongs to the technical field of intelligent networked automobiles, and particularly relates to a road vehicle auxiliary positioning method based on a road surface fluctuation mark.
Background
At present, the most widely used method for positioning vehicles on roads is a satellite positioning method, i.e. a vehicle station receives positioning information broadcast by a plurality of geosynchronous orbit satellites at the same time, and estimates the current position of the vehicle after joint settlement. Satellite positioning systems that have been successfully commercialized include: the Beidou system in China, the GPS system in the United states, the GLONASS system in Europe and the like. For the driving navigation application, better coverage and enough positioning accuracy can be realized by the satellite positioning system, and higher usability is provided. However, in some traffic scenarios such as tunnels, underwater, underground, etc., the positioning signals broadcast by the satellites are difficult to cover, and the vehicles cannot achieve reliable positioning. In order to make up for the above-mentioned defects of satellite positioning, most current vehicle positioning schemes are equipped with inertial navigation devices, that is, after the satellite positioning signal is lost, the angular offset of an inertial device is used to perform integral operation on time to obtain the course offset of the vehicle relative to the initial position, and then the motion trajectory and the current position of the vehicle are estimated. However, due to the existence of accumulated errors, the positioning accuracy of inertial navigation needs to be periodically calibrated in combination with other positioning sources (such as satellite positioning). Otherwise, relying on inertial navigation for a long time may cause large deviations in the positioning results, and the longer the duration, the larger such deviations will be.
As a supplement to satellite positioning and inertial navigation positioning, an A-GPS auxiliary positioning scheme which takes signals transmitted by a mobile communication base station as a positioning source to realize road traveling positioning and a plurality of positioning schemes which take WiFi, Bluetooth and LTE-V roadside units (RSU) as positioning sources are also provided. The schemes can enhance the vehicle positioning performance under certain scenes, such as improving the positioning speed and accuracy and the like. However, these solutions require the vehicle positioning scenario to deploy corresponding communication infrastructure, such as a communication base station, a WiFi access point, a bluetooth hotspot or an RSU, and require high construction and maintenance costs. In many traffic scenarios, such as an intercity highway, a remote and high-altitude road, even no power supply line is provided, it is difficult to implement the above-mentioned auxiliary positioning measures. In addition, there are some positioning means for target recognition by means of a camera or a radar, the positioning performance of which is easily affected by illumination and weather environments, such as night, haze, rain, snow, and the like, and the availability of positioning services is greatly limited.
In conclusion, how to provide a road vehicle auxiliary positioning method with low construction and maintenance cost, simplicity, reliability and strong environmental adaptation besides satellite positioning, inertial navigation and base station positioning becomes an important requirement for promoting economic development and ensuring driving safety.
Disclosure of Invention
The invention aims to provide a road vehicle auxiliary positioning method based on a road surface fluctuation mark, which solves the problem of realizing high-precision vehicle auxiliary positioning with lower construction and maintenance cost in a traffic scene lacking satellite coverage or effective positioning infrastructure.
The technical scheme adopted by the invention is that the road vehicle auxiliary positioning method based on the road surface relief mark is implemented according to the following steps:
The method comprises the steps that a certain area comprises a plurality of road sections which can be used for positioning vehicles, the road sections are numbered, one position is selected from each road section to serve as a positioning reference point, and the geographical position information of the reference point is obtained through a fixed-point mapping or map selection method and comprises longitude and latitude and elevation information; the geographical position information of the reference point and the serial number of the road section are related and combined to construct a position database; the road section number is represented as a binary code, namely a positioning code;
step 2, paving a road surface undulation mark;
changing the fluctuation distribution of the road surface according to the rule of the road section corresponding to the positioning codes, so that vehicles driving through the road section generate regular up-and-down fluctuation, and the vehicles identify the corresponding positioning codes according to the up-and-down fluctuation rule of the vehicle body, thereby realizing vehicle positioning;
step 3, detecting and identifying the positioning code;
the detection and identification of the positioning codes require the perception of the vehicle body undulation state, the detection of the road surface undulation mark and the identification of the positioning codes in turn;
and 4, inquiring and updating the geographical position information.
The present invention is also characterized in that,
in step 1, the length L of the positioning code depends on the number N of the locatable segments included in the area, that is:
wherein the content of the first and second substances,
indicating a ceiling operation.
The specific implementation steps of the step 2 are as follows:
step 2.1, arranging a road surface fluctuation mark on the road surface
Paving a plurality of convex objects with the width smaller than the road width on the road surface, wherein the plurality of convex objects are parallel to each other and are sequentially arranged at different intervals along the road running direction to form a road surface undulation mark;
step 2.2, making a modulation scheme of positioning coding
On-off keying (OOK) modulation is adopted, namely, bulges are arranged at equal intervals according to the state of each binary bit in the position index data in the driving direction of the vehicle, namely, the bulges are arranged corresponding to '1' and the bulges are not arranged corresponding to '0'; setting a synchronous code with a certain digit before modulating the positioning code, and directly converting the states of '0' and '1' in the binary positioning code into the states of 'existence' and 'nonexistence' of the convex objects in the road surface undulation mark by using an OOK modulation scheme at the moment of starting detection synchronously with the vehicle; the distribution of the road surface undulation state f (d) with the distance d is represented as:
wherein: a islRepresents the state of the ith bit in the positioning code, and the value of the state is 0 or 1; g (-) is represented by d1+d2Comprises a relief of the protrusions and their spacing.
In step 2.1, the width d of the protrusions115-20cm and a height h of 3-5 cm; the distance d between every two projections along the driving direction of the vehicle2Is 30-50 cm.
Step 3 is specifically implemented according to the following steps:
step 3.1, perception of vehicle body undulation state
Firstly, mounting an acceleration sensor on a suspension or a chassis of an automobile to capture the acceleration of a vehicle body in three axial directions in real time; when a vehicle drives over the road surface fluctuation mark at a certain speed, the vehicle body fluctuation sensor can capture the moment that the tire pressure passes through each bulge in real time, and the vehicle body is lifted up to be separated from the ground and then contacts the ground again, so that the fluctuation state of the road surface is sensed; then, transmitting the time-varying triaxial acceleration data captured in real time to a vehicle-mounted computer in a wired or wireless manner to complete further detection and identification;
step 3.2, detection of the road surface undulation mark
The detection process of the road surface fluctuation mark is completed by receiving vehicle body fluctuation data captured by a vehicle body fluctuation sensor, calling a peak detection algorithm in a plurality of continuous and successive T periods respectively and detecting whether the fluctuation of the vehicle body is caused by the road surface fluctuation mark or not; if so, recording the time when the vehicle body undulates when the wheel passes through each bulge, and using the time sequence corresponding to the plurality of peak values for identifying the positioning code; otherwise, continuing to detect;
step 3.3 identification of location code
Because the synchronous code is a plurality of continuous 1 states, if the vehicle is at the standard speed per hour, the vehicle passes through two adjacent bulges in the synchronous codeThe time difference of the object should be delta T0＝(d1+d2)/v0The identification process of the positioning code is as follows:
s1, initializing to be idle, receiving a frame peak value detection time difference sequence (delta T)p}；
S2, according to the current vehicle speed v and the standard vehicle speed v0Calculating the scaling factor β: beta-v/v0；
S3, according to { Delta TpConstructing a normalized peak interval sequence, i.e. { β Δ T }p}＝{β(tp-tp-1)},p＝1,2,...P-1；
S4, setting the current state to be 'synchronous state', and setting the current state to be 'synchronous state' at the value of beta delta TpFind if there are 3 consecutive near Δ T' s0I.e. satisfies Δ Tp∈[ΔT0-δ，ΔT0+δ]，δ＝0.1ΔT0(ii) a If the current identification process exists, setting the state to be synchronized, otherwise, setting the state to be idle, and ending the current identification process;
s5, if the current state is 'synchronized', the time is continuously 3 times close to delta T0After each peak is spaced by Δ T as followspExecuting the following operations, namely:
a) calculating n ═ beta. delta.Tp/ΔT0If n is less than or equal to 16, n-1 ' 0's and 1's are included;
b) otherwise, the remaining bits are all "0";
c) if the 16 bits are determined, outputting the positioning code, and setting the current state as idle, otherwise, continuing.
Step 4 is specifically implemented according to the following steps:
if the vehicle detects the fluctuation identification laid on the road surface and successfully identifies the positioning code, calling a query interface in a position database according to the positioning code, and querying the geographic position information corresponding to the positioning code, namely longitude and latitude and elevation information; if the vehicle local system has offline position data, the vehicle local system is preferentially inquired in an offline mode, otherwise, the vehicle-mounted communication gateway function is called, the vehicle-mounted communication gateway function accesses a cloud positioning server through WiFi or 3G/4G/5G mobile network connection, and geographic position information is inquired online; when the local offline position data of the vehicle is out of date, the function of the vehicle-mounted communication gateway is called, and online updating operation is carried out on the local position database through a wireless local area network (or a mobile network access cloud positioning server) so as to keep the positioning information in the latest state.
The invention has the beneficial effects that:
(1) the method of the invention lays a road surface fluctuation mark containing a positioning code on a road section which needs to be positioned, a vehicle running through the road section detects and identifies the corresponding positioning code by sensing the fluctuation change of the vehicle body, and inquires corresponding geographical position information in a position database according to the positioning code, thereby determining the position of the vehicle. The method can realize the auxiliary positioning function of the road vehicle with lower cost under the condition of not participating in basic facilities such as satellites, communication base stations, access points or RSUs and the like.
(2) The method of the invention arranges the road surface fluctuation marks (similar to deceleration strips) which do not influence the vehicle passing on the corresponding road sections of the road, the fluctuation state arrangement of the marks is coded according to different geographical positions, the road management party does not need to build and maintain active infrastructure, and the implementation and operation cost is low.
(3) The method of the invention has the positioning accuracy depending on the difference between the actual geographic position of the road surface relief mark section and the geographic position corresponding to the mark stored in the position database, and has small error correlation with the positioning operation of the vehicle. In the case of an effective control of the data quality, a high-precision positioning of the vehicle can theoretically be achieved.
(4) The method has strong adaptability to the conditions such as ambient light, rain, snow, fog and the like, and can ensure normal work in most traffic scenes.
Drawings
FIG. 1 is a schematic representation of a pavement relief marking in the method of the present invention;
FIG. 2 is a schematic view of a pavement relief marking laying scheme in the method of the present invention;
FIG. 3 is a flow chart of a detection algorithm for the road relief marking in the method of the present invention;
FIG. 4 is a flow chart of an identifying algorithm for locating a code in the method of the present invention;
FIG. 5 is a flow chart of the query of geographic location data in the method of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a road vehicle auxiliary positioning method based on a road surface undulation mark, which is implemented according to the following steps as shown in figures 1-5:
The method comprises the steps that a certain area comprises a plurality of road sections which can be used for positioning vehicles, the road sections are numbered, one position is selected from each road section to serve as a positioning reference point, and the geographical position information of the reference point is obtained through a fixed-point mapping or map selection method and comprises longitude and latitude and elevation information; the geographical position information of the reference point and the serial number of the road section are related and combined to construct a position database; the road section number is represented as a binary code, namely a positioning code; when a vehicle runs on a certain road section for positioning the vehicle, acquiring a positioning code corresponding to the road section, and inquiring corresponding geographical position information in a position database so as to realize accurate positioning;
in step 1, the length L of the positioning code depends on the number N of the locatable segments included in the area, that is:
wherein the content of the first and second substances,
indicating a ceiling operation. For remote areas lacking infrastructure, the road density is not high, positioning coding with L being 10 is adopted, namely, the positioning requirement can be met by covering at most N being 1024 positionable road sections; in addition, for different regions, 4-6 bit region code prefixes can be added into the positioning codes to form the positioning codes with 14-16 bits.
Step 2, paving a road surface undulation mark;
changing the fluctuation distribution of the road surface according to the rule of the road section corresponding to the positioning codes, so that vehicles driving through the road section generate regular up-and-down fluctuation, and the vehicles identify the corresponding positioning codes according to the up-and-down fluctuation rule of the vehicle body, thereby realizing vehicle positioning; it can be seen that the pavement relief marking is an information modulation process, and the vehicle identification positioning coding is an information demodulation process.
The specific implementation steps of the step 2 are as follows:
step 2.1, arranging a road surface fluctuation mark on the road surface
Paving a plurality of convex objects with the width smaller than the road width on the road surface, wherein the plurality of convex objects are parallel to each other and are sequentially arranged at different intervals along the road running direction to form a road surface undulation mark; the height and length of each protrusion can enable the body of a vehicle driving through the automobile to generate slight vertical displacement in a short time, and the wheels are contacted with the protrusions to be separated from the ground in the process; wherein the parameters of the protrusions are set (such as height h and width d in FIG. 1)1A distance d2Etc.) determines the location code that can be perceived by the vehicle when driving over the tag.
Width d of the projection1And the height h determines the amplitude and duration of the undulations produced as the vehicle travels. D is set for not influencing the driving comfort and providing enough detection precision1Is 15-20cm, and h is 3-5 cm. Distance d between adjacent protrusions2The distance covered by a set of relief marks laid on the road surface is determined, and the detection precision is influenced. Therefore, d is estimated under the conditions of an average vehicle speed of 60Km/h and a sensor sampling frequency of 100Hz2Is 30-50 cm.
Step 2.2, making a modulation scheme of positioning coding
On-off keying (OOK) modulation is adopted, namely, bulges are arranged at equal intervals according to the state of each binary bit in the position index data in the driving direction of the vehicle, namely, the bulges are arranged corresponding to '1' and the bulges are not arranged corresponding to '0'; a certain number of synchronization codes are also set before the modulated positioning code for the moment of starting detection in synchronization with the vehicle, for example 4 consecutive "1" states. And the OOK modulation scheme is used for directly converting the states of '0' and '1' in the binary positioning code into the states of 'existence' and 'nonexistence' of the convex objects in the road surface undulation mark, and the method is simple and easy to implement. A road surface relief mark laying scheme after OOK modulation of the 4-bit synchronization code and the 16-bit positioning code is shown in fig. 2. For a positioning code of a road surface relief, the distribution of the road surface relief state f (d) with distance d can be expressed as:
wherein: a islRepresents the state of the ith bit in the positioning code, and the value of the state is 0 or 1; g (-) is represented by d1+d2Comprises a relief of the protrusions and their spacing.
In step 2.1, the width d of the protrusions115-20cm and a height h of 3-5 cm; the distance d between every two projections along the driving direction of the vehicle2Is 30-50 cm.
Step 3, detecting and identifying the positioning code;
in order to demodulate the positioning code of the current road section according to the up-and-down fluctuation rule generated when the vehicle drives through the road surface fluctuation mark, the fluctuation of the vehicle body needs to be sensed in real time through an acceleration sensor, whether the vehicle wheel continuously presses a string of protrusions is detected through a signal processing module, and the most possible positioning code information is finally identified by combining the vehicle speed information. Obviously, this is a process of information demodulation. The detection and identification of the positioning codes require the perception of the vehicle body undulation state, the detection of the road surface undulation mark and the identification of the positioning codes in turn;
step 3 is specifically implemented according to the following steps:
step 3.1, perception of vehicle body undulation state
During the running of the automobile, the rolling state of the automobile body can be sensed through the acceleration sensor. Firstly, mounting an acceleration sensor on a suspension or a chassis of an automobile to capture the acceleration of a vehicle body in three axial directions in real time; when a vehicle drives over the road surface fluctuation mark at a certain speed, the vehicle body fluctuation sensor can capture the moment that the tire pressure passes through each bulge in real time, and the vehicle body is lifted up to be separated from the ground and then contacts the ground again, so that the fluctuation state of the road surface is sensed; then, transmitting the time-varying triaxial acceleration data captured in real time to a vehicle-mounted computer in a wired or wireless manner to complete further detection and identification;
step 3.2, detection of the road surface undulation mark
The detection process of the road surface fluctuation mark is completed by receiving vehicle body fluctuation data captured by a vehicle body fluctuation sensor, calling a peak detection algorithm in a plurality of continuous and successive T periods respectively and detecting whether the fluctuation of the vehicle body is caused by the road surface fluctuation mark or not; if so, recording the time when the vehicle body undulates when the wheel passes through each bulge, and using the time sequence corresponding to the plurality of peak values for identifying the positioning code; otherwise, continuing to detect; a flow chart of the detection algorithm for the road surface relief marking is shown in fig. 3.
Assuming that P acceleration peaks are detected within a certain T period, it outputs a frame peak time sequence as:
{tp},p＝0,1,2,...,P-1
meanwhile, the time difference between two adjacent peaks is detected to be { Δ T }p}＝{tp-tp-1},p＝1,2,...P-1。
Step 3.3 identification of location code
The identification of the positioning code is a pattern matching process, namely, the most possible positioning code form is judged according to a peak value time sequence output by the fluctuation identification detection process; although the relief mark is fixed, the sequence of peak instants will have different scales due to different speeds of the vehicle when driving over the relief mark; therefore, the real-time vehicle speed is required to be obtained, the real-time vehicle speed is scaled in an equal proportion according to the peak time sequence of the real-time vehicle speed, the real-time vehicle speed is normalized to the peak time sequence obtained under the standard vehicle speed, and then the corresponding positioning code is judged according to the actually detected peak interval time sequence.
Since the synchronization code is a plurality of successive "1" states, if the vehicle is in a normal stateAt a standard speed of time, e.g. v060km/h, the time difference between two adjacent protrusions in the synchronization code should be Δ T0＝(d1+d2)/v0；
As shown in fig. 4, the identification process of the positioning code is as follows:
s1, initializing to be idle, receiving a frame peak value detection time difference sequence (delta T)p}；
S2, according to the current vehicle speed v and the standard vehicle speed v0Calculating the scaling factor β: beta-v/v0；
S3, according to { Delta TpConstructing a normalized peak interval sequence, i.e. { β Δ T }p}＝{β(tp-tp-1)},p＝1,2,...P-1；
S4, setting the current state to be 'synchronous state', and setting the current state to be 'synchronous state' at the value of beta delta TpFind if there are 3 consecutive near Δ T' s0I.e. satisfies Δ Tp∈[ΔT0-δ，ΔT0+δ]，δ＝0.1ΔT0. If the current identification process exists, setting the state to be synchronized, otherwise, setting the state to be idle, and ending the current identification process;
s5, if the current state is 'synchronized', the time is continuously 3 times close to delta T0After each peak is spaced by Δ T as followspExecuting the following operations, namely:
a) calculating n ═ beta. delta.Tp/ΔT0If n is less than or equal to 16, n-1 ' 0's and 1's are included;
b) otherwise, the remaining bits are all "0";
c) if the 16 bits are determined, outputting the positioning code, and setting the current state as idle, otherwise, continuing.
Step 4, inquiring and updating the geographical location information
If the vehicle detects the fluctuation identification laid on the road surface and successfully identifies the positioning code, a query interface in a position database can be called according to the positioning code, and geographic position information corresponding to the positioning code, namely longitude and latitude and elevation information, can be queried; as shown in fig. 5, if there is offline location data in the vehicle local system, the vehicle local system preferably queries in an offline manner, otherwise, the vehicle-mounted communication gateway function may be invoked to access the cloud location server through WiFi or 3G/4G/5G mobile network connection, and query the geographic location information online, as shown in fig. 4. When the local offline position data of the vehicle is out of date, such as a local road is changed or the vehicle drives into a new area, the vehicle-mounted communication gateway function is called, and the cloud positioning server is accessed through a wireless local area network (a gas station, an urban area and other areas) or a mobile network (a suburb, a field and other areas) to perform online updating operation on the local position database so as to keep the positioning information in a latest state.
Claims (6)
1. A road vehicle auxiliary positioning method based on a road surface undulation mark is characterized by comprising the following steps:
step 1, designing positioning code
The method comprises the steps that a certain area comprises a plurality of road sections which can be used for positioning vehicles, the road sections are numbered, one position is selected from each road section to serve as a positioning reference point, and the geographical position information of the reference point is obtained through a fixed-point mapping or map selection method and comprises longitude and latitude and elevation information; the geographical position information of the reference point and the serial number of the road section are related and combined to construct a position database; the road section number is represented as a binary code, namely a positioning code;
step 2, paving a road surface undulation mark;
changing the fluctuation distribution of the road surface according to the rule of the road section corresponding to the positioning codes, so that vehicles driving through the road section generate regular up-and-down fluctuation, and the vehicles identify the corresponding positioning codes according to the up-and-down fluctuation rule of the vehicle body, thereby realizing vehicle positioning;
step 3, detecting and identifying the positioning code;
the detection and identification of the positioning codes require the perception of the vehicle body undulation state, the detection of the road surface undulation mark and the identification of the positioning codes in turn;
and 4, inquiring and updating the geographical position information.
2. The method for assisting in locating a road vehicle based on pavement undulation marking according to claim 1, wherein in step 1, the length L of the locating code depends on the number N of the locatable segments included in the area, that is:
wherein the content of the first and second substances,
indicating a ceiling operation.
3. The road vehicle auxiliary positioning method based on the road surface relief mark as claimed in claim 2, wherein the step 2 is implemented by the following steps:
step 2.1, arranging a road surface fluctuation mark on the road surface
Paving a plurality of convex objects with the width smaller than the road width on the road surface, wherein the plurality of convex objects are parallel to each other and are sequentially arranged at different intervals along the road running direction to form a road surface undulation mark;
step 2.2, making a modulation scheme of positioning coding
Adopting on-off keying modulation, namely arranging bulges at equal intervals according to the state of each binary bit in the position index data in the driving direction of the vehicle, wherein 1 corresponds to the bulge, and 0 corresponds to no bulge; setting a synchronous code with a certain digit before modulating the positioning code, and directly converting the states of '0' and '1' in the binary positioning code into the states of 'existence' and 'nonexistence' of the convex objects in the road surface undulation mark by using an OOK modulation scheme at the moment of starting detection synchronously with the vehicle; the distribution of the road surface undulation state f (d) with the distance d is represented as:
wherein:alrepresents the state of the ith bit in the positioning code, and the value of the state is 0 or 1; g (-) is represented by d1+d2Comprises a relief of the protrusions and their spacing.
4. A road vehicle auxiliary positioning method based on road surface relief marks as claimed in claim 3, characterized in that in step 2.1, the width d of the protrusion115-20cm and a height h of 3-5 cm; the distance d between every two projections along the driving direction of the vehicle2Is 30-50 cm.
5. The method for assisting in positioning a road vehicle based on a road surface relief mark as claimed in claim 3, wherein step 3 is implemented by the steps of:
step 3.1, perception of vehicle body undulation state
Firstly, mounting an acceleration sensor on a suspension or a chassis of an automobile to capture the acceleration of a vehicle body in three axial directions in real time; when a vehicle drives over the road surface fluctuation mark at a certain speed, the vehicle body fluctuation sensor can capture the moment that the tire pressure passes through each bulge in real time, and the vehicle body is lifted up to be separated from the ground and then contacts the ground again, so that the fluctuation state of the road surface is sensed; then, transmitting the time-varying triaxial acceleration data captured in real time to a vehicle-mounted computer in a wired or wireless manner to complete further detection and identification;
step 3.2, detection of the road surface undulation mark
The detection process of the road surface fluctuation mark is completed by receiving vehicle body fluctuation data captured by a vehicle body fluctuation sensor, calling a peak detection algorithm in a plurality of continuous and successive T periods respectively and detecting whether the fluctuation of the vehicle body is caused by the road surface fluctuation mark or not; if so, recording the time when the vehicle body undulates when the wheel passes through each bulge, and using the time sequence corresponding to the plurality of peak values for identifying the positioning code; otherwise, continuing to detect;
step 3.3 identification of location code
Since the synchronization code is a plurality of successive "1" states, thenIf the vehicle is at the standard speed per hour, the time difference between two adjacent protrusions in the synchronous code is delta T0＝(d1+d2)/v0The identification process of the positioning code is as follows:
s1, initializing to be idle, receiving a frame peak value detection time difference sequence (delta T)p}；
S2, according to the current vehicle speed v and the standard vehicle speed v0Calculating the scaling factor β: beta-v/v0；
S3, according to { Delta TpConstructing a normalized peak interval sequence, i.e. { β Δ T }p}＝{β(tp-tp-1)},p＝1,2,...P-1；
S4, setting the current state to be 'synchronous state', and setting the current state to be 'synchronous state' at the value of beta delta TpFind if there are 3 consecutive near Δ T' s0I.e. satisfies Δ Tp∈[ΔT0-δ，ΔT0+δ]，δ＝0.1ΔT0(ii) a If the current identification process exists, setting the state to be synchronized, otherwise, setting the state to be idle, and ending the current identification process;
s5, if the current state is 'synchronized', the time is continuously 3 times close to delta T0After each peak is spaced by Δ T as followspExecuting the following operations, namely:
a) calculating n ═ beta. delta.Tp/ΔT0If n is less than or equal to 16, n-1 ' 0's and 1's are included;
b) otherwise, the remaining bits are all "0";
c) if the 16 bits are determined, outputting the positioning code, and setting the current state as idle, otherwise, continuing.
6. The method for assisting in positioning a road vehicle based on a road surface relief mark as recited in claim 1, wherein the step 4 is specifically implemented according to the following steps:
if the vehicle detects the fluctuation identification laid on the road surface and successfully identifies the positioning code, calling a query interface in a position database according to the positioning code, and querying the geographic position information corresponding to the positioning code, namely longitude and latitude and elevation information; if the vehicle local system has offline position data, the vehicle local system is preferentially inquired in an offline mode, otherwise, the vehicle-mounted communication gateway function is called, the vehicle-mounted communication gateway function accesses a cloud positioning server through WiFi or 3G/4G/5G mobile network connection, and geographic position information is inquired online; when the local offline position data of the vehicle is out of date, the function of the vehicle-mounted communication gateway is called, and the cloud positioning server is accessed through a wireless local area network or a mobile network to perform online updating operation on the local position database so as to keep the positioning information in the latest state.
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