CN113392709B - 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 road surface relief marks, which is implemented according to the following steps: step 1, designing a positioning code; step 2, paving a road surface relief mark; according to the rule of the corresponding positioning codes of the road section, the fluctuation distribution of the road surface is changed, so that the vehicle driving through the road section generates regular up-and-down fluctuation, and the vehicle recognizes the corresponding positioning codes according to the rule of the up-and-down fluctuation on the vehicle body, thereby realizing the positioning of the vehicle; step 3, detecting and identifying the positioning codes; the detection and identification of the positioning code need to be sequentially carried out on the perception of the vehicle body fluctuation state, the detection of the road surface fluctuation mark and the identification of the positioning code; and 4, inquiring and updating the geographic position information. The problem of realizing high-precision vehicle auxiliary positioning with lower construction and maintenance cost in traffic scenes lacking satellite coverage or effective positioning infrastructure is solved.
Description
Technical Field
The invention belongs to the technical field of intelligent network automobiles, and particularly relates to a road vehicle auxiliary positioning method based on road surface relief marks.
Background
At present, the most widely applied road vehicle positioning method is a satellite positioning method, namely a vehicle-mounted station receives positioning information broadcast by a plurality of geosynchronous orbit satellites at the same time, and the current position of the vehicle is estimated after joint settlement. Satellite positioning systems that have been successfully commercialized include: the Beidou system of China, the GPS system of the United states, the GLONASS system of Europe, and the like. For driving navigation application, better coverage and enough positioning precision can be realized by means of a satellite positioning system, and higher usability is provided. However, in some traffic scenarios such as tunnels, underwater, underground, etc., satellite broadcast positioning signals are difficult to cover, and reliable positioning of the vehicle is not achieved. In order to make up for the above-mentioned defects of satellite positioning, most of the current vehicle positioning schemes are provided with inertial navigation devices, namely, after satellite positioning signals are lost, the angular offset of an inertial device is used for carrying out integral operation on time to obtain the course offset of the vehicle relative to an initial position, so as to estimate the motion trail and the current position of the vehicle. However, due to the existence of the accumulated error, to ensure the positioning accuracy of inertial navigation, it is necessary to perform periodic calibration in combination with other positioning sources (such as satellite positioning). Otherwise, depending on inertial navigation for a long time, a larger deviation of the positioning result may occur, and the longer the duration, the larger the deviation.
As a supplement to satellite positioning and inertial navigation positioning, there are a-GPS assisted positioning scheme for realizing road driving positioning by using signals transmitted from a mobile communication base station as a positioning source, and various positioning schemes by using WiFi, bluetooth, LTE-V roadside units (RSUs) as positioning sources. These schemes can enhance the vehicle positioning performance under certain scenes, such as improving the speed and accuracy of positioning. However, these solutions require that the vehicle positioning scenario requires deployment of corresponding communication infrastructure, such as communication base stations, wiFi access points, bluetooth hotspots or RSUs, etc., requiring high construction and maintenance costs. In many traffic scenarios, such as inter-urban highways, remote, high-altitude roads, even without power supply lines, it is difficult to implement the above-mentioned auxiliary positioning measures. In addition, there are some positioning means for performing object recognition by means of a camera or radar, and the positioning performance is easily affected by light and weather environments, such as night, haze, rain, snow, etc., and the availability of positioning services is greatly limited.
In summary, 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 road surface relief marks, which solves the problem of realizing high-precision vehicle auxiliary positioning with lower construction and maintenance cost in traffic scenes 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:
step 1, designing positioning codes
A certain area comprises a plurality of road sections for positioning the vehicle, the road sections are numbered, a position is selected on each road section to be used as a positioning datum point, and geographic position information of the datum point is obtained through a fixed-point mapping or map selection method, and the geographic position information comprises longitude, latitude and elevation information; the geographic position information of the datum point is related to the number of the road section to be summarized to construct a position database; the road section number is expressed as binary code, namely positioning code;
step 2, paving a road surface relief mark;
according to the rule of the corresponding positioning codes of the road section, the fluctuation distribution of the road surface is changed, so that the vehicle driving through the road section generates regular up-and-down fluctuation, and the vehicle recognizes the corresponding positioning codes according to the rule of the up-and-down fluctuation on the vehicle body, thereby realizing the positioning of the vehicle;
step 3, detecting and identifying the positioning codes;
the detection and identification of the positioning code need to be sequentially carried out on the perception of the vehicle body fluctuation state, the detection of the road surface fluctuation mark and the identification of the positioning code;
and 4, inquiring and updating the geographic position information.
The present invention is also characterized in that,
in step 1, the length L of the location code depends on the number N of locatable segments contained in the area, namely:
wherein,representing a rounding operation.
The specific implementation steps of the step 2 are as follows:
step 2.1, arranging a road surface relief mark on the road surface
Paving a plurality of raised objects with the width smaller than the road width on the road surface, wherein the raised objects are mutually parallel and sequentially arranged at different intervals along the road running direction to form a road surface fluctuation mark;
step 2.2, formulating a modulation scheme of the positioning code
On-off keying (OOK) modulation is adopted, namely, in the running direction of the vehicle, the protrusions are arranged at equal intervals according to the state of each binary bit in the position index data, namely, a 1 corresponds to the protrusion, and a 0 corresponds to the absence of the protrusion; a synchronous code with a certain bit number is further arranged before the modulation positioning coding and is used for directly converting the 0 and 1 states in the binary positioning coding into the presence and absence of the protrusions in the road surface relief mark by using an OOK modulation scheme at the moment of starting detection with the vehicle; the distribution of the road surface relief state f (d) with the distance d is expressed as:
wherein: a, a l Indicating the state of the first bit in the positioning code, the value of which is 0 or 1; g (. Cndot.) is represented by d 1 +d 2 Comprising a projection and its spacing relief.
In step 2.1, the width d of the protrusion 1 15-20cm, and the height h is 3-5cm; distance d between every two projections along the driving direction of the automobile 2 30-50cm.
The step 3 is specifically implemented according to the following steps:
step 3.1 perception of body heave State
Firstly, installing acceleration sensors on a suspension or a chassis of an automobile to capture acceleration of the automobile body in three axial directions in real time; when a vehicle runs through the road surface relief mark at a certain speed, the vehicle body relief sensor can capture the time that the tire pressure passes through each protrusion, and the vehicle body is lifted off the ground and then contacts the ground again, so that the relief state of the road surface is sensed; then, three-axis acceleration data which are captured in real time and change along with time are transmitted to a vehicle-mounted computer in a wired or wireless mode to finish further detection and identification;
step 3.2 detection of road surface relief markings
The detection process of the road surface fluctuation mark is completed to receive the vehicle body fluctuation data captured by the vehicle body fluctuation sensor, and respectively call a peak detection algorithm in a plurality of continuous and successive T time periods to detect whether the fluctuation of the vehicle body is caused by the road surface fluctuation mark; if so, recording the moment when the vehicle body undulates when the wheels pass through each protrusion, and using a moment sequence corresponding to a plurality of peaks for identifying positioning codes; otherwise, continuing to detect;
step 3.3 identification of location codes
Since the synchronization code is a plurality of continuous '1' states, if the vehicle is at a standard speed, the time difference between two adjacent protrusions in the synchronization code is delta T 0 ＝(d 1 +d 2 )/v 0 The identification process of the positioning code is as follows:
s1, initializing state is idle, and a frame peak detection time difference sequence { delta T }' is received p }；
S2, according to the current vehicle speed v and the standard vehicle speed v 0 Calculating a scaling factor beta: beta=v/v 0 ；
S3, according to { DeltaT ] p Construction of normalized peak interval sequences, i.e., { beta.DELTA.T } p }＝{β(t p -t p-1 )},p＝1,2,...P-1；
S4, setting the current state as a synchronous state and setting the current state as beta delta T p Find whether there are consecutive 3 approaches in }ΔT 0 Element(s) of (i) i.e. satisfy DeltaT p ∈[ΔT 0 -δ，ΔT 0 +δ]，δ＝0.1ΔT 0 The method comprises the steps of carrying out a first treatment on the surface of the If so, setting the state as synchronous, otherwise, setting the state as idle, and ending the current identification process;
s5, if the current state is synchronous, the current state is close to delta T in 3 continuous times 0 Each peak interval { DeltaT } is then successively separated by the following rule p The following operations are performed, namely:
a) Calculating n=βΔt p /ΔT 0 If n.ltoreq.16, then n-1 "0" and 1 "are included;
b) Otherwise, the remaining bits are all "0";
c) If the 16 bits are determined, outputting the positioning code, setting the current state as idle, otherwise, continuing.
Step 4 is specifically implemented according to the following steps:
if the vehicle detects the fluctuation mark paved on the road surface and successfully identifies the positioning code, inquiring geographic position information corresponding to the positioning code, namely longitude, latitude and elevation information, according to an inquiry interface in a positioning code calling position database; if the vehicle local system has offline position data, preferentially inquiring in an offline mode, otherwise, calling a vehicle-mounted communication gateway function, accessing a cloud positioning server through WiFi or 3G/4G/5G mobile network connection, and inquiring geographic position information online; when the local offline position data of the vehicle is out of date, the vehicle-mounted communication gateway function is called, and the local position database is updated on line through the wireless local area network (or the mobile network accesses the cloud positioning server to keep the positioning information in the latest state.
The beneficial effects of the invention are as follows:
(1) The method comprises the steps of paving road surface relief marks containing positioning codes on road sections needing to be positioned, detecting and identifying the corresponding positioning codes by sensing the relief change of the vehicle body of a vehicle driving through the road sections, inquiring corresponding geographic position information in a position database according to the positioning codes, and further 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 no participation of satellite, communication base station, access point or RSU and other infrastructure.
(2) The road surface relief marks (similar to a deceleration strip) which do not influence the traffic of vehicles are arranged on the corresponding road sections of the roads, the relief states of the marks are arranged and encoded according to different geographic positions, a road manager does not need to build and maintain active infrastructure, and the implementation and operation cost is low.
(3) The positioning accuracy of the method depends on the difference between the actual geographic position of the road section provided with the road surface relief mark and the geographic position corresponding to the mark stored in the position database, and the error correlation of the method for positioning the road section with the vehicle is smaller. 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 provided by the invention has strong adaptability to conditions such as ambient illumination, rain, snow, fog, weather and the like, and can ensure normal work in most traffic scenes.
Drawings
FIG. 1 is a schematic illustration of a pavement marking in the method of the present invention;
FIG. 2 is a schematic illustration of a pavement relief marking layout scheme in the method of the present invention;
FIG. 3 is a flow chart of a detection algorithm for road surface relief marks in the method of the present invention;
FIG. 4 is a flow chart of an identification algorithm of the positioning code in the method of the present invention;
FIG. 5 is a flow chart of a query for geographic location data in the method of the present invention.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The invention provides a road vehicle auxiliary positioning method based on road surface relief marks, which is implemented according to the following steps as shown in figures 1-5:
step 1, designing positioning codes
A certain area comprises a plurality of road sections for positioning the vehicle, the road sections are numbered, a position is selected on each road section to be used as a positioning datum point, and geographic position information of the datum point is obtained through a fixed-point mapping or map selection method, and the geographic position information comprises longitude, latitude and elevation information; the geographic position information of the datum point is related to the number of the road section to be summarized to construct a position database; the road section number is expressed as binary code, namely positioning code; when the vehicle runs on a certain road section for positioning, acquiring a positioning code corresponding to the road section, and inquiring corresponding geographic position information in a position database so as to realize accurate positioning;
in step 1, the length L of the location code depends on the number N of locatable segments contained in the area, namely:
wherein,representing a rounding operation. For remote areas lacking infrastructure, the road density is not high, and positioning requirements can be met by adopting positioning codes of L=10, namely, covering N=1024 positionable road sections at most; in addition, for different areas, a 4-6 bit area code prefix can be added in the positioning codes to form 14-16 bit positioning codes.
Step 2, paving a road surface relief mark;
according to the rule of the corresponding positioning codes of the road section, the fluctuation distribution of the road surface is changed, so that the vehicle driving through the road section generates regular up-and-down fluctuation, and the vehicle recognizes the corresponding positioning codes according to the rule of the up-and-down fluctuation on the vehicle body, thereby realizing the positioning of the vehicle; it is known that the road surface relief mark is an information modulation process, and the vehicle identification positioning code is an information demodulation process.
The specific implementation steps of the step 2 are as follows:
step 2.1, arranging a road surface relief mark on the road surface
Paving a plurality of raised objects with widths smaller than road widths on the road surface, wherein the raised objects are parallel to each other and are arranged along the road at different intervalsThe road running directions are sequentially arranged to form a road surface fluctuation mark; the height and length of each protrusion can enable the body of the car to move through to slightly and vertically displace in a short time, and the wheels are contacted with the protrusions to separate from the ground in the process; wherein the parameter setting of the protrusions (such as height h, width d in fig. 1 1 Distance d 2 Etc.) determines the perceived location code of the vehicle as it travels over the sign.
Width d of the protrusion 1 And the height h determines the amplitude and duration of the undulations created as the vehicle passes. D is set for not affecting the driving comfort and providing enough detection precision 1 15-20cm, and h is 3-5cm. Spacing d of adjacent projections 2 The distance covered by a group of relief marks paved on the pavement is determined, and meanwhile, the detection precision is influenced. Thus, d is calculated under the conditions of an average vehicle speed of 60Km/h and a sensor sampling frequency of 100Hz 2 30-50cm.
Step 2.2, formulating a modulation scheme of the positioning code
On-off keying (OOK) modulation is adopted, namely, in the running direction of the vehicle, the protrusions are arranged at equal intervals according to the state of each binary bit in the position index data, namely, a 1 corresponds to the protrusion, and a 0 corresponds to the absence of the protrusion; a number of synchronization codes are also provided before the modulation positioning code for synchronizing with the vehicle to start detection, such as 4 consecutive "1" states. The OOK modulation scheme is used for directly converting the '0' and '1' states in the binary positioning code into the 'presence' and 'absence' of the protrusions in the road surface relief mark, and the method is simple and easy to implement. The pavement fluctuation mark laying scheme after OOK modulation is carried out on the 4-bit synchronous code and the 16-bit positioning code is shown in fig. 2. For a road surface relief positioning code, the distribution of road surface relief state f (d) over distance d can be expressed as:
wherein: a, a l Representing the state of the first bit in the position code, the value of which is0 or 1; g (. Cndot.) is represented by d 1 +d 2 Comprising a projection and its spacing relief.
In step 2.1, the width d of the protrusion 1 15-20cm, and the height h is 3-5cm; distance d between every two projections along the driving direction of the automobile 2 30-50cm.
Step 3, detecting and identifying the positioning codes;
in order to demodulate the positioning code of the current road section according to the up-down fluctuation rule generated when the vehicle passes through the road surface fluctuation mark, the vehicle body fluctuation is sensed in real time through an acceleration sensor, whether the vehicle wheels continuously press a series of protrusions or not is detected through a signal processing module, and finally the most probable positioning code information is identified by combining the vehicle speed information. Obviously, this is a process of information demodulation. The detection and identification of the positioning code need to be sequentially carried out on the perception of the vehicle body fluctuation state, the detection of the road surface fluctuation mark and the identification of the positioning code;
the step 3 is specifically implemented according to the following steps:
step 3.1 perception of body heave State
During running of the automobile, the rolling state of the automobile body can be sensed through the acceleration sensor. Firstly, installing acceleration sensors on a suspension or a chassis of an automobile to capture acceleration of the automobile body in three axial directions in real time; when a vehicle runs through the road surface relief mark at a certain speed, the vehicle body relief sensor can capture the time that the tire pressure passes through each protrusion, and the vehicle body is lifted off the ground and then contacts the ground again, so that the relief state of the road surface is sensed; then, three-axis acceleration data which are captured in real time and change along with time are transmitted to a vehicle-mounted computer in a wired or wireless mode to finish further detection and identification;
step 3.2 detection of road surface relief markings
The detection process of the road surface fluctuation mark is completed to receive the vehicle body fluctuation data captured by the vehicle body fluctuation sensor, and respectively call a peak detection algorithm in a plurality of continuous and successive T time periods to detect whether the fluctuation of the vehicle body is caused by the road surface fluctuation mark; if so, recording the moment when the vehicle body undulates when the wheels pass through each protrusion, and using a moment sequence corresponding to a plurality of peaks for identifying positioning codes; otherwise, continuing to detect; a flowchart of the detection algorithm of the road surface relief mark is shown in fig. 3.
Assuming that P acceleration peaks are detected within a certain T period, the output one-frame peak time sequence is:
{t p },p＝0,1,2,...,P-1
at the same time, the time difference between two adjacent peaks is detected to be { DeltaT p }＝{t p -t p-1 },p＝1,2,...P-1。
Step 3.3 identification of location codes
The identification of the positioning code is a pattern matching process, namely, the most possible positioning code form is judged according to the peak time sequence output by the fluctuation identification detection process; although the relief mark is fixed, the sequence of peak moments will have different scales due to the different speeds at which the vehicle is driven past the relief mark; therefore, the real-time vehicle speed is also required to be obtained, the constant-proportion scaling is carried out according to the peak time sequence of the real-time vehicle speed, the constant-proportion scaling 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 code is a plurality of "1" states in succession, if the vehicle is at a standard speed per hour, e.g. v 0 =60 km/h, the time difference between two adjacent projections in the synchronization code should be Δt 0 ＝(d 1 +d 2 )/v 0 ；
As shown in fig. 4, the identification process of the positioning code is as follows:
s1, initializing state is idle, and a frame peak detection time difference sequence { delta T }' is received p }；
S2, according to the current vehicle speed v and the standard vehicle speed v 0 Calculating a scaling factor beta: beta=v/v 0 ；
S3, according to { DeltaT ] p Construction of normalized peak interval sequences, i.e., { beta.DELTA.T } p }＝{β(t p -t p-1 )},p＝1,2,...P-1；
S4, setting the current state as a synchronous state and setting the current state as beta delta T p Find whether there are consecutive 3 approaches Δt in } 0 Element(s) of (i) i.e. satisfy DeltaT p ∈[ΔT 0 -δ，ΔT 0 +δ]，δ＝0.1ΔT 0 . If so, setting the state as synchronous, otherwise, setting the state as idle, and ending the current identification process;
s5, if the current state is synchronous, the current state is close to delta T in 3 continuous times 0 Each peak interval { DeltaT } is then successively separated by the following rule p The following operations are performed, namely:
a) Calculating n=βΔt p /ΔT 0 If n.ltoreq.16, then n-1 "0" and 1 "are included;
b) Otherwise, the remaining bits are all "0";
c) If the 16 bits are determined, outputting the positioning code, setting the current state as idle, otherwise, continuing.
Step 4, inquiring and updating the geographic position information
If the vehicle detects the fluctuation mark paved on the road surface and successfully identifies the positioning code, the vehicle can call a query interface in a position database according to the positioning code to query geographic position information corresponding to the positioning code, namely longitude, latitude and elevation information; as shown in fig. 5, if there is offline position data in the local system of the vehicle, the vehicle is preferentially queried in an offline manner, otherwise, the vehicle-mounted communication gateway function can be invoked, the cloud positioning server is accessed through WiFi or 3G/4G/5G mobile network connection, and the geographic position information is queried online, as shown in fig. 4. When the local offline position data of the vehicle is out of date, such as a local road change or the vehicle is driven into a new area, etc., 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, etc.) or a mobile network (a suburban area, a field area, etc.) to perform online updating operation on the local position database so as to keep the positioning information in the latest state.
Claims (3)
1. The road vehicle auxiliary positioning method based on the road surface relief mark is characterized by comprising the following steps of:
step 1, designing positioning codes
A certain area comprises a plurality of road sections for positioning the vehicle, the road sections are numbered, a position is selected on each road section to be used as a positioning datum point, and geographic position information of the datum point is obtained through a fixed-point mapping or map selection method, and the geographic position information comprises longitude, latitude and elevation information; the geographic position information of the datum point is related to the number of the road section to be summarized to construct a position database; the road section number is expressed as binary code, namely positioning code;
in step 1, the length L of the location code depends on the number N of locatable segments contained in the area, namely:
wherein,representing a rounding operation;
step 2, paving a road surface relief mark;
according to the rule of the corresponding positioning codes of the road section, the fluctuation distribution of the road surface is changed, so that the vehicle driving through the road section generates regular up-and-down fluctuation, and the vehicle recognizes the corresponding positioning codes according to the rule of the up-and-down fluctuation on the vehicle body, thereby realizing the positioning of the vehicle;
the specific implementation steps of the step 2 are as follows:
step 2.1, arranging a road surface relief mark on the road surface
Paving a plurality of raised objects with the width smaller than the road width on the road surface, wherein the raised objects are mutually parallel and sequentially arranged at different intervals along the road running direction to form a road surface fluctuation mark;
step 2.2, formulating a modulation scheme of the positioning code
By on-off keying modulation, i.e. setting, at equal intervals, of the state of each binary bit in the position index data in the direction of travel of the vehicleA protuberance, i.e. "1" corresponds to a protuberance and "0" corresponds to no protuberance; a synchronous code with a certain bit number is further arranged before the modulation positioning code and is used for directly converting the 0 and 1 states in the binary positioning code into the presence and absence of the protrusions in the road surface relief mark by using an on-off keying modulation scheme at the moment of starting detection with the vehicle; road surface relief state f (d) with distanceThe distribution of (2) is expressed as:
wherein:indicating the%>A state of a bit, the value of which is 0 or 1; />Is indicated at->Comprises a protrusion and a relief of the spacing thereof;
step 3, detecting and identifying the positioning codes;
the detection and identification of the positioning code need to be sequentially carried out on the perception of the vehicle body fluctuation state, the detection of the road surface fluctuation mark and the identification of the positioning code;
the step 3 is specifically implemented according to the following steps:
step 3.1 perception of body heave State
Firstly, installing acceleration sensors on a suspension or a chassis of an automobile to capture acceleration of the automobile body in three axial directions in real time; when a vehicle runs through the road surface relief mark at a certain speed, the vehicle body relief sensor can capture the time that the tire pressure passes through each protrusion, and the vehicle body is lifted off the ground and then contacts the ground again, so that the relief state of the road surface is sensed; then, three-axis acceleration data which are captured in real time and change along with time are transmitted to a vehicle-mounted computer in a wired or wireless mode to finish further detection and identification;
step 3.2 detection of road surface relief markings
The detection process of the road surface relief mark is completed to receive the vehicle body relief data captured by the vehicle body relief sensor and is carried out on a plurality of continuous and successive vehicle body relief sensorsRespectively calling peak detection algorithms in a period of time to detect whether the fluctuation of the vehicle body is caused by the road surface fluctuation mark; if so, recording the moment when the vehicle body undulates when the wheels pass through each protrusion, and using a moment sequence corresponding to a plurality of peaks for identifying positioning codes; otherwise, continuing to detect;
step 3.3 identification of location codes
Since the synchronization code is in a plurality of continuous '1' states, if the vehicle is at a standard speed, the time difference between two adjacent protrusions in the synchronization code isThe identification process of the positioning code is as follows:
s1, initializing the state as idle, and receiving a frame peak value detection time difference sequence；
S2, according to the current vehicle speedAnd standard vehicle speed->Calculating a scaling factor->：/>；
S3, according toConstruction of a normalized peak interval sequence, i.e.>；
Wherein, within a certain T period, detectThe output frame peak time sequence of the acceleration peaks is as follows:；/>for the time difference between two adjacent peaks, < +.>；
S4, setting the current state as a synchronous state, and in the following stepsIs to find whether there are 3 consecutive approaches +.>Elements of (1), i.e. satisfy->，/>The method comprises the steps of carrying out a first treatment on the surface of the If so, the state is set to "synchronized", otherwise, the state is set to "idle", and the process endsA pre-recognition process;
s5, if the current state is synchronous, the method is carried out in 3 continuous approachesAfter which each peak is separated by +.>The following operations are performed, namely:
a) Calculation ofIf->Then n-1 "0" and 1 "are included;
b) Otherwise, the remaining bits are all "0";
c) If the 16 bits are determined, outputting a positioning code, setting the current state as idle, otherwise, continuing;
and 4, inquiring and updating the geographic position information.
2. The road vehicle auxiliary positioning method based on road surface relief marks according to claim 1, wherein in step 2.1, the width of the protrusions is equal to the width of the protrusions15-20cm, height->3-5cm; distance between every two projections in the driving direction of the vehicle +.>30-50cm.
3. The road vehicle auxiliary positioning method based on road surface relief marks according to claim 1, wherein the step 4 is specifically implemented according to the following steps:
if the vehicle detects the fluctuation mark paved on the road surface and successfully identifies the positioning code, inquiring geographic position information corresponding to the positioning code, namely longitude, latitude and elevation information, according to an inquiry interface in a positioning code calling position database; if the vehicle local system has offline position data, preferentially inquiring in an offline mode, otherwise, calling a vehicle-mounted communication gateway function, accessing a cloud positioning server through WiFi or 3G/4G/5G mobile network connection, and inquiring geographic position information online; when the local offline position data of the vehicle is out of date, the vehicle-mounted communication gateway function is called, and the cloud positioning server is accessed through the wireless local area network or the mobile network to update the local position database on line so as to keep the positioning information in the latest state.
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| EP3611068A1 (en) * | 2018-08-16 | 2020-02-19 | Continental Automotive GmbH | Driving assistance method and device, and vehicle |
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