CN113433542A - Vehicle positioning method and device, road side equipment and storage medium - Google Patents
Vehicle positioning method and device, road side equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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Abstract
The invention discloses a vehicle positioning method, a vehicle positioning device, roadside equipment and a storage medium, wherein the method comprises the steps of obtaining the position of the roadside equipment and obtaining the position of a vehicle relative to the roadside equipment, wherein the position of the roadside equipment is obtained after a mounting point is accurately positioned when the roadside equipment is mounted, then determining the positioning information of the vehicle according to the position of the roadside equipment and the position of the vehicle relative to the roadside equipment, and sending the positioning information of the vehicle to the vehicle when a positioning request sent by the vehicle is received; the invention can normally work under the condition that GPS signals are weak or no GPS signals, realizes high-precision positioning of vehicles, can realize vehicle positioning only by road side equipment without installing sensors on the vehicles, relieves the problem of overlarge calculation pressure on the vehicles, reduces the vehicle burden, can be suitable for any vehicles on the road by the road side equipment for positioning the vehicles, greatly improves the universality and also reduces the high cost caused by the fact that all vehicles need to be provided with sensors.
Description
Technical Field
The invention relates to the technical field of vehicle auxiliary driving and automatic driving, in particular to a vehicle positioning method and device, roadside equipment and a storage medium.
Background
With the development of the automatic driving technology, high-precision positioning is used as a precondition for realizing automatic driving, and is particularly important for automatic driving. Common positioning methods are divided into three categories, the first category being global navigation satellite systems GNSS, such as global positioning system GPS; the second type is inertial navigation positioning, relative positioning information is provided by an inertial measurement unit IMU, and vehicle positioning is provided with GNSS at the same time; the third type is positioning by environmental feature matching, which obtains the position of the vehicle using a vision sensor, a millimeter wave radar sensor, or the like.
At present, in the internet of vehicles, the mainstream method is to install a GPS and an IMU on a vehicle to perform vehicle positioning, but the GPS is inaccurate in positioning in some places with weak signals, and even if an IMU is provided, the positioning can be performed only in a short time. Some positioning methods based on vehicle-road cooperation also exist, for example, a difference information is generated by using a drive test subsystem and sent to a vehicle-mounted terminal, and the vehicle-mounted terminal provides high-precision positioning for a vehicle by acquiring original positioning information of the vehicle and the difference correction information, but the method also needs to acquire the original positioning information through a GPS, and needs to establish a difference base station, so that the cost is increased; for another example, high-precision map, vision and laser radar sensor data are utilized to realize high-precision positioning in a satellite positioning signal shielded area, and the method has the defects that each vehicle needs three sensors of the high-precision map, the vision and the laser radar, the requirement on the vehicle sensor is high, the calculation capacity of the vehicle is high due to multi-sensor data fusion, and the calculation burden of the vehicle is also increased.
Disclosure of Invention
The invention provides a vehicle positioning method and device, roadside equipment and a storage medium, and aims to solve the problems that in the prior art, a vehicle is not accurately positioned due to weak GPS signals, and the calculation burden of the vehicle is large due to the positioning by a vehicle sensor.
A vehicle localization method, comprising:
the method comprises the steps of obtaining the position of road side equipment, and obtaining the position of a vehicle relative to the road side equipment, wherein the position of the road side equipment is obtained after the mounting point is accurately positioned when the road side equipment is mounted;
determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
and when receiving a positioning request sent by the vehicle, sending the positioning information of the vehicle to the vehicle.
Further, the determining the positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device includes:
acquiring the position of the vehicle relative to a lane line;
determining positioning information of the vehicle according to the position of the vehicle relative to a lane line, according to the position of the roadside device and the position of the vehicle relative to the roadside device.
Further, the roadside apparatus includes a millimeter wave radar, a laser radar, and a camera, and the acquiring of the position of the vehicle with respect to the roadside apparatus and the position of the vehicle with respect to the lane line is acquired by:
acquiring data of the millimeter wave radar, data of the laser radar and data of the camera;
and performing data fusion on the data of the millimeter wave radar, the data of the laser radar and the data of the camera to acquire the position of the vehicle relative to the roadside equipment and acquire the position of the vehicle relative to a lane line.
Further, performing data fusion on the data of the millimeter wave radar, the data of the laser radar, and the data of the camera to acquire the position of the vehicle relative to the roadside device and the position of the vehicle relative to a lane line includes:
extracting the longitudinal position of the vehicle according to the data of the millimeter wave radar;
extracting the transverse position and the lane line position of the vehicle according to the data of the camera;
extracting a lane line position, a longitudinal position and a transverse position of the vehicle according to the laser radar data;
fusing the extracted longitudinal position and the extracted transverse position by using Kalman filtering, joint probability data association and a fuzzy theory to obtain the position of the vehicle relative to the road side equipment;
and fusing the extracted lane line position by using Kalman filtering, joint probability data association and a fuzzy theory to acquire the position of the vehicle relative to the lane line.
Further, after the data of the millimeter wave radar, the data of the laser radar, and the data of the camera are acquired, the method further includes:
extracting the speed of the vehicle according to the data of the millimeter wave radar;
extracting the type of the vehicle according to the data of the camera;
extracting the speed and the type of the vehicle according to the data of the laser radar;
fusing the extracted speed by using the Kalman filtering, the joint probability data association and a fuzzy theory to obtain the speed of the vehicle;
fusing the extracted types by using the Kalman filtering, the joint probability data association and a fuzzy theory to obtain the vehicle type of the vehicle;
when the positioning request of the vehicle is received, generating the positioning information of the vehicle, the vehicle speed of the vehicle and the vehicle type of the vehicle into the structural information of the vehicle, and sending the structural information to the vehicle.
Further, the method further comprises:
when a request for positioning surrounding vehicles sent by the vehicle is received, positioning information of the surrounding vehicles is obtained;
and sending the positioning information of the surrounding vehicle to the vehicle.
A vehicle locating device comprising:
the vehicle-mounted road side equipment comprises an acquisition module, a positioning module and a control module, wherein the acquisition module is used for acquiring the position of road side equipment and acquiring the position of a vehicle relative to the road side equipment, and the position of the road side equipment is obtained after accurate positioning is carried out on a mounting point when the road side equipment is mounted;
a determining module for determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
the sending module is used for sending the positioning information of the vehicle to the vehicle when receiving the positioning request sent by the vehicle.
A vehicle localization arrangement comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the vehicle localization method as described above when executing the computer program.
A roadside apparatus includes a millimeter wave radar, a laser radar, a camera, and a vehicle positioning device as described above.
A readable storage medium, storing a computer program which, when executed by a processor, carries out the steps of the vehicle localization method as described above.
In one scheme of the vehicle positioning method, the vehicle positioning device, the roadside equipment and the storage medium, the roadside equipment comprising the sensor is installed on the roadside in advance, the roadside equipment is accurately positioned when being installed to obtain the accurate position of the roadside equipment, then the vehicle on the road is positioned by the roadside equipment to obtain the position of the vehicle relative to the roadside equipment, high-precision vehicle positioning information is obtained by conversion according to the position of the roadside equipment and the relative position of the vehicle, the vehicle can normally work under the condition that a GPS signal is weak or does not have the GPS signal, the high-precision positioning of the vehicle is realized, the vehicle positioning can be realized by only needing the roadside equipment without installing the sensor on the vehicle, the problem of overlarge calculation pressure on the vehicle is solved, the vehicle burden is reduced, and the roadside equipment can be suitable for any vehicle on the road and the universality is greatly improved, the high cost of all vehicles required to be equipped with sensors is also reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of a roadside apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a vehicle positioning method according to an embodiment of the invention;
FIG. 3 is a flowchart illustrating an implementation of step S20 of the vehicle positioning method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the acquisition of the position of the vehicle relative to the roadside apparatus and the position of the vehicle relative to the lane lines in one embodiment of the invention;
FIG. 5 is a schematic view of a vehicle positioning apparatus according to an embodiment of the present invention;
fig. 6 is another schematic structural diagram of a vehicle positioning device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The vehicle positioning method provided by the embodiment of the invention can be applied to the roadside device shown in fig. 1, wherein the roadside device comprises a vehicle positioning device 101, a millimeter wave radar 102, a laser radar 103 and a camera 104, the vehicle positioning device 101, the millimeter wave radar 102, the laser radar 103 and the camera 104 can communicate through a bus, the vehicle positioning device 101 acquires the position of the roadside device, and after acquiring the position of the vehicle relative to the roadside device according to the millimeter wave radar 102, the laser radar 103 and the camera 104, determines the positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device, and when receiving a positioning request sent by the vehicle, sends the positioning information of the vehicle to the vehicle.
In this embodiment, the sensor included in the roadside apparatus is only an exemplary illustration, and in other embodiments, the roadside apparatus may further include other sensors, which is not described herein again.
In an embodiment, as shown in fig. 2, a vehicle positioning method is provided, which is described by taking the vehicle positioning device in fig. 1 as an example, and includes the following steps:
s10: the method comprises the steps of obtaining the position of the road side equipment, obtaining the position of a vehicle relative to the road side equipment, wherein the position of the road side equipment is obtained after accurate positioning is carried out on a mounting point when the road side equipment is mounted.
In order to position vehicles on a highway, a plurality of road side devices need to be installed on the highway in advance, sensors on the road side devices can position all vehicles in a certain area, the number of the sensors of the road side devices can be increased or the distance between the road side devices can be more reasonably distributed in order to reduce the range of blind areas for positioning the road side devices, and the distance between the road side devices is comprehensively determined by the performances of the sensors and the vehicle positioning devices. When each roadside device is installed, the installation point of the roadside device is positioned at high precision, so that each roadside device obtains a corresponding position, such as a longitude and latitude coordinate of the roadside device.
When the vehicle runs on a road, the sensor on the road side equipment positions the vehicle to obtain vehicle related data, so that the vehicle positioning device obtains the position of the vehicle relative to the road side equipment according to the obtained vehicle related data, and also obtains the position of the road side equipment, wherein the position of the road side equipment is obtained after the mounting point is accurately positioned when the road side equipment is mounted.
S20: and determining the positioning information of the vehicle according to the position of the road side equipment and the position of the vehicle relative to the road side equipment.
After the position of the roadside apparatus is acquired and the position of the vehicle relative to the roadside apparatus is acquired, a calculation is performed to determine the positioning information of the vehicle according to the position of the roadside apparatus and the position of the vehicle relative to the roadside apparatus.
For example, the position of the roadside apparatus is latitude and longitude coordinates of the roadside apparatus, the positioning information of the vehicle is latitude and longitude coordinates, a rectangular coordinate system is established on the road surface with the position of the roadside apparatus as an origin, the longitude of the roadside apparatus as an X axis and the latitude as a Y axis, the coordinates of the vehicle relative to the roadside apparatus can be determined to be (X0, Y0) according to the position of the vehicle relative to the roadside apparatus, and the latitude and longitude coordinates of the roadside apparatus (X1, Y1) are translated on the X axis by X0 and Y0 on the Y axis by Y0, so that the latitude and longitude coordinates of the vehicle are (X1+ X0, Y1+ Y0).
In this embodiment, the position of the roadside device is the longitude and latitude coordinates of the roadside device, and the positioning information of the vehicle is the longitude and latitude coordinates, which are only described in the embodiments.
S30: and receiving a positioning request sent by the vehicle.
And receiving a positioning request sent by the vehicle through the vehicle-mounted communication unit.
S40: and when receiving a positioning request sent by the vehicle, sending the positioning information of the vehicle to the vehicle.
And when receiving a positioning request sent by the vehicle through the vehicle-mounted communication unit, sending the calculated positioning information of the vehicle to the vehicle, wherein the vehicle-mounted communication unit and the vehicle positioning device on the road side equipment can communicate through an LTE-V PC5 interface.
After receiving the positioning information of the vehicle, the vehicle-mounted communication unit on the vehicle can also display the received positioning information on a display screen of the vehicle, so that a driver on the vehicle can quickly know the positioning information of the vehicle, and information transmission between the vehicle-mounted communication unit and the display screen can be realized through interfaces such as a serial port/RJ 45/USB and the like.
In this embodiment, the received positioning information is displayed on the display screen of the vehicle only for exemplary illustration, and in other embodiments, the manner for the driver to quickly know the positioning information may be other, for example, after the positioning information of the vehicle is received, the positioning information is subjected to voice prompt or broadcast, which is not described herein again.
In the embodiment, when the installation point of the roadside equipment is positioned at high precision, the positioning error is not lower than the preset precision, for example, the positioning error of the installation point of the roadside equipment is not more than 10 cm; in the process of determining the positioning information of the vehicle from the position of the road side equipment and the position of the vehicle relative to the road side equipment, the speed of the output information of the vehicle positioning device cannot be lower than a preset number rate, and if the speed of the output information is not lower than 10 Hz; the communication time delay between the vehicle-mounted communication unit and the vehicle positioning device is not higher than the preset time delay, for example, the preset time delay is 100ms, that is, the time delay for the vehicle-mounted communication unit to send the positioning request information to the vehicle positioning device is not higher than the preset 100ms, and the time delay for the vehicle positioning device to send the positioning information to the vehicle-mounted communication unit is not higher than 100ms, so that the time consumption in the process of obtaining the vehicle positioning information is reduced, the inaccuracy of the positioning information caused by too long time consumption is avoided, and the accuracy of the positioning information is improved.
In this embodiment, the preset precision of 10cm, the preset number rate of 10Hz, and the preset time delay of 100ms are merely exemplary illustrations, and in other embodiments, the preset precision, the preset number rate, and the preset time delay may be other, which is not described herein again.
In the embodiment, by acquiring the position of the roadside device and the position of the vehicle relative to the roadside device, the position of the roadside device is obtained after the mounting point is accurately positioned when the roadside device is mounted, then the positioning information of the vehicle is determined according to the position of the roadside device and the position of the vehicle relative to the roadside device, and when the positioning request sent by the vehicle is received, the positioning information of the vehicle is sent to the vehicle; according to the invention, the roadside equipment comprising the sensor is installed on the roadside in advance, the roadside equipment is accurately positioned during installation to obtain the accurate position of the roadside equipment, then the vehicle on the road is positioned by the roadside equipment to obtain the position of the vehicle relative to the roadside equipment, and the high-precision vehicle positioning information is obtained through conversion according to the position of the roadside equipment and the relative position of the vehicle, so that the vehicle can normally work under the condition of weak GPS signals or no GPS signals, the high-precision positioning of the vehicle is realized, the vehicle positioning can be realized only by the roadside equipment without installing the sensor on the vehicle, the problem of overlarge calculation pressure on the vehicle is relieved, the vehicle burden is reduced, the roadside equipment can be suitable for any vehicle on the road for positioning the vehicle, the universality is greatly improved, and the high cost caused by the fact that all vehicles need to install the sensor is also reduced.
In an embodiment, as shown in fig. 3, in step S20, determining the positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device specifically includes the following steps:
s21: the position of the vehicle relative to the lane line is acquired.
After the sensor on the roadside apparatus positions the vehicle to obtain the vehicle-related data, while the position of the roadside apparatus is acquired and the position of the vehicle relative to the roadside apparatus is acquired, it is also necessary to acquire the position of the vehicle relative to the lane line based on the vehicle-related data obtained by the sensor.
S22: the positioning information of the vehicle is determined according to the position of the vehicle relative to the lane line, according to the position of the roadside device and the position of the vehicle relative to the roadside device.
After the position of the roadside device, the position of the vehicle relative to the roadside device, and the position of the vehicle relative to the lane line are acquired, positioning information of the vehicle is determined according to the position of the vehicle relative to the lane line, according to the position of the roadside device, and the position of the vehicle relative to the roadside device.
Specifically, the absolute coordinates (longitude and latitude coordinates) of the vehicle are determined by calculating according to the position of the roadside device and the position of the vehicle relative to the roadside device, and then the positioning information of the vehicle is generated according to the absolute coordinates of the vehicle and the position of the vehicle relative to the lane line, wherein the positioning information of the vehicle comprises the absolute coordinates of the vehicle and the position of the vehicle relative to the lane line.
In this embodiment, when the position of the roadside device and the position of the vehicle relative to the roadside device are obtained, the position of the vehicle relative to the lane line is obtained, and then the positioning information of the vehicle is determined according to the position of the vehicle relative to the lane line, the position of the vehicle relative to the lane line is increased according to the position of the vehicle relative to the lane line, and the positioning information of the vehicle is further optimized, so that the driver can specify the driving direction according to the positioning information, the reliability of the positioning information is improved, and the safety of the vehicle and the driver is improved.
In one embodiment, as shown in fig. 4, the roadside apparatus includes a millimeter wave radar, a laser radar, and a camera, and the positions of the vehicle relative to the roadside apparatus and the position of the vehicle relative to the lane line are acquired in steps S10 and S21 by:
s11: and acquiring data of the millimeter wave radar, data of the laser radar and data of the camera.
When a vehicle runs on a highway, the millimeter wave radar, the laser radar and the camera on the road side equipment can position the vehicle within a range and obtain corresponding vehicle data, the vehicle positioning device extracts the vehicle data in the millimeter wave radar to obtain the data of the millimeter wave radar, the vehicle positioning device extracts the vehicle data in the laser radar to obtain the data of the laser radar, and the vehicle positioning device extracts the vehicle data in the camera to obtain the data of the camera.
The data of the millimeter wave radar, the data of the laser radar and the data of the camera all comprise the position of the vehicle.
S12: and carrying out data fusion on the data of the millimeter wave radar, the data of the laser radar and the data of the camera so as to acquire the position of the vehicle relative to the roadside equipment and acquire the position of the vehicle relative to the lane line.
After acquiring the data of the millimeter wave radar, the data of the laser radar and the data of the camera, performing data fusion on the data of the millimeter wave radar, the data of the laser radar and the data of the camera to acquire the position of the vehicle relative to the roadside device and acquire the position of the vehicle relative to the lane line.
Specifically, data fusion is performed on data of the millimeter wave radar, data of the laser radar and data of the camera to acquire the position of the vehicle relative to the roadside device and the position of the vehicle relative to the lane line, and the method specifically includes the following steps:
s121: the longitudinal position of the vehicle is extracted from the data of the millimeter wave radar.
When the vehicle runs on a highway, the millimeter wave radar on the road side equipment can position the vehicle within the range to obtain the longitudinal position of the vehicle, so that the longitudinal position of the vehicle can be extracted from the data of the millimeter wave radar.
S122: and extracting the transverse position and the lane line position of the vehicle according to the data of the camera.
When the vehicle runs on a road, the camera on the road side equipment can position the vehicle in the range to obtain the transverse position and the lane line position of the vehicle, so that the transverse position and the lane line position of the vehicle can be extracted from the data of the camera.
S123: and extracting the lane line position, the longitudinal position and the transverse position of the vehicle according to the data of the laser radar.
When the vehicle runs on a road, the laser radar on the road side equipment can position the vehicle within the range to obtain the lane line position, the longitudinal position and the transverse position of the vehicle, so that the lane line position, the longitudinal position and the transverse position of the vehicle can be extracted from data of the laser radar.
S124: and fusing the extracted longitudinal position and the extracted transverse position by using Kalman filtering, joint probability data association and a fuzzy theory to acquire the position of the vehicle relative to the road side equipment.
After the steps S121-S123 are completed, the extracted longitudinal position and the extracted transverse position are fused by using kalman filtering, joint probability data association and fuzzy theory to obtain the position of the vehicle relative to the roadside device, wherein the fusion may be performed by feature level fusion.
S125: and fusing the extracted lane line positions by using Kalman filtering, joint probability data association and a fuzzy theory to acquire the position of the vehicle relative to the lane line.
After completing the steps S121-S123, the extracted lane line positions are fused by using kalman filtering, joint probability data association and fuzzy theory to obtain the position of the vehicle relative to the lane line, wherein the fusion may be performed by feature level fusion.
In this embodiment, the manner of performing fusion is that feature level fusion is only an exemplary illustration, and in other embodiments, the manner of performing fusion may also be other, for example, decision level fusion, and is not described herein again.
In this embodiment, through the data that obtains millimeter wave radar, lidar's data and the data of camera, data fusion is carried out to millimeter wave radar's data, lidar's data and camera's data, in order to obtain the position of vehicle for roadside equipment, and obtain the position of vehicle for the lane line, carry out the multichannel location to the vehicle through set up millimeter wave radar, lidar and camera three sensor on roadside equipment, fuse the positioning data of multichannel again, the comprehensiveness and the reliability of vehicle data especially vehicle position information have been improved, vehicle position information's accuracy has also been improved, the inaccurate possibility of vehicle position information because of single sensor location vehicle leads to has been reduced.
In an embodiment, after step S11, that is, after acquiring the data of the millimeter wave radar, the data of the laser radar, and the data of the camera, the method further includes the following steps:
s131: the speed of the vehicle is extracted from the data of the millimeter wave radar.
When the vehicle runs on a highway, the millimeter wave radar on the roadside device positions the vehicle within the range to obtain the speed of the vehicle, so the speed of the vehicle can be extracted from the data of the millimeter wave radar.
S132: and extracting the type of the vehicle according to the data of the camera.
When the vehicle runs on the road, the camera on the road side equipment can position the vehicle in the range to obtain the type of the vehicle, so the type of the vehicle can be extracted from the data of the camera.
S133: extracting the speed and type of the vehicle according to the laser radar data;
when the vehicle runs on the road, the laser radar on the road side equipment can position the vehicle within the range to obtain the speed and the type of the vehicle, so the speed and the type of the vehicle can be extracted from the data of the laser radar.
S134: and fusing the extracted speed by utilizing Kalman filtering, joint probability data association and a fuzzy theory to obtain the speed of the vehicle.
After the steps S131-S133 are completed, the extracted speed is fused by using kalman filtering, joint probability data association and fuzzy theory to obtain the vehicle speed of the vehicle, wherein the fusion can be performed by feature level fusion.
S135: and fusing the extracted types by using Kalman filtering, joint probability data association and a fuzzy theory to obtain the vehicle type of the vehicle.
After the steps S131 to S133 are completed, the extracted types are fused by using kalman filtering, joint probability data association and fuzzy theory to obtain the model of the vehicle, wherein the fusion mode may be feature level fusion, and the model of the vehicle includes cars, SUVs, trucks and the like.
In this embodiment, the types of vehicles including cars, SUVs, trucks, and the like are only exemplary, and in other embodiments, the types of vehicles include others, which are not described herein again.
S136: when a positioning request of the vehicle is received, the positioning information of the vehicle, the vehicle speed of the vehicle and the vehicle type of the vehicle are generated into the structural information of the vehicle, and the structural information is sent to the vehicle. After the positioning information of the vehicle, the vehicle speed of the vehicle and the vehicle type of the vehicle are obtained, when a positioning request of the vehicle is received, the positioning information of the vehicle, the vehicle speed of the vehicle and the vehicle type of the vehicle are generated into structural information of the vehicle, and the structural information is sent to the vehicle.
Specifically, when the vehicle positioning device on the roadside apparatus receives a positioning request transmitted by the vehicle through the vehicle-mounted communication unit, the absolute coordinates (longitude and latitude coordinates) of the vehicle, the position of the vehicle relative to the lane line, the vehicle speed of the vehicle, and the vehicle type are transmitted to the vehicle together.
In this embodiment, the manner of performing fusion is that feature level fusion is only an exemplary illustration, and in other embodiments, the manner of performing fusion may also be other, for example, decision level fusion, and is not described herein again.
In the embodiment, after the data of the millimeter wave radar, the data of the laser radar and the data of the camera are acquired, the speed of the vehicle is extracted according to the data of the millimeter wave radar, the type of the vehicle is extracted according to the data of the camera, the speed and the type of the vehicle are extracted according to the data of the laser radar, the extracted speed is fused by using Kalman filtering, joint probability data association and fuzzy theory to acquire the vehicle speed of the vehicle, the extracted type is fused by using the Kalman filtering, the joint probability data association and the fuzzy theory to acquire the vehicle type of the vehicle, when the positioning request of the vehicle is received, the positioning information of the vehicle, the vehicle speed and the vehicle type of the vehicle are generated into the structural information of the vehicle, and the structural information is sent to the vehicle, so that the accuracy of the vehicle speed is improved, and a vehicle driver can conveniently acquire the positioning information, the vehicle speed of the vehicle can be accurately obtained, so that a driver can adjust the vehicle according to the obtained vehicle speed, and the running safety of the vehicle is improved.
In one embodiment, since the roadside apparatus has a positioning function on all vehicles within the range, the vehicle may send a positioning request of itself to the roadside apparatus, and may also send a request for positioning surrounding vehicles to the roadside apparatus, and the method further includes the following steps:
and S41, when a request for positioning the surrounding vehicle sent by the vehicle is received, acquiring the positioning information of the surrounding vehicle.
The vehicle positioning device can acquire the positioning information of the surrounding vehicle according to the request for positioning the surrounding vehicle when receiving the request for positioning the surrounding vehicle sent by the vehicle.
And S41, sending the positioning information of the surrounding vehicles to the vehicles.
After the positioning information of the surrounding vehicle is acquired, the positioning information of the surrounding vehicle is transmitted to the vehicle.
After the positioning information of the vehicle is received, the vehicle-mounted communication unit on the vehicle can also display the received positioning information of the surrounding vehicle on a display screen of the vehicle, so that a driver on the vehicle can quickly know the positioning information of the surrounding vehicle, the driving safety of the vehicle is improved, and the information transmission between the vehicle-mounted communication unit and the display screen can be realized through interfaces such as a serial port/RJ 45/USB and the like.
The specific steps and limitations related to obtaining the positioning information of the surrounding vehicle may refer to the above steps and limitations, which are not described herein again.
In the embodiment, when a request for positioning the surrounding vehicles sent by the vehicle is received, the positioning information of the surrounding vehicles is sent to the vehicle by acquiring the positioning information of the surrounding vehicles, so that a vehicle driver can not only know the positioning information of the vehicle, but also obtain the positioning information of the surrounding vehicles, the method and the device are convenient and quick, and the driving safety of the vehicle is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, a vehicle positioning device is provided, which corresponds to the vehicle positioning method in the above embodiments one to one. As shown in fig. 5, the vehicle locating apparatus includes an obtaining module 501, a determining module 502, and a transmitting module 503. The functional modules are explained in detail as follows:
the obtaining module 501 is configured to obtain a position of roadside equipment, and obtain a position of a vehicle relative to the roadside equipment, where the position of the roadside equipment is obtained after an installation point is accurately located when the roadside equipment is installed;
a determining module 502 for determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
the sending module 503 is configured to send the location information of the vehicle to the vehicle when receiving the location request sent by the vehicle.
The obtaining module 501 is specifically configured to:
acquiring the position of the vehicle relative to a lane line;
determining positioning information of the vehicle according to the position of the vehicle relative to a lane line, according to the position of the roadside device and the position of the vehicle relative to the roadside device.
Further, the roadside device includes a millimeter wave radar, a laser radar, and a camera, the obtaining module 501 is further specifically configured to:
acquiring data of the millimeter wave radar, data of the laser radar and data of the camera;
and performing data fusion on the data of the millimeter wave radar, the data of the laser radar and the data of the camera to acquire the position of the vehicle relative to the roadside equipment and acquire the position of the vehicle relative to a lane line.
Further, the obtaining module 501 is further specifically configured to:
extracting the longitudinal position of the vehicle according to the data of the millimeter wave radar;
extracting the transverse position and the lane line position of the vehicle according to the data of the camera;
extracting the lane line position, the longitudinal position and the transverse position of the vehicle according to the data of the laser radar;
fusing the extracted longitudinal position and the extracted transverse position by using Kalman filtering, joint probability data association and a fuzzy theory to obtain the position of the vehicle relative to the road side equipment;
and fusing the extracted lane line position by using Kalman filtering, joint probability data association and a fuzzy theory to acquire the position of the vehicle relative to the lane line.
Further, the obtaining module 501 and the sending module 503 are further specifically configured to:
extracting the speed of the vehicle according to the data of the millimeter wave radar;
extracting the type of the vehicle according to the data of the camera;
extracting the speed and type of the vehicle according to the laser radar data;
fusing the extracted speed by using the Kalman filtering, the joint probability data association and a fuzzy theory to obtain the speed of the vehicle;
fusing the extracted types by using the Kalman filtering, the joint probability data association and a fuzzy theory to obtain the vehicle type of the vehicle;
when the positioning request of the vehicle is received, generating the positioning information of the vehicle, the vehicle speed of the vehicle and the vehicle type of the vehicle into the structural information of the vehicle, and sending the structural information to the vehicle.
Further, the obtaining module 501, the determining module 502, and the sending module 503 are further specifically configured to:
when a request for positioning surrounding vehicles sent by the vehicle is received, positioning information of the surrounding vehicles is obtained;
and sending the positioning information of the surrounding vehicle to the vehicle.
For specific definition of the vehicle positioning device, reference may be made to the definition of the vehicle positioning method above, and details are not repeated here. The various modules in the vehicle locating device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle localization apparatus is provided, which may be a computer device. The vehicle positioning device comprises a processor and a memory which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the vehicle positioning device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement a vehicle localization method.
In one embodiment, as shown in fig. 6, there is provided a vehicle locating device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
the method comprises the steps of obtaining the position of road side equipment, and obtaining the position of a vehicle relative to the road side equipment, wherein the position of the road side equipment is obtained after the mounting point is accurately positioned when the road side equipment is mounted;
determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
and when receiving a positioning request sent by the vehicle, sending the positioning information of the vehicle to the vehicle.
In one embodiment, a readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
the method comprises the steps of obtaining the position of road side equipment, and obtaining the position of a vehicle relative to the road side equipment, wherein the position of the road side equipment is obtained after the mounting point is accurately positioned when the road side equipment is mounted;
determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
and when receiving a positioning request sent by the vehicle, sending the positioning information of the vehicle to the vehicle.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A vehicle positioning method, characterized by comprising:
the method comprises the steps of obtaining the position of road side equipment, and obtaining the position of a vehicle relative to the road side equipment, wherein the position of the road side equipment is obtained after the mounting point is accurately positioned when the road side equipment is mounted;
determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
and when receiving a positioning request sent by the vehicle, sending the positioning information of the vehicle to the vehicle.
2. The vehicle locating method of claim 1, wherein determining the location information of the vehicle based on the location of the roadside device and the location of the vehicle relative to the roadside device comprises:
acquiring the position of the vehicle relative to a lane line;
determining positioning information of the vehicle according to the position of the vehicle relative to a lane line, according to the position of the roadside device and the position of the vehicle relative to the roadside device.
3. The vehicle positioning method according to claim 2, wherein the roadside apparatus includes a millimeter wave radar, a laser radar, and a camera, and the acquiring of the position of the vehicle with respect to the roadside apparatus and the position of the vehicle with respect to the lane line is acquired by:
acquiring data of the millimeter wave radar, data of the laser radar and data of the camera;
and performing data fusion on the data of the millimeter wave radar, the data of the laser radar and the data of the camera to acquire the position of the vehicle relative to the roadside equipment and acquire the position of the vehicle relative to a lane line.
4. The vehicle positioning method according to claim 3, wherein data fusion of the data of the millimeter wave radar, the data of the laser radar, and the data of the camera to acquire the position of the vehicle with respect to the roadside apparatus and the position of the vehicle with respect to a lane line includes:
extracting the longitudinal position of the vehicle according to the data of the millimeter wave radar;
extracting the transverse position and the lane line position of the vehicle according to the data of the camera;
extracting the lane line position, the longitudinal position and the transverse position of the vehicle according to the data of the laser radar;
fusing the extracted longitudinal position and the extracted transverse position by using Kalman filtering, joint probability data association and a fuzzy theory to obtain the position of the vehicle relative to the road side equipment;
and fusing the extracted lane line position by using Kalman filtering, joint probability data association and a fuzzy theory to acquire the position of the vehicle relative to the lane line.
5. The vehicle positioning method according to claim 4, wherein after the acquiring of the data of the millimeter wave radar, the data of the laser radar, and the data of the camera, the method further comprises:
extracting the speed of the vehicle according to the data of the millimeter wave radar;
extracting the type of the vehicle according to the data of the camera;
extracting the speed and type of the vehicle according to the laser radar data;
fusing the extracted speed by using the Kalman filtering, the joint probability data association and a fuzzy theory to obtain the speed of the vehicle;
fusing the extracted types by using the Kalman filtering, the joint probability data association and a fuzzy theory to obtain the vehicle type of the vehicle;
when the positioning request of the vehicle is received, generating the positioning information of the vehicle, the vehicle speed of the vehicle and the vehicle type of the vehicle into the structural information of the vehicle, and sending the structural information to the vehicle.
6. The vehicle positioning method according to any one of claims 1 to 5, characterized in that the method further comprises:
when a request for positioning surrounding vehicles sent by the vehicle is received, positioning information of the surrounding vehicles is obtained;
and sending the positioning information of the surrounding vehicle to the vehicle.
7. A vehicle positioning device, comprising:
the vehicle-mounted road side equipment comprises an acquisition module, a positioning module and a control module, wherein the acquisition module is used for acquiring the position of road side equipment and acquiring the position of a vehicle relative to the road side equipment, and the position of the road side equipment is obtained after accurate positioning is carried out on a mounting point when the road side equipment is mounted;
a determining module for determining positioning information of the vehicle according to the position of the roadside device and the position of the vehicle relative to the roadside device;
the sending module is used for sending the positioning information of the vehicle to the vehicle when receiving the positioning request sent by the vehicle.
8. A vehicle localization arrangement comprising a memory, a processor and a computer program stored in the memory and being executable on the processor, characterized in that the processor realizes the steps of the vehicle localization method according to any one of claims 1 to 6 when executing the computer program.
9. A roadside apparatus characterized by comprising a millimeter wave radar, a laser radar, a camera and the vehicle positioning device according to claim 8.
10. A readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the vehicle localization method according to any one of claims 1 to 6.
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