CN113554890A - Navigation enhancement system and method based on 5G communication under tunnel working condition - Google Patents
Navigation enhancement system and method based on 5G communication under tunnel working condition Download PDFInfo
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- CN113554890A CN113554890A CN202110734733.8A CN202110734733A CN113554890A CN 113554890 A CN113554890 A CN 113554890A CN 202110734733 A CN202110734733 A CN 202110734733A CN 113554890 A CN113554890 A CN 113554890A
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- 208000019901 Anxiety disease Diseases 0.000 abstract description 2
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- 239000013598 vector Substances 0.000 description 4
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
Abstract
The invention discloses a navigation enhancement system and method based on 5G communication under a tunnel working condition. The method comprises the steps that when a vehicle runs under a tunnel working condition, vehicle positioning attitude information, high-precision map information and image information of a road in front of the vehicle are obtained in real time and sent to a mobile phone, the mobile phone analyzes and matches the positioning attitude information, the high-precision map information and the image information of the road in front of the vehicle, the positioning information and the map information are output and are superposed on a navigation module on the mobile phone, and positioning and navigation are carried out through the navigation module. The invention solves the problem of mobile phone navigation failure in the tunnel by means of the characteristics of high speed and low time delay of 5G communication, and the mobile phone can also accurately navigate in the tunnel by using the positioning equipment, the map information and the camera information of the vehicle and combining with the road side equipment, thereby avoiding a series of problems of missing intersections and the like, improving the driving safety, reducing the driving anxiety, realizing the navigation in the whole process at the whole time and having better experience.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a navigation enhancement system and method based on 5G communication under a tunnel working condition.
Background
With the continuous deepening of automatic driving, accurate positioning of a vehicle becomes an indispensable ring for realizing automatic driving. Under the tunnel working condition, because the satellite signal is shielded by the wall, the vehicle GPS can not be used basically, and at present, the dead reckoning can only be carried out by IMU. However, the error of the IMU device is accumulated over time, and self-positioning cannot be completed under a long tunnel working condition.
GNSS + IMU among the prior art fixes a position, can realize accurate location under spacious scene, nevertheless receive the wall body in the tunnel scene and shelter from, and sufficient satellite is used for the location can not be searched for to GNSS, only leans on IMU constantly to integrate to calculate the track. Over time, the IMU error accumulates more and more, and is not sufficient to meet the positioning requirements. The mobile phone navigation uses the hardware of the mobile phone to carry out positioning, the positioning is mainly carried out based on a GPS and a cellular network, the technology is limited by the influence of a communication base station, and the positioning cannot be finished under the condition of tunnel sealing.
Disclosure of Invention
The invention aims to solve the defects of the background technology, and provides a navigation enhancement system and a navigation enhancement method based on 5G communication under a tunnel working condition.
The technical scheme adopted by the invention is as follows: a navigation enhancement system based on 5G communication under the working condition of a tunnel comprises a high-precision positioning module, a high-precision map module and a video acquisition module which are arranged on a vehicle, a data analysis module, a matching positioning module and a navigation module which are arranged on a mobile phone,
the high-precision positioning module is used for acquiring positioning attitude information of the vehicle in real time and sending the positioning attitude information to the data analysis module;
the high-precision map module is used for acquiring high-precision map information of the position of the vehicle in real time and sending the high-precision map information to the data analysis module;
the video acquisition module is used for acquiring image information of a road in front of the vehicle and sending the image information to the data analysis module;
the data analysis module is used for analyzing the positioning attitude information, the high-precision map information and the image information of the road in front of the vehicle and sending the analyzed data to the matching positioning module
The matching positioning module is used for positioning and matching the received data, outputting positioning information and map information and superposing the positioning information and the map information on the navigation module;
the navigation module is used for positioning and navigating in real time.
Further, data transmission is carried out between the vehicle and the mobile phone through a 5G communication module.
Furthermore, a roadside position calibration module is arranged on the vehicle, and the roadside position calibration module receives information of a roadside 5G terminal in the tunnel to calibrate the positioning attitude information of the high-precision positioning module.
Furthermore, a road side 5G terminal is arranged in the tunnel at certain intervals, and the road side 5G terminal comprises longitude and latitude information of the position where the road side 5G terminal is located.
Still further, the high-precision positioning module is an imu module.
A navigation enhancement method based on 5G communication under tunnel working conditions is characterized in that a vehicle acquires vehicle positioning attitude information, high-precision map information and vehicle front road image information in real time in the running process under the tunnel working conditions and sends the information to a mobile phone, the mobile phone analyzes and matches the positioning attitude information, the high-precision map information and the vehicle front road image information, the output positioning information and the map information are superposed on a navigation module on the mobile phone, and positioning and navigation are carried out through the navigation module.
Further, data transmission is carried out between the vehicle and the mobile phone through a 5G communication module.
Further, after receiving the positioning attitude information, the mobile phone performs confidence judgment on the received positioning attitude information to determine whether the positioning attitude information is valid, and if not, the mobile phone calibrates the positioning attitude information.
Further, the positioning attitude information is calibrated through the information of the roadside 5G terminal in the tunnel during driving.
Furthermore, a road side 5G terminal is arranged in the tunnel at certain intervals, and the road side 5G terminal comprises longitude and latitude information of the position where the road side 5G terminal is located
The invention has the beneficial effects that: the invention solves the problem of mobile phone navigation failure in the tunnel by means of the characteristics of high speed and low time delay of 5G communication, and the mobile phone can also accurately navigate in the tunnel by using the positioning equipment, the map information and the camera information of the vehicle and combining with the road side equipment, thereby avoiding a series of problems of missing intersections and the like, improving the driving safety, reducing the driving anxiety, realizing the navigation in the whole process at the whole time and having better experience.
Drawings
FIG. 1 is a schematic diagram of a navigation enhancement system of the present invention.
FIG. 2 is a flow chart of a navigation enhancement method of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the invention provides a navigation enhancement system based on 5G communication under a tunnel working condition, which comprises a vehicle-mounted 5G communication module, a mobile phone 5G communication module, a vehicle-mounted high-precision positioning module, a vehicle-mounted camera module (i.e. a video acquisition module), a high-precision map module, a data processing module and a roadside position calibration module. The vehicle-mounted high-precision positioning module comprises a gnss module and an imu module; the data processing module comprises a data analysis module, a matching positioning module and a navigation module. The vehicle-mounted 5G communication module is used for communicating with the mobile phone 5G communication module, and by means of the speed of 10Gbps of 5G communication and the low delay of 1ms, the calculation of a plurality of vehicles can be completed by the aid of hardware of the mobile phone; the mobile phone 5G communication module receives the information transmitted by the vehicle-mounted 5G communication module and sends the information to the data processing module. The data analysis module analyzes high-precision map data, positioning and attitude-fixing data, camera original image data and semantic data; the matching positioning module matches positioning and attitude determining data, camera semantic data, original image data and a high-precision map, and outputs positioning information and map vector information; the navigation module superimposes the positioning information and the map information on the mobile phone navigation module to continuously provide a navigation function for the vehicle.
The invention also provides a navigation enhancement method based on the navigation enhancement system, wherein the vehicle positioning attitude information, the high-precision map information and the image information of the road in front of the vehicle are acquired in real time and sent to the mobile phone in the running process of the vehicle under the working condition of the tunnel, the mobile phone analyzes and matches the positioning attitude information, the high-precision map information and the image information of the road in front of the vehicle, the output positioning information and the map information are superposed on a navigation module on the mobile phone, and the positioning navigation is carried out through the navigation module.
In the scheme, after receiving positioning attitude information, the mobile phone judges the confidence of the received information, if the confidence is within a set value range, the mobile phone does not perform calibration, if the confidence exceeds the set value range, the positioning attitude information is calibrated, specifically, the positioning attitude information is calibrated through the information of a roadside 5G terminal in a tunnel, one roadside 5G terminal is arranged at certain intervals in the tunnel, and the roadside 5G terminal comprises longitude and latitude information of the position where the roadside 5G terminal is located
The navigation enhancement system and method of the present invention are described in detail below with reference to fig. 2.
The navigation enhancement system is implemented as follows:
a. the vehicle carries a high-precision positioning system and a high-precision map system. The calibration process of the combined inertial navigation equipment of the high-precision positioning system comprises the following steps: the combined inertial navigation equipment is rigidly connected with a vehicle, the xyz three-dimensional distance between the combined inertial navigation equipment and the filler antenna under a vehicle coordinate system is measured, and the vehicle is driven at a constant speed for 15 minutes under calibration software, wherein the driving conditions comprise straight running, turning and turning around. The high-precision map system needs to contain a high-precision map in a tunnel, the map needs to meet the precision requirement of 20cm, and the high-precision map needs to contain attribute information such as vectors, POIs and geometry.
b. The vehicle carries a 5G communication module, the mobile phone carries the 5G communication module, and data transmission can be carried out between the two communication modules through 5G signals.
c. The vehicle is provided with the camera module, so that the front road image can be stored in real time, and semantic information can be extracted.
d. After the vehicle is equipped with the module, a driver connects the mobile phone with the vehicle through the local area network before driving. And the mobile phone opens the navigation app to perform navigation.
e. In an open environment, the mobile phone uses gps and a cellular network to perform positioning, and provides a navigation function for a driver. Under the tunnel working condition, the mobile phone detects that the gps signal disappears, and at the moment, the mobile phone navigation enhancement system is activated. The mobile phone and the vehicle complete 5G communication connection and wait for data transmission.
f. And the high-precision positioning module sends the positioning information output by the vehicle-mounted gnss module and the imu module to the mobile phone data processing module, and at the moment, the vehicle-mounted output imu module calculates the track information due to the loss of the gps signal.
g. And the high-precision map module determines the tunnel where the vehicle is positioned at the moment according to the last fixing and de-positioning of the vehicle, and sends the lane line information and the signboard information of the tunnel to the mobile phone data processing module.
h. The vehicle-mounted camera module records road images in front of the vehicle in real time, and extracts lane line information and signboard information from the images.
i. And a road side 5G terminal is arranged in the tunnel at a certain distance, and the road side 5G terminal contains longitude and latitude information of the position of the road side 5G terminal and calibrates the data of the imu module.
j. The mobile phone 5G communication module is used for carrying out high-speed and low-delay and vehicle communication, the received signals are processed in a mobile phone processor at a high speed, and finally, positioning information and map vector information are output and superposed on the mobile phone navigation app for displaying, so that the navigation app can still provide an accurate navigation function in a tunnel.
The navigation enhancement method is implemented as follows:
A. after the vehicle enters the tunnel, each road side 5g terminal is arranged at a certain distance and has accurate longitude and latitude information. The value calibrates the dead reckoning data of the vehicle imu module, and reduces errors caused by time accumulation of the imu module, such as: the vehicle position estimated by the imu module is (x0, y0), the absolute position of the terminal is (x1, y1), and when the vehicle passes through the terminal position, the position of the imu module is updated to (x1, y1), so that the error accumulation caused by time accumulation is reduced.
B. And the mobile phone receives the track information calculated by the vehicle imu module, carries out confidence judgment on the track information, judges that the data is available if the track information is corrected within 1 minute, and otherwise needs to be corrected according to the information of the nearest roadside 5g terminal.
C. The high-precision map information transmitted by the high-precision map module has absolute coordinates, the image information transmitted by the camera, the extracted semantic information and the high-precision map vector are matched, and then the coordinates (X, Y) of the self-vehicle can be calculated reversely, for example, the absolute position of a signboard in the high-precision map is (Xs, Ys), the camera recognizes that the distance of the signboard is d, the azimuth angle is a, and then the coordinates of the self-vehicle are calculated as follows:
X＝Xs-d*sin(a)
Y＝Ys-d*cos(a)
D. and weighting the reversely calculated coordinates of the self-vehicle and the track information of the imu module to obtain the current coordinates of the self-vehicle. For example: the initial vehicle coordinate and the dead reckoning weight value are both 0.5, the dead reckoning weight value is gradually reduced along with the increase of the dead reckoning time, and the dead reckoning weight value is 0 after more than 1 minute; and transmitting the coordinates and the POI information of the map around the vehicle to a navigation module. The navigation module covers the positioning information of the original mobile phone based on a navigation app-api interface of a third-party platform, and high-precision map POI information (intersections, turnouts, speed limits and the like) is superposed with the navigation app, so that the navigation function of the mobile phone is enhanced under the working condition of a tunnel.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The utility model provides a navigation enhancement system based on 5G communication under tunnel operating mode which characterized in that: comprises a high-precision positioning module, a high-precision map module and a video acquisition module which are arranged on a vehicle, a data analysis module, a matching positioning module and a navigation module which are arranged on a mobile phone,
the high-precision positioning module is used for acquiring positioning attitude information of the vehicle in real time and sending the positioning attitude information to the data analysis module;
the high-precision map module is used for acquiring high-precision map information of the position of the vehicle in real time and sending the high-precision map information to the data analysis module;
the video acquisition module is used for acquiring image information of a road in front of the vehicle and sending the image information to the data analysis module;
the data analysis module is used for analyzing the positioning attitude information, the high-precision map information and the image information of the road in front of the vehicle and sending the analyzed data to the matching positioning module
The matching positioning module is used for positioning and matching the received data, outputting positioning information and map information and superposing the positioning information and the map information on the navigation module;
the navigation module is used for positioning and navigating in real time.
2. The navigation enhancement system based on 5G communication under the tunnel working condition according to claim 1, characterized in that: and data transmission is carried out between the vehicle and the mobile phone through the 5G communication module.
3. The navigation enhancement system based on 5G communication under the tunnel working condition according to claim 1, characterized in that: the vehicle is provided with a roadside position calibration module, and the roadside position calibration module receives information of a roadside 5G terminal in the tunnel and calibrates the positioning attitude information of the high-precision positioning module.
4. The navigation enhancement system based on 5G communication under the tunnel working condition according to claim 3, characterized in that: and arranging a roadside 5G terminal at a certain distance in the tunnel, wherein the roadside 5G terminal comprises longitude and latitude information of the position.
5. The navigation enhancement system based on 5G communication under the tunnel working condition according to claim 1, characterized in that: the high-precision positioning module comprises a gnss module and an imu module.
6. A navigation enhancement method based on 5G communication under a tunnel working condition is characterized in that: the method comprises the steps that when a vehicle runs under a tunnel working condition, vehicle positioning attitude information, high-precision map information and image information of a road in front of the vehicle are obtained in real time and sent to a mobile phone, the mobile phone analyzes and matches the positioning attitude information, the high-precision map information and the image information of the road in front of the vehicle, the positioning information and the map information are output and are superposed on a navigation module on the mobile phone, and positioning and navigation are carried out through the navigation module.
7. The navigation enhancement method based on 5G communication under the tunnel working condition according to claim 6, characterized in that: and data transmission is carried out between the vehicle and the mobile phone through the 5G communication module.
8. The navigation enhancement method based on 5G communication under the tunnel working condition according to claim 6, characterized in that: and after receiving the positioning attitude information, the mobile phone judges the confidence of the received positioning attitude information to determine whether the positioning attitude information is effective, and if the positioning attitude information is not effective, the mobile phone calibrates the positioning attitude information.
9. The navigation enhancement method based on 5G communication under the tunnel working condition according to claim 8, characterized in that: and calibrating the positioning attitude information through the information of the roadside 5G terminal in the tunnel in the driving process.
10. The navigation enhancement method based on 5G communication under the tunnel working condition according to claim 9, characterized in that: and arranging a roadside 5G terminal at a certain distance in the tunnel, wherein the roadside 5G terminal comprises longitude and latitude information of the position.
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