CN114419746A - RSU calibration method, device, electronic equipment and system - Google Patents

RSU calibration method, device, electronic equipment and system Download PDF

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Publication number
CN114419746A
CN114419746A CN202111600270.2A CN202111600270A CN114419746A CN 114419746 A CN114419746 A CN 114419746A CN 202111600270 A CN202111600270 A CN 202111600270A CN 114419746 A CN114419746 A CN 114419746A
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rsu
calibration
calibrated
obu
position information
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CN114419746B (en
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尚雪辉
张磊
刘梁梁
朱胜超
杨鹏程
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Beijing Wanji Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

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Abstract

The embodiment of the application provides a method, a device, electronic equipment and a system for calibrating an RSU, and belongs to the technical field of ETC. The method comprises the following steps: acquiring position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises first position information for calibrating the OBU, second position information for calibrating the RSU to be calibrated and third position information for assisting the RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated. And determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information. And determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and the phase difference of calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle. The technical scheme provided by the embodiment of the application can improve the accuracy of the RSU calibration parameters and improve the calibration efficiency.

Description

RSU calibration method, device, electronic equipment and system
Technical Field
The application belongs to the technical field of Electronic Toll Collection (ETC), and particularly relates to a method, a device, Electronic equipment and a system for calibrating a Road Side Unit (RSU).
Background
ETC systems are widely used in highway tolling, and include RSUs, On Board Units (OBUs), and central management devices. The RSU determines the location of the OBU based on preset RSU calibration parameters and Dedicated Short-Range Communication (DSRC) signals sent by the OBU. It can be appreciated that accurate RSU calibration parameters are critical to OBU positioning.
Currently, the RSU is usually calibrated manually, i.e. basic parameters (such as the position of the OBU relative to the RSU, etc.) required for calibrating the RSU are measured manually, and RSU calibration parameters are determined based on the basic parameters. It can be understood that the manual determination of the calibration parameters of the RSU not only needs to close the lane to influence the traffic, but also has the problems of inaccurate calibration parameters of the RSU and low calibration efficiency.
Disclosure of Invention
The embodiment of the application provides an RSU calibration method, an RSU calibration device, electronic equipment and an RSU calibration system, which can improve the accuracy of RSU calibration parameters and improve calibration efficiency.
In order to solve the technical problem, the following technical scheme is adopted in the application:
in a first aspect, an embodiment of the present application provides a method for calibrating an RSU, where the method includes: acquiring position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises first position information for calibrating an On Board Unit (OBU), second position information for a to-be-calibrated remote terminal (RSU) and third position information for an auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated. And determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information. And determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and the phase difference of calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
It should be noted that, if the difference between the acquisition time of the position information and the time when the to-be-calibrated RSU receives the calibration signal is within the preset range, it is considered that the time when the position information and the time when the to-be-calibrated RSU receives the calibration signal are the same, for example, both are the first time.
In addition, in this embodiment, the virtual installation angle is an angle between a vertical direction and a horizontal direction of an arrival direction of the calibration signal estimated by the RSU to be calibrated. The calibration signal may be a DSRC calibration signal, which is a calibration signal transmitted by DSRC techniques, or other calibration signals. The location information may be in the form of latitude and longitude coordinates, or in other forms. For example, the first location information may be a first latitude and longitude coordinate, the first location information may be a second latitude and longitude coordinate, and the third location information may be a third latitude and longitude coordinate.
The method provided by the embodiment of the application can automatically determine the relevant parameters required by calibrating the RSU, and generate the RSU calibration parameters according to the relevant parameters, does not need a measurer to seal a lane for self-measurement, and has higher calibration accuracy and calibration efficiency.
Optionally, the method further includes: the RSU calibration method shown in the first aspect is sequentially executed at N different first times, respectively, to obtain N different RSU calibration parameters. And generating an RSU calibration parameter list according to the N RSU calibration parameters.
The method provided by the embodiment of the application can continuously determine a plurality of groups of RSU calibration parameters and form an RSU calibration parameter list. Based on the RSU calibration parameter list, when the RSU is applied to an ETC system for vehicle charging, the most appropriate RSU calibration parameters can be selected from the list in the process of positioning the OBU on the vehicle, and therefore the positioning accuracy of the OBU is improved.
Optionally, determining a position relationship among the calibration OBU, the RSU to be calibrated, and the auxiliary RSU according to the position information includes: and determining a first distance between the calibration OBU and the RSU to be calibrated according to the first position information, the second position information and the third position information, and determining a second distance between the calibration OBU and the auxiliary RSU. And determining the position of the calibration OBU in the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system, the first distance and the second distance.
For example, in the case that the position of the RSU to be calibrated in the xy plane in the lane coordinate system is known to be (0,0), the first distance D between the calibration OBU and the RSU to be calibrated is determined according to the first position information, the second position information and the third position information1And, calibrating a second distance D between the OBU and said auxiliary RSU2. According to D1And D2Determining the position (x) of the calibration OBU in the xy-plane of the lane coordinate system1,y1)。
Figure BDA0003431484050000031
Figure BDA0003431484050000032
Wherein x is the distance between the RSU to be calibrated and the auxiliary RSU.
Optionally, determining the RSU calibration parameter according to the position relationship and the waveform characteristic includes: determining a virtual installation angle of the RSU to be calibrated according to the position of the OBU to be calibrated in the lane coordinate system, the installation height of the RSU to be calibrated and the installation height of the OBU to be calibrated; determining a phase difference according to the waveform characteristics; and determining RSU calibration parameters, wherein the RSU calibration parameters comprise a virtual installation angle and a phase difference.
Optionally, determining a virtual installation angle of the RSU to be calibrated according to the position of the calibration OBU in the lane coordinate system, the installation height of the RSU to be calibrated, and the installation height of the calibration OBU, includes: calculating the virtual installation angle according to an angle calculation formula, wherein the angle calculation formula is as follows:
Figure BDA0003431484050000033
wherein, theta1For RS to be calibratedThe virtual installation angle of U, H is the height of the RSU to be calibrated from the ground, H is the height of the OBU to be calibrated from the ground, and y1To calibrate the y-coordinate of the OBU in the lane coordinate system.
Optionally, determining the phase difference of the calibration signal according to the waveform characteristic of the calibration signal includes: determining a waveform characteristic matrix of the calibration signal; determining an autocorrelation matrix of a waveform feature matrix; and determining the phase difference of the calibration signals received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix.
Optionally, after determining the RSU calibration parameter according to the position relationship and the waveform characteristic, the method further includes: and sending RSU calibration parameters to the RSU to be calibrated.
In a second aspect, an embodiment of the present application provides an RSU calibration apparatus, where the apparatus includes:
the information acquisition module is used for acquiring position information at a first time and waveform characteristics of a calibration signal received by the RSU to be calibrated; the position information comprises first position information for calibrating the OBU, second position information for calibrating the RSU to be calibrated and third position information for assisting the RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated.
And the first determining module is used for determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information.
And the second determining module is used for determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and the phase difference of calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
In a third aspect, an embodiment of the present application is an electronic device configured to execute the RSU calibration method as shown in the first aspect.
In a fourth aspect, an RSU calibration system in an embodiment of the present application includes:
and the calibration OBU is used for broadcasting the calibration signal and sending the first position information of the calibration OBU to the control equipment.
And the RSU to be calibrated is used for receiving the calibration signal, determining the waveform characteristic of the received calibration signal and sending the waveform characteristic and the second position information of the RSU to be calibrated to the control equipment.
And the auxiliary RSU is used for sending third position information of the auxiliary RSU to the control device.
And the control equipment is used for determining the RSU calibration parameters according to the waveform characteristics of the calibration signals and the first position information, the second position information and the third position information. The RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of calibration signals received by all channels of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
It is understood that the beneficial effects of the second to fourth aspects can be seen from the description of the first aspect, and are not described herein again.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic architecture diagram of an ETC system provided in an embodiment of the present application.
Fig. 2 is a schematic diagram of a lane coordinate system provided in an embodiment of the present application.
Fig. 3A to fig. 3C are schematic structural diagrams of RSU calibration systems provided in different embodiments of the present application.
Fig. 4 is a schematic diagram of a common structure of an RSU to be calibrated, an auxiliary RSU, and a calibration OBU provided in an embodiment of the present application.
Fig. 5 is a flowchart of an RSU calibration method provided in an embodiment of the present application.
Fig. 6 is a schematic diagram of a process for determining a virtual installation angle according to an embodiment of the present application.
Fig. 7 is a schematic diagram of an OBU positioning process provided in an embodiment of the present application.
Fig. 8 is a schematic diagram of an RSU calibration apparatus provided in an embodiment of the present application.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions provided by the embodiments of the present application are described below with reference to the accompanying drawings.
In the description of the embodiments of the present application, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone.
It should be understood that the terms "first" and "second" in the description of the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Further, unless otherwise specified, "a plurality" means two or more.
ETC systems are also known as electronic toll collection systems and are widely used in highway toll collection. At present, ETC systems employ DSRC technology to charge a vehicle so that the vehicle maintains a driving state without stopping the vehicle throughout the charging process.
Fig. 1 is a schematic architecture diagram of an ETC system provided in an embodiment of the present application. Referring to fig. 1, the ETC system includes: an On Board Unit (OBU), a Road Side Unit (RSU), and a central management Unit.
The OBU is generally mounted on a windshield of a vehicle, and vehicle identification information is stored in the OBU and has a wireless communication function. The OBU is internally provided with an intelligent IC card which can enable the OBU to realize an electronic payment function so as to pay the toll of the vehicle.
The RSU is usually fixedly arranged, for example on a portal or a traffic pole of a toll booth, or on a post beside a highway. Taking toll stations as an example, each toll stationAnd one RSU is arranged on each ETC lane. The RSU is usually equipped with a spatial array antenna (array antenna for short) that enables the RSU to determine the position of the OBU in the lane coordinate system. Each lane corresponds to a lane coordinate system. Illustratively, referring to FIG. 2, the X-axis (i.e., X) of the lane coordinate systemp) Horizontal and perpendicular to the direction of lane traffic, Y-axis (i.e. Y)p) Opposite to the direction of lane passage, Z-axis (i.e. Z)p) And (4) the vertical direction. In some embodiments, the RSU is located at the (0,0, z) coordinate of the lane coordinate system, z being the height of the RSU from the ground.
The central management device is provided with a database, and the database stores basic information (such as license plate numbers and vehicle models) and user information (a deduction account signed by a user, a user name, a contact way, a historical bill and the like) of a large number of registered vehicles.
During operation of the ETC system, the RSU constantly broadcasts an interrogation signal, which the OBU receives when a vehicle in which the OBU is installed passes through a toll gate, and transmits a response signal to the RSU through DSRC technology. Since multiple OBUs may be present in a toll booth at the same time. Thus, for an RSU, after broadcasting an interrogation signal, it may receive DSRC calibration signals from multiple OBUs. Therefore, the RSU needs to locate the OBU based on the received DSRC signal and determine the target OBU within the preset range of the RSU.
For example, the RSU may receive the DSRC signal using a spatial array antenna and determine the Direction of Arrival of the DSRC signal using a Direction of Arrival (DOA) technique and a Digital Beam Forming (DBF) technique based on waveform characteristics of the DSRC signal received by each channel in the spatial array antenna. And then, the RSU can determine the position of the OBU under the lane coordinate system according to the direction of arrival of the DSRC signal, the RSU calibration parameter, the RSU installation information (such as the installation height of the RSU) and the OBU installation information (such as the installation height of the OBU), so that the OBU positioning is completed.
After determining the target OBU, the RSU performs bidirectional communication and data interaction with the target OBU. For example, the OBU sends vehicle identification information (such as a license plate number, an entrance identifier, an exit identifier, etc.) to the RSU, and the RSU sends the vehicle identification information to the central management device, and the central management device deducts the road toll from the signed account of the vehicle according to the vehicle identification information.
Based on the above description, in the working process of the ETC system, the RSU is critical to accurately positioning the OBU, and in order to accurately position the OBU in the lane coordinate system, the RSU needs a set of accurate RSU calibration parameters.
And the calibration parameters of the RSU can be determined by calibrating the RSU. Currently, RSU calibration is usually performed manually. However, in the process, the lane needs to be closed, and the position of the OBU in the lane coordinate system is manually measured, which not only affects the traffic, but also may cause inaccurate calibration parameters of the RSU and low efficiency due to manual measurement.
Therefore, the embodiment of the application provides an RSU calibration method, an RSU calibration device, electronic equipment and an RSU calibration system. The technical scheme provided by the embodiment of the application can combine the DSRC calibration signal with the position information of each device based on the high-precision positioning performance of the global positioning system, automatically calibrate the RSU, and can quickly and accurately determine the RSU calibration parameters.
Fig. 3A to fig. 3C are schematic structural diagrams of RSU calibration systems provided in different embodiments of the present application. The RSU calibration system comprises: the system comprises a to-be-calibrated RSU, an auxiliary RSU, a calibration OBU and a control device.
In some embodiments, such as shown in fig. 3A and 3B, the control device and the RSU to be calibrated, the auxiliary RSU, and the calibration OBU are separate devices that can communicate with each other via DSRC technology or wireless networks. For example, in the system shown in fig. 3A, the RSU to be calibrated, the auxiliary RSU and the control device communicate with each other through a wireless network, and the calibration OBU communicates with the RSU to be calibrated, the calibration OBU and the auxiliary RSU through DSRC technology. For another example, in the system shown in fig. 3B, the RSU to be calibrated, the auxiliary RSU, and the calibration OBU can communicate not only with the control device via the wireless network, but also between the calibration OBU and the RSU to be calibrated and the auxiliary RSU via DSRC technology.
In other embodiments, the control device may be integrated as a control module in the RSU to be calibrated, the auxiliary RSU or the calibration OBU. For example, the control device is integrated as a control module in the RSU to be calibrated, as shown in fig. 3C, the calibration OBU may communicate with the RSU to be calibrated and the auxiliary RSU through DSRC technology, and the RSU to be calibrated and the auxiliary RSU may communicate with each other through a wireless network.
The RSU to be calibrated is usually fixedly arranged on a portal frame or an L-shaped rod of a lane and has the functions of acquiring longitude and latitude coordinates and receiving a DSRC calibration signal. In some embodiments, the RSU to be calibrated may be set at the (0,0, H) position of the lane coordinate system, H being a known value.
The position relationship between the auxiliary RSU and the RSU to be calibrated is usually determined, for example, when the coordinates of the RSU to be calibrated are (0,0, H), the coordinates of the auxiliary RSU are (X, 0, H), that is, the distance between the RSU to be calibrated and the auxiliary RSU along the X-axis of the lane coordinate system is X. The auxiliary RSU can acquire longitude and latitude coordinates of the auxiliary RSU and receive a DSRC calibration signal sent by the calibration OBU.
The OBU is calibrated and is typically mounted on the front windshield of the vehicle. Compared with a common OBU, the calibration OBU has the function of calibrating the RSU, and specifically comprises the function of acquiring longitude and latitude coordinates, the function of receiving a calibration instruction sent by the RSU to be calibrated, and the function of broadcasting a DSRC calibration signal.
Illustratively, referring to fig. 4, the RSU to be calibrated, the auxiliary RSU, and the calibration OBU each include a communication module, a processor, a positioning module, a DSRC receiving module, and a DSRC transmitting module. The communication module is used for carrying out wireless communication. The processor is used for managing the communication module, the positioning module, the DSRC receiving module and the DSRC sending module and carrying out relevant data processing. The Positioning module is used to obtain longitude and latitude coordinates of the device itself, and the Positioning module may be a BeiDou Navigation Satellite System (BDS) module or a Global Positioning System (GPS) module, which is not limited in this embodiment. The DSRC receiving module is used for receiving DSRC signals (including DSRC calibration signals) sent by other equipment. The DSRC transmit module is to transmit a DSRC signal to other devices. And for the DSRC sending module in the calibration OBU, the DSRC signals which can be sent by the DSRC sending module comprise DSRC calibration signals, and the RSU to be calibrated and the auxiliary RSU cannot send the DSRC calibration signals.
And the control equipment is used for calibrating the RSU according to calibration related data such as longitude and latitude coordinates of the RSU to be calibrated, the auxiliary RSU and the calibration OBU, DSRC calibration signals and the like, namely determining RSU calibration parameters.
Based on the RSU calibration system provided in any of the embodiments of the present application, this embodiment further provides an RSU calibration method, which is specifically described as follows.
Fig. 5 is a flowchart of an RSU calibration method provided in an embodiment of the present application, which relates to a process of calibrating an RSU by an RSU calibration system according to longitude and latitude coordinates of each device and a DSRC calibration signal, and specifically includes the following steps S501 to S507.
S501, after the OBU, the RSU to be calibrated and the auxiliary RSU enter a calibration mode, respective longitude and latitude coordinates are obtained at regular time.
In this embodiment, the calibration OBU, the RSU to be calibrated, and the auxiliary RSU may enter the calibration mode according to a user instruction, and the sequence of entering the calibration mode by each device is not limited in this embodiment. In the calibration mode, the positioning modules in the calibration OBU, the RSU to be calibrated, and the auxiliary RSU all obtain their own longitude and latitude coordinates at regular time, for example, the longitude and latitude coordinates are obtained every 100 ms.
Optionally, since the positions of the RSU to be calibrated and the auxiliary RSU are fixed, the longitude and latitude coordinates are obtained once after the RSU enters the calibration mode.
It should be noted that, in this embodiment, the longitude and latitude coordinates of the calibration OBU are referred to as first longitude and latitude coordinates, the longitude and latitude coordinates of the to-be-calibrated RSU are referred to as second longitude and latitude coordinates, and the longitude and latitude coordinates of the auxiliary RSU are referred to as third longitude and latitude coordinates.
S502, the RSU to be calibrated broadcasts a wake-up instruction, and the wake-up instruction is used for waking up the calibration OBU to send the DSRC calibration signal and the first longitude and latitude coordinate. In this embodiment, the wake-up command may also be referred to as a wake-up data frame.
S503, after the calibration OBU receives the awakening instruction, the DSRC calibration signal is broadcasted once through the DSRC technology at preset time intervals, and the first longitude and latitude coordinate of the calibration OBU at the current moment is sent to the control equipment once.
The calibration OBU can send the first latitude coordinate and the DSRC calibration signal to the RSU to be calibrated through the DSRC technology, and the RSU to be calibrated forwards the first latitude coordinate and the DSRC calibration signal to the control equipment. Alternatively, the calibration OBU may send the first latitudinal coordinate directly to the control device via the wireless network.
S504, after the RSU to be calibrated receives the DSRC calibration signal, the RSU to be calibrated sends the second longitude and latitude coordinate and the waveform characteristics of the DSRC calibration signal to the control equipment.
It should be noted that, if the control device is integrated inside the RSU to be calibrated in the form of a control module, the representative RSU may send the second longitude and latitude coordinates and the waveform characteristics of the DSRC calibration signal to the local control module after receiving the DSRC calibration signal.
It should be understood that, since the RSU to be calibrated is fixedly installed near the lane, the second longitude and latitude coordinate of the RSU to be calibrated is usually fixedly determined during the calibration of the RSU. Therefore, in some embodiments, in the present calibration process, the RSU to be calibrated may send the second longitude and latitude coordinate to the control device only once. The control device receives the second longitude and latitude coordinates and stores the second longitude and latitude coordinates locally so as to be called directly in the subsequent use process.
In other embodiments, the RSU to be calibrated sends the second latitude and longitude coordinate to the control device along with the waveform characteristics of the DSRC calibration signal after each DSRC calibration signal is received, so as to avoid the process of the control device locally searching and calling the second latitude and longitude coordinate.
Optionally, after broadcasting the wake-up instruction, if the RSU to be calibrated does not receive the DSRC calibration signal within a preset time (e.g. within 10 minutes), the RSU to be calibrated automatically exits the calibration mode. Or, the RSU to be calibrated may exit the calibration mode according to a user instruction.
And S505, after receiving the DSRC calibration signal, the auxiliary RSU sends the third longitude and latitude coordinate to the control equipment.
It should be understood that since the auxiliary RSU is also fixedly installed near the lane, the third longitude and latitude coordinate of the auxiliary RSU is usually determined to be constant during the RSU calibration process. Thus, in some embodiments, during this calibration process, the auxiliary RSU sends the third latitude and longitude coordinate to the control device only after the first receipt of the DSRC calibration signal. After receiving the third longitude and latitude coordinate, the control device stores the third longitude and latitude coordinate locally so as to be directly called in the subsequent use process.
In other embodiments, the RSU to be calibrated may send the third latitude and longitude coordinate to the control device again after each time the DSRC calibration signal is received, so as to avoid the process of the control device locally searching for and calling the third latitude and longitude coordinate.
Optionally, the auxiliary RSU automatically exits the calibration mode if the DSRC calibration signal is not received within a preset time (e.g., within 10 minutes) after broadcasting the wakeup data frame. Or, the RSU to be calibrated may exit the calibration mode according to a user instruction.
S506, the control device calculates calibration parameters of the RSU to be calibrated according to the received calibration related data, wherein the calibration related data comprises the first longitude and latitude coordinate, the second longitude and latitude coordinate, the third longitude and latitude coordinate and the wave shape characteristic of the DSRC calibration signal.
In this embodiment, the first longitude and latitude coordinate of the calibration OBU is (OBULonA, obulota), the second longitude and latitude coordinate of the RSU to be calibrated (RSULonA, rsulota), and the third longitude and latitude coordinate of the auxiliary RSU (ASLonA, ASLatA).
It should be noted that when the OBU is located at different positions of the lane coordinate system, the angle of the DSRC calibration signal transmitted by the OBU to the RSU is different. Accordingly, the waveform characteristics of the DSRC calibration signal received by the spatial array antenna of the RSU are different. For example, the RSU may receive a DSRC calibration signal with a different Phase difference Phase for DSRC calibration signals transmitted when the OBU is in a different location. Thus, it can be appreciated that different OBU positions correspond to different RSU calibration parameters.
Is as follows by T1The location of the time OBU is taken as an example, and a calibration process of the control device RSU is exemplarily described, and the process includes the following contents (1) to (3):
(1) control device determining calibrationPosition (x) of OBU in lane coordinate system1，y1)。
Since the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system are known, they are (0,0, H) and (x, 0, H), respectively. Neglecting the problem that the heights of the RSU to be calibrated and the auxiliary RSU are inconsistent with the height of the OBU, the control device can convert the first longitude and latitude coordinate of the OBU to be calibrated into the coordinate of the OBU under the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU under the lane coordinate system, the second longitude and latitude coordinate and the third longitude and latitude coordinate. The details are as follows.
Firstly, the control equipment calculates a distance formula according to the longitude and latitude, and calculates a first distance D between a calibration OBU and an RSU to be calibrated1And calibrating the second distance D of the OBU from the auxiliary RSU2。
First distance D1Determined by the following formula:
D1＝R*Arccos(C1)*Pi/180
wherein, C1Sin (obula) sin (rsula) cos (OBULonA-RSULonA) + cos (obula) cos (rsula), R is the radius of the earth and Pi is Pi.
Second distance D2Determined by the following formula:
D2＝R*Arccos(C2)*Pi/180
wherein, C2Sin (obula) sin (aslata) cos (OBULonA-ASLonA) + cos (obula) cos (aslata), R is the radius of the earth, and Pi is Pi.
Secondly, the control device is according to D1And D2And determining the coordinates of the calibration OBU in the lane coordinate system.
In the case of considering only the position of the respective device in the XY plane of the lane coordinate system, the coordinates of the RSU to be calibrated are known as (0,0), the coordinates of the auxiliary RSU are known as (x, 0), and the coordinates of the calibration OBU to be calculated are assumed to be (x, 0)1,y1) And (4) showing. Then, referring to fig. 6, the distance D from the calibration OBU to the RSU device to be calibrated1And calibrating the distance D from the OBU to the auxiliary RSU2The following calculation formula is satisfied:
Figure BDA0003431484050000121
Figure BDA0003431484050000122
solving the above formula to obtain x1And y1To determine the coordinates (x) of the OBU in the lane coordinate system1,y1)。
Figure BDA0003431484050000123
Figure BDA0003431484050000124
It should be understood that the control device may calculate the positions of the calibration OBUs at different times in the lane coordinate system according to the longitude and latitude coordinates of the calibration OBUs at different times.
(2) The control device determines the Phase difference Phase of each channel of the spatial array antenna of the RSU according to the wave shape characteristic of the DSRC calibration signal.
The RSU to be calibrated is provided with a spatial array antenna, and can receive DSRC calibration signals broadcasted by the calibration OBU by using a plurality of antenna channels through the digital acquisition function of the spatial array antenna. Since the positions of the elements of the spatial array antenna are different in the antenna, the elements usually correspond to multiple antenna channels. Therefore, the DSRC calibration signals received by the RSU to be calibrated through multiple antenna channels have different waveform characteristics, including phase, amplitude, etc.
The waveforms of the DSRC calibration signals that the control device may acquire at different times for the respective antenna channels may be represented by the following matrix x.
Figure BDA0003431484050000125
Where m is the number of channels of the spatial array antenna and n is for TiThe DSRC at that time scales the number of sampling points of the signal. For example, x11And collecting the waveform information of the DSRC calibration signal for the first sampling point of the first antenna channel. x is the number of45And the wave form information of the DSRC calibration signal collected for the fifth sampling point of the fourth antenna channel.
And the control equipment performs cross-correlation operation on the DSRC calibration signal matrix x to obtain an autocorrelation matrix Rxx.
Rxx＝x*x′
Where Rxx is a complex matrix of m. That is, Rxx can also be expressed as follows:
Figure BDA0003431484050000131
the control device can determine the Phase difference Phase of the DSRC calibration signal received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix Rxx.
Phase＝{angle1，angle2，angle3……anglem}
In Phase difference Phase, angle is the reference channel of the first channeliRepresenting the phase difference of the DSRC calibration signal of the ith channel of the spatial array antenna and the DSRC calibration signal of the first channel. For example, angle1Indicating the phase difference of the DSRC calibration signal of the 1 st channel and the DSRC calibration signal of the 1 st channel, it should be understood that angle10. As another example, angle3Representing the phase difference of the DSRC nominal signal of the 3 rd channel and the DSRC nominal signal of the 1 st channel.
The complex form of the Phase difference Phase is as follows:
Phase＝{1，a2+b2i，a3+b3i，……am+bmi}
after the control apparatus performs Phase compensation on the autocorrelation matrix Rxx according to the Phase difference Phase, a compensated autocorrelation matrix Rxx' may be obtained.
Rxx′＝Rxx*(Phase*Phase′)′
In the autocorrelation matrix Rxx ' (Phase + Phase ') ' is as follows:
Figure BDA0003431484050000141
therefore, the temperature of the molten metal is controlled,
Figure BDA0003431484050000142
Figure BDA0003431484050000143
for the autocorrelation matrix Rxx' subjected to phase compensation, when the control device performs direction of arrival estimation (DOA), the angle of the located signal direction is 90 degrees, that is, the signal direction is the same as the normal direction of the antenna array, and the beam gain of each antenna is the largest.
(3) The control equipment determines calibration parameters of the RSU to be calibrated.
In this embodiment, the RSU calibration parameters include a virtual installation angle, and a phase difference when the spatial array antenna of the RSU receives the DSRC calibration signal at the virtual installation angle.
90 degrees according to the maximum gain direction of the wave beam and coordinates (x) of the calibration OBU1，y1) The installation height H of the space array antenna (namely the installation height z of the RSU to be calibrated) and the installation height H of the OBU are calibrated, so that the coordinate system (x) of the RSU to be calibrated relative to the lane can be calculated1，y1) Virtual mounting angle theta of1。
Figure BDA0003431484050000144
Here, referring to fig. 6, when the direction of arrival of the DSRC calibration signal is 90 °, it is considered that the direction perpendicular to the direction of arrival of the DSRC calibration signal is the direction in which the antenna plane of the spatial array antenna is located. Based on this, the virtual installation angle is the included angle between the plane of the antenna and the horizontal direction.
At T for calibration of OBU1Position of time (x)1,y1) And the RSU calibration parameters determined by the control equipment are as follows: theta1And { angle11,angle12,angle13,…,angle1m}。
Because the calibration OBU gradually moves close to the RSU to be calibrated after entering the calibration area, the OBU to be calibrated moves close to the RSU to be calibrated at each data acquisition time TiAre different. Therefore, for each data acquisition time, the position of the calibration OBU and the DSRC calibration signal transmitted by the calibration OBU and received by the RSU to be calibrated, the control device may determine a set of RSU calibration parameters to form an RSU calibration parameter list (see fig. 1 for details).
TABLE 1RSU calibration parameter List
Figure BDA0003431484050000151
In Table 1, n is an integer, and n.gtoreq.1. That is, the control device at each data acquisition time TiAnd calibrating at least one group of RSU calibration parameters according to the coordinate information of the calibration OBU, the RSU to be calibrated and the auxiliary RSU and the DSRC calibration signals acquired by the RSU to be calibrated.
And S507, the control equipment sends the RSU calibration parameters to the RSU to be calibrated.
In this embodiment, the control device may send the set of parameters to the RSU to be calibrated immediately after determining each set of RSU calibration parameters; after all the RSU calibration parameters are determined, all the RSU calibration parameters may be sent to the RSU to be calibrated together, which is not limited in this embodiment.
Through the steps S501-S507, the RSU calibration system provided by the embodiment of the application can automatically determine the RSU calibration parameters, and compared with the method that the RSU calibration is manually carried out on a closed lane, the RSU calibration system is more convenient and efficient when the RSU is calibrated.
In an ETC system, the RSU which finishes calibration can accurately determine the position of the OBU in a lane coordinate system according to RSU calibration parameters. This is described in more detail below with reference to fig. 7.
Fig. 7 is a schematic diagram of an OBU positioning process provided in an embodiment of the present application, which relates to a process for determining a position of an OBU in a lane coordinate system by combining a calibrated RSU with a calibration parameter and a received DSRC calibration signal, and specifically includes the following steps S701 to S706.
S701, the RSU broadcasts an inquiry signal.
S702, the OBU receives the interrogation signal.
And S703, the OBU sends a DSRC calibration signal to the RSU.
S704, the RSU determines a target RSU calibration parameter from a preset RSU calibration parameter list according to the waveform characteristics of the received DSRC calibration signal. The RSU calibration parameter list comprises a plurality of sets of RSU calibration parameters.
For the DSRC calibration signal transmitted by the OBU, the waveform characteristic of the DSRC calibration signal received by the RSU is Xr.
Figure BDA0003431484050000161
In Xr, m is the number of channels of the spatial array antenna in the RSU, and n is the number of sampling points for the DSRC calibration signal per channel.
Performing cross-correlation operation on the signal Xr to obtain a cross-correlation matrix Rxxr。
Figure BDA0003431484050000162
The spatial array antenna of the RSU comprises m channels, the Phase difference of each channel of the spatial array antenna is Phase by taking the channel 1 as a reference channelr。
Phaser＝{0,angle12r,angle13r,…,angle1mr}
Phase of XrrAnd carrying out correlation calculation with each Phase difference Phase in the RSU calibration parameter list to obtain a correlation result:
Figure BDA0003431484050000171
in the correlation result
Figure BDA0003431484050000172
Denotes PhaserCorrelation with the ith Phase difference Phase in the RSU calibration parameter list, i ∈ N*。
Figure BDA0003431484050000173
RSU will usually
Figure BDA0003431484050000174
And determining the RSU calibration parameter corresponding to the maximum value as the target RSU calibration parameter. To be provided with
Figure BDA0003431484050000175
The largest number being
Figure BDA0003431484050000176
For example, the target RSU calibration parameter is the target phase difference { angle }k1,anglek2,anglek3,…,anglekmAnd the target virtual mounting angle thetak。
S705, the RSU determines the incidence angle theta of the DSRC calibration signal according to the target Phase difference Phase in the target RSU calibration parameter.
In the present embodiment, the incidence angle θ' of the DSRC calibration signal refers to an angle between the incidence direction of the DSRC calibration signal and the surface of the spatial array antenna of the RSU. The specific determination process of the incident angle θ' is as follows.
First, the RSU performs Phase compensation on the waveform of the received DSRC calibration signal according to the target Phase difference Phase. With the target Phase difference being Phasei＝{0,angle12i,angle13i,…,angle1miFor example, the DSRC calibration signal compensated according to the target phase difference is:
Rxxr'＝Rxxr*(Phasek'*Phasek)'
the power spectrum of the DSRC calibration signal is then determined from the weight vector of the DSRC calibration signal. In this embodiment, the weight vector of the DSRC calibration signal is
Figure BDA0003431484050000177
Figure BDA0003431484050000178
Where λ is the wavelength of the DSRC calibration signal, d is the distance between adjacent antennas in the spatial array antenna of the RSU, and θSIs the scan angle. The scanning angle of the spatial array antenna is continuously changed in the process of scanning the DSRC calibration signal.
In this embodiment, the power spectrum of the DSRC calibration signal is
Figure BDA0003431484050000179
Wherein the content of the first and second substances,
Figure BDA0003431484050000181
is composed of
Figure BDA0003431484050000182
The conjugate transpose matrix of (2).
Finally, the angle of incidence θ is determined from the power spectrum of the DSRC calibration signal. In the present embodiment, the power spectrum
Figure BDA0003431484050000183
Theta corresponding to the maximum value ofsI.e., the angle of incidence θ of the DSRC calibration signal. In addition, θ may also be expressed as (θ)x,θy) Wherein, thetaxIs the component of theta in the X-axis direction in the lane coordinate system, thetayIs the component of θ in the Y-axis direction in the lane coordinate system.
S706, the RSU determines the position of the OBU in the lane coordinate system according to the target virtual installation angle and the incidence angle of the DSRC calibration signal.
Assuming that the coordinates of the OBU in the lane coordinate system are (x, y, h), where h is the installation height of the OBU and h is known, the determination process of (x, y, h) is explained below.
The DSRC calibration signal received by the spatial array antenna of the RSU can be divided into a horizontal array and a vertical array for representation, wherein the unit component of the horizontal array is VxAnd a vertical array unit component VyThe method comprises the following steps:
Vx＝[1,0,0]
Vy＝[0,cos(θ)0,sin(θ)]
the incident angle satisfies the following relationship:
Figure BDA0003431484050000184
Figure BDA0003431484050000185
and solving the equation system to obtain the coordinates x and y of the OBU in the lane coordinate system, thereby determining the coordinates (x, y, h) of the OBU in the lane coordinate system.
Based on the RSU calibration method provided in each of the above embodiments, the embodiments of the present application further provide the following technical solutions.
Fig. 8 is a schematic diagram of an RSU calibration apparatus provided in an embodiment of the present application. Referring to fig. 8, the apparatus includes an information acquisition module 801, a first determination module 802, and a second determination module 803.
An information obtaining module 801, configured to obtain position information at a first time and a waveform characteristic of a calibration signal received by an RSU to be calibrated; the position information comprises a first longitude and latitude for calibrating the OBU, a second longitude and latitude for calibrating the RSU and a third longitude and latitude for assisting the RSU; and the calibration signal is sent to the RSU to be calibrated by the calibration OBU.
The first determining module 802 is configured to determine, according to the location information, a location relationship between the calibration OBU, the RSU to be calibrated, and the auxiliary RSU.
A second determining module 803, configured to determine, according to the position relationship and the waveform characteristic, an RSU calibration parameter, where the RSU calibration parameter includes a virtual installation angle of the RSU to be calibrated, and a phase difference of calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated at the virtual installation angle.
Optionally, the first determining module 802 is configured to determine, according to the location information, a location relationship between the calibration OBU, the RSU to be calibrated, and the auxiliary RSU, and includes: and the auxiliary RSU is used for determining a first distance between the calibration OBU and the RSU to be calibrated according to the first position information, the second position information and the third position information, and determining a second distance between the calibration OBU and the auxiliary RSU. And determining the position of the calibration OBU in the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system, the first distance and the second distance.
Optionally, the second determining module 803 is configured to determine an RSU calibration parameter according to the position relationship and the waveform characteristic, and includes: the system comprises a lane coordinate system, a road marking unit and a road marking unit, wherein the lane coordinate system is used for marking the position of the road marking unit (OBU), the mounting height of the RSU to be marked and the mounting height of the OBU to be marked; determining a phase difference according to the waveform characteristics; and determining RSU calibration parameters, wherein the RSU calibration parameters comprise a virtual installation angle and a phase difference.
Optionally, the second determining module 803 is configured to determine a virtual installation angle of the RSU to be calibrated according to the position of the calibrated OBU in the lane coordinate system, the installation height of the RSU to be calibrated, and the installation height of the calibrated OBU, and includes: and the virtual installation angle is calculated according to the angle calculation formula.
The angle calculation formula is as follows:
Figure BDA0003431484050000191
wherein, theta1For the virtual installation angle of the RSU to be calibrated, H is the height of the RSU to be calibrated from the ground, H is the height of the OBU to be calibrated from the ground, y1To calibrate the y-coordinate of the OBU in the lane coordinate system.
Optionally, the second determining module 803 is configured to determine the phase difference of the calibration signal according to the waveform characteristic of the calibration signal, and includes: the waveform characteristic matrix is used for determining the calibration signal; determining an autocorrelation matrix of a waveform feature matrix; and determining the phase difference of the calibration signals received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix.
Optionally, the apparatus further includes a parameter sending module 804, configured to send the RSU calibration parameter to the RSU to be calibrated after the second determining module 803 determines the RSU calibration parameter.
An electronic device is further provided in the embodiments of the present application, and as shown in fig. 9, the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the RSU calibration method shown in the foregoing embodiments.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," and the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 application and are intended to be included within the scope of the present application.

Claims (10)

1. A calibration method for a Road Side Unit (RSU) is characterized by comprising the following steps:
acquiring position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises first position information for calibrating an On Board Unit (OBU), second position information for a to-be-calibrated remote terminal (RSU) and third position information for an auxiliary RSU; the calibration signal is sent to the RSU to be calibrated by the calibration OBU;
determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information;
and determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and the phase difference of the calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
2. The method of claim 1, further comprising:
sequentially and respectively executing the method according to claim 1 at N different first times to obtain N different RSU calibration parameters;
and generating an RSU calibration parameter list according to the N RSU calibration parameters.
3. The method according to claim 1 or 2, wherein determining the position relationship among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information comprises:
determining a first distance between the calibration OBU and the RSU to be calibrated and a second distance between the calibration OBU and the auxiliary RSU according to the first position information, the second position information and the third position information;
and determining the position of the calibration OBU in the lane coordinate system according to the positions of the to-be-calibrated RSU and the auxiliary RSU in the lane coordinate system, and the first distance and the second distance.
4. The method of claim 3, wherein determining RSU calibration parameters based on the positional relationship and the waveform characteristics comprises:
determining a virtual installation angle of the RSU to be calibrated according to the position of the OBU to be calibrated in a lane coordinate system, the installation height of the RSU to be calibrated and the installation height of the OBU to be calibrated;
determining the phase difference according to the waveform characteristics;
and determining the RSU calibration parameters, wherein the RSU calibration parameters comprise the virtual installation angle and the phase difference.
5. The method of claim 4, wherein determining the virtual installation angle of the RSU to be calibrated according to the position of the OBU to be calibrated in the lane coordinate system, the installation height of the RSU to be calibrated and the installation height of the OBU to be calibrated comprises:
calculating the virtual installation angle according to an angle calculation formula, wherein the angle calculation formula is as follows:
Figure FDA0003431484040000021
wherein, theta1For the virtual installation angle of the RSU to be calibrated, H is the height of the RSU to be calibrated from the ground, H is the height of the OBU to be calibrated from the ground, y1And the y coordinate of the calibration OBU in the lane coordinate system is obtained.
6. The method of claim 4, wherein determining the phase difference of the calibration signals based on the waveform characteristics of the calibration signals comprises:
determining a waveform characteristic matrix of the calibration signal;
determining an autocorrelation matrix of the waveform feature matrix;
and determining the phase difference of the calibration signals received by each antenna channel of the to-be-calibrated RSU according to the autocorrelation matrix.
7. The method according to any one of claims 1 to 6, wherein after determining RSU calibration parameters according to the position relationship and the waveform characteristics, the method further comprises:
and sending the RSU calibration parameters to the RSU to be calibrated.
8. A calibration device for a Road Side Unit (RSU) is characterized by comprising:
the information acquisition module is used for acquiring position information at a first time and waveform characteristics of a calibration signal received by the RSU to be calibrated; the position information comprises first position information for calibrating an On Board Unit (OBU), second position information for a to-be-calibrated remote terminal (RSU) and third position information for an auxiliary RSU; the calibration signal is sent to the RSU to be calibrated by the calibration OBU;
the first determining module is used for determining the position relationship among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information;
and the second determining module is used for determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and the phase difference of the calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
9. An electronic device, characterized in that the electronic device is configured to perform the Road Side Unit (RSU) calibration method according to any one of claims 1-7.
10. A Road Side Unit (RSU) calibration system is characterized by comprising:
the calibration vehicle-mounted unit OBU is used for broadcasting a calibration signal and sending first position information of the calibration OBU to control equipment;
the RSU to be calibrated is used for receiving the calibration signal, determining the waveform characteristics of the received calibration signal and sending the waveform characteristics and second position information of the RSU to be calibrated to the control equipment;
an auxiliary RSU for transmitting third position information of the auxiliary RSU to the control device;
the control device is configured to determine an RSU calibration parameter according to the waveform feature and the first position information, the second position information, and the third position information; the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of the calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
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