CN114859357A - Obstacle positioning detection method and system - Google Patents

Obstacle positioning detection method and system Download PDF

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Publication number
CN114859357A
CN114859357A CN202110153827.6A CN202110153827A CN114859357A CN 114859357 A CN114859357 A CN 114859357A CN 202110153827 A CN202110153827 A CN 202110153827A CN 114859357 A CN114859357 A CN 114859357A
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distance
obstacle
position point
vehicle
point
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CN114859357B (en
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汤剑
徐盛尧
蒋玉亭
周厚金
叶子亮
吴天弘
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a method and a system for positioning and detecting an obstacle, which comprises the steps of obtaining a first distance between a vehicle and the obstacle when the vehicle is at a first position point, a first driving distance from the first position point to a second position point, and a second distance between the vehicle and the obstacle when the vehicle is at the second position point; and calculating to obtain the position information of the obstacle according to the first distance, the first travel distance and the second distance. The positioning detection method avoids the defect that a triangle cannot be formed by using two ultrasonic probes for detection at the same position point, improves the positioning precision, can be developed on a hardware platform with lower cost by adopting the positioning detection method, does not increase extra hardware, and is beneficial to the quality output of the platform at the later stage.

Description

Obstacle positioning detection method and system
Technical Field
The invention relates to the technical field of obstacle positioning detection, in particular to an obstacle positioning detection method and system.
Background
Along with the rapid development of the society, the intelligent degree of automobiles is continuously improved, the intelligent parking technology is more and more popularized, and the future is more and more civilized, wherein the obstacle detection is taken as a key technology in an intelligent parking sensing layer, the accuracy directly influences the success rate of later parking space search, parking path planning and parking, and the parking safety is also related.
Triangulation is the most basic plane positioning method, and the positioning method measures distance information of an obstacle from a wave-emitting point through known position information among 2 ultrasonic wave-emitting points, and calculates the distance information of the obstacle through a trigonometric function. The positioning method can accurately obtain the distance information of the obstacle compared with a single-point positioning method, but in some cases, the distances between 2 ultrasonic wave emitting points and the distances between the obstacle and the ultrasonic wave emitting points which are respectively measured cannot form a triangle, and in this case, the triangulation method cannot be used, so that the positioning fails.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for positioning and detecting an obstacle, which aim to solve the defect that the triangular positioning method fails because the distances between 2 ultrasonic wave emitting points and the distances between the obstacle and the wave emitting points, which are respectively measured, cannot form a triangle when a three-point positioning algorithm is adopted for positioning in the prior art.
In order to solve the above technical problem, an aspect of the present invention provides a method for positioning and detecting an obstacle, including:
acquiring a first distance between a vehicle and the obstacle when the vehicle is at a first position point, a first driving distance from the first position point to a second position point, and a second distance between the vehicle and the obstacle when the vehicle is at the second position point;
and calculating to obtain the position information of the obstacle according to the first distance, the first travel distance and the second distance.
In one embodiment, the first travel distance satisfies the following condition:
2AO*sin(a/2)≤S1≤L/2
wherein S1 is a first travel distance, AO is a minimum detection distance for acquiring the ultrasonic waves of the first distance and the second distance, a is a beam angle of the ultrasonic waves, and L is a vehicle body length.
In a specific embodiment, the calculating and obtaining the position information of the obstacle according to the first distance, the first travel distance, and the second distance specifically includes:
and calculating by adopting a three-point positioning algorithm according to the first distance, the first travel distance and the second distance to obtain a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point.
In a specific embodiment, the calculating and obtaining the position information of the obstacle according to the first distance, the first travel distance, and the second distance specifically includes:
calculating a triangle interior angle value corresponding to a second position point according to the first distance, the first travel distance and the second distance, wherein the triangle is composed of the first position point, the second position point and an obstacle position point;
and judging whether the angle value of the triangle inner angle is in the range of ultrasonic beam angles for detecting a first distance and a second distance, if so, calculating to obtain the position information of the obstacle according to the first distance, a first driving distance and the second distance, and otherwise, determining the obstacle information according to the second distance, a third distance and the second driving distance.
In a specific embodiment, the calculating and obtaining the position information of the obstacle according to the first distance, the first travel distance, and the second distance specifically includes:
calculating and obtaining a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle of the second position point by adopting a three-point positioning algorithm according to the first distance, the first driving distance and the second distance;
the determining the obstacle information according to the second distance, the third distance, and the second travel distance specifically includes:
and calculating by adopting a three-point positioning algorithm according to the second distance, the second driving distance and the third distance to obtain a second horizontal distance value and a second vertical distance value of the obstacle relative to the vehicle at the second position point.
The invention also provides an obstacle positioning and detecting system, comprising:
a first acquisition unit configured to acquire a first distance between the vehicle and the obstacle when the vehicle is at a first position point, a first travel distance of the vehicle from the first position point to a second position point, and a second distance between the vehicle and the obstacle when the vehicle is at the second position point;
and the calculating unit is used for calculating and obtaining the position information of the obstacle according to the first distance, the first traveling distance and the second distance.
In one embodiment, the first travel distance satisfies the following condition:
2AO*sin(a/2)≤S1≤L/2
wherein S1 is a first travel distance, AO is a minimum detection distance for acquiring the ultrasonic waves of the first distance and the second distance, a is a beam angle of the ultrasonic waves, and L is a vehicle body length.
In a specific embodiment, the computing unit is specifically configured to:
and calculating by adopting a three-point positioning algorithm according to the first distance, the first travel distance and the second distance to obtain a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point.
In a specific embodiment, the computing unit specifically includes:
the angle value calculating unit is used for calculating a triangle inner angle value corresponding to a second position point according to the first distance, the first travel distance and the second distance, wherein the triangle is composed of the first position point, the second position point and the obstacle position point;
and the judging unit is used for judging whether the angle value of the internal angle of the triangle is in the range of the ultrasonic beam angle for detecting the first distance and the second distance, if so, calculating to obtain the position information of the obstacle according to the first distance, the first driving distance and the second distance, and otherwise, determining the obstacle information according to the second distance, the third distance and the second driving distance.
In a specific embodiment, the determining unit specifically includes:
the first position information calculating unit is used for calculating and obtaining a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point by adopting a three-point positioning algorithm according to the first distance, the first driving distance and the second distance;
and the second position information calculating unit is used for calculating and obtaining a second horizontal distance value and a second vertical distance value of the obstacle relative to the vehicle at the second position point by adopting a three-point positioning algorithm according to the second distance, the second driving distance and the third distance.
The embodiment of the invention has the beneficial effects that: the invention utilizes the same ultrasonic probe of the vehicle to detect the distance between the vehicle and the obstacle at two different positions in the driving process of the vehicle, forms a triangle by the two detection distances and the driving distance of the vehicle, and calculates and obtains the positioning information of the obstacle by utilizing a three-point positioning algorithm. The positioning detection method avoids the defect that a triangle cannot be formed due to the fact that detection is carried out by two ultrasonic probes at the same position point, so that the triangular positioning method fails, positioning accuracy is improved, and the positioning detection method can be developed on a hardware platform with low cost without adding extra hardware, so that the later-stage quality output of the platform is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for locating and detecting an obstacle according to a first embodiment of the present invention;
FIG. 2 is a schematic triangle diagram of a three-point location algorithm of an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for locating and detecting an obstacle according to a second embodiment of the present invention.
Detailed Description
The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the invention may be practiced.
Referring to fig. 1, an embodiment of the present invention provides a method for positioning and detecting an obstacle, including the following steps:
s1, acquiring a first distance between the vehicle and the obstacle when the vehicle is at the first position, a first driving distance from the first position to the second position, and a second distance between the vehicle and the obstacle when the vehicle is at the second position.
Specifically, when the vehicle is at the first position B, a first distance L1 between the obstacle position point O and the vehicle at the first position point B is detected by the vehicle ultrasonic probe, and then the vehicle is caused to continue traveling, and the vehicle reaches the second position point a after traveling for a certain distance, and when the vehicle is at the second position point a, a second distance L2 between the obstacle and the vehicle at the second position point a is detected by the same vehicle ultrasonic probe, and a first traveling distance S1 from the first position point to the second position point is calculated. At this time, three points A, B and O form three vertices of a triangle, and the first distance L1, the second distance L2 and the first travel distance S1 constitute three sides of the triangle.
It should be noted that, when the vehicle is in the first position and the second position, the obstacle needs to be within the detection range of the vehicle ultrasonic probe. The first distance L1 and the second distance L2 acquired by the vehicle are acquired by detecting the same ultrasonic probe at different positions, and the same ultrasonic probe is used for detecting at least twice in the advancing process of the vehicle, so that the defect that in the prior art, when the vehicle is at a certain position, two ultrasonic probes are adopted for respectively detecting, and a triangle cannot be formed is overcome.
In order to improve the calculation accuracy, if the first travel distance is too short, obstacles in some ultrasonic measurement ranges cannot be detected, and meanwhile, when long-distance obstacles are measured, a small measurement error causes a large calculation error. Thus, in one embodiment, the first travel distance S1 satisfies the following condition:
2AO*sin(a/2)≤S1≤L/2
wherein S1 is a first travel distance, AO is a minimum detection distance for acquiring the ultrasonic waves of the first distance and the second distance, a is a beam angle of the ultrasonic waves, and L is a vehicle body length.
And S2, calculating and obtaining first position information of the obstacle according to the first distance, the first travel distance and the second distance.
Specifically, a first horizontal distance and a first vertical distance of the obstacle with respect to the vehicle at the second position point are calculated using a triangulation algorithm based on the first distance L1, the first travel distance S1, and the second distance L2.
As shown in fig. 2, assuming that the first position of the vehicle is point B, the second position of the vehicle is point a, and the position of the obstacle is point O, the OB line segment is the first distance L1, the OA line segment is the second distance L2, the AB line segment is the first travel distance S1, and OA, OB, and AB form a triangle. According to the cosine theorem there are:
Figure BDA0002933693530000051
the perpendicular distance OD of the O point from AB is then:
Figure BDA0002933693530000061
the horizontal distance AD of the O point from the a point is:
Figure BDA0002933693530000062
wherein OD is the first vertical distance, and AD is the first horizontal distance.
The method for positioning and detecting the obstacle comprises the steps of detecting the distance between a vehicle and the obstacle at two different positions of the same ultrasonic probe of the vehicle in the driving process of the vehicle, forming a triangle through the two detection distances and the driving distance of the vehicle, and calculating and obtaining the positioning information of the obstacle by using a three-point positioning algorithm. The positioning detection algorithm avoids the defect that a triangle cannot be formed by detecting at the same position point by using two ultrasonic probes, so that the triangular positioning method fails, the positioning precision is improved, and the positioning detection algorithm can be developed on a hardware platform with lower cost without adding extra hardware, so that the later-stage quality output of the platform is facilitated.
Based on the first embodiment of the present invention, the second embodiment of the present invention provides a method for detecting and locating an obstacle, as shown in fig. 3, the method includes the steps of:
s21, acquiring a first distance between the vehicle and the obstacle when the vehicle is at the first position, a first driving distance from the first position to the second position, and a second distance between the vehicle and the obstacle when the vehicle is at the second position.
Step S21 is the same as step S1, and therefore will not be described herein.
And S22, calculating a triangle inner angle value corresponding to the second position point according to the first distance, the first travel distance and the second distance, wherein the triangle is composed of the first position point, the second position point and the obstacle position point.
Specifically, as shown in fig. 2, since the first position point B, the second position point a, and the obstacle point 0 form a triangle, an internal angle value of the triangle corresponding to the second position point, that is, an α value in fig. 2, may be calculated by the cosine law.
And S23, judging whether the angle value of the triangle inner angle is in the range of ultrasonic beam angles for detecting a first distance and a second distance, if so, calculating to obtain the position information of the obstacle according to the first distance, the first travel distance and the second distance, otherwise, obtaining a second travel distance from the second position point to a third position point of the vehicle and a third distance between the vehicle and the obstacle when the vehicle is at the third position point, and determining the obstacle information according to the second distance, the third distance and the second travel distance.
Specifically, whether the calculated alpha value is within the range of the beam angle of the ultrasonic wave is judged, and if so, a triangulation algorithm is used to calculate a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point according to the first distance, the first travel distance and the second distance, wherein the specific calculation method is as described above and is not repeated. And if the distance is not within the range, acquiring a second driving distance from the second position point to a third position point of the vehicle, and a third distance between the vehicle and the obstacle when the vehicle is at the third position point, and determining the obstacle information according to the second distance, the third distance and the second driving distance.
Specifically, the method for calculating the first horizontal distance and the first vertical distance of the obstacle with respect to the vehicle at the second position point by using the triangulation algorithm according to the first distance, the first travel distance, and the second distance is as described in the first embodiment, and will not be described herein again.
Specifically, when the vehicle travels to the second position point B, the vehicle is controlled to continue traveling, and after traveling for a certain distance, the vehicle travels to the third position point C, and the third distance L3 between the vehicle and the obstacle at the third position point C is detected by the same ultrasonic probe. A second travel distance S2 of the vehicle from the second location point to the third location point is measured or calculated. Wherein the second travel distance needs to satisfy the following condition:
2AO*sin(a/2)≤S2≤L/2
wherein S2 is a second travel distance, AO is a minimum detection distance of the ultrasonic waves for acquiring the first distance and the second distance, a is a beam angle of the ultrasonic waves, and L is a vehicle body length.
Specifically, the position point B, C and the point O form a triangle, and a three-point positioning algorithm is used to calculate the second position information of the obstacle relative to the vehicle at the second position point, and the specific calculation algorithm may refer to the calculation method in the first embodiment.
According to the obstacle positioning detection method provided by the embodiment of the invention, the third distance between the obstacle and the vehicle at the third position point and the second driving distance from the second position point to the third position point are further acquired, and the second position information of the obstacle is calculated according to the second distance, the third distance and the second driving distance. According to the method, under the condition that the first position point and the second position point are not accurately calculated, positioning detection can be further carried out, so that the accuracy of positioning detection of the obstacle is improved.
Based on the first embodiment and the second embodiment, the third embodiment of the invention provides an obstacle location detection system, which comprises a first acquisition unit and a calculation unit, wherein the first acquisition unit is used for acquiring a first distance between a vehicle and an obstacle when the vehicle is at a first position point, a first travel distance between the vehicle and a second position point when the vehicle travels from the first position point to the second position point, and a second distance between the vehicle and the obstacle when the vehicle is at the second position point; the calculation unit is used for calculating and obtaining the position information of the obstacle according to the first distance, the first travel distance and the second distance.
In one embodiment, the first travel distance satisfies the following condition:
2AO*sin(a/2)≤S1≤L/2
wherein S1 is a first travel distance, AO is a minimum detection distance for acquiring the ultrasonic waves of the first distance and the second distance, a is a beam angle of the ultrasonic waves, and L is a vehicle body length.
In a specific embodiment, the calculating unit is specifically configured to calculate, according to the first distance, the first travel distance, and the second distance, a first horizontal distance and a first vertical distance of the obstacle with respect to the vehicle at the second position point by using a three-point positioning algorithm.
In a specific embodiment, the calculating unit is specifically configured to calculate, according to the first distance, the first travel distance, and the second distance, a first horizontal distance and a first vertical distance of the obstacle with respect to the vehicle at the second position point by using a three-point positioning algorithm.
In another specific embodiment, the calculating unit specifically includes an angle value calculating unit and a determining unit, where the angle value calculating unit is configured to calculate a triangle interior angle value corresponding to a second position point according to the first distance, the first travel distance, and the second distance, where the triangle is formed by the first position point, the second position point, and the obstacle position point, and the determining unit is configured to determine whether the triangle interior angle value is within a range of an ultrasonic beam angle for detecting the first distance and the second distance, if so, obtain position information of the obstacle according to the first distance, the first travel distance, and the second distance, and otherwise, determine the obstacle information according to the second distance, the third distance, and the second travel distance.
In a specific embodiment, the determining unit specifically includes a first position information calculating unit and a second position information calculating unit, wherein the first position information calculating unit is configured to calculate, according to the first distance, the first travel distance, and the second distance, a first horizontal distance and a first vertical distance of the obstacle with respect to the vehicle at the second position point by using a three-point positioning algorithm, and the second position information calculating unit is configured to calculate, according to the second distance, the second travel distance, and the third distance, a second horizontal distance value and a second vertical distance value of the obstacle with respect to the vehicle at the second position point by using a three-point positioning algorithm.
For the working principle and the advantageous effects thereof, please refer to the description of the first embodiment of the present invention, which will not be described herein again.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims (10)

1. An obstacle positioning detection method, comprising:
acquiring a first distance between a vehicle and the obstacle when the vehicle is at a first position point, a first driving distance from the first position point to a second position point, and a second distance between the vehicle and the obstacle when the vehicle is at the second position point;
and determining the position information of the obstacle according to the first distance, the first travel distance and the second distance.
2. The method according to claim 1, characterized in that the first distance of travel fulfils the following condition:
2AO*sin(a/2)≤S1≤L/2
wherein S1 is a first travel distance, AO is a minimum detection distance of the ultrasonic probe for acquiring the first distance and the second distance, a is a beam angle of the ultrasonic wave, and L is a vehicle body length.
3. The method according to claim 1, wherein the determining the position information of the obstacle from the first distance, the first distance of travel, and the second distance specifically comprises:
and calculating by adopting a three-point positioning algorithm according to the first distance, the first travel distance and the second distance to obtain a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point.
4. The method according to claim 1 or 2, wherein the determining of the position information of the obstacle from the first distance, the first distance of travel and the second distance comprises in particular:
calculating a triangle interior angle value corresponding to a second position point according to the first distance, the first travel distance and the second distance, wherein the triangle is composed of the first position point, the second position point and an obstacle position point;
and judging whether the angle value of the internal angle of the triangle is in the range of ultrasonic beam angles for detecting a first distance and a second distance, if so, calculating to obtain the position information of the obstacle relative to the second position point according to the first distance, the first driving distance and the second distance, and otherwise, determining the position information of the obstacle relative to the second position point according to the second distance, the third distance and the second driving distance.
5. The method according to claim 4, wherein the calculating of the position information of the obstacle with respect to the second position point from the first distance, the first travel distance, and the second distance specifically comprises:
calculating and obtaining a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle of the second position point by adopting a three-point positioning algorithm according to the first distance, the first driving distance and the second distance;
the determining the position information of the obstacle relative to the second position point according to the second distance, the third distance, and the second travel distance specifically includes:
and calculating by adopting a three-point positioning algorithm according to the second distance, the second driving distance and the third distance to obtain a second horizontal distance value and a second vertical distance value of the obstacle relative to the vehicle at the second position point.
6. An obstacle location detection system, comprising:
a first acquisition unit configured to acquire a first distance between the vehicle and the obstacle when the vehicle is at a first position point, a first travel distance for the vehicle to travel from the first position point to a second position point, and a second distance between the vehicle and the obstacle when the vehicle is at the second position point;
and the calculating unit is used for determining the position information of the obstacle according to the first distance, the first traveling distance and the second distance.
7. The system of claim 6, wherein the first distance traveled satisfies the following condition:
2AO*sin(a/2)≤S1≤L/2
wherein S1 is a first travel distance, AO is a minimum detection distance for acquiring the ultrasonic waves of the first distance and the second distance, a is a beam angle of the ultrasonic waves, and L is a vehicle body length.
8. The system according to claim 6, wherein the computing unit is specifically configured to:
and calculating by adopting a three-point positioning algorithm according to the first distance, the first travel distance and the second distance to obtain a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point.
9. The system according to claim 6 or 7, wherein the computing unit comprises in particular:
an angle value calculation unit, configured to calculate an angle value of an interior angle of a triangle corresponding to a second position point according to the first distance, the first travel distance, and the second distance, where the triangle is formed by the first position point, the second position point, and the obstacle position point;
and the judging unit is used for judging whether the angle value of the internal angle of the triangle is in the range of the ultrasonic beam angle for detecting the first distance and the second distance, if so, calculating to obtain the position information of the obstacle relative to the second position point according to the first distance, the first driving distance and the second distance, and otherwise, calculating to obtain the position information of the obstacle relative to the second position point according to the second distance, the third distance and the second driving distance.
10. The system according to claim 9, wherein the determining unit specifically comprises:
the first position information calculating unit is used for calculating and obtaining a first horizontal distance and a first vertical distance of the obstacle relative to the vehicle at the second position point by adopting a three-point positioning algorithm according to the first distance, the first driving distance and the second distance;
and the second position information calculating unit is used for calculating and obtaining a second horizontal distance value and a second vertical distance value of the obstacle relative to the vehicle at the second position point by adopting a three-point positioning algorithm according to the second distance, the second driving distance and the third distance.
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