CN116506940A - Fusion positioning method, device and system and computer readable storage medium - Google Patents

Fusion positioning method, device and system and computer readable storage medium Download PDF

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Publication number
CN116506940A
CN116506940A CN202210055206.9A CN202210055206A CN116506940A CN 116506940 A CN116506940 A CN 116506940A CN 202210055206 A CN202210055206 A CN 202210055206A CN 116506940 A CN116506940 A CN 116506940A
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China
Prior art keywords
vehicle
road side
position information
positioning
information
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CN202210055206.9A
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Chinese (zh)
Inventor
沈旭
孙天齐
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China Mobile Communications Group Co Ltd
China Mobile Communications Ltd Research Institute
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China Mobile Communications Group Co Ltd
China Mobile Communications Ltd Research Institute
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Priority to CN202210055206.9A priority Critical patent/CN116506940A/en
Publication of CN116506940A publication Critical patent/CN116506940A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention provides a fusion positioning method, a fusion positioning device, a fusion positioning system and a computer readable storage medium, wherein the fusion positioning method comprises the following steps: receiving vehicle information perceived and transmitted by millimeter wave radars deployed at a road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU; and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU.

Description

Fusion positioning method, device and system and computer readable storage medium
Technical Field
The present invention relates to the field of mobile communications technologies, and in particular, to a fusion positioning method, apparatus, system, and computer readable storage medium.
Background
Positioning is an important basis for the application of the internet of vehicles, and scenes such as safety, traffic efficiency and the like of the internet of vehicles all bring requirements for positioning. The current positioning method comprises the following steps: positioning based on a GNSS satellite navigation system and positioning based on a sensor, wherein the positioning is finished by using a satellite single-point positioning or RTK technology, and the positioning is realized by using a laser radar, a camera, inertial navigation and the like. The existing positioning schemes all adopt vehicle-mounted systems to finish positioning, so that the problem of high positioning cost exists; some vehicles affected by cost also have a problem of low positioning accuracy.
Disclosure of Invention
In view of this, embodiments of the present invention desire to provide a fusion positioning method, apparatus, system, and computer-readable storage medium.
In order to achieve the above object, the technical solution of the embodiment of the present invention is as follows:
the embodiment of the invention provides a fusion positioning method, which is applied to a road side computing unit and comprises the following steps:
receiving vehicle information perceived and transmitted by millimeter wave radars deployed at a road side;
receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU.
The receiving the vehicle information perceived and transmitted by the millimeter wave radar deployed at the road side comprises the following steps:
receiving vehicle information transmitted by a millimeter wave radar deployed at a road side in a wired mode; wherein,,
the vehicle information is information data of vehicles passing through a detection range perceived by the millimeter wave radar; the vehicle information includes at least: position information and speed information of the vehicle.
Wherein,,
when two adjacent millimeter wave radars deployed on the road side sense the same vehicle, the received vehicle information transmitted by the millimeter wave radars is in two paths;
when two adjacent millimeter wave radars deployed at the road sides do not sense the same vehicle at the same time, the received vehicle information transmitted by the millimeter wave radars is one path.
Wherein the determining the positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information comprises:
matching the position information in the vehicle information with the position information transmitted by the RSU;
the two or three paths of position information are determined to be the position information of the same vehicle through matching;
and processing each path of position information of the vehicle based on the Kalman filtering model, and normalizing to obtain a positioning result of the vehicle.
The Kalman filtering model is used for processing the position information of each path of the vehicle and normalizing the position information, and comprises the following steps:
obtaining the optimal position estimation value of each path of position information by adopting a Kalman filtering model for each path of position information of the vehicle;
adding the optimal position estimation value of each path of position information by taking the reciprocal of an error covariance matrix as a coefficient to obtain a positioning result of the vehicle; wherein,,
the error covariance matrix is: and adopting an error covariance matrix updated by Kalman filtering.
The embodiment of the invention also provides a fusion positioning method which is applied to the road side unit RSU and comprises the following steps:
reporting position information obtained by vehicle-mounted satellite positioning equipment sent by a vehicle to a road side computing unit, wherein the road side computing unit is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information transmitted by millimeter wave radar deployed on the road side and the position information;
and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
The embodiment of the invention also provides a fusion positioning device, which is applied to a road side computing unit and comprises:
the first receiving module is used for receiving vehicle information perceived and transmitted by the millimeter wave radar deployed at the road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
the processing module is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information;
and the first sending module is used for broadcasting the positioning result to the vehicle through the RSU.
The embodiment of the invention also provides a fusion positioning device, which is applied to the road side unit RSU and comprises:
the second sending module is used for reporting the position information obtained by the vehicle-mounted satellite positioning equipment sent by the vehicle to the road side computing unit and determining a positioning result of the vehicle by the road side computing unit through a fusion positioning algorithm based on the vehicle information transmitted by the millimeter wave radar deployed on the road side and the position information;
and for broadcasting the location results to the vehicle;
and the second receiving module is used for receiving the positioning result sent by the road side computing unit.
The embodiment of the invention also provides a fusion positioning system, which comprises: the system comprises a plurality of millimeter wave radars deployed at road sides, a plurality of road side units RSU and one or more road side computing units deployed at intersections; wherein,,
the millimeter wave radar is used for transmitting the perceived vehicle information to the road side calculation unit;
the road side calculation unit is used for receiving vehicle information transmitted by millimeter wave radars deployed on the road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU; determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU;
the RSU is used for reporting the position information obtained by the vehicle-mounted satellite positioning equipment sent by the vehicle to the road side computing unit; and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
The embodiment of the invention also provides a fusion positioning device, which comprises: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is configured to execute the steps of the above method when running the computer program.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the steps of the above method.
The fusion positioning method, the fusion positioning device, the fusion positioning system and the computer readable storage medium provided by the embodiment of the invention receive vehicle information perceived and transmitted by the millimeter wave radar deployed at the road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU; and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU. According to the embodiment of the invention, the perceived information of the road side millimeter wave radar and the position information acquired by the satellite positioning system are fused, so that the positioning accuracy is improved; meanwhile, for different data sources (position information), the contribution degree of each path of position information in the current positioning result is determined according to the error covariance matrix of Kalman filtering, and the reliability of the positioning result is improved.
In addition, the embodiment of the invention can save positioning cost and resources without additionally arranging sensor equipment on the vehicle, so that the vehicle without the sensor equipment installed under the condition can obtain accurate positioning information.
Drawings
FIG. 1 is a schematic flow chart of a method for positioning fusion according to an embodiment of the present invention;
FIG. 2 is a second schematic flow chart of a method for positioning fusion according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fusion positioning device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second embodiment of a fusion positioning device;
fig. 5 is a schematic diagram of transmission of positioning related data according to an embodiment of the present invention;
fig. 6 is a flowchart of a positioning method according to an embodiment of the present invention.
Detailed Description
The invention is described below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The embodiment of the invention provides a fusion positioning method, as shown in fig. 1, which is applied to a road side computing unit and comprises the following steps:
step 101: receiving vehicle information perceived and transmitted by millimeter wave radars deployed at a road side;
step 102: receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
step 103: and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU.
Here, the execution of the steps 101 and 102 is not sequential.
In the embodiment of the invention, the receiving of the vehicle information perceived and transmitted by the millimeter wave radar deployed at the road side comprises the following steps:
receiving vehicle information transmitted by a millimeter wave radar deployed at a road side in a wired mode; wherein,,
the vehicle information is information data of vehicles passing through a detection range perceived by the millimeter wave radar; the vehicle information includes at least: position information and speed information of the vehicle.
In an embodiment of the present invention,
when two adjacent millimeter wave radars deployed on the road side sense the same vehicle, the received vehicle information transmitted by the millimeter wave radars is in two paths;
when two adjacent millimeter wave radars deployed at the road sides do not sense the same vehicle at the same time, the received vehicle information transmitted by the millimeter wave radars is one path.
In the embodiment of the present invention, the determining, based on the vehicle information and the position information, the positioning result of the vehicle through a fusion positioning algorithm includes:
matching the position information in the vehicle information with the position information transmitted by the RSU;
the two or three paths of position information are determined to be the position information of the same vehicle through matching;
and processing each path of position information of the vehicle based on the Kalman filtering model, and normalizing to obtain a positioning result of the vehicle.
In the embodiment of the invention, the Kalman filtering model is used for processing and normalizing the position information of each path of the vehicle, and the method comprises the following steps:
obtaining the optimal position estimation value of each path of position information by adopting a Kalman filtering model for each path of position information of the vehicle;
adding the optimal position estimation value of each path of position information by taking the reciprocal of an error covariance matrix as a coefficient to obtain a positioning result of the vehicle; wherein,,
the error covariance matrix is: and adopting an error covariance matrix updated by Kalman filtering.
The embodiment of the invention also provides a fusion positioning method, as shown in fig. 2, which is applied to a Road Side Unit (RSU), and comprises the following steps:
step 201: reporting position information obtained by vehicle-mounted satellite positioning equipment sent by a vehicle to a road side computing unit, wherein the road side computing unit is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information transmitted by millimeter wave radar deployed on the road side and the position information;
step 202: and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
In order to implement the above method embodiment, the embodiment of the present invention further provides a fusion positioning device, as shown in fig. 3, where the fusion positioning device is applied to a roadside computing unit, and includes:
a first receiving module 301, configured to receive vehicle information perceived and transmitted by a millimeter wave radar deployed at a road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
a processing module 302, configured to determine a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information;
a first transmitting module 303 for broadcasting the positioning result to the vehicle via the RSU.
In the embodiment of the present invention, the first receiving module 301 receives the vehicle information perceived and transmitted by the millimeter wave radar deployed at the road side, including:
receiving vehicle information transmitted by a millimeter wave radar deployed at a road side in a wired mode; wherein,,
the vehicle information is information data of vehicles passing through a detection range perceived by the millimeter wave radar; the vehicle information includes at least: position information and speed information of the vehicle.
In an embodiment of the present invention,
when the millimeter wave radars deployed on two adjacent road sides sense the same vehicle, the vehicle information transmitted by the millimeter wave radars received by the first receiving module 301 is in two paths;
when the millimeter wave radars deployed on two adjacent road sides do not sense the same vehicle at the same time, the vehicle information transmitted by the millimeter wave radars received by the first receiving module 301 is one path.
In the embodiment of the present invention, the processing module 302 determines the positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, including:
matching the position information in the vehicle information with the position information transmitted by the RSU;
the two or three paths of position information are determined to be the position information of the same vehicle through matching;
and processing each path of position information of the vehicle based on the Kalman filtering model, and normalizing to obtain a positioning result of the vehicle.
In the embodiment of the present invention, the processing module 302 processes and normalizes each path of position information of the vehicle based on a kalman filter model, including:
obtaining the optimal position estimation value of each path of position information by adopting a Kalman filtering model for each path of position information of the vehicle;
adding the optimal position estimation value of each path of position information by taking the reciprocal of an error covariance matrix as a coefficient to obtain a positioning result of the vehicle; wherein,,
the error covariance matrix is: and adopting an error covariance matrix updated by Kalman filtering.
The embodiment of the invention also provides a fusion positioning device, as shown in fig. 4, which is applied to a road side unit RSU and comprises:
a second sending module 401, configured to report, to a roadside computing unit, location information obtained by a vehicle-mounted satellite positioning device sent by a vehicle, and determine a positioning result of the vehicle by the roadside computing unit through a fusion positioning algorithm based on vehicle information transmitted by a millimeter wave radar deployed on a roadside;
and for broadcasting the location results to the vehicle;
a second receiving module 402, configured to receive the positioning result sent by the roadside computing unit.
The embodiment of the invention also provides a fusion positioning system, which comprises: a plurality of millimeter wave radars 501 deployed at road sides, a plurality of road side units RSU 502, one or more road side calculation units 503 deployed at intersections; wherein,,
the millimeter wave radar 501 is configured to transmit the perceived vehicle information to the roadside calculation unit;
the road side calculating unit 503 is configured to receive vehicle information transmitted by a millimeter wave radar deployed on a road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU; determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU;
the RSU 502 is configured to report, to a roadside computing unit, position information obtained by a vehicle-mounted satellite positioning device sent by a vehicle; and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
The embodiment of the invention also provides a fusion positioning device, which comprises: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor, when executing the computer program, performs:
receiving vehicle information perceived and transmitted by millimeter wave radars deployed at a road side;
receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU.
The processor is further configured to execute, when the processor is configured to run the computer program, when the millimeter wave radar deployed on the receiving road side senses and transmits vehicle information:
receiving vehicle information transmitted by a millimeter wave radar deployed at a road side in a wired mode; wherein,,
the vehicle information is information data of vehicles passing through a detection range perceived by the millimeter wave radar; the vehicle information includes at least: position information and speed information of the vehicle.
Wherein,,
when two adjacent millimeter wave radars deployed on the road side sense the same vehicle, the received vehicle information transmitted by the millimeter wave radars is in two paths;
when two adjacent millimeter wave radars deployed at the road sides do not sense the same vehicle at the same time, the received vehicle information transmitted by the millimeter wave radars is one path.
The processor is further configured to, when executing the computer program, perform:
matching the position information in the vehicle information with the position information transmitted by the RSU;
the two or three paths of position information are determined to be the position information of the same vehicle through matching;
and processing each path of position information of the vehicle based on the Kalman filtering model, and normalizing to obtain a positioning result of the vehicle.
And when the Kalman filtering model is based on processing each path of position information of the vehicle and normalizing, the processor is further used for executing the computer program when the computer program is executed:
obtaining the optimal position estimation value of each path of position information by adopting a Kalman filtering model for each path of position information of the vehicle;
adding the optimal position estimation value of each path of position information by taking the reciprocal of an error covariance matrix as a coefficient to obtain a positioning result of the vehicle; wherein,,
the error covariance matrix is: and adopting an error covariance matrix updated by Kalman filtering.
The embodiment of the invention also provides a fusion positioning device, which comprises: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor, when executing the computer program, performs:
reporting position information obtained by vehicle-mounted satellite positioning equipment sent by a vehicle to a road side computing unit, wherein the road side computing unit is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information transmitted by millimeter wave radar deployed on the road side and the position information;
and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
It should be noted that: in the apparatus provided in the above embodiment, only the division of each program module is used for illustration in the fusion positioning, and in practical application, the processing allocation may be performed by different program modules according to needs, that is, the internal structure of the device is divided into different program modules, so as to complete all or part of the processing described above. In addition, the apparatus provided in the foregoing embodiments and the corresponding method embodiments belong to the same concept, and specific implementation processes of the apparatus and the corresponding method embodiments are detailed in the method embodiments, which are not described herein again.
In an exemplary embodiment, the present invention further provides a computer readable storage medium, which may be FRAM, ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above-described memories, such as a mobile phone, computer, tablet device, personal digital assistant, or the like.
The embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs:
receiving vehicle information perceived and transmitted by millimeter wave radars deployed at a road side;
receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU.
When the computer program is executed by the processor, the method further performs:
receiving vehicle information transmitted by a millimeter wave radar deployed at a road side in a wired mode; wherein,,
the vehicle information is information data of vehicles passing through a detection range perceived by the millimeter wave radar; the vehicle information includes at least: position information and speed information of the vehicle.
Wherein,,
when two adjacent millimeter wave radars deployed on the road side sense the same vehicle, the received vehicle information transmitted by the millimeter wave radars is in two paths;
when two adjacent millimeter wave radars deployed at the road sides do not sense the same vehicle at the same time, the received vehicle information transmitted by the millimeter wave radars is one path.
The computer program, when executed by the processor, further performs:
matching the position information in the vehicle information with the position information transmitted by the RSU;
the two or three paths of position information are determined to be the position information of the same vehicle through matching;
and processing each path of position information of the vehicle based on the Kalman filtering model, and normalizing to obtain a positioning result of the vehicle.
And when the computer program is run by the processor, the method further performs the following steps:
obtaining the optimal position estimation value of each path of position information by adopting a Kalman filtering model for each path of position information of the vehicle;
adding the optimal position estimation value of each path of position information by taking the reciprocal of an error covariance matrix as a coefficient to obtain a positioning result of the vehicle; wherein,,
the error covariance matrix is: and adopting an error covariance matrix updated by Kalman filtering.
The embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs:
reporting position information obtained by vehicle-mounted satellite positioning equipment sent by a vehicle to a road side computing unit, wherein the road side computing unit is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information transmitted by millimeter wave radar deployed on the road side and the position information;
and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
The invention is described below in connection with scene embodiments.
Currently, a plurality of provinces and cities develop a demonstration verification project of the internet of vehicles, and in the construction of the demonstration area of the internet of vehicles, millimeter wave sensors are usually arranged on a road side to sense vehicles running on the road and surrounding environments in real time. The embodiment provides a road side millimeter wave radar and satellite fusion positioning system, which solves the problem of insufficient perception capability of a vehicle due to limited cost.
The road side millimeter wave radar and satellite fusion positioning system structure of the embodiment is as follows:
in the road side, millimeter wave radars are arranged at intervals of about 200m-300m, and in order to ensure seamless coverage, the coverage areas of the two radars need to be overlapped to a certain extent. Here, if the road is wide, millimeter wave radars may be deployed on both sides of the road, and if it is narrow, it may be deployed on one side of the road. Meanwhile, a certain Road Side Unit (RSU) is arranged at the road side for collecting data reported by the vehicle. Road side computing units are arranged at intersections, the road side computing units with strong computing power can be connected with a plurality of road side millimeter wave radars and a plurality of RSUs according to the deployment of computing power capability differences of the computing units, and the road side computing units with weak computing power are used for mounting fewer road side millimeter wave radars and RSUs.
As shown in fig. 5, when the vehicle runs on the road where the road side millimeter wave radar and satellite integrated positioning system is deployed, the millimeter wave radar senses the position and speed information of the vehicle and transmits the position and speed information back to the road side computing unit through a wire. Meanwhile, the satellite positioning equipment loaded by the vehicle acquires the vehicle position information, the vehicle encrypts the position information and encapsulates the position information into a certain information format, and the information is sent to the RSU through the SL direct link. The RSU transmits the position reported by the vehicle back to the road side computing unit in a wired back transmission mode. After obtaining the information perceived by the millimeter wave radar at the road side and the satellite positioning position information reported by the vehicle, the road side calculation unit calculates the accurate position of the vehicle through the processing of a certain fusion positioning algorithm, and sends the position information to the RSU in a wired mode. Finally, the RSU broadcasts to the vehicle via the SL direct link. At this time, a vehicle without a sensor obtains an accurate positioning result of the road side millimeter wave radar and satellite fusion positioning due to cost limitation.
Specifically, the process of the road side computing unit for vehicle fusion positioning is as follows:
step 1: the road side millimeter wave radar uploads the perceived data to the road side computing unit;
the road side millimeter wave radar senses vehicle information data passing through the detection range, and obtains the position and speed information of the vehicle after processing. And the road side millimeter wave radar reports the processed structured data to the road side computing unit through wired back transmission.
Step 2: the vehicle sends the acquired GNSS positioning information (position information) to an RSU in a coverage area through a SL direct link, and the RSU reports the positioning information to a road side computing unit;
step 3: the road side computing unit matches the received millimeter wave radar positioning information with GNSS positioning information;
the road side calculating unit matches the sensing information of the millimeter wave radar with the satellite positioning information of the vehicle through position comparison and tracking results of the millimeter wave radar (the matching method is the prior art and is not described in detail here). In order to ensure continuous coverage, the millimeter wave radars on the road side are usually deployed more densely, and the sensing areas are overlapped, so that a situation exists that two adjacent millimeter wave radars on the road side sense the same vehicle at the same time, at the moment, three paths of data including GNSS positioning information of the vehicle and information detected by the two adjacent millimeter wave radars are input into the fused positioning information of the vehicle in the road side computing unit. After the three paths or two paths of positioning information are fused, the road side computing unit transmits the finally determined optimal vehicle position to the RSU, the RSU transmits positioning information and the like to the vehicle, and the vehicle acquires final position resolving information.
During the running process of the vehicle, the satellite navigation receiver loaded on the vehicle can continuously acquire the positioning and speed observation value data provided by the satellite. However, in some places where the shielding is serious or in areas where satellite conditions are poor, satellite positioning can be out of lock, the positioning output drifts, or even cannot work. Therefore, millimeter wave radar deployed on the road side and satellite positioning navigation are fused, and when one type of positioning cannot work normally, the other type of positioning can be used as supplement.
Here, the vehicle is traveling on the road, and the millimeter wave radar deployed on the road side detects and senses the positioning information and the speed information of the vehicle. The millimeter wave radar uploads the structured data formed after the original data is subjected to time and space coordinate system conversion to a road side calculation unit. At this time, if the area where the vehicle passes is exactly covered by two millimeter wave radars, the two millimeter wave radars will report the detection information. Meanwhile, the vehicle sends the position information obtained by satellite positioning to surrounding RSUs through a direct link, and the RSUs report the position information of the vehicle to a road side computing unit. Since the millimeter wave radar and the RSU in the same area are mounted on the same roadside computing unit, at this time, both the detection information of the millimeter wave radar and the position information reported by the vehicle itself are collected on the same roadside computing unit.
After receiving millimeter wave radar positioning information and GNSS positioning information reported by a vehicle, the road side computing unit can perform matching on whether the data are of the same vehicle or not. The matching process may identify the adjacent nearest GNSS and millimeter wave positioning information as positioning data of the same vehicle based on the location distance, and the matching method may employ existing related art, which is not described in detail herein. If at certain moments, the GNSS information of the vehicle cannot work or the output data drift is larger, and millimeter wave radar positioning information (position information) cannot be matched with the GNSS positioning information, the GNSS positioning information at the current moment can be removed, so that the same vehicle stores the matched unique one-path millimeter wave positioning information, or one-path satellite positioning information and two-path millimeter wave positioning information on a road side computing unit.
Step 4: and adopting a Kalman filtering model for the positioning information of each path, and outputting the optimal position estimation value of the positioning information of the path, wherein the specific steps are as follows:
the position of the vehicle includes x, y coordinates and the vehicle speed includes v speeds in both x, y directions. Assume that the vehicle t-1 time state is:
X t-1 ＝[x t-1 ,y t-1 ,v t-1 ] T ；
and (3) carrying out positioning fusion by adopting Kalman filtering, wherein the motion state prediction model and the observation model are respectively as follows:
wherein F is a motion state transition matrix, c t Is the prediction model noise with covariance of Q;
z t for observational quantity, wherein->To observe the transfer function, u t Is the view with covariance RAnd measuring noise.
For the positioning information of each path, the prediction and update process of the Kalman filter is specifically as follows:
prediction error covariance matrix
Updating an optimal state quantity
Kalman coefficient of
Updated error covariance matrix
The kalman filter algorithm is a related art, and will not be described in detail herein.
Step 5: normalizing an error covariance matrix of positioning information of each path, and determining an optimal positioning result at the current moment;
here, when GNSS and millimeter wave positioning information are fused, since the error covariance matrix represents the error probability between the estimated value and the actual value, the covariance is larger as the estimated value is more unstable. Therefore, in the process of fusing positioning information, the inverse of the covariance matrix is used to represent a weight value of different data sources in the final position estimation value. Aiming at a certain vehicle, under the condition that the current effective positioning information is one path or two paths or three paths, carrying out normalization processing on an error covariance matrix of multipath data, and taking the reciprocal of the covariance matrix as the addition form of coefficients for final position and speed estimation values, wherein the specific formula is as follows:
X t ＝∑P ti *X ti the method comprises the steps of carrying out a first treatment on the surface of the Where i=1 to 3, the number of paths of the positioning information is represented.
Step 6: the road side calculation unit sends the positioning result to the RSU, and the RSU sends the result to the corresponding vehicle through the direct link.
Therefore, the sensing information of the road side millimeter wave radar in the embodiment of the invention fuses and supplements the satellite positioning system, and the road side millimeter wave radar can be used as the fusion information of the satellite positioning system under the condition that the satellite signal is good and the GNSS can normally position, so that the precision of the positioning result is improved. When the satellite is interfered or in a satellite signal-free environment, the perceived information of the road side millimeter wave radar is used as the supplement of satellite positioning, and the millimeter wave radar positioning information is used as the main reference of a positioning system, so that the positioning information is uninterruptedly output, and the realization of the application of the internet of vehicles is not influenced.
In addition, as the road side millimeter wave radars are generally distributed at intervals of about 200 meters, adjacent millimeter wave radar sensing areas are overlapped, in the overlapped areas, the information of the two millimeter wave radars can be mutually verified, meanwhile, the accuracy of a final positioning output result is improved by taking the information as an input source of a positioning system, meanwhile, for different data sources, the contribution degree of each path of positioning information in the positioning result is determined according to an error covariance matrix of Kalman filtering, and the reliability of the positioning information is improved. The road side millimeter wave radar and satellite fusion positioning system can save the cost of a large number of sensors on the vehicle side, ensure normal positioning operation when the satellite cannot work or is positioned and drifts, and can improve the accuracy of positioning results due to fusion of double positioning information sources.
According to the embodiment of the invention, additional sensor equipment such as a camera or a laser radar with high price is not required to be additionally arranged on the vehicle, so that the positioning cost and resources can be saved, and the vehicle without the sensor equipment can obtain accurate positioning information.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.

Claims (11)

1. The fusion positioning method is characterized by being applied to a road side computing unit and comprising the following steps of:
receiving vehicle information perceived and transmitted by millimeter wave radars deployed at a road side;
receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
and determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU.
2. The method of claim 1, wherein the receiving the roadside-deployed millimeter wave radar-perceived and transmitted vehicle information comprises:
receiving vehicle information transmitted by a millimeter wave radar deployed at a road side in a wired mode; wherein,,
the vehicle information is information data of vehicles passing through a detection range perceived by the millimeter wave radar; the vehicle information includes at least: position information and speed information of the vehicle.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
when two adjacent millimeter wave radars deployed on the road side sense the same vehicle, the received vehicle information transmitted by the millimeter wave radars is in two paths;
when two adjacent millimeter wave radars deployed at the road sides do not sense the same vehicle at the same time, the received vehicle information transmitted by the millimeter wave radars is one path.
4. A method according to claim 1 or 3, wherein said determining a positioning result of the vehicle via a fused positioning algorithm based on the vehicle information and the position information comprises:
matching the position information in the vehicle information with the position information transmitted by the RSU;
the two or three paths of position information are determined to be the position information of the same vehicle through matching;
and processing each path of position information of the vehicle based on the Kalman filtering model, and normalizing to obtain a positioning result of the vehicle.
5. The method of claim 4, wherein the processing and normalizing each path of position information of the vehicle based on the kalman filter model comprises:
obtaining the optimal position estimation value of each path of position information by adopting a Kalman filtering model for each path of position information of the vehicle;
adding the optimal position estimation value of each path of position information by taking the reciprocal of an error covariance matrix as a coefficient to obtain a positioning result of the vehicle; wherein,,
the error covariance matrix is: and adopting an error covariance matrix updated by Kalman filtering.
6. The fusion positioning method is characterized by being applied to a road side unit RSU and comprising the following steps:
reporting position information obtained by vehicle-mounted satellite positioning equipment sent by a vehicle to a road side computing unit, wherein the road side computing unit is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information transmitted by millimeter wave radar deployed on the road side and the position information;
and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
7. A fusion positioning device, characterized in that the device is applied to a roadside computing unit, comprising:
the first receiving module is used for receiving vehicle information perceived and transmitted by the millimeter wave radar deployed at the road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU;
the processing module is used for determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information;
and the first sending module is used for broadcasting the positioning result to the vehicle through the RSU.
8. A fusion positioning device, characterized in that the device is applied to a road side unit RSU, comprising:
the second sending module is used for reporting the position information obtained by the vehicle-mounted satellite positioning equipment sent by the vehicle to the road side computing unit and determining a positioning result of the vehicle by the road side computing unit through a fusion positioning algorithm based on the vehicle information transmitted by the millimeter wave radar deployed on the road side and the position information;
and for broadcasting the location results to the vehicle;
and the second receiving module is used for receiving the positioning result sent by the road side computing unit.
9. A fusion positioning system, the system comprising: the system comprises a plurality of millimeter wave radars deployed at road sides, a plurality of road side units RSU and one or more road side computing units deployed at intersections; wherein,,
the millimeter wave radar is used for transmitting the perceived vehicle information to the road side calculation unit;
the road side calculation unit is used for receiving vehicle information transmitted by millimeter wave radars deployed on the road side; receiving position information transmitted by a Road Side Unit (RSU); the position information is: a vehicle-mounted satellite positioning device obtains and transmits the vehicle-mounted satellite positioning device to the RSU; determining a positioning result of the vehicle through a fusion positioning algorithm based on the vehicle information and the position information, and broadcasting the positioning result to the vehicle through the RSU;
the RSU is used for reporting the position information obtained by the vehicle-mounted satellite positioning equipment sent by the vehicle to the road side computing unit; and receiving the positioning result sent by the road side computing unit and broadcasting the positioning result to the vehicle.
10. A fusion positioning device, the device comprising: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is adapted to perform the steps of the method of any of claims 1-5 or the steps of the method of claim 6 when the computer program is run.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1-5 or the steps of the method according to claim 6.
CN202210055206.9A 2022-01-18 2022-01-18 Fusion positioning method, device and system and computer readable storage medium Pending CN116506940A (en)

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