CN118330555A

CN118330555A - Vehicle positioning method, device, system, road side equipment and storage medium

Info

Publication number: CN118330555A
Application number: CN202410238654.1A
Authority: CN
Inventors: 张秀昌; 李雪源; 崔新; 朱胜超
Original assignee: Beijing Wanji Intelligent Network Technology Co ltd
Current assignee: Beijing Wanji Intelligent Network Technology Co ltd
Priority date: 2024-03-01
Filing date: 2024-03-01
Publication date: 2024-07-12

Abstract

The application is suitable for the technical field of intelligent transportation, and provides a vehicle positioning method, a device, a system, road side equipment and a storage medium. The vehicle positioning method comprises the following steps: the radio frequency switch is adopted to switch the direction every acquisition period, and the radio frequency signals in different directions are periodically acquired; carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of a radio frequency switch; updating the direction of the radio frequency switch; carrying out positioning data calculation on radio frequency signals acquired in the next adjacent period, determining a corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch; and positioning the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate and the azimuth of the second coordinate. The scheme can further reduce the production cost under the condition of reducing the complexity of the digital signal processing method.

Description

Vehicle positioning method, device, system, road side equipment and storage medium

Technical Field

The application belongs to the technical field of intelligent transportation, and particularly relates to a vehicle positioning method, device, system, road side equipment and storage medium.

Background

DBF (Digital Beam Forming) is a technique commonly used in ETC (Electronic Toll Collection ) application scenarios for accurately locating vehicles and charging. The principle is that the position of a vehicle is determined by calculating the time difference and the phase difference of the wireless signals reaching each antenna based on the propagation of the wireless signals and the interaction among a plurality of antennas, but in the traditional DBF positioning technology, in order to ensure that the positioning accuracy of the vehicle meets the ETC requirement, an array antenna sheet with multiple units in the transverse direction and the longitudinal direction is generally required to be configured in an RSU (Roadside Unit ) antenna, and the same number of signal processing circuits as the antenna sheets, and the position of the vehicle is calculated by simultaneously receiving the transverse and longitudinal radio frequency signals and analyzing the time and the phase of the radio frequency signals received by the antenna sheet, but the complicated digital signal processing method has higher requirements on the performance and the resource of a processor, so that the hardware cost and the complexity of the system are increased.

Therefore, it is desirable to provide a vehicle positioning method, which further reduces the production cost while reducing the complexity of the digital signal processing method.

Disclosure of Invention

The embodiment of the application provides a vehicle positioning method, a device, a system, road side equipment and a storage medium, which can further reduce the production cost under the condition of reducing the complexity of a data signal processing method.

In a first aspect, an embodiment of the present application provides a vehicle positioning method, applied to a road side device, where the road side device includes a radio frequency switch; the vehicle positioning method comprises the following steps:

the radio frequency switch is adopted to switch the direction every acquisition period, and the radio frequency signals in different directions are periodically acquired;

Carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of a radio frequency switch;

updating the direction of the radio frequency switch;

carrying out positioning data calculation on radio frequency signals acquired in the next adjacent period, determining a corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch;

and positioning the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate and the azimuth of the second coordinate.

In one possible implementation manner, the road side device comprises a transverse array antenna and a longitudinal array antenna, wherein the transverse array antenna comprises a plurality of transverse antenna sheets, the longitudinal array antenna comprises a plurality of longitudinal antenna sheets, and each radio frequency switch is correspondingly connected with one transverse antenna sheet and one longitudinal antenna sheet; the radio frequency switch is adopted to switch the direction every acquisition period, and the radio frequency signals in different directions are periodically acquired, and the method comprises the following steps:

And after each acquisition period, simultaneously switching the directions of a plurality of radio frequency switches, and carrying out periodic acquisition on radio frequency signals received by the transverse antenna sheet and the longitudinal antenna sheet.

In one possible implementation manner, each time an acquisition period is completed, the directions of the plurality of radio frequency switches are switched simultaneously, and radio frequency signals received by the transverse antenna sheet and the longitudinal antenna sheet are acquired in a sub-period, including:

In the current acquisition period, acquiring radio frequency signals received by a plurality of transverse antenna sheets according to the transverse acquisition direction of a radio frequency switch to obtain a plurality of transverse radio frequency signals;

and when the current acquisition period is finished, the direction of the radio frequency switch is switched to be the longitudinal acquisition direction, and radio frequency signals received by the plurality of longitudinal antenna sheets are acquired to obtain a plurality of longitudinal radio frequency signals.

In one possible implementation, in the case of a transverse radio frequency signal for the radio frequency signal acquired in any period; the method for calculating the positioning data of the radio frequency signals acquired in any period, determining the corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch comprises the following steps:

calculating positioning data of the acquired transverse radio frequency signals, and determining corresponding first coordinates, wherein the direction of a radio frequency switch corresponding to the transverse radio frequency signals is the transverse acquisition direction;

according to the transverse acquisition direction of the radio frequency switch, determining the azimuth of the first coordinate as transverse;

correspondingly, updating the direction of the radio frequency switch includes:

updating the direction of the radio frequency switch to be a longitudinal acquisition direction;

correspondingly, the method for calculating the positioning data of the radio frequency signals acquired in the next adjacent period, determining the corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch comprises the following steps:

Carrying out positioning data calculation on longitudinal radio frequency signals acquired in the next adjacent period, and determining a corresponding second coordinate;

And determining the azimuth of the second coordinate as the longitudinal direction according to the longitudinal acquisition direction of the radio frequency switch.

In one possible implementation, in the case of a longitudinal radio frequency signal for the radio frequency signal acquired in any period; the method for calculating the positioning data of the radio frequency signals acquired in any period, determining the corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch comprises the following steps:

calculating positioning data of the acquired longitudinal radio frequency signals, and determining corresponding first coordinates, wherein the direction of a radio frequency switch corresponding to the longitudinal radio frequency signals is the longitudinal acquisition direction;

According to the longitudinal acquisition direction of the radio frequency switch, determining the azimuth of the first coordinate as the longitudinal direction;

correspondingly, updating the direction of the radio frequency switch includes:

Updating the direction of the radio frequency switch to be a transverse acquisition direction;

Carrying out positioning data calculation on the transverse radio frequency signals acquired in the next adjacent period, and determining a corresponding second coordinate;

and determining the azimuth of the second coordinate as transverse according to the transverse acquisition direction of the radio frequency switch.

In one possible implementation, the different orientations include a lateral direction and a longitudinal direction, locating the vehicle according to the first coordinate, the orientation of the first coordinate, the second coordinate, and the orientation of the second coordinate, including:

Determining the transverse coordinate and the longitudinal coordinate of the vehicle according to the first coordinate, the second coordinate and the transverse direction and the longitudinal direction corresponding to the first coordinate and the second coordinate respectively;

And positioning the vehicle according to the transverse coordinates and the longitudinal coordinates of the vehicle.

In a second aspect, an embodiment of the present application provides a vehicle positioning apparatus configured in a road side device, where the road side device includes a radio frequency switch; the vehicle positioning device includes:

the signal acquisition module is used for periodically acquiring radio frequency signals in different directions by switching the direction of each acquisition period after the radio frequency switch is adopted;

The first direction determining module is used for carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate and determining the direction of the first coordinate according to the direction of the radio frequency switch;

The switch direction updating module is used for updating the direction of the radio frequency switch;

The second azimuth determining module is used for calculating positioning data of radio frequency signals acquired in the next adjacent period, determining a corresponding second coordinate and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch;

And the positioning module is used for positioning the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate and the azimuth of the second coordinate.

In one possible implementation manner, the lateral array antenna and the longitudinal array antenna are included in the roadside device, the lateral array antenna includes a plurality of lateral antenna sheets, the longitudinal array antenna includes a plurality of longitudinal antenna sheets, and in a case that each radio frequency switch is correspondingly connected to one lateral antenna sheet and one longitudinal antenna sheet, the signal acquisition module includes the following units:

And the acquisition unit is used for switching the directions of the plurality of radio frequency switches simultaneously after each acquisition period, and carrying out periodic acquisition on radio frequency signals received by the transverse antenna sheet and the longitudinal antenna sheet.

In one possible embodiment, the acquisition unit may be specifically configured to:

In one possible implementation, in the case of a transverse radio frequency signal for the radio frequency signal acquired in any period; the first orientation determination module includes the following elements:

The first calculation unit is used for calculating positioning data of the acquired transverse radio frequency signals, determining corresponding first coordinates, and determining the direction of the radio frequency switch corresponding to the transverse radio frequency signals as the transverse acquisition direction;

The first determining unit is used for determining the azimuth of the first coordinate to be transverse according to the transverse acquisition direction of the radio frequency switch;

correspondingly, the switch direction updating module comprises the following units:

The first updating unit is used for updating the direction of the radio frequency switch into the longitudinal acquisition direction;

correspondingly, the second position determining module comprises the following elements:

the second calculation unit is used for calculating positioning data of the longitudinal radio frequency signals acquired in the next adjacent period and determining a corresponding second coordinate;

and the second determining unit is used for determining the azimuth of the second coordinate as the longitudinal direction according to the longitudinal acquisition direction of the radio frequency switch.

In one possible implementation, in the case of a longitudinal radio frequency signal for the radio frequency signal acquired in any period; the first orientation determination module includes the following elements:

the third calculation unit is used for calculating positioning data of the acquired longitudinal radio frequency signals, determining corresponding first coordinates, and enabling the direction of the radio frequency switch corresponding to the longitudinal radio frequency signals to be the longitudinal acquisition direction;

The third determining unit is used for determining the azimuth of the first coordinate as the longitudinal direction according to the longitudinal acquisition direction of the radio frequency switch;

The second updating unit is used for updating the direction of the radio frequency switch into a transverse acquisition direction;

The fourth calculation unit is used for calculating positioning data of the transverse radio frequency signals acquired in the next adjacent period and determining a corresponding second coordinate;

and the fourth determining unit is used for determining the azimuth of the second coordinate to be transverse according to the transverse acquisition direction of the radio frequency switch.

In one possible embodiment, the different orientations include a lateral direction and a longitudinal direction, and the positioning module includes the following units:

The coordinate determining unit is used for determining the transverse coordinate and the longitudinal coordinate of the vehicle according to the first coordinate, the second coordinate and the transverse direction and the longitudinal direction respectively corresponding to the first coordinate and the second coordinate;

and the vehicle positioning unit is used for positioning the vehicle according to the transverse coordinates and the longitudinal coordinates of the vehicle.

In a third aspect, an embodiment of the present application provides a vehicle positioning system, including: vehicles and roadside equipment;

The vehicle is used for transmitting radio frequency signals to antennas in different directions in the road side equipment;

The road side equipment is used for periodically acquiring radio frequency signals in different directions by switching the direction of each acquisition period after the radio frequency switch is adopted; carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of a radio frequency switch; updating the direction of the radio frequency switch; carrying out positioning data calculation on radio frequency signals acquired in the next adjacent period, determining a corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch; and positioning the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate and the azimuth of the second coordinate.

In a fourth aspect, an embodiment of the present application provides a roadside apparatus, including: the vehicle positioning system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the vehicle positioning method when executing the computer program.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements a vehicle positioning method as before.

In a sixth aspect, embodiments of the present application provide a computer program product for causing an electronic device to perform a vehicle localization method as before when the computer program product is run on the electronic device.

Compared with the prior art, the embodiment of the application has the beneficial effects that:

the method comprises the steps of firstly switching the direction by adopting a radio frequency switch every acquisition period, periodically acquiring radio frequency signals in different directions, then calculating positioning data of the radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the direction of the first coordinate according to the direction of the radio frequency switch; and updating the direction of the radio frequency switch so as to determine the direction of the second coordinate according to the updated direction of the radio frequency switch when the positioning data calculation is carried out on the radio frequency signals acquired in the next adjacent period, wherein the direction of the first coordinate and the direction of the second coordinate are different due to the different directions of the radio frequency switch for two times, and then positioning the vehicle according to the first coordinate, the direction of the second coordinate and the direction of the second coordinate. The application makes the road side equipment collect and process the radio frequency signal of one direction only in the same collecting period by switching the direction of the radio frequency switch, then collect and process the radio frequency signal of another direction in the next period, thereby reducing the complexity of processing the data signal at the same time, the requirement on the performance and the resource of the processor and reducing the hardware cost and the complexity of the system.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a vehicle positioning system according to an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle positioning method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a transversal array antenna and a longitudinal array antenna according to an embodiment of the present application;

fig. 4 is a schematic diagram of two RSU positioning devices positioning an OBU in a straight line;

FIG. 5 is a flowchart of a vehicle positioning method according to another embodiment of the present application;

FIG. 6 is a block diagram of positioning logic provided by an embodiment of the present application;

FIG. 7 is a flow chart of a method for locating a vehicle according to another embodiment of the present application;

FIG. 8 is a schematic flow chart of a vehicle positioning device according to an embodiment of the application;

fig. 9 is a schematic structural diagram of a road side device according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should 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.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the 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 application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

It should be understood that, the sequence number of each step in this embodiment does not mean the execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not limit the implementation process of the embodiment of the present application in any way.

In order to solve the problems, the application provides a vehicle positioning method, which can firstly adopt a radio frequency switch to switch the direction every acquisition period, periodically acquire radio frequency signals in different directions, then calculate positioning data of the radio frequency signals acquired in any period, determine a corresponding first coordinate, and determine the direction of the first coordinate according to the direction of the radio frequency switch; and updating the direction of the radio frequency switch so as to determine the direction of the second coordinate according to the updated direction of the radio frequency switch when the positioning data calculation is carried out on the radio frequency signals acquired in the next adjacent period, wherein the direction of the first coordinate and the direction of the second coordinate are different due to the different directions of the radio frequency switch for two times, and then positioning the vehicle according to the first coordinate, the direction of the second coordinate and the direction of the second coordinate. The application makes the road side equipment collect and process the radio frequency signal of one direction only in the same collecting period by switching the direction of the radio frequency switch, then collect and process the radio frequency signal of another direction in the next period, thereby reducing the complexity of processing the data signal at the same time, the requirement on the performance and the resource of the processor and reducing the hardware cost and the complexity of the system.

The vehicle positioning method, apparatus, system, roadside device, storage medium, and computer program provided by the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 shows a schematic structural diagram of a vehicle positioning system according to an embodiment of the present application. Wherein the vehicle positioning system comprises a vehicle and a road side device.

The vehicle positioning system of the embodiment of the application can be applied to ETC application scenes, when a vehicle runs to an ETC toll gate, a broadcasting signal of road side equipment can be received, a vehicle-mounted unit is arranged in the vehicle, after the broadcasting signal of the road side equipment is received, the vehicle-mounted unit can send radio frequency signals to the road side equipment, and the road side equipment is provided with a radio frequency switch, so that the direction of the radio frequency switch is switched once every acquisition period, radio frequency signals are acquired from different directions, namely, only one direction of the radio frequency signal is acquired in each acquisition period, positioning data calculation is carried out on the radio frequency signals acquired in any period, the corresponding first coordinate is determined, the direction of the radio frequency switch is determined when the radio frequency signals are acquired in the period, the direction of the first coordinate is determined according to the determined direction of the radio frequency switch, then the direction of the radio frequency switch is updated, positioning data calculation is carried out again on the radio frequency signals acquired in the next adjacent period, the direction of the radio frequency switch is determined, and the direction of the second coordinate is determined according to the direction of the updated radio frequency switch.

In the embodiment of the application, the direction of the radio frequency switch is switched, and only one direction of radio frequency signal is acquired for processing in one period, so that the calculation load of a processor is greatly reduced, the processing resource is saved, and the cost of hardware is further reduced.

In one possible implementation manner, the vehicle positioning system can further comprise a lane computer, and can receive positioning information of the road side equipment for positioning the vehicle and store the positioning information of the vehicle, so that the vehicle is convenient to trace.

Fig. 2 is a schematic flow chart of a vehicle positioning method according to an embodiment of the application.

Step 201, switching the direction of each acquisition period by adopting a radio frequency switch, and periodically acquiring radio frequency signals in different directions.

It should be noted that, the vehicle positioning method according to the embodiment of the present application may be executed by the vehicle positioning device according to the embodiment of the present application. The vehicle positioning device of the embodiment of the application can be configured in any electronic equipment to execute the vehicle positioning method of the embodiment of the application. For example, the vehicle positioning device of the embodiment of the application can be configured in the road side equipment, so that the road side equipment only collects and processes the radio frequency signals of one azimuth in the same collection period, then collects and processes the radio frequency signals of the other azimuth in the next period, the complexity of processing the data signals at the same time is reduced, the requirements on the performance and the resources of the processor are met, and the hardware cost and the complexity of the system are reduced.

The radio frequency switch is an electronic switching device and is used for switching the path of a radio frequency signal in a radio frequency circuit so as to realize control of signal flow. Illustratively, assuming that radio frequency switches are used in an antenna array system, each antenna is connected to a radio frequency switch, the radio frequency switch can be switched between different antennas to select the direction in which signals are received or transmitted, depending on the system requirements.

In the embodiment of the application, the radio frequency switch can switch the direction once every acquisition period to switch the direction of radio frequency signal acquisition, for example, the radio frequency signal of a first direction is acquired in a first acquisition period, when the first acquisition period arrives, the direction of the radio frequency switch is switched, the radio frequency signal of a second direction is acquired in an adjacent second acquisition period, when the second acquisition period arrives, the direction of the radio frequency switch is switched, and then the radio frequency signal of the first direction is continuously acquired in an adjacent next acquisition period, namely, the radio frequency signals of different directions are periodically acquired.

It should be appreciated that to ensure accuracy of positioning, the acquisition cycle may be acquired in microseconds, i.e., the rf switch needs to switch between acquisition of rf signals in different orientations in a time scale on the order of microseconds.

It should also be understood that a roadside device, i.e., a roadside unit, is installed on the side of a road or traffic infrastructure for collecting, processing and transmitting information related to traffic management, vehicle communication, vehicle positioning, and the like.

In the embodiment of the application, each radio frequency switch is correspondingly connected with one transverse antenna sheet and one longitudinal antenna sheet, and when the vehicle is positioned according to the collected radio frequency signals, the radio frequency signals received by the plurality of antenna sheets in the same direction are required to be acquired, so that the directions of the plurality of radio frequency switches are required to be simultaneously switched, and a plurality of radio frequency signals in the same direction are conveniently received at the same time.

Referring to fig. 3, an example is shown, where the transversal array antenna and the longitudinal array antenna provided by the embodiment of the present application, as shown in fig. 3, each of the transversal array antenna and the longitudinal array antenna includes 4 antenna pieces, where each radio frequency switch is correspondingly connected to one transversal antenna piece and one longitudinal antenna piece, when the radio frequency switch is switched to the transversal direction, only the transversal radio frequency signal is acquired at this time, and the data signal processing module may be used to process the transversal radio frequency signal to obtain the corresponding coordinates and the azimuth, and after the processing is completed, actively switch the radio frequency switch to the longitudinal direction, so as to collect and process the longitudinal radio frequency signal, and perform the above operations circularly, so that the real-time vehicle position may be located.

In the process of positioning the vehicle, a plurality of independent antenna sheets are arranged together (for example, in the arrangement form in fig. 3), when the microwave signals are incident on the antenna sheets from different directions, the phases of the signals received by the transverse antenna sheets or the longitudinal antenna sheets at the same time are different due to the different distances between the transmitting sources and the antenna sheets, and the direction of the transmitting sources relative to the antenna array can be obtained according to the phase relation of the signals received by the antenna sheets and the wavelength information of the microwave signals. Taking the transverse antenna patch receiving signal as an example, assuming d as the distance between the antenna patches, an incident wave can be considered parallel when d is much smaller than the source-to-antenna array distance. When the incident angle is alpha (i.e. the included angle between the incident signal and the transverse antenna plates), the distance difference between the emitting source and the two transverse antenna plates is dcos (alpha), and when the wavelength of the microwave signal is lambda, the phase difference of the microwave signal reaching the two transverse antenna plates is (2pi/lambda) dcos (alpha), and the phase differences of the signals reaching in different directions are different, according to the fixed phase relation, the direction in which the emitting source is located, namely the incident angle alpha, can be obtained through a DBF algorithm. Similarly, the process of acquiring the incident angle by using the longitudinal antenna patch receiving signal is the same as the principle of the process of acquiring the incident angle by using the transverse antenna patch receiving signal, and the embodiment of the application is not repeated here.

Specifically, the direction of the emission source is solved by a DBF algorithm, that is, the incident angle α, and reference may be made to the principle of solving a direction angle based on the DBF technology in CN102592323B, in this embodiment of the present application, the direction of the emission source may be obtained by configuring an array antenna sheet with multiple units in two directions, i.e., two directions, in one RSU antenna, and further, according to the direction (incident angle) of the emission source, the coordinates of the emission source may be further obtained (for example, a scheme of CN 114487999A may be adopted); in the same way, a plurality of RSUs can be used for completing the positioning of the vehicle, and compared with one RSU, the positioning result obtained by the RSU is more accurate.

The procedure of deriving the coordinates of the vehicle by two RSUs measurement will be described below taking the vehicle positioning by two RSUs as an example.

Fig. 4 is a schematic diagram of the positioning of the OBU when two RSU positioning devices (A, B in the drawing) are in the same straight line, and as can be seen from fig. 4, A, B are 2s apart and all on the X-axis in the XY plane, the coordinates of point a are (-s, 0), the coordinates of point B are (s, 0), and P (X ₀,y₀) are points on the plane, and the angles α ₁ and α ₂ between PA, PB and the X-axis can be obtained by the DBF algorithm.

Assuming that the slope of the line where PA is located is k ₁ and the slope of the line where PB is located is k ₂, then

k₁＝tan(α₁)

k₂＝tan(α₂)

The equation of two straight lines is

k₁＝y/(x+s)

k₂＝y/(x-s)

P is on the intersection point of two straight lines, the coordinate of the P point can be obtained by solving the equation set, and the coordinate of the P point is obtained

x₀＝-s(k₁+k₂)/(k₁-k₂)＝-s(sin(α₁+α₂))/(sin(α₁-α₂))

y₀＝-2s(k₁+k₂)/(k₁-k₂)＝-2s(sin(α₁)×sin(α₂))/(sin(α₁-α₂))

Therefore, in the same plane, the coordinates of the unknown point can be obtained from the coordinates of two known points and the angle between the line connecting the two known points and the X axis.

According to the principle, the projection of the vehicle on the X axis, namely the transverse coordinate of the OBU, can be obtained.

Similarly, the projection of the vehicle on the Y-axis, i.e., the longitudinal coordinates of the OBU, can be determined based on the angle of the vehicle to the Y-axis according to the principles described above.

Specifically, in one possible implementation manner, each time an acquisition period is completed, the directions of the plurality of radio frequency switches are switched simultaneously, and radio frequency signals received by the transverse antenna sheet and the longitudinal antenna sheet are acquired in a period division manner, including:

In the embodiment of the application, the direction of the radio frequency switch in the current acquisition period is assumed to be the transverse acquisition direction, so that radio frequency signals received by a plurality of transverse antenna sheets are acquired at the moment, and a plurality of transverse radio frequency signals can be obtained; after the acquisition period is finished, the direction of the radio frequency switch is switched to the longitudinal acquisition direction, and at the moment, the radio frequency signals received by the plurality of longitudinal antenna sheets are acquired, so that a plurality of longitudinal radio frequency signals can be obtained, namely, the transverse radio frequency signals and the longitudinal radio frequency signals are respectively acquired in two sampling periods, and system resources can be saved.

Step 202, performing positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch.

In step 203, the direction of the radio frequency switch is updated.

And 204, calculating positioning data of radio frequency signals acquired in the next adjacent period, determining a corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch.

In the steps 202 to 204, the radio frequency signal collected in any period may be a transverse radio frequency signal or a longitudinal radio frequency signal, but no matter whether the radio frequency signal collected in any period is a transverse radio frequency signal or a longitudinal radio frequency signal, the radio frequency signal collected in the next adjacent period is opposite to the radio frequency signal collected in any adjacent period, that is, if the radio frequency signal collected in any period is a transverse radio frequency signal, the radio frequency signal collected in the next adjacent period is a longitudinal radio frequency signal; if the longitudinal radio frequency signal of the radio frequency signal acquired in any period is the transverse radio frequency signal, the radio frequency signal acquired in the next period adjacent to the longitudinal radio frequency signal is the transverse radio frequency signal.

In the steps 202 to 204, after the lateral radio frequency signals or the longitudinal radio frequency signals are collected, the road side device immediately performs positioning data calculation according to the lateral radio frequency signals or the longitudinal radio frequency signals, for example, when the lateral radio frequency signals are collected in any period, the lateral radio frequency signals are immediately subjected to data processing, that is, positioning calculation is performed, so that coordinates corresponding to the lateral radio frequency signals are calculated, but the road side device does not know whether the obtained radio frequency signals are lateral or longitudinal when the road side device performs data processing, so that after the corresponding first coordinates are obtained, the direction of the first coordinates needs to be determined according to the direction of the radio frequency switch, after the direction of the first coordinates is determined to be lateral, the direction of the radio frequency switch needs to be updated, at this time, the direction needs to be updated to be longitudinal, then positioning data calculation is performed on the radio frequency signals collected in the next period, so that a second coordinates is obtained, and the road side device does not know whether the currently obtained radio frequency signals correspond to the lateral or the longitudinal directions, so that the direction of the second coordinates needs to be determined according to the direction of the updated radio frequency switch, that is the longitudinal direction.

According to the method, the vehicle can be positioned according to the two coordinates and the corresponding directions, in the embodiment, the road side equipment sequentially acquires the radio frequency data of all directions and sequentially performs data processing, so that the operation resources of the system are saved, and the complexity of hardware is reduced.

Step 205, positioning the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate and the azimuth of the second coordinate.

In the embodiment of the application, the first coordinate position and the second coordinate position are different, and the coordinates of the two different positions can position one point, namely the position of the vehicle.

By way of example, assuming that the lateral direction is the x-axis and the longitudinal direction is the y-axis, the first coordinate is 3, the corresponding lateral orientation, the second coordinate is 4, and the corresponding longitudinal orientation, then the lateral coordinate of the vehicle is 3, the longitudinal coordinate of the vehicle is 4, and the positioning coordinate of the vehicle is (3, 4), whereby the vehicle can be positioned.

In the embodiment of the application, a radio frequency switch is adopted to switch the direction every acquisition period, radio frequency signals in different directions are periodically acquired, then positioning data calculation is carried out on the radio frequency signals acquired in any period, a corresponding first coordinate is determined, and the direction of the first coordinate is determined according to the direction of the radio frequency switch; and updating the direction of the radio frequency switch so as to determine the direction of the second coordinate according to the updated direction of the radio frequency switch when the positioning data calculation is carried out on the radio frequency signals acquired in the next adjacent period, wherein the direction of the first coordinate and the direction of the second coordinate are different due to the different directions of the radio frequency switch for two times, and then positioning the vehicle according to the first coordinate, the direction of the second coordinate and the direction of the second coordinate. The application makes the road side equipment collect and process the radio frequency signal of one direction only in the same collecting period by switching the direction of the radio frequency switch, then collect and process the radio frequency signal of another direction in the next period, thereby reducing the complexity of processing the data signal at the same time, the requirement on the performance and the resource of the processor and reducing the hardware cost and the complexity of the system.

Referring to fig. 5, a schematic flow chart of a vehicle positioning method according to another embodiment of the present application is shown;

step 501, switching the direction of each acquisition period by adopting a radio frequency switch, and periodically acquiring radio frequency signals in different directions.

The specific implementation process and principle of the above step 501 may refer to the detailed description of the above embodiment, which is not repeated herein.

Step 502, calculating positioning data of the acquired transverse radio frequency signals, and determining a corresponding first coordinate, wherein the direction of a radio frequency switch corresponding to the transverse radio frequency signals is the transverse acquisition direction.

In step 503, the azimuth of the first coordinate is determined to be transverse according to the transverse acquisition direction of the radio frequency switch.

Step 504, the direction of the radio frequency switch is updated to be the longitudinal acquisition direction.

And 505, calculating positioning data of the longitudinal radio frequency signals acquired in the next adjacent period, and determining the corresponding second coordinates.

Step 506, determining the azimuth of the second coordinate as the longitudinal direction according to the longitudinal acquisition direction of the radio frequency switch.

In the embodiment of the application, taking the radio frequency signal acquired in any period as a transverse radio frequency signal as an example, firstly, positioning data calculation is performed on the acquired transverse radio frequency signal, the positioning data calculation can input the transverse radio frequency signal into a positioning data calculation unit of road side equipment to output a first coordinate, and because the direction of a radio frequency switch corresponding to the transverse radio frequency signal is the transverse acquisition direction, the direction of the first coordinate can be determined to be transverse according to the transverse acquisition direction. The method comprises the steps of outputting transverse coordinates at a first moment, updating the direction of a radio frequency switch to be the longitudinal acquisition direction, acquiring radio frequency signals, performing positioning data calculation on longitudinal radio frequency signals acquired in the next adjacent period, inputting the longitudinal radio frequency signals into a positioning data calculation unit, outputting second coordinates, determining the direction of the second coordinates to be longitudinal according to the longitudinal acquisition direction, namely outputting the longitudinal coordinates at the second moment, and packaging and outputting the transverse coordinates and the longitudinal coordinates at a third moment to position a vehicle, wherein a specific positioning logic block diagram can be seen in fig. 5.

In step 507, the vehicle is positioned according to the first coordinate, the azimuth of the first coordinate, the second coordinate, and the azimuth of the second coordinate.

The specific implementation process and principle of the step 507 may refer to the detailed description of the foregoing embodiments, which is not repeated herein.

In the embodiment of the application, the time-sharing receiving of the transverse radio frequency signal and the longitudinal radio frequency signal is realized through the radio frequency switch, and then the positioning data calculation unit is multiplexed to sequentially calculate the positioning data of the received transverse radio frequency signal and longitudinal radio frequency signal, and the transverse coordinate and the longitudinal coordinate are distinguished according to the switching direction of the radio frequency switch, so that the positioning is realized.

Referring to fig. 7, a schematic flow chart of a vehicle positioning method according to still another embodiment of the present application is shown;

In step 701, the radio frequency switch is adopted to switch the direction every acquisition period, so as to periodically acquire the radio frequency signals in different directions.

The specific implementation process and principle of the above step 701 may refer to the detailed description of the above embodiments, which is not repeated herein.

Step 702, calculating positioning data of the collected longitudinal radio frequency signals, and determining a corresponding first coordinate, wherein a direction of a radio frequency switch corresponding to the longitudinal radio frequency signals is a longitudinal collecting direction.

In step 703, the azimuth of the first coordinate is determined to be longitudinal according to the longitudinal acquisition direction of the radio frequency switch.

In step 704, the direction of the RF switch is updated to be the transverse acquisition direction.

Step 705, performing positioning data calculation on the transverse radio frequency signals acquired in the next adjacent period, and determining the corresponding second coordinates.

In step 706, the azimuth of the second coordinate is determined to be transverse according to the transverse acquisition direction of the radio frequency switch.

In the embodiment of the application, taking the radio frequency signal acquired in any period as a longitudinal radio frequency signal as an example, firstly, the acquired longitudinal radio frequency signal is subjected to positioning data calculation, the positioning data calculation can input the longitudinal radio frequency signal into a positioning data calculation unit of road side equipment to output a first coordinate, and because the direction of a radio frequency switch corresponding to the longitudinal radio frequency signal is the longitudinal acquisition direction, the direction of the first coordinate can be determined to be longitudinal according to the longitudinal acquisition direction. The method comprises the steps of outputting a longitudinal coordinate at a first moment, updating the direction of a radio frequency switch to be a transverse acquisition direction, acquiring radio frequency signals, performing positioning data calculation on transverse radio frequency signals acquired in the next period, inputting the transverse radio frequency signals into a positioning data calculation unit, outputting a second coordinate, determining the direction of the second coordinate to be transverse according to the transverse acquisition direction, namely outputting the transverse coordinate at the second moment, and packaging and outputting the longitudinal coordinate and the transverse coordinate at a third moment to position a vehicle, wherein a specific positioning logic block diagram can be seen in fig. 5.

Step 707, locating the vehicle according to the first coordinate, the orientation of the first coordinate, the second coordinate, and the orientation of the second coordinate.

The specific implementation process and principle of step 707 may refer to the detailed description of the foregoing embodiments, which is not repeated herein.

Fig. 8 is a schematic structural diagram of a vehicle positioning device according to an embodiment of the present application, corresponding to the vehicle positioning method in the above embodiment, where the vehicle positioning device is configured on a roadside apparatus. For convenience of explanation, only portions relevant to the embodiments of the present application are shown.

Referring to fig. 8, the vehicle positioning device 800 includes:

the signal acquisition module 801 is configured to switch the direction every acquisition cycle by using a radio frequency switch, and periodically acquire radio frequency signals in different directions;

The first direction determining module 802 is configured to perform positioning data calculation on the radio frequency signal collected in any period, determine a corresponding first coordinate, and determine a direction of the first coordinate according to a direction of the radio frequency switch;

a switch direction updating module 803, configured to update a direction of the radio frequency switch;

The second azimuth determining module 804 is configured to perform positioning data calculation on radio frequency signals collected in a next adjacent period, determine a corresponding second coordinate, and determine an azimuth of the second coordinate according to an updated direction of the radio frequency switch;

the positioning module 805 is configured to position the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate, and the azimuth of the second coordinate.

In the embodiment of the present application, in the roadside device including a transverse array antenna and a longitudinal array antenna, the transverse array antenna includes a plurality of transverse antenna plates, the longitudinal array antenna includes a plurality of longitudinal antenna plates, and each radio frequency switch is correspondingly connected to a transverse antenna plate and a longitudinal antenna plate, where the signal acquisition module 801 includes the following units:

In an embodiment of the present application, the acquisition unit may specifically be configured to:

In the embodiment of the application, under the condition that the radio frequency signal acquired in any period is a transverse radio frequency signal; the first position determination module 802 includes the following elements:

Correspondingly, the switch direction update module 803 includes the following units:

Correspondingly, the second position-determining module 804 comprises the following elements:

In the embodiment of the application, under the condition that the radio frequency signal acquired in any period is a longitudinal radio frequency signal; the first position determination module 802 includes the following elements:

In an embodiment of the present application, the different orientations include a landscape orientation and a portrait orientation, and the positioning module 805 includes the following elements:

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Referring to fig. 9, a schematic structural diagram of a road side device according to an embodiment of the present application is shown, as shown in fig. 9, a road side device 900 of the embodiment includes: at least one processor 910 (only one is shown in fig. 9), a memory 920 and a computer program 921 stored in the memory 920 and executable on the at least one processor 910, the steps in the above-described vehicle locating method embodiments being implemented when the processor 910 executes the computer program 921.

It should be noted that, the road side device of this embodiment further includes a transverse antenna array, a longitudinal antenna array, and a radio frequency switch, where the radio frequency switch is configured to switch directions every acquisition cycle, and acquire transverse radio frequency signals in one acquisition cycle and longitudinal radio frequency signals in one acquisition cycle, so as to position the vehicle according to the coordinates of positioning the transverse radio frequency signals and the coordinates of positioning the longitudinal radio frequency signals, respectively.

It should be noted that, the roadside device 900 may refer to a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The roadside devices may include, but are not limited to, a processor 910, a memory 920. It will be appreciated by those skilled in the art that fig. 9 is merely an example of a roadside device 900 and is not meant to be limiting of the roadside device 900, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The Processor 910 may be a central processing unit (Central Processing Unit, CPU), the Processor 910 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 920 may be an internal storage unit of the roadside device 900, such as a hard disk or a memory of the roadside device 900, in some embodiments. The memory 920 may also be an external storage device of the roadside device 900, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the roadside device 900 in other embodiments. Further, the memory 920 may also include both internal storage units and external storage devices of the roadside device 900. The memory 920 is used to store an operating system, application programs, boot Loader (Boot Loader), data, other programs, and the like, such as program codes of the computer program. The memory 920 may also be used to temporarily store data that has been output or is to be output.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/roadside devices and methods may be implemented in other manners. For example, the apparatus/roadside device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

The present application may also be implemented as a computer program product for implementing all or part of the steps of the above described method embodiments when the computer program product is run on a road side device, so that the road side device is executed.

The above embodiments are only for illustrating the technical solution of the present application, and are not limited thereto. Although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The vehicle positioning method is characterized by being applied to road side equipment, wherein the road side equipment comprises a radio frequency switch; the vehicle positioning method includes:

Carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch;

Updating the direction of the radio frequency switch;

2. The vehicle positioning method according to claim 1, wherein the roadside apparatus includes a lateral array antenna and a longitudinal array antenna, the lateral array antenna includes a plurality of lateral antenna patches, the longitudinal array antenna includes a plurality of longitudinal antenna patches, and each of the radio frequency switches is correspondingly connected to one of the lateral antenna patches and one of the longitudinal antenna patches; the method for periodically collecting the radio frequency signals in different directions by switching the direction of each collection period after the radio frequency switch is adopted comprises the following steps:

3. The vehicle positioning method according to claim 2, wherein each time an acquisition cycle is completed, the directions of the plurality of radio frequency switches are switched simultaneously, and radio frequency signals received by the transverse antenna strip and the longitudinal antenna strip are acquired in a divided cycle, comprising:

in the current acquisition period, acquiring radio frequency signals received by a plurality of transverse antenna sheets according to the transverse acquisition direction of the radio frequency switch to obtain a plurality of transverse radio frequency signals;

and when the current acquisition period is finished, switching the direction of the radio frequency switch to be a longitudinal acquisition direction, and acquiring radio frequency signals received by a plurality of longitudinal antenna sheets to obtain a plurality of longitudinal radio frequency signals.

4. The vehicle positioning method according to claim 1, wherein in the case where the radio frequency signal acquired in any one period is a transverse radio frequency signal; carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch, wherein the method comprises the following steps:

correspondingly, updating the direction of the radio frequency switch includes:

correspondingly, the method for calculating the positioning data of the radio frequency signals collected in the next adjacent period, determining the corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch comprises the following steps:

5. The vehicle positioning method according to claim 1, wherein in the case where the radio frequency signal acquired in any one period is a longitudinal radio frequency signal; carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch, wherein the method comprises the following steps:

correspondingly, updating the direction of the radio frequency switch includes:

6. The vehicle positioning method according to claim 1, wherein the different orientations include a lateral direction and a longitudinal direction, and the positioning the vehicle according to the first coordinate, the orientation of the first coordinate, the second coordinate, and the orientation of the second coordinate includes:

Determining a transverse coordinate and a longitudinal coordinate of the vehicle according to the first coordinate, the second coordinate and the transverse direction and the longitudinal direction respectively corresponding to the first coordinate and the second coordinate;

7. The vehicle positioning device is characterized by being configured on road side equipment, wherein the road side equipment comprises a radio frequency switch; the vehicle positioning device includes:

8. A vehicle positioning system, the vehicle positioning system comprising: vehicles and roadside equipment;

The road side equipment is used for periodically acquiring radio frequency signals in different directions by switching the direction of each acquisition period after the radio frequency switch is adopted; carrying out positioning data calculation on radio frequency signals acquired in any period, determining a corresponding first coordinate, and determining the azimuth of the first coordinate according to the direction of the radio frequency switch; updating the direction of the radio frequency switch; carrying out positioning data calculation on radio frequency signals acquired in the next adjacent period, determining a corresponding second coordinate, and determining the azimuth of the second coordinate according to the updated direction of the radio frequency switch; and positioning the vehicle according to the first coordinate, the azimuth of the first coordinate, the second coordinate and the azimuth of the second coordinate.

9. A roadside device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1-6 when the computer program is executed.

10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-6.