CN208953695U - Automatic driving vehicle positioning system and orientation management system - Google Patents
Automatic driving vehicle positioning system and orientation management system Download PDFInfo
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- CN208953695U CN208953695U CN201821532086.2U CN201821532086U CN208953695U CN 208953695 U CN208953695 U CN 208953695U CN 201821532086 U CN201821532086 U CN 201821532086U CN 208953695 U CN208953695 U CN 208953695U
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Abstract
The utility model discloses automatic driving vehicle positioning system and orientation management system, and positioning system includes information of vehicles measuring unit, processor and the wireless launcher for being installed on ground predetermined geographic locality, and is installed on the radio receiver of vehicle；Information of vehicles measuring unit connects processor, and the information of vehicles used for vehicle location resolving for will acquire is transmitted to processor；Processor connects wireless launcher, to transmit vehicle location information to wireless launcher；Wireless launcher and radio receiver, which are established, to be wirelessly connected, and vehicle location information is sent to radio receiver；Radio receiver is connected to Vehicular automatic driving system, for vehicle location information to be transmitted to Vehicular automatic driving system.Orientation management system includes positioning system and back-end data processing unit, and back-end data processing unit establishes connection by internet and processor, to receive and summarize vehicle location information, to provide data basis for the management of positioning system.
Description
Technical field
The utility model relates to vehicle positioning technology fields, more particularly, to the positioning system of automatic driving vehicle.
Background technique
In recent years, automatic Pilot technology had obtained quick development.Automatic Pilot technology can substantially be divided into self poisoning
And environment sensing, path planning, vehicle control and Vehicular system integrated four is most of.Currently, can be used for vehicle self poisoning and
The technology of environment sensing has RTK, inertial navigation unit, laser radar, camera perception etc..
Currently, technology path of each company in terms of automatic Pilot is different, different vehicle self poisoning sides is produced
Method.One of which is positioned using RTK.RTK (Real-Time Kinematic) is a kind of carrier phase difference technology,
It is the difference method of two measuring station carrier phase observed quantities of real-time processing, the carrier phase that base station acquires is issued into user and is connect
Receipts machine carries out that difference is asked to resolve coordinate, can reach the positioning accuracy of Centimeter Level, can meet the rule grade positioning of vehicle required by automatic Pilot
Required precision.
Whether the positioning accuracy of RTK can receive good navigation satellite dependent on the position receiver device on vehicle
GNSS signal, however when vehicle enters tunnel, the position receiver device of RTK can not receive effective GNSS signal, lead to RTK
Positioning failure.As it can be seen that current automatic driving vehicle in the region that can not receive effective GNSS signal when driving, how to have
Effect positioning is automatic Pilot urgent problem to be solved.
Utility model content
The main purpose of the utility model is that a kind of automatic driving vehicle positioning system is proposed, for automatic driving vehicle
Hardware foundation is provided in the positioning that can not receive effective GNSS signal region.
The utility model proposes following technical scheme for the above-mentioned purpose:
A kind of automatic driving vehicle positioning system, the information of vehicles including being installed on ground predetermined geographic locality measure single
Member, processor and wireless launcher, and the radio receiver being installed on vehicle；The information of vehicles measuring unit connects
It is connected to the processor, the information of vehicles used for vehicle location resolving for will acquire is transmitted to the processor；Institute
It states processor and is connected to the wireless launcher, to transmit vehicle location information to the wireless launcher；It is described wireless
Emitter is established by scheduled communication protocol and the radio receiver and is wirelessly connected, by the vehicle location information
It is sent to the radio receiver；The radio receiver is connected to Vehicular automatic driving system, is used for the vehicle
Location information is transmitted to the Vehicular automatic driving system.
Above-mentioned technical proposal provided by the utility model, some predetermined geographic localities (for example tunnel, under viaduct
Etc. the regional location that can not receive effective GNSS signal) layout information of vehicles measuring unit, processor and wireless launcher,
Wherein processor calculates vehicle according to the information of vehicles that information of vehicles measuring unit measures and measures list relative to information of vehicles
Member relative position and speed, and the absolute geographical location of information of vehicles measuring unit be it is known, so, processor can
To obtain the real-time geographical locations of vehicle, the self poisoning of vehicle is realized；Then vehicle is determined by wireless launcher again
Position is sent to vehicle-mounted radio receiver, so that the automated driving system of vehicle just obtains vehicle can not receive in tunnel etc.
The positioning in the region of effective GNSS signal, it is seen that the utility model provides hardware base for the uninterrupted positioning of automatic driving vehicle
Plinth.
The another object of the utility model is to propose a kind of automatic driving vehicle orientation management system, for aforementioned positioning
The management of system provides hardware foundation.
A kind of automatic driving vehicle orientation management system, including aforementioned automatic driving vehicle positioning system and with it is described from
The back-end data processing unit of the dynamic processor connection for driving vehicle positioning system, the back-end data processing unit pass through because of spy
Net and the processor establish connection, to receive and summarize the vehicle location information, to determine for the automatic driving vehicle
The management of position system provides data basis.
Detailed description of the invention
Fig. 1 is automatic driving vehicle positioning system block diagram provided by the utility model.
Specific embodiment
Below against attached drawing and in conjunction with preferred embodiment, the utility model is described in further detail.
Specific embodiment of the present utility model provides a kind of automatic driving vehicle positioning system, as shown in Figure 1, including peace
Information of vehicles measuring unit, processor and wireless launcher loaded on ground predetermined geographic locality, and be installed on vehicle
Radio receiver；The information of vehicles measuring unit is connected to the processor, for will acquire for vehicle location
It resolves information of vehicles used and is transmitted to the processor；The processor is connected to the wireless launcher, with to described
Wireless launcher transmits vehicle location information；The wireless launcher passes through scheduled communication protocol and the wireless receiving
Device, which is established, to be wirelessly connected, and the vehicle location information is sent to the radio receiver；The radio receiver
It is connected to Vehicular automatic driving system, for the vehicle location information to be transmitted to the Vehicular automatic driving system.
It is known that in tunnel, building blocks etc. these local (" predetermined geographic localities " i.e. above-mentioned) can not
Effective GNSS signal is received, the positioning for using the automatic driving vehicle of GNSS positioning at present, in these places
Problems demand solves.And the automatic driving vehicle positioning system of the aforementioned offer of the utility model, it is automatic driving vehicle at these
The positioning in place provides hardware foundation.Specifically, providing vehicle location solution to processor by information of vehicles measuring unit
Calculate information of vehicles used, processor can calculate the relative positioning information of vehicle relative vehicle information measurement unit, and vehicle
The absolute geographical location of information measurement unit be it is known, so, the real-time geographic position of the available vehicle of processor
Set, realize the self poisoning of vehicle and be sent to vehicle-mounted radio receiver, so as to so that vehicle automated driving system
Vehicle is obtained in the real time position in the place such as tunnel, provides hardware foundation for the uninterrupted positioning of automatic driving vehicle.
Known camera, radar or geomagnetic sensor can be used in information of vehicles measuring unit.Come by taking tunnel as an example below
The embodiment of the utility model is described in detail.
The information of vehicles measuring unit is the camera for being installed on the known position of the predetermined geographic locality, described
The vehicle driving image/video that information of vehicles used is camera shooting is resolved for vehicle location.Using camera
In specific embodiment as information of vehicles measuring unit, camera (two or more is one group) is installed on the known location in tunnel
Locate (one group of camera can be filled every a distance), vehicle driving image can be shot by often having vehicle to shoot in visual field by it,
Again by the image/video transmissions of shooting to processor, the image/video received is handled and calculated by processor
Relative position information (can be used existing mode, details are not described herein) of the vehicle relative to each camera, in conjunction with camera
Geographical location the geo-localisation information of vehicle can be obtained.The wireless launcher for being connected to processor arrives processor resolving
Vehicle location information issued by wireless signal, matched radio receiver on vehicle receives wireless launcher
The wireless signal of transmitting parses carried vehicle location information, is transmitted further to control loop, vehicle can be made to know itself
Real time position.
In a preferred embodiment, the radio receiver being placed on vehicle may include a light bulb or multiple light bulbs,
When vehicle enters in the field range of camera group, light bulb is lighted, the identification in order to camera group to vehicle.
In a preferred embodiment, the location information of different vehicle in tunnel can be issued by certain protocol packing, often
A vehicle goes out itself corresponding location information according to protocol analysis.
The information of vehicles measuring unit is the geomagnetic sensor for being installed on the known position of the predetermined geographic locality
Array, the information of vehicles used for vehicle location resolving is the collected Geomagnetism Information of geomagnetic sensor array.
Geomagnetic sensor array be according to certain rules arrangement be laid on the ground known location one group of geomagnetic sensor composition battle array
Column, for example, tunnel road surface every 50 centimeters be laid with length be 200 meters, the rectangular array that width is 10 meters.Geomagnetic sensor
The geomagnetic data information of its position of array measurement, and geomagnetic data information is transferred to processor, processor is to receiving
Geomagnetic data information handled, calculate the location information (existing mode can be used, details are not described herein) of vehicle.
The information of vehicles measuring unit is the radar for being installed on the known position of the predetermined geographic locality, the confession
It is the vehicle relative positioning information that the radar is got that vehicle location, which resolves information of vehicles used,.Radar is fixed on knownly
Position is managed, radar can measure the relative positioning information of vehicle in sphere of action.Radar passes the relative positioning information measured
It is defeated by processor, the geo-localisation information of vehicle can be obtained by the installation site of processor combination radar.
In a preferred embodiment, processor can be integrated into radar hardware, at this point, without the processing of separate hardware form
Geo-localisation information is directly transferred to wireless launcher by device, in this case, radar.
It should be noted that the utility model is fixed using the data calculation vehicle of information of vehicles measuring unit not to processor
The algorithm of position restricts, and does not also restrict to the wireless communication protocol between wireless transmission and reception device, this is practical new
Type is it is intended that the vehicle location that tunnel etc. can not receive the place of effective GNSS signal provides hardware structure, not to using which kind of
Algorithm resolves the processes such as positioning and is limited.
The information of vehicles measuring unit is by data line or is wirelessly connected to the processor；The place
Reason device is by data line or is wirelessly connected to the wireless launcher；The radio receiver passes through data
Transmission line is wirelessly connected to Vehicular automatic driving system.
In addition, the utility model additionally provides a kind of automatic driving vehicle orientation management system, including aforementioned offer from
It is dynamic to drive vehicle positioning system and the back-end data connecting with the processor of automatic driving vehicle positioning system processing list
Member, the back-end data processing unit establishes connection by internet and the processor, to receive and summarize the vehicle
Location information provides data basis with the management for the automatic driving vehicle positioning system.The program is aforementioned vehicle positioning
The management of system provides hardware foundation.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For those skilled in the art of the present invention
For, without departing from the concept of the premise utility, several equivalent substitute or obvious modifications, and performance can also be made
Or purposes is identical, all shall be regarded as belonging to the protection scope of the utility model.
Claims (8)
1. a kind of automatic driving vehicle positioning system, it is characterised in that: the vehicle including being installed on ground predetermined geographic locality is believed
Cease measuring unit, processor and wireless launcher, and the radio receiver being installed on vehicle；
The information of vehicles measuring unit is connected to the processor, and vehicle used is resolved for vehicle location for what be will acquire
Information is transmitted to the processor；
The processor is connected to the wireless launcher, to transmit vehicle location information to the wireless launcher；
The wireless launcher is established by scheduled communication protocol and the radio receiver and is wirelessly connected, will be described
Vehicle location information is sent to the radio receiver；
The radio receiver is connected to Vehicular automatic driving system, for the vehicle location information to be transmitted to the vehicle
Automated driving system.
2. automatic driving vehicle positioning system as described in claim 1, it is characterised in that: the information of vehicles measuring unit is
It is installed on the camera of the known position of the predetermined geographic locality, the information of vehicles used for vehicle location resolving is
The vehicle driving image or video of the camera shooting.
3. automatic driving vehicle positioning system as described in claim 1, it is characterised in that: the information of vehicles measuring unit is
It is installed on the geomagnetic sensor array of the known position of the predetermined geographic locality, it is described that vehicle used is resolved for vehicle location
Information is the collected Geomagnetism Information of geomagnetic sensor array.
4. automatic driving vehicle positioning system as described in claim 1, it is characterised in that: the information of vehicles measuring unit is
It is installed on the radar of the known position of the predetermined geographic locality, the information of vehicles used for vehicle location resolving is institute
State the vehicle relative positioning information that radar is got.
5. such as the described in any item automatic driving vehicle positioning systems of Claims 1-4, it is characterised in that: the information of vehicles
Measuring unit is by data line or is wirelessly connected to the processor.
6. such as the described in any item automatic driving vehicle positioning systems of Claims 1-4, it is characterised in that: the processor is logical
It crosses data line or is wirelessly connected to the wireless launcher.
7. such as the described in any item automatic driving vehicle positioning systems of Claims 1-4, it is characterised in that: the wireless receiving
Device is by data line or is wirelessly connected to Vehicular automatic driving system.
8. a kind of automatic driving vehicle orientation management system, it is characterised in that: including as described in any one of claim 1 to 7
Automatic driving vehicle positioning system and the back-end data being connect with the processor of automatic driving vehicle positioning system processing
Unit, the back-end data processing unit establishes connection by internet and the processor, to receive and summarize the vehicle
Location information, provides data basis with the management for the automatic driving vehicle positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821532086.2U CN208953695U (en) | 2018-09-19 | 2018-09-19 | Automatic driving vehicle positioning system and orientation management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821532086.2U CN208953695U (en) | 2018-09-19 | 2018-09-19 | Automatic driving vehicle positioning system and orientation management system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208953695U true CN208953695U (en) | 2019-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821532086.2U Active CN208953695U (en) | 2018-09-19 | 2018-09-19 | Automatic driving vehicle positioning system and orientation management system |
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| Country | Link |
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| CN (1) | CN208953695U (en) |
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2018
- 2018-09-19 CN CN201821532086.2U patent/CN208953695U/en active Active
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Effective date of registration: 20240424 Address after: 1316-24, Block B, Colorful Science and Technology Innovation Park, No. 5 Guanle Road, Luhu Community, Guanhu Street, Longhua District, Shenzhen City, Guangdong Province, 518000 Patentee after: Shenzhen Zhicheng Technology Co.,Ltd. Country or region after: China Address before: 518000, Building 36, 3602, Dayun Software Town, No. 8288 Longgang Avenue, Yuanshan Street, Longgang District, Shenzhen, Guangdong Province Patentee before: Qiao Zhijie Country or region before: China |