CN211505884U - Vehicle positioning device based on ultrahigh frequency RFID and millimeter wave radar - Google Patents
Vehicle positioning device based on ultrahigh frequency RFID and millimeter wave radar Download PDFInfo
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- CN211505884U CN211505884U CN202020004235.9U CN202020004235U CN211505884U CN 211505884 U CN211505884 U CN 211505884U CN 202020004235 U CN202020004235 U CN 202020004235U CN 211505884 U CN211505884 U CN 211505884U
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- millimeter wave
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Abstract
The utility model provides a vehicle positioner based on hyperfrequency RFID and millimeter wave radar belongs to the autopilot field. The utility model discloses a: the system comprises a millimeter wave radar transmitting receiver and an ultrahigh frequency RFID reader which are arranged on an automatic driving vehicle, and road piles arranged on two sides of a road, wherein ultrahigh frequency RFID tags and corner reflectors are arranged on the road piles; the millimeter wave radar transmitting receiver and the ultrahigh frequency RFID reader are fixed on the front bumper area of the vehicle; the antenna of the ultrahigh frequency RFID reader is of a phased array antenna structure; the corner reflector is a millimeter wave radar corner reflector. The utility model discloses a positioner realizes with low costs, and positioning accuracy is high, is applicable to and implements at non-fixed road, also easily implements at urban road, and application scope is comparatively extensive.
Description
Technical Field
The utility model belongs to the technical field of autopilot, concretely relates to vehicle positioner based on hyperfrequency RFID (radio frequency identification) and millimeter wave radar.
Background
Positioning and navigation are fundamental functions of an autopilot system. The vehicle running process relates to a continuous positioning, path planning and decision guiding process, the positioning is the first step of vehicle navigation, and the positioning aims to enable an automatic driving vehicle to find an accurate position at any time. Only when the automatic driving system realizes the accurate positioning of the moving object, the vehicle can be safely and accurately navigated to the destination according to the pre-planned route. Therefore, in the field of automatic driving, the accuracy of positioning is critical to the success of navigation.
Common positioning and navigation technologies include radar positioning, satellite positioning and navigation, inertial navigation, map matching and the like. Radar positioning is a device for detecting and positioning a target by using electromagnetic waves, which transmits electromagnetic waves to the target and receives echoes thereof, thereby obtaining information such as a distance, a radial velocity, an azimuth, and an altitude of the target to a radar. When a radar is used for positioning a ground or sea target, the distance and the direction of the target relative to the radar are measured, and when the air target is positioned, the distance, the direction and the height need to be measured simultaneously, and the radar is called as a three-coordinate radar. Commercial satellite navigation systems include the GPS (global positioning system) in the united states, the beidou system in china, the GLONASS system in galileo and russia in europe. Satellite navigation systems are common in daily life, and a centesimal, grand and other electronic map systems are often used for determining the position of a user, and the essence is that satellite navigation technology is used. The satellite navigation system uses a mobile phone terminal to receive satellite navigation messages for resolving and calculating the current position. The satellite navigation positioning precision error is relatively large, the urban road error can reach 10 meters, and if the driving surrounding environment is complex, such as high buildings and mountains, multipath effect can be generated. The vehicle can not receive the navigation signal completely through the tunnel, the navigation error is larger, and the positioning precision can not meet the requirement of automatic driving. The Inertial Navigation System (INS) is characterized by that it does not depend on any external information, and utilizes its own inertial sensitive devices (gyroscope and accelerometer) to measure navigation parameters, and is not interfered by natural or man-made factors, so that it possesses good concealment property, and is a completely autonomous navigation system. Map matching (MM for short) is to compare and match the vehicle position or driving track measured by laser radar (LiDAR) and other sensors with the road data of the vehicle-mounted high-precision map, find the road where the vehicle is located, calculate the position of the vehicle on the road, and further correct the errors of other positioning methods, such as the accumulated error of INS and the random error of GPS, by using the method. The map matching utilizes a digital high-precision map to ensure that the positioning system is more reliable and accurate.
In the positioning and navigation technologies, satellite positioning and inertial navigation are generally used in automatic driving, but under the condition that satellite signals of mines, tunnels, bridges and the like are interfered or the sensitivity is low, a satellite positioning and inertial navigation combination is often failed; the map matching method involves complicated and expensive map data acquisition equipment, a large amount of manpower required for making a high-precision map, and high cost for map maintenance.
SUMMERY OF THE UTILITY MODEL
The utility model discloses low or the construction of positioning accuracy to prior art existence, the high problem of maintenance cost provide a vehicle location navigation head based on hyperfrequency RFID and millimeter wave radar, be arranged in the location of satellite positioning + inertial navigation combination with the device, can obtain higher vehicle positioning accuracy.
The utility model provides a pair of vehicle location navigation head based on hyperfrequency RFID and millimeter wave radar, include: the system comprises a millimeter wave radar transmitting receiver and an ultrahigh frequency RFID reader which are arranged on an automatic driving vehicle, and road piles arranged on two sides of a road, wherein ultrahigh frequency RFID tags and corner reflectors are arranged on the road piles; the antenna of the ultrahigh frequency RFID reader is of a phased array antenna structure; the corner reflector is a millimeter wave radar corner reflector.
The radio frequency of the millimeter wave radar transmitting and receiving device is 24GHz, 77GHz or 79 GHz.
The radio frequency of the ultrahigh frequency RFID reader and the ultrahigh frequency RFID label is set to be 920-925 MHz (Chinese standard) or 915MHz (ISO18000-6C standard).
Compared with the prior art, the utility model, following advantage has:
(1) the road pile provided with the ultrahigh frequency RFID tag is arranged on the road, so that the automatic driving vehicle can identify the road pile through the ultrahigh frequency RFID reader, and further the position of the road pile can be obtained according to the prestored coordinates for vehicle positioning.
(2) The ultrahigh frequency RFID chip installed in the road pile has a globally unique code ID, and the RFID chip ID can be read for infinite times in the chip product period, so that the RFID chip ID is very suitable for being used as an index for representing the road pile installation position coordinate, and the vehicle is automatically driven to sense and read the index, so that the road pile coordinate is obtained.
(3) The road pile has a corner reflector structure, the millimeter wave radar on the automatic driving vehicle continuously emits electromagnetic waves during driving, when the radar electromagnetic waves scan the corner reflector, the electromagnetic waves can be refracted and amplified on a metal corner, and a strong echo signal is generated, so that the target can be more easily detected by the millimeter wave radar receiver on the automatic driving vehicle.
(4) The front bumper region of vehicle has installed millimeter wave radar transceiver and hyperfrequency RFID simultaneously and has read the ware, and millimeter wave radar transceiver can discern the way stake that has corner reflector, and the hyperfrequency RFID reads the ware and can return the RFID chip ID in the recognition region, provides dual guarantee for realizing the location of vehicle centimetre level through such structural design, and the positioning accuracy that uses millimeter wave radar alone or uses hyperfrequency RFID alone is high.
(5) The antenna of the ultrahigh frequency RFID reader is designed by adopting a phased array antenna structure, so that the radio frequency antenna is miniaturized, is easier to install in a vehicle bumper area, and can control the transmitting and receiving time and angle of electromagnetic waves, thereby enabling the positioning application design to be more flexible.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle module and a road pile included in the vehicle positioning and navigation device of the present invention;
fig. 2 is a schematic structural diagram of the road pile module of the present invention;
fig. 3 is a schematic diagram of positioning a vehicle by using the positioning navigation device of the present invention;
fig. 4 is a schematic view of the corner reflector and uhf RFID tag installation of the present invention; a, combining an ultrahigh frequency RFID tag and a radar corner reflector at any direction angle, and positioning the combination at any position of a road pile; b is a single corner reflector of triangular, square and circular arc shapes.
In the figure:
1-a vehicle; 101-millimeter wave radar transmitter-receiver; 102-ultra high frequency RFID reader;
2-way pile; 201-ultra high frequency RFID tag; 202-corner reflector.
Detailed Description
To facilitate understanding and practicing the invention for those skilled in the art, the invention is described in further detail and with reference to the accompanying drawings.
As shown in fig. 1, the utility model provides a pair of vehicle location navigation head based on hyperfrequency RFID and millimeter wave radar, include: the system comprises a millimeter wave radar transceiver 101 and an ultrahigh frequency RFID reader 102 which are installed on an automatic driving vehicle 1, and road piles 2 which are installed on two sides of a road, wherein ultrahigh frequency RFID tags 201 and corner reflectors 202 are installed on the road piles 2. The millimeter wave radar transmitting receiver 101 and the ultrahigh frequency RFID reader 102 are fixed on the front bumper area of the vehicle 1; the upper area of the road pile 2 is provided with an ultrahigh frequency RFID tag 201 and a corner reflector 202 from top to bottom. The millimeter wave radar transceiver 101 can identify the road stub 2 with the corner reflector, and the ultrahigh frequency RFID reader 102 can return the RFID chip ID in the identification area.
The millimeter wave radar transmission receiver 101 has a transmitter that transmits millimeter waves and a receiver that receives a target transmission signal. The utility model discloses in can set up the radio frequency of millimeter wave radar and be 24GHz, 77GHz or 79 GHz.
The corner reflector 202 is a millimeter wave radar corner reflector made of metal plate materials such as aluminum plate, copper plate, aluminum alloy plate or stainless steel, and the working principle is that electromagnetic waves can be reflected back in the opposite direction of the incident direction. The present invention employs a number of reflecting planes of the corner reflector 202 from 3 up to 48.
The road pile 2 has a millimeter wave radar corner reflector structure, and in the driving process of a vehicle, after electromagnetic waves transmitted by the millimeter wave radar transmitter-receiver 101 are scanned to the corner reflector 202, the electromagnetic waves can be refracted and amplified on a metal corner, so that a strong echo signal is generated, and therefore the millimeter wave radar transmitter-receiver 101 on the automatic driving vehicle can detect a target more easily.
The antenna of the UHF RFID reader 102 is designed using a phased array antenna structure. The design of the phased array antenna structure enables the radio frequency antenna to be miniaturized and easier to install in the bumper area of a vehicle. Meanwhile, the structural design of the phased array antenna can also control the transmitting and receiving time and angle of electromagnetic waves, so that the positioning application design is more flexible. The radio frequency of the ultrahigh frequency RFID can be set to 920-925 MHz (Chinese standard) or 915MHz (ISO18000-6C standard).
Each ultrahigh frequency RFID label 201 has a globally unique code ID, an RFID chip in the label has a 96-bit storage space, and the ID of the label 201 chip is stored in the label in a read-only mode, is not erasable and can be read for an unlimited number of times in the product cycle of the RFID chip.
The road pile 2 is provided with an ultrahigh frequency RFID tag 201, and when the road pile 2 appears in the reading area of the ultrahigh frequency RFID reader 102 of the vehicle in the driving process of the vehicle, the chip ID of the tag 201 of the road pile 2 is read. The hardware intelligent chip of the vehicle storage automatic driving system is also stored with a database of chip IDs of the UHF RFID tags 201, the database takes the chip ID of each UHF RFID tag 201 as an index, and records the actual installation position coordinates of the road pile where each index corresponds to the tag 201. When the vehicle reads the ultrahigh frequency RFID tag 201, the position coordinates of the road pile can be obtained according to the chip ID, and the method can be used for accurate positioning and navigation of the vehicle.
As shown in FIG. 3, the utility model discloses use and be used for the environmental perception on the autopilot vehicle, the vehicle is at the in-process that traveles, and on-vehicle millimeter wave radar transceiver 101 and hyperfrequency RFID read ware 102 and be in operating condition. The millimeter wave radar transmitter-receiver 101 transmits electromagnetic waves in real time to perform radar detection, and can detect road piles and other obstacles. The uhf RFID reader 102 can detect the uhf RFID tag 201 on the road stub 2 in the identification area. The automatic driving system of the vehicle can identify the position of the corresponding road pile 2 according to the chip ID identified by the ultrahigh frequency RFID reader 102, and can identify the distance from the vehicle to the road pile 2 according to the detection result of the millimeter wave radar transmitting and receiving device 101, so that the vehicle can be accurately positioned. The utility model discloses the autopilot system of well vehicle is the existing system commonly used at present, and the difference lies in, has saved the database about the chip ID of hyperfrequency RFID label 201 in advance, can obtain the position that corresponds the way stake according to RFID chip ID. The distance of the target is obtained through the millimeter wave radar by adopting the mature technology at present, and the detailed description is omitted here.
The present invention further includes but is not limited to the combination of the corner reflector 202 and the uhf RFID tag 201 of the road pile 2 as shown in (a) of fig. 4, that is, the relative positions of the uhf RFID tag 201 and the corner reflector 202 on the road pile 2 can be adjusted according to the actual situation. Meanwhile, the present invention includes, but is not limited to, the structural design of the single corner reflector 202 of various shapes as shown in (b) of fig. 4. Namely, the protection scope of the utility model is that as long as the ultrahigh frequency RFID and the millimeter wave radar technology are jointly used to improve the positioning accuracy.
Will the utility model discloses a positioner and high-precision map, low frequency RFID positioner, car road are experimental contrast in coordination with C-V2X Road Side Unit (RSU), obtain as shown in Table 1 result.
TABLE 1 the utility model discloses the device compares the result with prior art
By comparison, the following conclusions can be drawn:
(1) adopt the utility model discloses a positioner, the automatic driving vehicle can the 10-20 meters road pile road sign of installing hyperfrequency RFID label and corner reflector of perception, though the perception distance is not as far as laser radar, but can satisfy the vehicle location demand that the urban area intermediate speed of speed per hour was gone.
(2) The utility model discloses a positioner can reach the centimeter level positioning accuracy that can reach with laser radar, low frequency RFID system.
(3) The utility model discloses an equipment construction cost is far less than vehicle road collaborative C-V2X RSU technique on the car, also is lower than laser radar's cost.
(4) In order to realize providing locate function to automatic driving's vehicle, need install in road both sides the utility model discloses a way stake, nevertheless the utility model discloses the hyperfrequency RFID label on the stake of way adopts passive design scheme, need not electronic circuit system and extra mains operated promptly, and the cost is far less than the vehicle access that needs external power source in coordination C-V2X RSU.
(5) The utility model discloses not only can implement at non-fixed roads such as mining area, harbour, garden, also easily implement at urban road, application scope is comparatively extensive.
Claims (5)
1. The utility model provides a vehicle positioner based on hyperfrequency RFID and millimeter wave radar which characterized in that includes: the system comprises a millimeter wave radar transmitting receiver and an ultrahigh frequency RFID reader which are arranged on an automatic driving vehicle, and road piles arranged on two sides of a road, wherein ultrahigh frequency RFID tags and corner reflectors are arranged on the road piles; the millimeter wave radar transmitting receiver and the ultrahigh frequency RFID reader are fixed on the front bumper area of the vehicle; the antenna of the ultrahigh frequency RFID reader is of a phased array antenna structure; the corner reflector is a millimeter wave radar corner reflector.
2. The apparatus of claim 1, wherein the millimeter wave radar transceiver has a radio frequency of 24GHz, 77GHz, or 79 GHz.
3. The device of claim 1, wherein the UHF RFID reader and the UHF RFID tag have a radio frequency of 920-925 MHz.
4. A device according to claim 1 or 3, characterized in that the uhf RFID tag is a passive uhf RFID tag.
5. The device according to claim 1, wherein the number of the reflecting planes of the corner reflector is 3-48.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020004235.9U CN211505884U (en) | 2020-01-02 | 2020-01-02 | Vehicle positioning device based on ultrahigh frequency RFID and millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020004235.9U CN211505884U (en) | 2020-01-02 | 2020-01-02 | Vehicle positioning device based on ultrahigh frequency RFID and millimeter wave radar |
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| Publication Number | Publication Date |
|---|---|
| CN211505884U true CN211505884U (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020004235.9U Expired - Fee Related CN211505884U (en) | 2020-01-02 | 2020-01-02 | Vehicle positioning device based on ultrahigh frequency RFID and millimeter wave radar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112802357A (en) * | 2020-12-21 | 2021-05-14 | 航天信息股份有限公司 | Vehicle identification and positioning device based on RFID |
| CN114047501A (en) * | 2021-09-30 | 2022-02-15 | 苏州豪米波技术有限公司 | Indoor positioning system based on millimeter wave radar |
| CN114153225A (en) * | 2021-10-15 | 2022-03-08 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle high-precision landing control system and method based on RTK and RFID technology |
-
2020
- 2020-01-02 CN CN202020004235.9U patent/CN211505884U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112802357A (en) * | 2020-12-21 | 2021-05-14 | 航天信息股份有限公司 | Vehicle identification and positioning device based on RFID |
| CN114047501A (en) * | 2021-09-30 | 2022-02-15 | 苏州豪米波技术有限公司 | Indoor positioning system based on millimeter wave radar |
| CN114153225A (en) * | 2021-10-15 | 2022-03-08 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle high-precision landing control system and method based on RTK and RFID technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210716 Address after: 100191 1409-019, 14th floor, shining building, 35 Xueyuan Road, Haidian District, Beijing Patentee after: Beijing Qixin Smart Technology Co.,Ltd. Patentee after: Beijing sanyuanju Technology Co.,Ltd. Patentee after: Zhengzhou bike Intelligent Technology Co.,Ltd. Address before: 100191 1409-019, 14th floor, shining building, 35 Xueyuan Road, Haidian District, Beijing Patentee before: Beijing Qixin Smart Technology Co.,Ltd. Patentee before: Beijing sanyuanju Technology Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200915 Termination date: 20220102 |