TWI506293B - Method, device and system for vehicle positioning - Google Patents

Description

Method, device and system for vehicle positioning

The present invention relates to the field of positioning technologies, and in particular, to a method, device and system for positioning a vehicle.

The application of the positioning system in vehicle management is called vehicle positioning, and the vehicle positioning technology can accurately acquire the specific position of the vehicle.

There are two kinds of vehicle positioning methods in the prior art. The first one is known to use GPS positioning system to locate the vehicle; the second type of vehicle positioning method is to realize the vehicle positioning by using the dead reckoning technology, specifically: knowing the vehicle Under the condition of the current time position, the vehicle position at the next moment is estimated by measuring the distance and bearing of the vehicle movement.

However, the above two vehicle positioning methods have disadvantages. First, the GPS vehicle positioning mode cannot complete the accurate positioning of the vehicle in a signal-free area, such as a tunnel or a high-rise building. Secondly, in the vehicle positioning method of the dead reckoning, since it calculates the vehicle position at the next moment according to the current time position of the vehicle, the distance and the direction of the vehicle movement, there is a certain error in the method of calculating the vehicle position, and when the error exists, the error is accumulated. There will be problems with inaccurate vehicle positioning.

In order to solve the problem of inaccurate vehicle positioning, the present invention provides a method, device and system for vehicle positioning.

The invention provides a method for positioning a vehicle, which is applied to a device for positioning a vehicle, the device comprising a controller and a first dedicated short-range communication DSRC module, the controller comprising a determining module and a determining module, the method comprising: determining The module determines location information of the device for positioning the vehicle; The determining module determines whether the current vehicle in which the in-vehicle unit OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module, and if so, the first dedicated short-range communication DSRC module carries the first to the in-vehicle unit OBU The two dedicated short-range communication DSRC module transmits the location information so that the on-board unit OBU of the current vehicle determines the location.

Preferably, the method further includes: adjusting, by the adjustment module, a communication area of the first dedicated short-range communication DSRC module by adjusting a transmit power of the first dedicated short-range communication DSRC module.

Preferably, the determining module determines the location information of the device for positioning the vehicle, and the determining module receives the location information calculated by the device for the location of the vehicle by the dynamic dynamic differential RTK device; the location information that the determining module will receive Determine the location information of the device that is positioned for the vehicle.

Preferably, the determining module determines the location information of the device for positioning the vehicle, including: determining, by the determining module, the longitude, latitude, and heading of the device for positioning the vehicle; the determining module determining the longitude, latitude, and heading as Location information of the device for positioning the vehicle.

Preferably, the determining module determines location information of the device for positioning the vehicle, comprising: determining, by the determining module, a location identifier of the device for positioning the vehicle; and determining, by the determining module, the location identifier as a device for positioning the vehicle Location information.

The invention also provides a device for positioning a vehicle, the device comprising The controller and the first dedicated short-range communication DSRC module: wherein the controller comprises a determining module and a determining module, wherein the determining module is configured to determine location information of the device for positioning the vehicle; the determining module is configured to determine Whether the current vehicle in which the OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module; the first dedicated short-range communication DSRC module is configured to send to the second dedicated short-range communication DSRC module carried by the on-board unit OBU The location information is such that the onboard unit OBU of the current vehicle determines the location.

Preferably, the device further includes: an adjustment module, configured to adjust a communication area of the first dedicated short-range communication DSRC module by adjusting a transmit power of the first dedicated short-range communication DSRC module.

Preferably, the determining module includes: a receiving submodule, configured to receive location information calculated by the RTK device for the device for positioning the vehicle; and a first determining submodule configured to determine the received location information as the vehicle Location information of the positioned device.

Preferably, the determining module comprises: a first acquiring submodule, configured to acquire longitude, latitude and heading of the device for positioning the vehicle; and a second determining submodule configured to determine the longitude, latitude and heading as Location information of the device for positioning the vehicle.

Preferably, the determining module includes: a second acquiring submodule, configured to acquire a location identifier of the device for positioning the vehicle; and a third determining submodule configured to determine the location identifier as the car Location information of the positioning device.

The present invention also provides a system for locating a vehicle, the system comprising a device for positioning a vehicle and an OBU comprising a second dedicated short-range communication DSRC module, the device for positioning the vehicle of any one of the above, the on-board unit OBU Installed on the vehicle.

The present invention is applied to a device for positioning a vehicle, the device comprising a controller and a first dedicated short-range communication DSRC module, the controller comprising a determining module and a determining module, the solution comprising: the determining module determining a device for positioning the vehicle Position information; the judging module judges whether the current vehicle in which the in-vehicle unit OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module, and if so, the first dedicated short-range communication DSRC module to the on-board unit OBU The second dedicated short-range communication DSRC module carried carries the location information so that the on-board unit OBU of the current vehicle determines the location. According to the GPS positioning method of the prior art, the present invention can accurately locate the position of the current vehicle in the area without signal; the present invention can accurately locate the position of the current vehicle and correct the passing of the vehicle according to the parking position estimation method of the prior art. The position estimation method determines the error of the vehicle position. In summary, the present invention enables more accurate positioning of the vehicle than the prior art.

101~103, 201~204, 301~304, 401~402, 4011~4012, 501~502, 601~602, 701~702, 801‧‧

1 is a flowchart of a vehicle positioning method according to Embodiment 1 of the present invention; FIG. 2 is a flowchart of a vehicle positioning method according to Embodiment 2 of the present invention; FIG. 3 is a flowchart of a vehicle positioning method according to Embodiment 3 of the present invention; 4 is a structural diagram of a vehicle positioning device according to a fourth embodiment of the present invention; FIG. 5 is a structural diagram of the determining module 4011 according to Embodiment 4 of the present invention; FIG. 6 is a fourth embodiment of the present invention. One of the structural diagrams of the module 4011 is determined; FIG. 7 is one of the structural diagrams of the determining module 4011 according to the fourth embodiment of the present invention; FIG. 8 is a structural diagram of a device for positioning a vehicle according to a fourth embodiment of the present invention.

In the field of vehicle positioning, the use of GPS technology for vehicle positioning has a problem of positioning dead angle. The present invention can compensate for the problem of positioning dead angle of GPS positioning, and the GPS positioning technology tends to be perfect. At the same time, the present invention can also calibrate vehicle positioning using techniques of dead reckoning. Before the vehicle is positioned by the present invention, the device for positioning the vehicle is first installed on both sides of the road, and can be installed on the street lamps on both sides of the road, and the OBU is installed on the vehicle to be positioned, and communication between the two devices is performed. Achieve the purpose of current vehicle positioning.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the application.

Embodiment 1

The embodiment is specifically applied to a device for positioning a vehicle. The device for positioning a vehicle includes a controller and a first dedicated short-range communication DSRC module. The controller includes a determining module and a determining module. Specifically, the device for positioning the vehicle includes The controller can be implemented by the drive test unit RSU.

Referring to FIG. 1 , FIG. 1 is a flowchart of a first embodiment of a method for locating a vehicle according to the present invention. The embodiment may specifically include:

Step 101: The determining module determines location information of the device for positioning the vehicle.

In this embodiment, first, the location where the device for positioning the vehicle is installed, that is, the location information of the device for positioning the vehicle is obtained.

In practice, a number of vehicle positioning devices need to be installed on On both sides of the road, it can be installed on both sides of the road that GPS technology cannot locate, or it can be installed on both sides of the road under the high-rise building where the GPS signal is not strong. The specific installation rules may be determined according to user requirements, and the installation of the device for performing vehicle positioning does not affect the implementation of the embodiment.

In this embodiment, the determining module in the device for positioning the vehicle may determine the location information of the device for positioning the vehicle according to the location information calculated by the RTK device for the device for positioning the vehicle. Specifically, the location information may be the location of the vehicle. The longitude, latitude and heading of the installed device, the first dedicated short-range communication DSRC module in the installed vehicle positioning device can transmit a radio frequency signal, and the radio frequency signal modulates the position information of the device for positioning the vehicle.

Specifically, the determined location information may also be a location identifier of the installed vehicle positioning device. For example, when the two roads are parallel main roads and auxiliary roads, it is difficult to locate the current vehicle on the main road by using existing vehicle positioning technology. In the embodiment, the vehicle positioning device is installed on both sides of the road of the auxiliary road or the main road, and the position of the device for positioning the installed vehicle is determined as the position information of the device for positioning the vehicle, for example, when the vehicle is positioned. When the device is installed on the main road, its position is identified as the main road.

Specifically, the installed vehicle positioning device comprises a first dedicated short-range communication DSRC module, and the first dedicated short-range communication DSRC module is configured to communicate with the second dedicated short-range communication DSRC module included in the OBU by transmitting and receiving radio frequency signals. .

Step 102: The determining module determines whether the current vehicle in which the OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module, and if yes, proceeds to step 103.

In this embodiment, an OBU including a second dedicated short-range communication DSRC module is installed on the vehicle that needs to be positioned in advance, and the second dedicated short-range communication DSRC module is configured to receive the first dedicated short-range communication DSRC module and carry the Vehicle setting The RF signal of the location information of the device.

In actual operation, the communication area of the first dedicated short-range communication DSRC module is preset. Specifically, the communication of the first dedicated short-range communication DSRC module can be controlled by adjusting the transmission power of the first dedicated short-range communication DSRC module. region. Specifically, the communication area of the first dedicated short-range communication DSRC module can be set to 1.5 meters.

In actual operation, the communication between the first dedicated short-range communication DSRC module and the second dedicated short-range communication DSRC module in the current vehicle is used to determine whether the current vehicle is in any one of the first dedicated short-range communication DSRC modules. If the communication between the first dedicated short-range communication DSRC module and the second dedicated short-range communication DSRC module can be used to know that the current vehicle is already in the preset communication area, the process proceeds to step 103.

Step 103: The first dedicated short-range communication DSRC module sends the location information to the second dedicated short-range communication DSRC module carried by the on-board unit OBU, so that the on-board unit OBU of the current vehicle determines the location.

In actual operation, in the case that the current vehicle is already in the communication area preset by any one of the first dedicated short-range communication DSRC modules, the first dedicated short-range communication DSRC module will carry the second dedicated short-range communication to the current vehicle. The DSRC module sends location information of the device that the vehicle is positioning.

Specifically, the first dedicated short-range communication DSRC module and the second dedicated short-range communication DSRC module transmit and receive location information in the form of radio frequency signals.

In this embodiment, since the location information of the installed vehicle positioning device is determined, the location information of the vehicle in the communication area of the first dedicated short-range communication DSRC module is also approximately determined, and the vehicle is approximated. The position information of the positioning device is the same, and the error is only related to the setting of the communication area.

The embodiment is applied to a device for positioning a vehicle, the device including the control And the first dedicated short-range communication DSRC module, the controller includes a determining module and a determining module. The embodiment includes: the determining module determines location information of the device for positioning the vehicle; and the determining module determines to install the on-board unit OBU Whether the current vehicle is in a communication area preset by the first dedicated short-range communication DSRC module, and if so, the first dedicated short-range communication DSRC module transmits the second dedicated short-range communication DSRC module carried by the on-board unit OBU Location information so that the onboard unit OBU of the current vehicle determines the location. Compared with the prior art, the invention can accurately locate the vehicle.

Embodiment 2

This embodiment is a scenario embodiment. In this embodiment, in the CBD CBD of the high-rise building, due to the blockage of the high-rise building, the GPS positioning signal is good or bad, and the vehicle positioning is installed in the CBD central business district. The device obtains the location information of the device for positioning the vehicle when the vehicle enters the communication area of the first dedicated short-range communication DSRC module of the device for positioning the vehicle, and locates the current vehicle according to the position information until the GPS signal Getting better.

The embodiment is also applied to a device for positioning a vehicle, the device comprising a controller and a first dedicated short-range communication DSRC module, the controller comprising a determination module and a determination module.

Referring to FIG. 2, FIG. 2 is a flowchart of a second embodiment of a method for locating a vehicle according to the present invention. The embodiment may specifically include:

Step 201: The determining module determines location information of the device for positioning the vehicle installed in the area where the central business district of the CBD is severely blocked.

Because the central business area of the CBD is severely occluded, the vehicle positioning cannot be completed by the GPS positioning technology. Therefore, in this embodiment, the device for positioning the vehicle is installed in a severely blocked area, and the location information of the device for positioning the vehicle is determined by the RTK device, and the location information includes The longitude, latitude, and heading of the device in which the vehicle is positioned.

Specifically, the installed vehicle positioning device includes a first dedicated short-range communication DSRC module, and the first dedicated short-range communication DSRC module is configured to communicate with a second dedicated short-range communication DSRC module carried by the vehicle.

In actual operation, some vehicles in the central business district of the CBD may be equipped with several vehicle positioning devices. The position of the device for positioning the vehicle can be set according to the GPS signal strength of the location, and the vehicle can be positioned. The device is set in a place where the GPS signal is weak or where the GPS has no signal.

Step 202: Set a communication area of the first dedicated short-range communication DSRC module by adjusting a transmit power of the first dedicated short-range communication DSRC module.

In this embodiment, the communication area of the first dedicated short-range communication DSRC module is set by adjusting the transmit power of the installed first dedicated short-range communication DSRC module.

Specifically, the communication area of the first dedicated short-range communication DSRC module included in the device for positioning the vehicle installed in some of the CBD-blocked areas may be set to 1 meter.

Step 203: The determining module determines whether the current vehicle in which the OBU is installed is in the communication area, and if yes, proceeds to step 204.

In this embodiment, the OBU is first installed on a vehicle that needs to be positioned, and the OBU includes a second dedicated short-range communication DSRC module. Secondly, through the communication between the second dedicated short-range communication DSRC module and the first dedicated short-range communication DSRC module in the form of radio frequency signals, it is determined whether the current vehicle is within the preset communication area, and if so, proceeds to the step 204.

If the current vehicle is not in the pre-set communication area, then the current vehicle will travel normally until the current vehicle enters the preset communication area, and then proceeds to step 204.

Step 204: The first dedicated short-range communication DSRC module is applied to the vehicle The second dedicated short-range communication DSRC module carried by the unit OBU sends the location information, so that the on-board unit OBU of the current vehicle determines the location.

In this embodiment, if the current vehicle is in the preset communication area, the first dedicated short-range communication DSRC module corresponding to the communication area will send the location information to the second dedicated short-range communication DSRC module corresponding to the current vehicle, so as to determine The location of the current vehicle.

Specifically, the location information is transmitted between the first dedicated short-range communication DSRC module and the second dedicated short-range communication DSRC module in the form of a radio frequency signal.

In this embodiment, by positioning the vehicle in a manner of installing a vehicle positioning device in some occlusion areas of the central business district of the CBD, it is possible to solve the problem that the vehicle positioning is difficult due to weak or no signal of the GPS signal, and the prior art is In the GPS vehicle positioning mode, the present embodiment can accurately locate the current vehicle in an area where there is no signal or weak signal.

Embodiment 3

This embodiment is also a scenario embodiment. In this embodiment, on the expressway, because the location of the main and auxiliary roads is relatively close, for example, the distance between the main road and the auxiliary road is less than 5 meters, but the positioning accuracy of the GPS is about 10 meters. Therefore, the use of GPS positioning technology alone cannot distinguish the main auxiliary road on the expressway. If the vehicle positioning device is installed on the auxiliary road, the second dedicated short-range communication DSRC module included in the OBU included in the current vehicle receives the RF signal transmitted by the first dedicated short-range communication DSRC module of the installed vehicle positioning device. At the time, it indicates that the current vehicle is driving on the auxiliary road, otherwise, it indicates that the current vehicle is driving on the main road.

The embodiment is also applied to a device for positioning a vehicle, the device comprising a controller and a first dedicated short-range communication DSRC module, the controller comprising a determination module and a determination module.

Referring to FIG. 3, FIG. 3 is a flowchart of a third embodiment of a method for locating a vehicle according to the present invention. The embodiment may specifically include:

Step 301: The determining module determines location information of the device for positioning the vehicle installed on the auxiliary road of the expressway.

In this embodiment, since the position of the main and auxiliary roads is relatively close, the existing GPS positioning technology is difficult to solve the problem of vehicle positioning in this case.

In actual operation, the device for positioning the vehicle is installed in advance on the auxiliary road of the expressway, and the position identification of the device for positioning the vehicle is determined as the position information. Specifically, the location identifier is in the form of a radio frequency signal.

In actual operation, since the device for positioning the vehicle includes a communication area preset by the first dedicated short-range communication DSRC module so that it can only communicate with the vehicle traveling on the auxiliary road, the device that transmits the vehicle positioning is currently transmitted by the vehicle. When the position indicator exists in the form of a radio frequency signal, it indicates that the current vehicle is traveling on the auxiliary road.

Step 302: Set a communication area of the first dedicated short-range communication DSRC module by adjusting a transmit power of the first dedicated short-range communication DSRC module.

Step 303: The determining module determines whether the current vehicle in which the OBU is installed is in the communication area, and if yes, proceeds to step 304.

Steps 302 to 303 in this embodiment are the same as steps 202 to 203 in the second embodiment, and therefore are not described herein again.

Step 304: The first dedicated short-range communication DSRC module sends the location information to the second dedicated short-range communication DSRC module carried by the on-board unit OBU, so that the on-board unit OBU of the current vehicle determines the location.

In this embodiment, when the current vehicle is in the preset communication area, the first dedicated short-range communication included in the device for pre-installing the vehicle on the auxiliary road The DSRC module will transmit the location information of the device for positioning the vehicle to the second dedicated short-range communication DSRC module included in the current vehicle, and the current vehicle determines that it is on the auxiliary road through the location information.

Specifically, the location information is in the form of a radio frequency signal transmitted by the first dedicated short-range communication DSRC module. When the vehicle receives the radio frequency signal transmitted by the first dedicated short-range communication DSRC module, the vehicle is on the auxiliary road. .

In this embodiment, by installing a plurality of vehicle positioning devices on the auxiliary roads where the main auxiliary roads are relatively close, the problem of the main auxiliary roads that cannot be solved by the GPS positioning technology is solved.

Embodiment 4

Referring to FIG. 4, FIG. 4 is a structural diagram of a device for a vehicle positioning apparatus according to a fourth embodiment of the present invention. The embodiment may specifically include: a controller 401 and a first dedicated short-range communication DSRC module 402: wherein the controller The 401 includes a determining module 4011 and a determining module 4012. The determining module 4011 is configured to determine location information of the device for positioning the vehicle. Referring to FIG. 5, FIG. 5 is one of the structural diagrams of the determining module 4011. The group 4011 includes: a receiving submodule 501, configured to receive location information calculated by the RTK device for the device for positioning the vehicle; and a first determining submodule 502, configured to determine the received location information as the device for positioning the vehicle. Location information.

Referring to FIG. 6, FIG. 6 is a structural diagram of the determining module 4011. The determining module 4011 includes: a first acquiring sub-module 601, configured to acquire longitude, latitude, and heading of the device for positioning the vehicle; The second determining sub-module 602 is configured to determine the longitude, latitude, and heading as position information of the device for positioning the vehicle.

Referring to FIG. 7, FIG. 7 is a structural diagram of the determining module 4011. The determining module 4011 includes: a second acquiring sub-module 701, configured to acquire a location identifier of the device for positioning the vehicle; and a third determining submodule The group 702 is configured to determine the location identifier as location information of the device for positioning the vehicle.

The determining module 4012 is configured to determine whether the current vehicle in which the OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module; the first dedicated short-range communication DSRC module 402 is configured to carry to the on-board unit OBU The second dedicated short-range communication DSRC module transmits the location information so that the on-board unit OBU of the current vehicle determines the location.

Referring to FIG. 8, FIG. 8 is a structural diagram of a device for positioning a vehicle, and FIG. 8 includes the device of FIG. 4. The controller 401 of FIG. 8 further includes an adjustment module 801 for adjusting the The transmit power of a dedicated short-range communication DSRC module adjusts the communication area of the first dedicated short-range communication DSRC module.

Embodiment 5

The present invention provides a vehicle positioning system, which includes a device for positioning a vehicle and an OBU including a second dedicated short-range communication DSRC module, the device for positioning the vehicle being any one of the devices shown in FIG. 4 to FIG. The onboard unit OBU is mounted on the vehicle.

In this embodiment, the device for positioning the vehicle is installed on both sides of the road with weak GPS signals, and the OBU including the second dedicated short-range communication DSRC module is installed on the vehicle that needs to be positioned, wherein the device in the vehicle positioning device is preset. a special short The communication area of the DSRC module, when the current vehicle travels to the communication area, the first dedicated short-range communication DSRC module will transmit the position of the vehicle positioning device to the second dedicated short-range communication DSRC module in the form of a radio frequency signal. The information, when the second dedicated short-range communication DSRC module receives the location information of the device for positioning the vehicle, determines the location of the current vehicle based on the location information.

The embodiment is applied to a device for positioning a vehicle. The device includes a controller and a first dedicated short-range communication DSRC module. The controller includes a determining module and a determining module. The embodiment includes: determining the vehicle positioning by the determining module. Position information of the device; the determining module determines whether the current vehicle in which the in-vehicle unit OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module, and if so, the first dedicated short-range communication DSRC module is in the vehicle The second dedicated short-range communication DSRC module carried by the unit OBU sends the location information, so that the on-board unit OBU of the current vehicle determines the location. For the prior art GPS vehicle positioning mode, the present embodiment can accurately locate the current vehicle position in the signal-free region; for the vehicle positioning method of the prior art dead reckoning, the present embodiment can accurately locate the current vehicle position and correct The error of the vehicle position determined by the dead reckoning method. In summary, the present embodiment enables more accurate positioning of the vehicle than the prior art.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can be referred to the description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those skilled in the art can understand and implement without any creative work.

It should be noted that in this paper, such as the first and second, etc. The term relationship is used to distinguish one entity or operation from another entity or operation, and does not necessarily require or imply any such actual relationship or order. Furthermore, the term "comprises" or "comprises" or "comprising" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a singular" does not exclude the presence of the same element in the process, method, item, or device that comprises the element.

The method and apparatus for locating a vehicle provided by the embodiments of the present invention are described in detail. The principles and embodiments of the present invention are described in detail herein. The description of the above embodiments is only for helping to understand the present invention. The method and its core idea; at the same time, those skilled in the art, according to the idea of the present invention, there will be changes in the specific embodiment and the scope of application. In summary, the contents of this specification should not be construed as Limitations of the invention.

101~103‧‧‧Steps

Claims (11)

A method for locating a vehicle, characterized in that it is applied to a device for positioning a vehicle, the device comprising a controller and a first dedicated short-range communication DSRC module, the controller comprising a determining module and a determining module, the method comprising: utilizing the Determining a module to determine location information of the device for positioning the vehicle, wherein location information of the device for positioning the vehicle is determined by the determining module according to a location identifier of the device for positioning the vehicle, or according to an instant dynamic differential RTK device The device for determining the position of the vehicle is determined by using the determining module to determine whether the current vehicle mounting the onboard unit OBU is in a communication area preset by the first dedicated short-range communication DSRC module, and if so, the first dedicated short-range communication DSRC The module sends the location information to the second dedicated short-range communication DSRC module carried by the onboard unit OBU, so that the onboard unit OBU of the current vehicle determines the location. The method of claim 1, the method further comprising the step of: adjusting the communication area of the first dedicated short-range communication DSRC module by adjusting the transmit power of the first dedicated short-range communication DSRC module. The method of claim 1, wherein the determining module determines location information of the device for positioning the vehicle, comprising: the determining module receiving location information calculated by the device for real-time dynamic differential RTK device for the vehicle positioning; The group determines the location information received as the location information of the device to which the vehicle is located. The method of claim 1 or 2, wherein the determining module determines location information of the device for positioning the vehicle, comprising: determining, by the determining module, the longitude, latitude, and heading of the device for positioning the vehicle; and The determining module determines the longitude, latitude and heading as position information of the device for positioning the vehicle. The method of claim 1 or 2, wherein the determining module determines the location information of the device for positioning the vehicle, comprising: the determining module acquiring a location identifier of the device for positioning the vehicle; the determining module identifying the location Determine the location information of the device that is positioned for the vehicle. A device for positioning a vehicle, comprising: a controller and a first dedicated short-range communication DSRC module: wherein the controller comprises a determining module and a determining module, wherein the determining module is configured to determine a vehicle positioning Position information of the device, wherein the location information of the device for positioning the vehicle is determined by the determining module according to the location identifier of the device for positioning the vehicle, or according to the calculation of the device for positioning the vehicle by the instantaneous dynamic differential RTK device; The determining module is configured to determine whether the current vehicle in which the in-vehicle unit OBU is installed is in a communication area preset by the first dedicated short-range communication DSRC module; the first dedicated short-range communication DSRC module is configured to carry to the in-vehicle unit OBU The second dedicated short-range communication DSRC module transmits the location information so that the on-board unit OBU of the current vehicle determines the location. The device of claim 6, wherein the device further comprises: an adjustment module, configured to adjust a communication area of the first dedicated short-range communication DSRC module by adjusting a transmit power of the first dedicated short-range communication DSRC module. The device of claim 6, wherein the determining module comprises: a receiving submodule, configured to receive location information calculated by the RTK device for the device for positioning the vehicle; The first determining sub-module is configured to determine the received location information as location information of the device for positioning the vehicle. The device of claim 6 or 7, wherein the determining module comprises: a first acquiring sub-module for acquiring longitude, latitude and heading of the device for positioning the vehicle; and a second determining sub-module for The longitude, latitude, and heading are determined as location information of the device that the vehicle is positioning. The device of claim 6 or 7, wherein the determining module comprises: a second acquiring sub-module, configured to acquire a location identifier of the device for positioning the vehicle; and a third determining sub-module for the location The location information identifying the device that is determined to be located by the vehicle. A system for locating a vehicle, comprising: a device for locating a vehicle and an onboard unit OBU comprising a second dedicated short-range communication DSRC module, the device for positioning the vehicle according to any one of the preceding claims 6 to 8, The onboard unit OBU is mounted on the vehicle.