WO2016107303A1 - 一种校正车辆位置偏差的方法和系统 - Google Patents

一种校正车辆位置偏差的方法和系统 Download PDF

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Publication number
WO2016107303A1
WO2016107303A1 PCT/CN2015/094475 CN2015094475W WO2016107303A1 WO 2016107303 A1 WO2016107303 A1 WO 2016107303A1 CN 2015094475 W CN2015094475 W CN 2015094475W WO 2016107303 A1 WO2016107303 A1 WO 2016107303A1
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correction
information
gnss
roadside unit
broadcast
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PCT/CN2015/094475
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English (en)
French (fr)
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李成
贾安州
徐宏强
徐海平
辛伟
高兴
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北京握奇智能科技有限公司
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Publication of WO2016107303A1 publication Critical patent/WO2016107303A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

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  • the invention belongs to the field of intelligent transportation, and particularly relates to a method and system for correcting vehicle position deviation.
  • GNSS Global Navigation Satellite System
  • the positioning of vehicles mainly relies on GNSS (Global Navigation Satellite System), such as GPS in the United States, Glonass in Russia, Galileo in Europe, and Beidou satellite navigation system in China, because GNSS may be in a certain period of time. A certain deviation will cause the positioning information received by the vehicle during the driving process to be inaccurate.
  • the driving path of the vehicle displayed in the traffic congestion charging system does not match the actual driving path, which may cause an error in the vehicle charging.
  • the roadside unit can be used to assist the positioning.
  • the roadside unit uses DSRC technology to transmit the fixed positioning information of the current position of the vehicle to the vehicle unit for vehicle positioning.
  • DSRC DSRC technology
  • the roadside unit abbreviated as RSU (Road Side Unit)
  • RSU Road Side Unit
  • OBU On Board Unit
  • DSRC Dedicated Short Range Communication special short-range communication technology
  • OBU On Board Unit
  • DSRC Dedicated Short Range Communication special short-range communication technology
  • the technical solution adopted by the present invention is: a method for correcting a positional deviation of a vehicle, comprising the following steps:
  • the correction system sends a GNSS correction instruction to the roadside unit
  • the roadside unit accepts the GNSS correction command, modifies the originally set broadcast information, and performs broadcast, where the broadcast information includes correction information and GNSS location information;
  • the vehicle unit interacts with the roadside unit to acquire the correction information and the GNSS location information broadcast by the roadside unit;
  • the onboard unit modifies the positioning data based on the correction information and the GNSS position information.
  • the GNSS correction instruction includes: authentication content, correction information, correction parameters, and path information, and the authentication content is used for the legitimacy of the roadside unit authentication correction system.
  • the roadside unit records and transmits its own positioning information to the correction system; when the roadside unit performs broadcasting, the roadside unit also broadcasts the path information of the road on which the road is located. .
  • the path information includes: a path ID, a path heading.
  • the in-vehicle unit accepts the path information broadcast by the roadside unit, and modifies its own path information according to the path information broadcast by the roadside unit.
  • the calibration data source of the correction system includes: data provided by a GNSS detection module installed in a roadside unit of the system or a dedicated GNSS detection station;
  • the correction data transmission process includes: the GNSS detection module or the dedicated GNSS detection station transmits the correction data to the correction system, the correction system obtains the correction conclusion, and then sends the correction instruction to the roadside unit.
  • a system for correcting vehicle position deviation comprising the following:
  • a correction system for transmitting a GNSS correction instruction to the roadside unit
  • a roadside unit configured to accept the GNSS correction command, modify the originally set broadcast information, and perform broadcast, the broadcast information includes correction information and GNSS location information; the roadside unit is configured to record and send itself to the correction system Positioning information;
  • the vehicle unit is configured to interact with the roadside unit, acquire the correction information and GNSS location information broadcast by the roadside unit, and modify the positioning data according to the correction information and the GNSS location information.
  • the GNSS correction instruction includes: authentication content, correction information, correction parameters, and path information, and the authentication content is used for the legitimacy of the roadside unit authentication correction system.
  • the roadside unit is configured to record and transmit self-positioning information to the correction system, and the roadside unit is further configured to broadcast path information of the road on which the road is located.
  • the path information includes: a path ID, a path heading.
  • the onboard unit is further configured to accept path information broadcast by the roadside unit, and modify its own path information according to the path information broadcast by the roadside unit.
  • the correction system is further configured to receive data provided by the GNSS detection module or the dedicated GNSS detection station installed in the roadside unit, perform analysis to obtain a correction conclusion, and form a GNSS correction instruction.
  • the effect of the present invention is that the method and system for correcting the positional deviation of the vehicle according to the present invention can effectively correct the error of the position of the vehicle due to the deviation of the GNSS signal, and enable the onboard unit to accurately confirm the path of the vehicle.
  • Figure 1 is a flow chart of the method of the present invention
  • Figure 2 is a structural view of the system in the specific embodiment of the present invention.
  • FIG. 3 is a structural view of the roadside unit in the embodiment of the present invention.
  • a method for correcting a vehicle position deviation includes the following steps:
  • Step S1 the correction system obtains the signal deviation of the GNSS of a certain area, and goes to the roadside unit Send GNSS correction instructions, the instructions are appropriate:
  • the content of the certification is used for the legality of the roadside unit authentication correction system
  • Correction information correction information, calibration parameters, and path information.
  • Step S2 The roadside unit accepts the GNSS correction command, modifies the originally set broadcast information, and performs broadcast, the broadcast information includes correction information and GNSS location information; and the broadcast passes the DSRC communication method, specifically to the implementation method, that is, According to a specific time interval, the data frame is continuously transmitted on the fixed channel. If the data frame is 5.8G, it can be in accordance with the domestic ETC standard, such as the 5.9G frequency band, and can be in accordance with the WAVE standard. Broadcasting refers to the transmission of the same data information to all on-board units (areas covered by the antennas of the roadside units) that pass through the specific communication area according to the communication protocol. For security reasons, the onboard unit also authenticates the legitimacy of the roadside unit. For example, in the WAVE standard, the broadcast passes the roadside unit signature.
  • Step S3 The in-vehicle unit interacts with the roadside unit to acquire the correction information and GNSS location information broadcast by the roadside unit;
  • Step S4 The onboard unit modifies the positioning data according to the correction information and the GNSS position information
  • the roadside unit is disposed beside the road for recording and transmitting its own positioning information to the correction system, and accepts the GNSS correction command issued by the correction system for interacting with the onboard unit;
  • the onboard unit is mounted on the vehicle for GNSS positioning and identifying the vehicle's travel path.
  • Calibration data source and data transmission process of the calibration system including but not limited to the GNSS detection module installed in the roadside unit of the system (mostly the roadside unit can be installed), and the data provided by the dedicated GNSS detection station is transmitted to the calibration system.
  • the calibration system obtains a calibration conclusion, forms a GNSS correction command, and sends a correction command to a particular roadside unit.
  • the roadside unit when the roadside unit performs broadcasting, it also broadcasts path information of the road on which the roadside unit is located, and the path information includes: a path ID and a path heading.
  • the onboard unit accepts the path information and modifies its own path information according to the path information.
  • a specific embodiment of the present invention also discloses a system for correcting vehicle position deviation, including the following devices:
  • the correction system 11 is configured to receive data provided by the GNSS detection module or the dedicated GNSS detection station installed in the roadside unit, perform analysis to obtain a correction conclusion, and send the data to the roadside unit.
  • GNSS correction instruction ;
  • the roadside unit 12 is configured to record and transmit self-positioning information to the correction system, to receive the GNSS correction instruction, modify the originally set broadcast information, and perform broadcast, where the broadcast information includes correction information and GNSS location information. ;
  • the onboard unit 13 is configured to interact with the roadside unit, acquire the correction information and GNSS location information broadcast by the roadside unit, and modify the positioning data according to the correction information and the GNSS location information.
  • the GNSS correction instruction includes: an authentication content, correction information, a correction parameter, and path information, where the authentication content is used for the legitimacy of the roadside unit authentication correction system.
  • the roadside unit also broadcasts path information of the road on which the roadside unit is located, and the path information includes: a path ID and a path heading.
  • the in-vehicle unit accepts the path information broadcast by the roadside unit, and modifies its own path information according to the path information broadcast by the roadside unit.
  • a specific embodiment of the present invention further discloses a roadside unit for correcting a vehicle position deviation, which includes a main system 31, a DSRC module 32, a power management module 33, a GNSS detection module 34, and a communication module.
  • the main system includes a main processor, a SDRAM (Synchronous Dynamic Random Access Memory), and a NANDFLASH.
  • the NANDFLASH is a type of Flash memory, which has the advantages of large capacity, fast rewriting speed, and the like. For the storage of a large amount of data, it has been widely used in the industry.
  • the DSRC module further includes an information broadcast unit for broadcasting correction information, GNSS location information, and path information to the onboard unit in a certain area;
  • the GNSS detection module is configured to detect a GNSS signal
  • the communication module includes a WWAN module 35, an Ethernet interface 36, and an RS485 interface 37, configured to communicate with the calibration system, and receive a GNSS correction command issued by the calibration system, where the WWAN is a Wireless Wide Area Network;
  • the roadside unit further includes a DC-DC power supply 38 connected to the power module, a protection circuit 39 connecting the DC-DC power supply, the Ethernet interface and the RS485 interface, and a waterproof interface 40 on the protection circuit.
  • the present invention is directed to the signal deviation problem existing in the GNSS, and receives a real-time correction instruction for the GNSS deviation through the communication module in the roadside unit RSU, and broadcasts the received position information and correction information through the DSRC module, and
  • the on-board unit OBU of the nearby vehicle interacts to perform positioning correction on the passing vehicle to correct the deviation, and the information broadcasted by the roadside unit RSU also carries the path information of the road where the roadside unit RSU is located (including the ID of the road) The number, the direction of the road, and the like, the road information, so as to ensure that the vehicle travel track information recognized by the onboard unit is correct, and the correct execution by the route charge is realized.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

一种校正车辆位置偏差的方法和系统，包括：校正系统向路侧单元发送GNSS校正指令(S1)；路侧单元接受所述GNSS校正指令，修改原来设定的GNSS位置信息和校正信息，并进行广播，广播信息包括校正信息和GNSS位置信息(S2)；车载单元同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息(S3)；车载单元根据所述校正信息和GNSS位置信息修改定位数据(S4)。采用所述校正车辆位置偏差的方法和系统，可以校正过往车辆的GNSS定位信号的偏差，使车载单元能够准确定位车辆所处的路径。

Description

一种校正车辆位置偏差的方法和系统 技术领域
本发明属于智能交通领域，具体涉及一种校正车辆位置偏差的方法和系统。
背景技术
在交通拥堵收费系统中，不同的路径要采用不同的收费标准，因此对车辆所在路径的准确定位显得尤为重要。目前车辆的定位主要依靠GNSS(Global Navigation Satellite System,全球导航卫星系统)来实现，如美国的GPS、俄罗斯的Glonass、欧洲的Galileo、中国的北斗卫星导航系统，因为GNSS在某一时间段可能会出现一定的偏差，会造成车辆在行驶过程中收到的定位信息不准确，导致在交通拥堵收费系统中显示的车辆的行驶路径与实际行驶的路径不相符的情况，会造成车辆收费出现错误。在实际情况中，城市多有存在GNSS信号不良情况，这时可以采用路侧单元来辅助定位，路侧单元采用DSRC技术发送车辆当前位置的固定定位信息给车载单元用于车辆定位。但这种情况下车辆一旦离开路侧单元有限的通信区域后，GNSS定位仍处于不良或存在一定的偏差。
路侧单元，简称RSU(Road Side Unit的英文缩写)，安装在路侧，采用DSRC技术，与车载单元(OBU，On Board Unit)进行通讯，实现车辆身份识别，电子扣分的设备。DSRC(Dedicated Short Range Communication专用短程通信技术)，是一种高效的无线通信技术,可以实现在特定小区域内(通常为数十米)对高速运动下的移动目标的识别和双向通信，它可以实现小范围内图像、语音和数据的实时，准确和可靠的双向传输。
发明内容
针对现有技术中存在的缺陷，本发明的目的是提供一种校正车辆位置偏差的方法和系统，对GNSS信号的偏差进行校正。
为达到以上目的，本发明采用的技术方案是：一种校正车辆位置偏差的方法，包括以下步骤：
校正系统向路侧单元发送GNSS校正指令；
路侧单元接受所述GNSS校正指令，修改原来设定的广播信息，并进行广播，所述的广播信息包括校正信息和GNSS位置信息；
车载单元同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息；
车载单元根据所述校正信息和GNSS位置信息修改定位数据。
进一步，所述GNSS校正指令包括：认证内容、校正信息、校正参数和路径信息，所述认证内容用于路侧单元认证校正系统的合法性。
进一步，在校正系统向路侧单元发送GNSS校正指令之前，所述的路侧单元记录并向校正系统发送自身定位信息；在路侧单元进行广播时，路侧单元还广播其所在道路的路径信息。
更进一步，所述的路径信息包括：路径ID，路径航向。
再进一步，车载单元接受路侧单元广播的路径信息，并根据路侧单元广播的路径信息修改自身的路径信息。
进一步，所述校正系统的校正数据来源包括：系统中路侧单元中所安装的GNSS检测模块或专用GNSS检测站所提供的数据；
校正数据发送过程包括：GNSS检测模块或专用GNSS检测站将校正数据传送到校正系统，校正系统得校正结论，然后向路侧单元发送校正指令。
一种校正车辆位置偏差的系统，包括以下装置：
校正系统，用于向路侧单元发送GNSS校正指令；
路侧单元，用于接受所述GNSS校正指令，修改原来设定的广播信息，并进行广播，所述的广播信息包括校正信息和GNSS位置信息；路侧单元用于记录并向校正系统发送自身定位信息；
车载单元，用于同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息，并根据所述校正信息和GNSS位置信息修改定位数据。
进一步，所述GNSS校正指令包括：认证内容、校正信息、校正参数和路径信息，所述认证内容用于路侧单元认证校正系统的合法性。
进一步，所述的路侧单元用于记录并向校正系统发送自身定位信息，路侧单元还用于广播其所在道路的路径信息。
更进一步，所述的路径信息包括：路径ID，路径航向。
再进一步，车载单元还用于接受路侧单元广播的路径信息，并根据路侧单元广播的路径信息修改自身的路径信息。
进一步，所述校正系统还用于接收路侧单元中所安装的GNSS检测模块或专用GNSS检测站所提供的数据，进行分析得到校正结论，形成GNSS校正指令。
本发明的效果在于：采用本发明所述的一种校正车辆位置偏差的方法和系统，可以有效地校正因为GNSS信号的偏差导致的车辆位置的错误，并使车载单元能够准确确认车辆所在路径。
附图说明
图1是本发明具体实施方式中所述方法的流程图；
图2是本发明具体实施方式中所述系统的结构图；
图3是本发明具体实施方式中所述路侧单元的结构图。
具体实施方式
下面结合附图和具体实施方式对本发明作进一步描述。
如图1所示，一种校正车辆位置偏差的方法，包括以下步骤：
步骤S1：校正系统得到某一区域的GNSS的信号偏差，并向路侧单元 发送GNSS校正指令，指令包适：
认证内容，用于路侧单元认证校正系统的合法性；
校正信息、校正参数和路径信息。
步骤S2：路侧单元接受所述GNSS校正指令，修改原来设定的广播信息，并进行广播，所述的广播信息包括校正信息和GNSS位置信息；广播通过DSRC通讯方式，具体到实现方法，即按特定时间间隔，在固定信道上不停发送数据帧，这个数据帧，如是5.8G频段，可按国内的ETC标准，如是5.9G频段，可按WAVE标准。广播指的是按通讯协议将同样的数据信息发送给所有路过特定通信区域的车载单元(路侧单元有向天线所覆盖的区域)。出于安全考虑，还包括车载单元对路侧单元的合法性进行认证，如在WAVE标准，广播经过了路侧单元签名。
步骤S3：车载单元同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息；
步骤S4：车载单元根据所述校正信息和GNSS位置信息修改定位数据；
本实施例中，所述的路侧单元设置在道路旁边，用于记录并向校正系统发送自身定位信息，并接受所述校正系统发出的GNSS校正指令，用于同车载单元进行交互；所述的车载单元搭载在车辆上，用于GNSS定位和识别车辆行驶路径。
校正系统的校正数据来源和数据发送过程：包括但不限于系统中路侧单元所安装的GNSS检测模块(大部分情况路侧单元可安装)，专用GNSS检测站所提供的数据，传送到校正系统，校正系统得校正结论，形成GNSS校正指令，向特定的路侧单元发送校正指令。
本实施例中，所述的路侧单元进行广播时，还广播其所在道路的路径信息，路径信息包括：路径ID，路径航向。车载单元接受所述路径信息，并根据所述的路径信息修改自身的路径信息。
如图2所示，本发明具体实施方式还公开了一种校正车辆位置偏差的系统，包括以下装置：
校正系统11，用于接收路侧单元中所安装的GNSS检测模块或专用GNSS检测站所提供的数据，进行分析得到校正结论；用于向路侧单元发送 GNSS校正指令；
路侧单元12，用于记录并向校正系统发送自身定位信息；用于接受所述GNSS校正指令，修改原来设定的广播信息，并进行广播，所述的广播信息包括校正信息和GNSS位置信息；
车载单元13，用于同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息，并根据所述校正信息和GNSS位置信息修改定位数据。
本实施例中，所述GNSS校正指令包括：认证内容、校正信息、校正参数和路径信息，所述认证内容用于路侧单元认证校正系统的合法性。所述的路侧单元还广播其所在道路的路径信息，所述的路径信息包括：路径ID，路径航向。车载单元接受路侧单元广播的路径信息，并根据路侧单元广播的路径信息修改自身的路径信息。
如图3所示，本发明具体实施方式还公开了一种校正车辆位置偏差的路侧单元，包括主系统31、DSRC模块32、电源管理模块33、GNSS检测模块34、通讯模块。
其中，所述的主系统包括主处理器、SDRAM(Synchronous Dynamic Random Access Memory，同步动态随机存储器)、NANDFLASH，其中，NANDFLASH是Flash内存的一种，具有容量较大，改写速度快等优点，适用于大量数据的存储，因而在业界得到了越来越广泛的应用。
所述DSRC模块中还设有信息广播单元，用于向一定区域内的车载单元广播校正信息、GNSS位置信息及路径信息；
所述的GNSS检测模块用于检测GNSS信号；
所述的通讯模块包括WWAN模块35、以太网接口36、RS485接口37，用于与校正系统通讯，接收校正系统下发的GNSS校正指令，所述WWAN为无线广域网(Wireless Wide Area Network)；
另外，所述的路侧单元还包括同电源模块连接的DC-DC电源38，连接DC-DC电源、以太网接口和RS485接口的保护电路39，以及保护电路上的防水接口40。
本发明针对GNSS存在的信号偏差问题，通过在路侧单元RSU中的通讯模块，接受实时的针对GNSS偏差的校正指令，并通过DSRC模块向外广播所收到的位置信息和校正信息，并与附近车辆的车载单元OBU交互，对过往车辆进行定位校正，从而校正这一偏差，同时路侧单元RSU广播的信息中还带有该路侧单元RSU所处道路的路径信息(包括，道路的ID编号，道路的方向等等道路信息)，从而保证车载单元识别到的车辆行驶轨迹信息正确，实现按路径收费的正确执行。
本发明所述的装置并不限于具体实施方式中所述的实施例，本领域技术人员根据本发明的技术方案得出其他的实施方式，同样属于本发明的技术创新范围。

Claims (10)

  1. 一种校正车辆位置偏差的方法，包括以下步骤：
    校正系统向路侧单元发送GNSS校正指令；
    路侧单元接受所述GNSS校正指令，修改原来设定的广播信息，并进行广播，所述的广播信息包括校正信息和GNSS位置信息；
    车载单元同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息；
    车载单元根据所述校正信息和GNSS位置信息修改定位数据。
  2. 如权利要求1所述的方法，其特征是，所述GNSS校正指令包括：认证内容、校正信息、校正参数和路径信息，所述认证内容用于路侧单元认证校正系统的合法性。
  3. 如权利要求1或2所述的方法，其特征是：在校正系统向路侧单元发送GNSS校正指令之前，所述的路侧单元记录并向校正系统发送自身定位信息；在路侧单元进行广播时，路侧单元还广播其所在道路的路径信息，所述的路径信息包括路径ID、路径航向。
  4. 如权利要求3所述的方法，其特征是：车载单元接受路侧单元广播的路径信息，并根据路侧单元广播的路径信息修改自身的路径信息。
  5. 如权利要求1所述的方法，其特征是，所述校正系统的校正数据来源包括：系统中路侧单元中所安装的GNSS检测模块或专用GNSS检测站所提供的数据；
    校正数据发送过程包括：GNSS检测模块或专用GNSS检测站将校正数据传送到校正系统，校正系统得校正结论，然后向路侧单元发送校正指令。
  6. 一种校正车辆位置偏差的系统，包括以下装置：
    校正系统，用于向路侧单元发送GNSS校正指令；
    路侧单元，用于接受所述GNSS校正指令，修改原来设定的广播信息，并进行广播，所述的广播信息包括校正信息和GNSS位置信息；
    车载单元，用于同路侧单元交互，获取所述路侧单元广播的所述校正信息和GNSS位置信息，并根据所述校正信息和GNSS位置信息修改定位数据。
  7. 如权利要求6所述的系统，其特征是，所述GNSS校正指令包括：认证内容、校正信息、校正参数和路径信息，所述认证内容用于路侧单元认证校正系统的合法性。
  8. 如权利要求6或7所述的系统，其特征是：所述的路侧单元用于记录并向校正系统发送自身定位信息，路侧单元还用于广播其所在道路的路径信息，所述的路径信息包括路径ID、路径航向。
  9. 如权利要求8所述的系统，其特征是：所述的车载单元还用于接受路侧单元广播的路径信息，并根据路侧单元广播的路径信息修改自身的路径信息。
  10. 如权利要求6所述的系统，其特征是，所述校正系统还用于接收路侧单元中所安装的GNSS检测模块或专用GNSS检测站所提供的数据，进行分析得到校正结论，形成GNSS校正指令。
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