WO2021051921A1 - 车联网设备位置的定位方法、装置、系统、终端及存储介质 - Google Patents

车联网设备位置的定位方法、装置、系统、终端及存储介质 Download PDF

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WO2021051921A1
WO2021051921A1 PCT/CN2020/098274 CN2020098274W WO2021051921A1 WO 2021051921 A1 WO2021051921 A1 WO 2021051921A1 CN 2020098274 W CN2020098274 W CN 2020098274W WO 2021051921 A1 WO2021051921 A1 WO 2021051921A1
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Prior art keywords
drive test
test unit
information
broadcast packet
positioning
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PCT/CN2020/098274
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English (en)
French (fr)
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蒋双凤
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西安中兴新软件有限责任公司
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Priority to US17/436,819 priority Critical patent/US20220397631A1/en
Priority to EP20865518.3A priority patent/EP3923017A4/en
Publication of WO2021051921A1 publication Critical patent/WO2021051921A1/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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption

Definitions

  • the embodiments of the present application relate to, but are not limited to, the Internet of Vehicles V2X, and particularly relate to methods, devices, systems, terminals, and storage media for locating the location of the Internet of Vehicles V2X equipment.
  • V2X Vehicle-To-Everything
  • V2X technology is a technology that is equipped with advanced on-board sensors, controllers, actuators and other devices, and integrates modern communication and network technologies to realize the exchange of information between the vehicle and the outside world; mainly includes vehicle-to-vehicle V2V (Vehicle-To-Vehicle) , Vehicle-to-infrastructure V2I (Vehicle-To-Infrastructure), vehicle-pedestrian V2P (Vehicle-To-Pedestrian) and vehicle-Internet V2N (Vehicle-To-Network) information exchange in four major directions.
  • V2X transportation equipment such as automobiles
  • V2X modules to realize the V2X of the Internet of Vehicles.
  • the V2X module is an important part of the realization of V2X in automobiles.
  • the V2X module broadcasts messages in real time to other V2X devices such as the roadside unit RSU (Road Side Unit), the on-board unit OBU (On board Unit) and other V2X devices within the receiving range.
  • RSU can support V2N
  • the cooperation of V2X transportation equipment and RSU can truly realize the Internet of Vehicles V2X, so that V2X transportation equipment can not only realize V2V, V2P, V2I, but also realize V2N.
  • the base stations communicate with each other to obtain real-time traffic information such as road conditions, road information, and pedestrian information.
  • the implementation architecture of the V2X module is: provide accurate positioning information through a positioning system, such as a GPS module, based on the GPS module working normally, the state of the V2X protocol stack is prepared, and then communication between V2X devices is carried out.
  • a positioning system such as a GPS module
  • the GPS locator is more accurate, its signal is easier to be blocked, and it is easy to form a blind spot.
  • the embodiments of this application provide a method, device, system, terminal and computer-readable storage medium for locating the position of V2X equipment in the Internet of Vehicles, which can enable V2X equipment to obtain accurate information in an environment where there is no GPS satellite signal or even network signal. Location information, so as to realize the real-time positioning of V2X devices to maintain normal communication between V2X devices.
  • an embodiment of the present application provides a method for locating the position of a V2X device in an Internet of Vehicles, which includes at least:
  • an embodiment of the present application provides a method for locating the position of a V2X device in the Internet of Vehicles, which at least includes: acquiring the positioning position information at the normal time of the positioning system; receiving the first drive test unit and the second drive test unit at the normal time of the positioning system , The broadcast packet sent by the third drive test unit; obtain the location information of the first drive test unit, the second drive test unit, and the third drive test unit, and the delay information sent to the receiver of each broadcast packet; receive the positioning system The broadcast packets sent by the first drive test unit, the second drive test unit, and the third drive test unit at an abnormal time; acquire the delay information sent to the reception of each broadcast packet; locate the position information according to the normal time of the positioning system, the The position information of the first drive test unit, the second drive test unit, and the third drive test unit, the delay information of each broadcast packet at the normal time of the positioning system, and the delay information of each broadcast packet at the abnormal time of the positioning system, are obtained to obtain the vehicle The location information of the networked
  • an embodiment of the present application provides a device for locating the position of a vehicle-connected V2X device, which includes at least a location recording module for recording location information when the vehicle-connected V2X device positioning system is normal; a communication module for receiving at least Broadcast packets sent by three drive test units RSU, and extract the location information of each drive test unit RSU and the delay information of each broadcast packet; the position calculation module obtains the positioning location information of the vehicle networking V2X equipment and each drive test unit The location information of the RSU and the delay information of the two broadcast packets before and after the RSU of each drive test unit, and the location information of the V2X device of the Internet of Vehicles is calculated according to the obtained information.
  • an embodiment of the present application provides a system for locating the position of a connected vehicle V2X device, which includes a connected vehicle V2X system and a drive test unit RSU system;
  • the drive test unit RSU includes at least three sub-units, each of which is the first drive test unit RSU1, the second drive test unit RSU2, and the third drive test unit RSU3;
  • the drive test unit RSU continuously and at intervals sends broadcast packets to the V2X system of the Internet of Vehicles;
  • the broadcast packet includes at least five types of messages specified in the V2X protocol, such as RSU location information, broadcast Packet sending time information, etc.;
  • the Internet of Vehicles V2X system receives the broadcast packets sent by each RSU subunit, and records the delay of the broadcast packet and the location information of the Internet of Vehicles V2X system; when the location system of the Internet of Vehicles V2X system is abnormal, the Internet of Vehicles V2X According to the position information of each RSU subunit, the delay difference of the broadcast packets
  • an embodiment of the present application also provides a terminal, including: a memory, a processor, and a computer program stored on the memory and capable of running on the processor.
  • a terminal including: a memory, a processor, and a computer program stored on the memory and capable of running on the processor.
  • the processor executes the computer program, the computer program is implemented as described above. The method for locating the position of the vehicle networking V2X device of the first aspect, the second aspect, or the third aspect is described.
  • the embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are used to execute the above-mentioned first, second, or third aspects.
  • FIG. 1 is a schematic diagram of a device for locating the position of a V2X device according to an embodiment of the application
  • FIG. 2 is a schematic diagram of the working process of the device for locating the position of a V2X device provided by an embodiment of the application;
  • FIG. 3 is a schematic diagram of the distance between the V2X device and the RSU at the first position according to an embodiment of the application;
  • FIG. 4 is a schematic diagram of the distance between the V2X device and the RSU at the second position according to an embodiment of the application;
  • FIG. 5 is a flowchart of a method for locating the position of a V2X device according to an embodiment of the application
  • FIG. 6 is a schematic diagram of the distance between the V2X device and the RSU at the front and rear moments provided by an embodiment of the application;
  • FIG. 7 is a schematic structural diagram of a terminal at the location of a V2X device according to an embodiment of the application.
  • 100-positioning device 110-communication module; 120-position calculation module; 130-position recording module; 140-positioning system judgment module.
  • vehicle positioning mainly relies on positioning systems, such as GPS positioning systems, but when the vehicle normally enters an environment without GPS signals or even network signals from GPS signals, because GPS cannot work normally, it is impossible to obtain Internet of Vehicles V2X devices (such as vehicles). ) Positioning information of the location, which makes it impossible to realize the V2X of the car networking.
  • the embodiments of the present application provide a method, device, system, terminal, and computer-readable storage medium for locating the location of V2X equipment in the Internet of Vehicles, by using a drive test unit RSU (such as a drive test base station) that broadcasts messages continuously and at intervals To assist real-time calculation and acquisition of location and positioning information, so as to achieve real-time positioning of V2X equipment.
  • a drive test unit RSU such as a drive test base station
  • An embodiment of the present application discloses a device for locating the position of a V2X device.
  • FIG. 1 is a schematic diagram of the positioning device.
  • the drive test unit RSU includes at least a first drive test unit RSU1, a second drive test unit RSU2, and a third drive test unit RSU3, and three RSU subunits with fixed geographic locations.
  • RSU1, RSU2, and RSU3 are all roadside units of the Internet of Vehicles, which are respectively responsible for continuously and at intervals to broadcast and notify the surrounding Internet of Vehicles V2X devices, that is, send broadcast packet messages to the surrounding V2X devices.
  • the broadcast packet message includes at least the geographic location information of RSU1, RSU2, and RSU3, and the time when the broadcast packet is sent from RSU1, RSU2, and RSU3.
  • the broadcast package can also include BSM basic vehicles, MAP location positioning, RSI traffic incidents, RSM safety, and SPAT signal messages specified in the V2X protocol. It can realize forward collision warning, intersection collision warning, emergency brake warning, and abnormal vehicles. Remind, V2X applications such as speed limit warning, collision warning for vulnerable traffic participants, in-vehicle signage, green wave speed guidance, and signal light priority control.
  • the V2X device 100 receives the broadcast packet sent by the RSU, and records the reception time of each broadcast packet.
  • the V2X device 100 at least includes a communication module 110, a position calculation module 120, and a position recording module 130.
  • the communication module 110 is configured to receive broadcast packet messages sent by RSU1, RSU2, and RSU3 in real time.
  • the communication module 110 may also send broadcast packets to other V2X or RSU devices for communication to assist driving and ensure road safety.
  • the position calculation module 120 is used for when the GPS positioning is abnormal, according to the extracted position information of RSU1, RSU2, RSU3, the positioning position information of the V2X device recorded at the moment before the GPS positioning is abnormal (that is, the positioning is normal), and RSU1, RSU2, RSU3 The delay difference between the two broadcast packets before and after the positioning is normal and the positioning is abnormal, and the specific location information of the V2X device when the GPS positioning is abnormal is calculated.
  • the location recording module 130 is used to record the location location information of the V2X device in real time when the GPS is working normally; or the specific location information of the V2X device calculated by the location calculation module 120 when the GPS location is abnormal.
  • the V2X device may further include a positioning system judgment module 140, such as a GPS judgment module, for real-time confirmation of the GPS positioning status, if the positioning is normal, the positioning position information is recorded, otherwise the position calculation module 130 is started to calculate the V2X Current location information of the device.
  • V2X equipment can be various transportation vehicles.
  • FIGS. 2 to 4 an example is used to illustrate the working process of the V2X device positioning apparatus provided in this embodiment.
  • the V2X device drives from the GPS signal normally to the environment where the GPS signal is abnormal, that is, the V2X device drives from the known position (x 0 , y 0 , z 0 ) to the position (x, y, z).
  • Latency1(t) includes the processing time of broadcast packets inside RSU1, air propagation time, and processing time inside V2X. Because each broadcast packet has the same processing time inside RSU1 and V2X, the delay difference between two broadcast packets before and after t n ,t (n+1) is lantency1(t n )-lantency1(t n+1 ), which is The time difference between the two broadcast packets in the air.
  • the propagation speed of the broadcast packet in the air is C.
  • the distance between the RSU2 and the V2X device is d2(t n )-d2(t n+1 ), and the distance between the RSU3 and the V2X device is d3(t n )-d3(t n+1 ); wherein d2 (t n), d3 ( t n) are t n time RSU2, from RSU3 and V2X device, d2 (t n + 1) , d3 (t n + 1) are t n + 1 time RSU2, The distance between RSU3 and V2X equipment.
  • the position calculation module 120 extracts the following information: the position information of RSU1 (x 1 , y 1 , z 1 ); the delay difference of the two broadcast packets before and after t n , t (n+1) of RSU1 is lantency1 (t n )-lantency1(t n+1 ); and the positioning position information of the V2X device at time t n (x 0 , y 0 , z 0 ).
  • the distance d1 (t n+1 ) between the RSU1 and the V2X device at the moment t n+1 can be obtained.
  • the position information (x, y, z) of the V2X device at t n+1 can be obtained.
  • the accurate position information of the vehicle at the previous moment needs to be known, and the accurate position information of the vehicle when the GPS signal is abnormal can be obtained within the range where at least three RSU devices and the V2X device can communicate with each other.
  • the V2X device positioning device of this embodiment is not limited to a GPS positioning system, and is also applicable to other systems or methods that can achieve precise positioning, such as the Beidou positioning system.
  • the position information can be obtained from the geocentric rectangular coordinate system position information or the geodetic coordinate system position information, and the geodetic coordinate system information can be converted into the geocentric rectangular coordinate system position information through a formula.
  • Fig. 5 shows a method for locating the position of a V2X device according to another embodiment of the present application. As shown in Figure 5, the method includes:
  • Step 100 Monitor and judge the working status of its positioning system in real time
  • Step 200 Obtain the location information of the V2X device at the current time t n , and receive broadcast packets sent by RSU1, RSU2, and RSU3;
  • Step 300 Obtain the delay information of the broadcast packet of RSU1, the delay information of the broadcast packet of RSU2, the delay information of the broadcast packet of RSU3, the location information of RSU1, the location information of RSU2, and the location information of RSU3 at time t n.
  • the delay information of the broadcast packet of RSU1 is the time difference between the broadcast packet sent by RSU1 and the broadcast packet received by V2X
  • the delay information of the broadcast packet of RSU2 is the time difference between the broadcast packet sent by RSU2 and the broadcast packet received by V2X
  • the delay information of the RSU2 broadcast packet is the time difference between the RSU2 sending the broadcast packet and the V2X receiving the broadcast packet.
  • Step 400 Receive broadcast packets sent by RSU1, RSU2, and RSU3 at the current time t n+1;
  • Step 500 Obtain the delay information of the broadcast packet of RSU1, the delay information of the broadcast packet of RSU2, and the delay information of the broadcast packet of RSU3 at time t n+1.
  • Step 600 according to the positioning position of the time t n, the position information RSU1, RSU2 position information, the position information RSU3 respectively obtained from the time information t n V2X device RSU1, RSU2, RSU3 of.
  • Step 700 According to the two times before and after t n and t n+1 , the delay information of the RSU1 broadcast packet, the delay information of the RSU2 broadcast packet, the delay information of the RSU3 broadcast packet, and the V2X device and RSU1 at time t n .
  • the distance information of RSU2 and RSU3 are obtained respectively from the distance information of the V2X device and RSU1, RSU2, and RSU3 at time t n+1.
  • the V2X device obtains the location information of the V2X device at t n+1 according to the location information of RSU1, the location information of RSU2, the location information of RSU3, and the distance information between the V2X device and RSU1, RSU2, and RSU3 at time t n+1 .
  • the broadcast package may include five types of messages, including BSM basic vehicle, MAP location positioning, RSI traffic incident, RSM security, and SPAT signal light specified by the V2X protocol.
  • the V2X device records the location information at time t n+1 and transmits it to RSU1, RSU2, and RSU3; it can also send broadcast packets to other V2X and RSU devices for communication to assist Drive and ensure road safety.
  • a method for locating the position of a V2X device in the Internet of Vehicles which at least includes: the positioning system of the Internet of Vehicles V2X device is normal, and the location information of the V2X device at the current time t n is obtained;
  • the drive test unit RSU1, the second drive test unit RSU2, and the third drive test unit RSU3 send broadcast packets and extract the delay information of each broadcast packet from transmission to reception, as well as the first drive test unit RSU1, the second drive test unit RSU2, and the second drive test unit RSU2.
  • the positioning system is abnormal, receive and extract the broadcast packets of the first drive test unit RSU1, the second drive test unit RSU2, and the third drive test unit RSU3 at the current t n+1 time.
  • Received delay information according to the location information of the V2X device at time t n and the location information of the first drive test unit RSU1, the second drive test unit RSU2 and the third drive test unit RSU3, it is calculated by the distance formula between two points in space At t n , the distances d1(t n ), d2(t n ), d3(t n ) between the V2X device and the first drive test unit RSU1, the second drive test unit RSU2, and the third drive test unit RSU3; n, t n + 1 two broadcast packet delay time difference, i.e.
  • the V2X device When the V2X device starts the working process, the V2X device starts to receive the broadcast packet sent by RSU1, RSU2, and RSU3.
  • the broadcast packet includes at least the detailed location information of RSU1, RSU2, and RSU3, respectively (x 1 , y 1 , z 1 ), ( x 2 ,y 2 ,z 2 ), (x 3 ,y 3 ,z 3 ); and real-time monitoring and judging the status of the positioning system (such as GPS), if the GPS positioning is successful, perform the following steps:
  • V2X real time recording apparatus itself time t n position information (x 0, y 0, z 0), to extract and record the time t n received RSU1, RSU2, broadcast packets transmitted delay information broadcast RSU3 lantency1 (t n), lantency2(t n ), lantency3(t n ).
  • broadcast packet delay lantency1 (t n) t n is the time to broadcast packets sent from the receiving apparatus V2X RSU1 the time difference;
  • broadcast packet delay lantency2 (t n) t n is the time from sending out a broadcast packet to RSU2 The time difference received by the V2X device;
  • the broadcast packet delay lantency3(t n ) is the time difference from the sending of the RSU3 to the receiving of the V2X device at the time t n.
  • the location information (x 0 , y 0 , z 0 ) of the V2X device at time t n combined with the location information of RSU1, RSU2, and RSU3, they are respectively (x 1 , y 1 , z 1 ), (x 2 , y 2 ,z 2 ), (x 3 ,y 3 ,z 3 ), the following equation can be established:
  • the distances d1(t n ), d2(t n ), and d3(t n ) between the V2X device and RSU1, RSU2, and RSU3 at time t n can be obtained.
  • the V2X device can establish the following equation according to the delay difference of the broadcast packet at two moments before and after t n and t n+1:
  • c is the propagation rate of electromagnetic waves in the air.
  • the distances d1(t n+1 ), d2(t n+1 ), d3(t n+1 ) between the V2X device and RSU1, RSU2, and RSU3 at time t n+1 can be obtained;
  • V2X equipment according to the known time t n+1 , V2X equipment and RSU1, RSU2, RSU3 distance d1 (t n+1 ), d2 (t n+1 ), d3 (t n+1 ), and then combined with RSU1, RSU2 , RSU3 position information (x 1 ,y 1 ,z 1 ), (x 2 ,y 2 ,z 2 ), (x 3 ,y 3 ,z 3 ), the following equation can be established:
  • the position (x, y, z) of the V2X device at time t n+1 can be obtained.
  • the V2X device saves the above real-time calculated position information for continuous communication, and continues to cyclically determine the positioning status to determine whether the position positioning assistance calculation needs to be started the next time the RSU message is received.
  • This embodiment discloses a V2X device.
  • the V2X module of the V2X device works normally to realize the V2X of the Internet of Vehicles; when the positioning system is abnormal, the V2X device starts the positioning calculation to obtain the device position to maintain the V2X module It works normally and realizes the V2X of the Internet of Vehicles.
  • FIG. 7 is a schematic structural diagram of a terminal at the location of a V2X device provided by an embodiment of the application.
  • the terminal includes a memory 701, a processor 702, and a computer program stored in the memory and running on the processor.
  • the processor executes all The computer program realizes the positioning method of the vehicle networking V2X device position of the first aspect, the second aspect, or the third aspect as described above.
  • Another embodiment of the present application further provides a computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are used to execute the vehicle networking of the first aspect, the second aspect, or the third aspect as described above.
  • V2X device location positioning method is also provided.
  • the embodiment of this application is based on at least 3 drive test units RSUs with fixed positions that continuously and at intervals send broadcast packets in compliance with the V2X protocol to the connected vehicle V2X equipment.
  • the positioning system of the connected vehicle V2X equipment is abnormal, the information in the broadcast package is used to As well as the information at the moment before the abnormality of the IoV V2X device positioning system, real-time calculation and acquisition of the position information of the IoV V2X device, so as to realize the real-time positioning of the IoV V2X device.
  • the existing V2X equipment of the Internet of Vehicles cannot interact with the outside world when the positioning system is abnormal.
  • Such software may be distributed on a computer-readable medium, and the computer-readable medium may include a computer storage medium (or a non-transitory medium) and a communication medium (or a transitory medium).
  • the term computer storage medium includes volatile and non-volatile data implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Sexual, removable and non-removable media.
  • Computer storage media include but are not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or Any other medium used to store desired information and that can be accessed by a computer.
  • communication media usually contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as carrier waves or other transmission mechanisms, and may include any information delivery media. .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种车联网设备位置的定位方法、装置、系统、终端及存储介质，该定位方法包括：通过至少3个具有固定位置的路测单元RSU（RSU1、RSU2、RSU3）持续并间隔向车联网V2X设备（100）发送至少包括RSU位置信息，消息发出时间的广播包，当车联网V2X设备（100）定位系统异常时，利用广播包中的信息，以及车联网V2X设备（100）定位系统异常前一时刻的信息，实时计算并获取车联网V2X设备（100）位置信息，从而实现车联网V2X设备（100）的实时定位。

Description

车联网设备位置的定位方法、装置、系统、终端及存储介质
相关申请的交叉引用
本申请基于申请号为201910895034.4、申请日为2019年9月20日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请实施例涉及但不限于车联网V2X，尤其涉及车联网V2X设备位置的定位方法、装置、系统、终端及存储介质。
背景技术
为了提升交通系统的安全性和智能化，智能交通运输系统技术正日益发展。车联网V2X(Vehicle-To-Everything)是智能交通运输中一个重要环节，也是未来智能交通运输系统的关键技术。V2X技术是一种搭载先进的车载传感器、控制器、执行器等装置，并融合现代通信与网络技术，实现车与外界信息的交换的技术；主要包括车-车V2V(Vehicle-To-Vehicle)，车-基础设施V2I(Vehicle-To-Infrastructure),车-行人V2P(Vehicle-To-Pedestrian)以及车-互联网V2N(Vehicle-To-Network)四大方向的信息交互。
通常，V2X运输设备如汽车，通过搭载V2X模块以实现车联网V2X。V2X模块是汽车实现V2X的一个重要部分，V2X模块实时广播消息给其他V2X设备如路侧单元RSU(Road Side Unit)、车载单元OBU(On board Unit)等接收范围内的其它V2X设备。由于RSU能够支持V2N，所以V2X运输设备和RSU的配合使用才能真正实现车联网V2X，使V2X运输设备不仅可以实现V2V,V2P,V2I还可以实现V2N，实现车与车、车与人、车与基站之间相互通信，从而获得实时路况、道路信息、行人信息等交通信息。
当前，V2X模块的实现架构是：通过定位系统，如GPS模块提供精确的定位信息，基于GPS模块工作正常，V2X协议栈的状态准备，然后进行V2X设备间的通信。虽然GPS定位方比较精确，但其信号比较容易被遮挡，容易形成盲区。当行车经过无GPS信号甚至也无网络信号的地方时，V2X设备由于定位异常难以实现V2X。
发明内容
以下是对本申请实施例的概述。本概述并非是为了限制权利要求的保护范围。
本申请实施例提供了一种车联网V2X设备位置的定位方法、装置、系统、终端及计算机可读存储介质，能使V2X设备在无GPS卫星信号甚至也无网络信号的环境下，获取准确的位置信息，从而实现V2X设备的实时定位，以保持V2X设备之间的正常通信。
第一方面，本申请实施例提供了一种车联网V2X设备位置的定位方法，至少包括：
获取车联网V2X设备定位系统正常时的定位位置信息；获取至少3个路测单元RSU的位置信息，以及各路测单元RSU发送的广播包的延时信息；根据车联网V2X设备的定位位置信息，各路测单元RSU的位置信息，各路测单元RSU广播包的延时信息，得到所述车联网V2X设备的位置信息。
第二方面，本申请实施例提供了一种车联网V2X设备位置的定位方法，至少包括：获取定位系统正常时刻的定位位置信息；接收定位系统正常时刻第一路测单元、第二路测单元、第三路测单元发送的广播包；获取所述第一路测单元、第二路测单元、第三路测单元的位置信息，以及各广播包发送至接收的延时信息；接收定位系统异常时刻所述第一路测单元、第二路测单元、第三路测单元的发送的广播包；获取各广播包发送至接收的延时信息；根据定位系统正常时刻定位位置信息，所述第一路测单元、第二路测单元、第三路测单元的位置信息，定位系统正常时刻各广播包的延时信息，以及定位系统异常时刻各广播包的延时信息，得到所述车联网设备tn+1时刻的位置信息。第三方面，本申请实施例提供了一种车联网V2X设备位置的定位装置，至少包括位置记录模块，用于记录车联网V2X设备定位系统正常时的定位位置信息；通信模块，用于接收至少3个路测单元RSU发送的广播包，并提取各路测单元RSU的位置信息以及各广播包的延时信息；位置计算模块，获取所述车联网V2X设备的定位位置信息、各路测单元RSU的位置信息、以及各路测单元RSU前后两次广播包的延时信息，并根据获取的信息计算车联网V2X设备的位置信息。
第四方面，本申请实施例提供了一种车联网V2X设备位置的定位系统，包括车联网V2X系统和路测单元RSU系统；路测单元RSU至少包括3个子单元，分别为第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3；路测单元RSU持续并间隔向车联网V2X系统发送广播包；广播包至少包括V2X协议规定的五大类消息，如RSU位置信息，广播包发送时间信息等；车联网V2X系统接收各RSU子单元发送的广播包，并记录广播包的延时以及车联网V2X系统的定位位置信息；当车联网V2X系统定位系统异常时，车联网V2X系统根据各RSU子单元的位置信息、定位系统正常和异常前后两个时刻广播包的延时差以及定位系统异常前一时刻(即定位系统正常时刻)车联网V2X系统的定位位置信息，得到车联网V2X系统当前的位置信息。
第五方面，本申请实施例还提供了一种终端，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述第一方面、第二方面或第三方面的车联网V2X设备位置的定位方法。
第六方面，本申请实施例还提供了一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令用于执行如上所述第一方面、第二方面或第三方面的车联网V2X设备位置的定位方法。
本申请的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请而了解。本申请的目的和其他优点可通过在说明书、权利要 求书以及附图中所特别指出的结构来实现和获得。
附图说明
附图用来提供对本申请技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本申请的技术方案，并不构成对本申请技术方案的限制。
图1为本申请实施例提供的V2X设备位置的定位装置示意图；
图2为本申请实施例提供的V2X设备位置的定位装置工作过程示意图；
图3为本申请实施例提供的V2X设备在第一位置与RSU距离示意图；
图4为本申请实施例提供的V2X设备在第二位置与RSU距离示意图；
图5为本申请实施例提供的V2X设备位置的定位方法流程图；
图6为本申请实施例提供的V2X装置在前后两个时刻与RSU距离示意图；
图7为本申请实施例提供的V2X设备位置的终端的结构示意图；
附图标记说明：
100-定位装置；110-通信模块；120-位置计算模块；130-位置记录模块；140-定位系统判断模块。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需要说明的是，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
目前交通工具定位主要依靠定位系统，如GPS定位系统，但当车辆从GPS信号正常进入到无GPS信号甚至也没有网络信号的环境时，由于GPS无法正常工作，无法获取车联网V2X设备(如车辆)位置的定位信息，从而无法实现车联网V2X。
基于此，本申请实施例提供了一种车联网V2X设备位置的定位方法、装置、系统、终端及计算机可读存储介质，通过利用持续并间隔广播消息的路测单元RSU(如路测基站)来辅助实时计算获取位置定位信息，从而实现V2X设备的实时定位。
下面结合附图，对本申请实施例作进一步阐述。
本申请一实施例公开了一种V2X设备位置的定位装置。
图1为定位装置的示意图。如图1所示，路测单元RSU至少包括第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3，三个具有固定地理位置的RSU子单元。RSU1，RSU2，RSU3均为车联网的路侧单元，分别负责持续并间隔广播通知周围的车联网V2X设备，即向周围的V2X设备发送广播包消息。广播包消息至少包括RSU1、RSU2、RSU3的地理位 置信息，以及广播包从RSU1、RSU2、RSU3发出的时间。广播包还可以包括V2X协议规定的BSM基本车辆，MAP位置定位，RSI交通事件，RSM安全，以及SPAT信号灯的五大类消息，能够实现前向碰撞预警、交叉路口碰撞预警、紧急刹车预警，异常车辆提醒，限速预警、弱势交通参与者碰撞预警、车内标牌、绿波车速引导、信号灯优先控制等V2X应用。
V2X装置100接收RSU发送的广播包，并记录各广播包的接收时间。V2X装置100至少包括通信模块110、位置计算模块120、位置记录模块130。
通信模块110用于实时接收RSU1，RSU2，RSU3发送的广播包消息。通信模块110也可以发送广播包给其他的V2X或RSU设备进行通信，以辅助驾驶和确保道路安全。
位置计算模块120用于在GPS定位异常时，根据提取到的RSU1，RSU2，RSU3位置信息，GPS定位异常前一时刻(即定位正常)记录的V2X设备的定位位置信息，以及RSU1，RSU2，RSU3在定位正常和定位异常前后两次广播包的延时差，计算出GPS定位异常时V2X设备的具体位置信息。
位置记录模块130，用于实时记录GPS正常工作时，V2X设备的定位位置信息；或者GPS定位异常时，位置计算模块120计算出的V2X设备的具体位置信息。
在一示例性实施方式中，V2X设备还可以包括定位系统判断模块140，如GPS判断模块，用于实时确认GPS定位状态，如果定位正常则记录该定位位置信息，否则启动位置计算模块130计算V2X设备当前位置信息。V2X设备可以是各种交通运输工具。
基于图2至4，通过一个示例对本实施例提供的V2X设备定位装置的工作过程进行举例说明。
如图2所示，V2X设备从GPS信号正常驶入到GPS信号异常的环境，即V2X设备从位置(x 0，y 0，z 0)已知驶入到位置(x，y，z)。
以RSU1为例，GPS正常t n时刻，RSU1在t nRSU时刻向V2X设备发送广播包；由于广播包传输需要时间，V2X设备在t nv2x时刻接收到该广播包，此时广播包的延时lantency1(t n)＝t nv2x-t nRSU。
GPS异常t (n+1)时刻，RSU1在t (n+1)RSU向V2X设备发送广播包；V2X设备在t (n+1)v2x时刻接收到该广播包；此时广播包的延时lantency1(t n+1)＝t (n+1)v2x-t (n+1)RSU。
延时lantency1(t)包括广播包在RSU1内部处理时间、空气传播时间以及在V2X内部处理时间。因为每次广播包在RSU1及V2X内部处理时间均相同，所以t n,t (n+1)前后两次广播包的延时差lantency1(t n)-lantency1(t n+1)，即为前后两次广播包在空气传播的时间差。广播包在空气中的传播速度为C，通过上述延时差，即可知道上述两个时刻RSU1与V2X设备距离的差d1(t n)-d1(t n+1)，其中d1(t n)为t n时刻RSU1与V2X设备的距离，d1(t n+1)为t n+1时刻RSU1与V2X设备的距离。
同样得，可知前后两个时刻RSU2与V2X设备距离的差d2(t n)-d2(t n+1)，RSU3与V2X设备距离的差d3(t n)-d3(t n+1)；其中d2(t n)、d3(t n)分别为t n时刻RSU2、RSU3与V2X设备 的距离，d2(t n+1)、d3(t n+1)分别为t n+1时刻RSU2、RSU3与V2X设备的距离。
当GPS定位异常时，位置计算模块120提取以下信息：RSU1的位置信息(x 1,y 1,z 1)；RSU1在t n,t (n+1)前后两次广播包的延时差lantency1(t n)-lantency1(t n+1)；以及V2X设备在t n时刻的定位位置信息(x 0，y 0，z 0)。
如图3所示，此时RSU1与t n时刻V2X设备的距离d1(t n)满足公式(即空间两点间的距离公式)：d1(t n) 2＝(x 1-x 0) 2+(y 1-y 0) 2+(z 1-z 0) 2，即可知t n时刻，V2X设备与RSU1、RSU2、RSU3的距离d1(t n)、d2(t n)、d3(t n)。
再由两个时刻RSU1与V2X设备距离的差，可以得到，RSU1与t n+1时刻V2X设备的距离d1(t n+1)。
同样得，可得，RSU2与t n+1时刻V2X设备的距离d2(t n+1)；RSU3与t n+1时刻V2X设备的距离d3(t n+1)。
如图4所示，t n+1时刻V2X设备的位置(x，y，z)，满足di(t n+1) 2＝(x i-x) 2+(y i-y) 2+(z i-z) 2,其中i＝1,2,3。
即：
d1(t n+1) 2＝(x 1-x) 2+(y 1-y) 2+(z 1-z) 2
d2(t n+2) 2＝(x 2-x) 2+(y 2-y) 2+(z 2-z) 2
d3(t n+3) 2＝(x 3-x) 2+(y 3-y) 2+(z 3-z) 2
由上公式可得出t n+1时刻，V2X设备位置信息(x，y，z)。
采用上述实施例的装置，只需知晓车辆前一时刻的准确位置信息，在至少有3个RSU设备与V2X设备可相互通信的范围，即可获取车辆在GPS信号异常时的准确位置信息。
需要说明的是，本实施例的V2X设备定位装置不局限于GPS定位系统，也适用如北斗定位系统等其它能够实现精准定位系统或方法。位置信息可以获取的是地心直角坐标系位置信息也可是大地坐标系位置信息，大地坐标系信息可经公式转换成地心直角坐标系位置信息。
图5为根据本申请另一实施例公开了一种V2X设备位置的定位方法。如图5所示，该方法包括：
步骤100，实时监控和判断其定位系统工作状态；
步骤200，获取当前t n时刻V2X设备的定位位置信息，以及接收RSU1、RSU2、RSU3发送的广播包；
步骤300，获取t n时刻RSU1广播包的延时信息、RSU2广播包的延时信息、RSU3广播包的延时信息，以及RSU1的位置信息、RSU2的位置信息、RSU3的位置信息。
其中，RSU1广播包的延时信息为，RSU1发送广播包与V2X接收到该广播包的时间差；RSU2广播包的延时信息为，RSU2发送广播包与V2X接收到该广播包的时间差。RSU2广播包的延时信息为，RSU2发送广播包与V2X接收到该广播包的时间差。
步骤400，接收当前t n+1时刻，RSU1、RSU2、RSU3发送的广播包；
步骤500，获取t n+1时刻，RSU1广播包的延时信息、RSU2广播包的延时信息、RSU3广播包的延时信息。
步骤600，根据t n时刻的定位位置、RSU1的位置信息、RSU2的位置信息、RSU3的位置信息，分别得到t n时刻V2X设备与RSU1、RSU2、RSU3的距离信息。
步骤700，根据t n、t n+1前后两个时刻的，RSU1广播包的延时信息、RSU2广播包的延时信息、RSU3广播包的延时信息，以及t n时刻V2X设备与RSU1、RSU2、RSU3的距离信息，分别得到t n+1时刻V2X设备与RSU1、RSU2、RSU3的距离信息。
步骤800，V2X设备根据RSU1的位置信息、RSU2的位置信息、RSU3的位置信息，以及t n+1时刻V2X设备与RSU1、RSU2、RSU3的距离信息，得到t n+1时刻V2X设备的位置信息。
在一示例性实施方式中，广播包可以包括V2X协议规定的BSM基本车辆，MAP位置定位，RSI交通事件，RSM安全，以及SPAT信号灯的五大类消息。
在一示例性实施方式中，还包括步骤900，V2X设备记录t n+1时刻的位置信息并传输给RSU1、RSU2、RSU3；还可发送广播包给其他的V2X、RSU设备进行通信，以辅助驾驶和确保道路安全。
在本申请的另一实施例中，提供了一种车联网V2X设备位置的定位方法，至少包括：车联网V2X设备的定位系统正常，获取当前t n时刻V2X设备的定位位置信息；接收第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3发送的广播包并提取各广播包从发送至接收的延时信息以及第一路测单元RSU1、第二路测单元RSU2、和第三路测单元RSU3固定的位置信息；定位系统异常，接收并提取当前t n+1时刻第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3广播包从发送至接收的延时信息；根据t n时刻V2X设备的定位位置信息以及第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3的位置信息，通过空间两点的距离公式计算出t n时刻，V2X设备与第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3的距离d1(t n)、d2(t n)、d3(t n)；再根据t n，t n+1两个时刻广播包的延时差，即前后两次延时信息之差，得到t n+1时刻V2X设备与RSU1、RSU2、RUS3的距离d1(t n+1)、d2(t n+1)、d3(t n+1)；最后根据第一路测单元RSU1、第二路测单元RSU2和第三路测单元RSU3的位置信息，以及t n+1时刻V2X设备与RSU1、RSU2、RUS3的距离d1(t n+1)、d2(t n+1)、d3(t n+1)，得到t n+1时刻V2X设备的位置信息。
下面基于图6，通过一个示例对本实施例提供的V2X设备位置定位方法的实施进行详细说明。
在V2X设备启动工作过程时，V2X设备开始接收RSU1、RSU2、RSU3发送的广播包，广播包至少包括RSU1、RSU2、RSU3详细的位置信息，分别为(x 1,y 1,z 1)，(x 2,y 2,z 2)，(x 3,y 3,z 3)；且实时监控和判断定位系统(如GPS)的状态，如果GPS定位成功，则执行下述步骤：
实时记录V2X设备t n时刻自身的位置信息(x 0，y 0，z 0)，提取并记录t n时刻接收到RSU1、 RSU2、RSU3广播发送的广播包的延时信息lantency1(t n)，lantency2(t n)，lantency3(t n)。
其中，广播包的延时lantency1(t n)为t n时刻广播包从RSU1的发出到V2X设备接收的时间差；广播包的延时lantency2(t n)为t n时刻广播包从RSU2的发出到V2X设备接收的时间差；广播包的延时lantency3(t n)为t n时刻广播包从RSU3的发出到V2X设备接收的时间差。
假设在t n时刻GPS定位正常，但是在下一次接收到RSU广播包，即t n+1时刻GPS定位异常，则执行下述步骤：
提取并记录t n+1时刻接收到RSU1、RSU2、RSU3广播发送的广播包的延时信息lantency1(t n+1)，lantency2(t n+1)，lantency3(t n+1)；
启动定位计算：
V2X设备根据t n时刻的位置信息(x 0，y 0，z 0)，再结合RSU1、RSU2、RSU3的位置信息，分别为(x 1,y 1,z 1)，(x 2,y 2,z 2)，(x 3,y 3,z 3)，即可建立如下方程式：
d1(t n) 2＝(x 1-x 0) 2+(y 1-y 0) 2+(z 1-z 0) 2
d2(t n) 2＝(x 2-x 0) 2+(y 2-y 0) 2+(z 2-z 0) 2
d3(t n) 2＝(x 3-x 0) 2+(y 3-y 0) 2+(z 3-z 0) 2
由上公式可得到t n时刻，V2X设备与RSU1、RSU2、RSU3的距离d1(t n)、d2(t n)、d3(t n)。
如图6所示，V2X设备再根据t n和t n+1前后两个时刻广播包的延时差，可建立如下方程式：
[lantency1(t n)-lantency1(t n+1)]*c＝d1(t n)-d1(t n+1)
[lantency2(t n)-lantency2(t n+1)]*c＝d2(t n)-d2(t n+1)
[lantency3(t n)-lantency3(t n+1)]*c＝d3(t n)-d3(t n+1)
其中,c是电磁波在空气中的传播速率。
由上公式可得到t n+1时刻，V2X设备与RSU1、RSU2、RSU3的距离d1(t n+1)、d2(t n+1)、d3(t n+1)；
V2X设备根据已知t n+1时刻，V2X设备与RSU1、RSU2、RSU3的距离d1(t n+1)、d2(t n+1)、d3(t n+1)，再结合RSU1、RSU2、RSU3的位置信息(x 1,y 1,z 1)，(x 2,y 2,z 2)，(x 3,y 3,z 3)，即可建立如下方程：
di(t n+1) 2＝(x i-x 0) 2+(y i-y 0) 2+(z i-z 0) 2，(i＝1,2,3)
即
d1(t n+1) 2＝(x 1-x) 2+(y 1-y) 2+(z 1-z) 2
d2(t n+2) 2＝(x 2-x) 2+(y 2-y) 2+(z 2-z) 2
d3(t n+3) 2＝(x 3-x) 2+(y 3-y) 2+(z 3-z) 2
由上公式可得到t n+1时刻V2X设备的位置(x,y,z)。
V2X设备保存上述实时计算的位置信息持续通信，并继续循环判断定位状态以决定是 否在下一次接收RSU消息的时候需要启动位置定位辅助计算。
本实施例公开了一种V2X设备，当其定位系统正常时，V2X设备的V2X模块正常工作，实现车联网V2X；当其定位系统异常时，V2X设备启动定位计算得到设备位置，以保持V2X模块正常工作，实现车联网V2X。
图7为本申请实施例提供的V2X设备位置的终端的结构示意图，该终端包括：存储器701、处理器702及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述第一方面、第二方面或第三方面的车联网V2X设备位置的定位方法。
本申请另一个实施例还提供了一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令用于执行如上所述第一方面、第二方面或第三方面的车联网V2X设备位置的定位方法。
本申请实施例基于至少3个具有固定位置的路测单元RSU持续并间隔向车联网V2X设备发送符合V2X协议规定的广播包，当车联网V2X设备定位系统异常时，利用广播包中的信息，以及车联网V2X设备定位系统异常前一时刻的信息，实时计算并获取车联网V2X设备位置信息，从而实现车联网V2X设备的实时定位。以解决现有车联网V2X设备在定位系统异常时，车联网V2X设备无法与外界交互位置信息的问题。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统、装置中的功能模块/单元可以被实施为软件、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块/单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
以上是对本申请的较佳实施进行了具体说明，但本申请并不局限于上述实施方式，熟悉本领域的技术人员在不违背本申请精神的前提下还可作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (13)

  1. 一种定位方法，包括：
    获取车联网设备的定位位置信息；
    获取至少3个路测单元的位置信息，以及各所述路测单元广播包的延时信息；
    根据所述车联网设备的定位位置信息，各所述路测单元的位置信息，以及各所述路测单元广播包的延时信息，得到所述车联网设备的位置信息。
  2. 根据权利要求1所述的方法，其中，
    所述路测单元广播包的延时信息，至少包括第一广播包的延时信息以及第二广播包的延时信息；
    所述广播包的延时信息为，广播包从发出到接收的时间。
  3. 根据权利要求2所述的方法，其中，
    所述车联网设备在定位系统异常前接收到所述第一广播包的延时信息；
    所述车联网设备在定位系统异常后接收到所述第二广播包的延时信息。
  4. 一种车联网设备定位方法，包括：
    获取定位系统正常时刻的定位位置信息；
    接收定位系统正常时刻第一路测单元、第二路测单元、第三路测单元发送的广播包；获取所述第一路测单元、第二路测单元、第三路测单元的位置信息，以及各广播包发送至接收的延时信息；
    接收定位系统异常时刻所述第一路测单元、第二路测单元、第三路测单元的发送的广播包；获取各广播包发送至接收的延时信息；
    根据定位系统正常时刻定位位置信息，所述第一路测单元、第二路测单元、第三路测单元的位置信息，定位系统正常时刻各广播包的延时信息，以及定位系统异常时刻各广播包的延时信息，得到所述车联网设备t n+1时刻的位置信息。
  5. 一种定位装置，包括：
    位置记录模块，记录车联网设备的定位位置信息；
    通信模块，接收至少3个路测单元发送的广播包；
    位置计算模块，获取所述车联网设备的定位位置信息、各所述路测单元的位置信息、以及各所述路测单元广播包的延时信息，并根据获取的信息计算所述车联网设备的位置信息。
  6. 根据权利要求5所述的装置，还包括：
    定位系统判断模块，判断所述位置记录模块是否成功记录定位位置信息。
  7. 根据权利要求5至6任一项所述的装置，其中，
    所述位置记录模块，记录位置计算模块计算出的位置信息。
  8. 根据权利要求7所述的装置，其中，
    所述通信模块，发送广播消息进行通信连接。
  9. 根据权利要求5、6、8任一项所述的装置，其中，
    所述路测单元广播包的延时信息，至少包括第一广播包的延时信息，以及第二广播包的延时信息；
    所述广播包的延时信息为，广播包从发出到接收的时间。
  10. 根据权利要求9所述的装置，其中，
    所述位置记录模块成功记录定位位置信息时，接收到所述第一广播包的延时信息；
    所述位置记录模块未成功记录定位位置信息时，接收到所述第二广播包的延时信息。
  11. 一种定位系统，包括：
    车联网系统，所述车联网系统至少包括如权利要求5至10任一项所述的装置
    路测单元系统，所述路测单元系统至少包括3个路测单元，所述路测单元系统与所述车联网系统通信连接。
  12. 一种终端，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，所述处理器执行所述计算机程序时实现如权利要求1至4中任意一项所述的定位方法。
  13. 一种计算机可读存储介质，存储有计算机可执行指令，其中，所述计算机可执行指令用于执行权利要求1至4中任意一项所述的定位方法。
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