WO2021189464A1 - 车辆定位方法、装置和车辆 - Google Patents

车辆定位方法、装置和车辆 Download PDF

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Publication number
WO2021189464A1
WO2021189464A1 PCT/CN2020/081819 CN2020081819W WO2021189464A1 WO 2021189464 A1 WO2021189464 A1 WO 2021189464A1 CN 2020081819 W CN2020081819 W CN 2020081819W WO 2021189464 A1 WO2021189464 A1 WO 2021189464A1
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WIPO (PCT)
Prior art keywords
road communication
vehicle
coordinates
communication devices
communication device
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PCT/CN2020/081819
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English (en)
French (fr)
Inventor
庄壮伟
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深圳市速腾聚创科技有限公司
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Publication date
Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to PCT/CN2020/081819 priority Critical patent/WO2021189464A1/zh
Priority to CN202080005449.0A priority patent/CN113795769B/zh
Publication of WO2021189464A1 publication Critical patent/WO2021189464A1/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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • This application relates to the field of automatic driving, and in particular to a vehicle positioning method, device and vehicle.
  • satellite positioning systems are usually used to locate vehicles, such as GPS (Global Positioning System), Beidou satellite positioning system, etc. Positioning, and then when the vehicle is blocked by a building (for example, when the vehicle enters a culvert or indoor), the satellite signal received by the vehicle will be very weak, which will cause the positioning to shift and the vehicle cannot be accurately positioned.
  • GPS Global Positioning System
  • Beidou satellite positioning system etc. Positioning, and then when the vehicle is blocked by a building (for example, when the vehicle enters a culvert or indoor), the satellite signal received by the vehicle will be very weak, which will cause the positioning to shift and the vehicle cannot be accurately positioned.
  • the technical problem to be solved by the embodiments of the present application is to provide a vehicle positioning method, device and vehicle to solve the problem of inaccurate satellite positioning of the vehicle.
  • this application provides a vehicle positioning method, including:
  • n is an integer greater than or equal to 3;
  • the coordinates of the vehicle are calculated according to the distances from the vehicle to the respective n road communication devices and the respective coordinates of the n road communication devices.
  • the acquiring the received signal strength of the positioning measurement signal sent by each of the n road communication devices includes:
  • the method before the receiving the positioning measurement signals sent by each of the m road communication devices, the method further includes:
  • the positioning measurement signal carries the coordinates of the road communication device
  • the obtaining the coordinates of each of the n road communication devices includes:
  • the positioning measurement signal also carries the vertical height of the road communication device
  • the calculation of the coordinates of the vehicle according to the respective distances of the vehicle to the n road communication devices and the respective coordinates of the n road communication devices includes:
  • the coordinates of the vehicle are calculated based on the horizontal distance from the vehicle to the n road communication devices and the respective coordinates of the n road communication devices.
  • the positioning measurement signal carries the equipment identifier of the road communication device
  • the obtaining the coordinates of each of the n road communication devices includes:
  • the calculation of the coordinates of the vehicle according to the respective distances of the vehicle to the n road communication devices and the respective coordinates of the n road communication devices includes:
  • the coordinates of the vehicle are calculated according to the horizontal distances from the vehicle to the n road communication devices and the respective coordinates of the n road communication devices.
  • the calculation of the coordinates of the vehicle according to the horizontal distance from the vehicle to the n road communication devices and the respective coordinates of the n road communication devices includes:
  • the candidate points are obtained according to the first circle and the second circle, the coordinates of the center of the first circle are the coordinates of the first road communication device, and the radius is The horizontal distance from the vehicle to the first road communication device; the coordinates of the center of the second circle are the coordinates of the second road communication device, and the radius is the horizontal distance from the vehicle to the second road communication device;
  • the first road communication device and the second road communication device belong to the n road communication devices;
  • the coordinates of the vehicle are calculated according to the coordinates of the at least three candidate points.
  • calculating the coordinates of the vehicle according to the coordinates of the at least three candidate points includes:
  • centroid coordinates of the polygon surrounded by at least three candidate points as the coordinates of the vehicle
  • the coordinates of the at least three candidate points are weighted and averaged to obtain the coordinates of the vehicle.
  • this application provides a vehicle positioning device, including:
  • the acquiring unit is configured to acquire the received signal strength of the positioning measurement signal sent by each of the n road communication devices; where n is an integer greater than or equal to 3;
  • the acquiring unit is further configured to acquire the coordinates of each of the n road communication devices;
  • a distance calculation unit configured to determine the distance between the vehicle and the road communication device according to the received signal strength
  • the coordinate calculation unit is configured to calculate the coordinates of the vehicle based on the distance from the vehicle to the respective n road communication devices and the respective coordinates of the n road communication devices.
  • the distance compensation device includes: a receiver, a transmitter, a memory, and a processor; wherein the memory stores a set of program codes, and the processor is used to call The program code stored in the memory executes the vehicle positioning method described in the above aspects.
  • the implementation of the device can be referred to the implementation of the method, and the repetitions No longer.
  • Another aspect of the present application provides a computer-readable storage medium having instructions stored in the computer-readable storage medium, which when run on a computer, cause the computer to execute the methods described in the above aspects.
  • Another aspect of the present application provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the methods described in the above aspects.
  • the received signal strength of the positioning measurement signal transmitted from the vehicle to at least three vehicle communication devices is detected, and the distance between the vehicle and each vehicle communication device is determined according to the received signal strength, and each vehicle communication device is fixedly installed on the road. Therefore, the coordinates of each road communication device are fixed.
  • the coordinates of the vehicle are calculated according to the distance between the vehicle and each road communication device and the coordinates of each road communication device, thereby realizing the real-time positioning of the vehicle.
  • the received signal strength is relatively large, which solves the problem of positioning offset caused by the use of satellite positioning in related technologies, and therefore can improve the accuracy of vehicle positioning.
  • FIG. 1 is a schematic diagram of the architecture of a vehicle positioning system provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a vehicle positioning method provided by an embodiment of the present application.
  • 3 to 8 are schematic diagrams of the principle of vehicle positioning provided by this embodiment.
  • FIG. 9 is a schematic structural diagram of a vehicle-based positioning device provided by an embodiment of the present application.
  • FIG. 10 is another schematic structural diagram of a vehicle-based positioning device provided by an embodiment of the present application.
  • the vehicle positioning system includes at least three roadside positioning devices and vehicle positioning devices.
  • the vehicle positioning system shown in FIG. 1 includes a road communication device 101, a road communication device 102, a road communication device 103, and a vehicle positioning device 104.
  • the road communication device can be installed on both sides of the road or on one side of the road, and the road communication device can also be set at a certain height from the ground, for example, the road communication device is installed on a street lamp, speedometer or other road traffic equipment on the side of the road.
  • the vehicle positioning device is installed on the vehicle and moves with the movement of the vehicle.
  • the road communication device and the vehicle positioning device communicate wirelessly, for example, using Bluetooth, WiFi, ultra-wideband, zigbee, etc. for communication.
  • Figure 2 is a vehicle positioning method provided by an embodiment of the present application. The method includes but is not limited to the following steps:
  • n is an integer greater than or equal to 3, and the embodiment of the present application must locate the vehicle based on the positioning measurement signals sent by at least three road communication devices.
  • Each road communication device may periodically send the positioning measurement signal in a broadcast manner, and each road communication device may send the positioning measurement signal synchronously, that is, the start time and period of each road communication device sending the positioning measurement signal are the same.
  • the vehicle positioning device installed on the vehicle receives the positioning measurement signal sent by each road communication device.
  • the vehicle positioning device measures received signal strength (Received Signal Strength Indication, RSSI) of positioning measurement signals from n road communication devices. The distance between the vehicle positioning device and the road communication device is positively correlated with the received signal strength.
  • RSSI Received Signal Strength Indication
  • the positioning measurement signal is a known signal, and the vehicle positioning device can identify whether the received signal is a positioning measurement signal according to signal characteristics such as signal amplitude, phase, or period.
  • the vehicle positioning device 104 measures the received signal strength of the positioning measurement signal from the road communication device 101 to be -20 decibels (DB), and the vehicle positioning device measures the received signal strength of the positioning measurement signal from the road communication device 102 to be ⁇ 50 decibels, the vehicle positioning device measures the received signal strength of the positioning measurement signal from the road communication device 103 to be -35 decibels.
  • DB decibels
  • the vehicle positioning device measures the received signal strength of the positioning measurement signal from the road communication device 102 to be ⁇ 50 decibels
  • the vehicle positioning device measures the received signal strength of the positioning measurement signal from the road communication device 103 to be -35 decibels.
  • the acquiring the received signal strength of the positioning measurement signal sent by each of the n road communication devices includes:
  • Receive positioning measurement signals sent by m road communication devices m is an integer greater than n;
  • the vehicle positioning device receives the positioning measurement signals sent by each of the m road communication devices, and the vehicle positioning device measures the received signal strength of the m positioning measurement signals; the vehicle positioning device pre-stores or Pre-configured with a signal strength threshold, the vehicle positioning device selects n road communication devices whose received signal strength is greater than the signal strength threshold from the m positioning measurement signals, and determines the received signal strength of the selected n road communication devices.
  • the received signal strength of n positioning measurement signals is screened out by the signal strength threshold, and the positioning accuracy can be improved by using a short distance road communication device for positioning.
  • the vehicle positioning device receives the positioning measurement signals of five road communication devices at the positioning time t, and the received signal strength distribution of the positioning measurement signals of the five road communication devices detected is as follows: the received signal strength of the road communication device 1 is -35dB The received signal strength of the road communication device 2 is -40dB, the received signal strength of the road communication device 3 is -45dB, the received signal strength of the road communication device 4 is -70dB, and the received signal strength of the road communication device 5 is -60dB. Assuming that the signal strength threshold is -50dB, the road communication devices that are greater than the signal strength threshold selected by the vehicle positioning device from the above five road communication devices are: road communication device 1, road communication device 2, and road communication device 3.
  • the coordinates of the road communication device represent the location of the road communication device, and the coordinates may be latitude and longitude coordinates or coordinates in a rectangular coordinate system. Since each road communication device is fixedly installed on the roadside, the location of each road communication device is known, and the coordinates can be obtained by the road communication device according to the built-in positioning module or pre-configured by the tester for the road communication device. The implementation of this application The examples are not limited.
  • the distribution position of each road communication device on the roadside is not limited in the embodiment of the present application. For example, it may be distributed on both sides of the road at equal intervals, or it may be set on only one side of the road.
  • the vehicle positioning device obtains the coordinates of the road communication device 101 as (x1, y1), the coordinates of the road communication device 102 are (x2, y2), and the coordinates of the road communication device 103 are (x3, y3). ).
  • the method for obtaining the coordinates of n road communication devices includes:
  • the positioning measurement signal carries the coordinates of the road communication device, and the vehicle positioning device analyzes the positioning measurement signal sent by the road communication device, and obtains the coordinates of the road communication device after the analysis is successful.
  • the location measurement signal sent by the road communication device 101 carries the coordinates (x1, y1) of the road communication device 101
  • the location measurement signal sent by the road communication device 102 carries the coordinates (x2, y2) of the road communication device 102
  • the road communication device The positioning measurement signal sent by 103 carries the coordinates of the road communication device 103.
  • the method for obtaining the coordinates of n road communication devices includes:
  • the device identification of the road communication device is carried in the positioning measurement signal.
  • the device identification is used to uniquely indicate the identity of the road communication device.
  • the device identification can be a MAC (Media Access Control) address.
  • the vehicle positioning device is located locally or on the server according to the device identification.
  • the coordinates of the road communication device are queried on the server or the mapping relationship between the device identification and the road communication device is stored locally.
  • the positioning measurement signal sent by the road communication device 101 carries the device identification of the road communication device 101: MAC1, the vehicle positioning device parses the positioning measurement signal to obtain MAC1, and then queries the coordinates of the road communication device 101 corresponding to MAC1 in the server deployed on the Internet Is (x1, y1); the device identification of the road communication device 102 carried in the positioning measurement signal sent by the road communication device 102: MAC2, the vehicle positioning device parses the positioning measurement signal to obtain MAC2, and then queries MAC2 in a server deployed on the Internet
  • the coordinates of the corresponding road communication device 2 are (x2, y2);
  • the positioning measurement signal sent by the road communication device 103 carries the device identification of the road communication device 103: MAC3, and the vehicle positioning device parses the positioning measurement signal to obtain MAC3, and then deploys it
  • the coordinates (x3, y3) of the road communication device 103 corresponding to MAC3 are queried from a server on the Internet.
  • S203 Determine the distance from the vehicle to the road communication device according to the received signal strength
  • the received signal strength is inversely related to the distance.
  • the vehicle positioning device can determine the distance corresponding to the received signal strength according to a pre-configured fitting function.
  • the fitting function is obtained by fitting in advance based on known multiple sets of sample data (distance and received signal strength).
  • the fitting method can be Least squares method.
  • the vehicle positioning device determines the distance to the road communication device 101 as r1 according to the received signal strength of the positioning measurement signal from the road communication device 101; the vehicle positioning device determines the distance to the road communication device 101 as r1; The received signal strength of the signal is measured, and the distance to the road communication device 102 is determined to be r2; the vehicle positioning device determines that the distance to the road communication device 103 is r3 according to the received signal strength of the positioning measurement signal from the road communication device 103 .
  • S204 Calculate the coordinates of the vehicle according to the respective distances of the vehicle to the n road communication devices and the respective coordinates of the n road communication devices.
  • the distance calculated in S203 is approximately equal to the horizontal distance between the vehicle and the road communication device.
  • the vertical height of the road communication device from the ground is greater than the height threshold, for example: the road communication device is set at the top of the street lamp, the distance calculated in S203 is actually the hypotenuse distance from the vehicle to the road communication device, due to the vertical height of the road communication device It is a known quantity and is fixed. According to the Pythagorean theorem, the horizontal distance between the vehicle and the road communication device can be calculated.
  • the method for the vehicle positioning device to obtain the vertical height of the road communication device may be: the vertical height of the road communication device is carried in the positioning measurement signal, and the vehicle positioning device analyzes the received positioning measurement signal to obtain the vertical height of the road communication device; or positioning The measurement signal carries the equipment identification of the road communication device, and the vehicle positioning device queries the corresponding vertical height locally or on the server according to the equipment identification, and the mapping relationship between the equipment identification and the vertical height is pre-stored in the local or the server.
  • n circles will be obtained.
  • the n circles obtained above will have a common intersection point, that is, multiple circles intersect at one point, then the coordinates of the intersection point are the coordinates of the vehicle.
  • the coordinates of the road communication device 101 are A1 (x1, y1), the horizontal distance from the vehicle to the road communication device 101 is R1; the coordinates of the road communication device 102 are A2 (x2, y2), and the distance from the vehicle to the road communication device 102 The horizontal distance is R2; the coordinates of the road communication device 103 are A3 (x3, y3), and the horizontal distance from the vehicle to the road communication device 103 is R3.
  • Circle 1, Circle 2, and Circle 3 have a common intersection point B. It is easy to calculate the coordinates of point B based on the coordinates of the radii and center of the three circles.
  • the coordinates of point B are the coordinates of the vehicle.
  • a circle is drawn with the coordinates of the road communication device as the center and the horizontal distance from the vehicle to the road communication device as the radius, then n circles will be obtained. That is, to calculate the coordinates of the candidate points corresponding to the two circles, the number of candidate points selected finally is greater than or equal to 3.
  • calculating the coordinates of the candidate points includes: referring to Figure 6, when two circles intersect, the center of circle 1 is A1, the center of circle 2 is A2, and the intersection of circle 1 and circle 2 is point A and Point B, the intersection point C between the line segment A1A2 and the line segment AB is the candidate point.
  • the line segment A1A2 is perpendicular to the line segment AB, and the length of the line segment AC is equal to the length of the line segment CB, assuming the coordinates of the center A1 Is (x1, y1), the coordinates of the circle center A2 are (x2, y2), the radius of circle 1 is R1, the radius of circle 2 is R2, then the length of line segment A1A is R1, and the length of line segment A2A is R2, you can The coordinates of point A are calculated as (x3, y3), the coordinates of point B are (x4, y4), and the x-axis coordinates (longitude coordinates) of candidate point C are further obtained: (x3+x4)/2, the coordinates of candidate point C
  • the y-axis coordinate (latitude coordinate) is: (y3+y4)/2, where A1C represents the length of the line segment A1C, and A1A2 represents the length of the line segment A1A2.
  • the candidate points corresponding to the two circles are calculated including: the center of circle 1 is A1, the center of circle 2 is point A2, and the radius of circle 1 is R1 , The radius of the circle 2 is R2, and the two circles do not intersect.
  • the coordinates of the center A1 are (x1, y1), and the coordinates of the center A2 are (x2, y2).
  • the distance between the center of the circle A1 and A2 is D.
  • the candidate point corresponding to circle 1 and circle 2 is point O
  • the x-axis coordinate (longitude coordinate) of candidate point O is:
  • the y-axis coordinates (latitude coordinates) of the candidate point O are:
  • the coordinates of the vehicle are determined according to the coordinates of the three candidate points, the coordinates of the centroid of the polygon surrounded by the at least three candidate points are determined, and the The coordinates of the centroid are used as the coordinates of the vehicle or the coordinates of at least three candidate points are weighted and averaged to obtain the coordinates of the vehicle.
  • point A1 is the center of circle 1
  • point A1 is the center of circle 2
  • point A3 is the center of circle 3
  • point A4 is the coordinate of circle 4
  • point B1 is the circle
  • candidate point B1B2B3 encloses a triangle B1B2B3, plus the coordinates of candidate point B1 are (a1, b1)
  • the coordinates of candidate point B2 are (a2, b2)
  • the coordinates of candidate point B3 are (a3, b3)
  • the triangle B1B2B3 is determined
  • the coordinates of the center of mass are Or the coordinates of candidate point B1, candidate point B2, and candidate point B3 are weighted and averaged, and the coordinates of the vehicle can also be obtained as
  • the received signal strength of the positioning measurement signal transmitted from the vehicle to at least three vehicle communication devices is detected, and the distance between the vehicle and each vehicle communication device is determined according to the received signal strength, and each vehicle communication device is fixedly installed on the roadside Therefore, the coordinates of each road communication device are fixed.
  • the coordinates of the vehicle are calculated according to the distance between the vehicle and each road communication device and the coordinates of each road communication device, thereby realizing the real-time positioning of the vehicle.
  • the received signal strength is relatively large, which solves the problem of positioning deviation caused by the use of satellite positioning in the related technology, and therefore can improve the accuracy of vehicle positioning.
  • the foregoing describes in detail a vehicle positioning method according to an embodiment of the present application, and the following provides a vehicle positioning device (hereinafter referred to as the device 3) according to an embodiment of the present application.
  • the device 3 shown in FIG. 9 can implement the vehicle positioning method of the embodiment shown in FIG. 2.
  • the device 3 includes an acquisition unit 301, a distance calculation unit 302 and a coordinate calculation unit 303.
  • the obtaining unit 301 is configured to obtain the received signal strength of the positioning measurement signal sent by each of the n road communication devices; where n is an integer greater than or equal to 3;
  • the acquiring unit 301 is further configured to acquire the coordinates of each of the n road communication devices;
  • the distance calculation unit 302 is configured to determine the distance from the vehicle to the road communication device according to the received signal strength
  • the coordinate calculation unit 303 is configured to calculate the coordinates of the vehicle according to the distance from the vehicle to the respective n road communication devices and the respective coordinates of the n road communication devices.
  • the acquiring the received signal strength of the positioning measurement signal sent by each of the n road communication devices includes:
  • the device 3 further includes:
  • the broadcasting unit is configured to broadcast a positioning request signal; wherein the positioning request signal is used to instruct the road communication device to send a positioning measurement signal.
  • the positioning measurement signal carries the coordinates of the road communication device
  • the obtaining the coordinates of each of the n road communication devices includes:
  • the positioning measurement signal also carries the vertical height of the road communication device
  • the calculation of the coordinates of the vehicle according to the respective distances of the vehicle to the n road communication devices and the respective coordinates of the n road communication devices includes:
  • the coordinates of the vehicle are calculated according to the horizontal distances from the vehicle to the n road communication devices and the respective coordinates of the n road communication devices.
  • the positioning measurement signal carries the equipment identifier of the road communication device
  • the obtaining the coordinates of each of the n road communication devices includes:
  • the calculating the coordinates of the vehicle according to the respective distances of the vehicle to the n road communication devices and the respective coordinates of the n road communication devices includes:
  • the coordinates of the vehicle are calculated according to the horizontal distances from the vehicle to the n road communication devices and the respective coordinates of the n road communication devices.
  • the calculating the coordinates of the vehicle according to the horizontal distance from the vehicle to the n road communication devices and the respective coordinates of the n road communication devices includes:
  • the candidate points are obtained according to the first circle and the second circle, the coordinates of the center of the first circle are the coordinates of the first road communication device, and the radius is The horizontal distance from the vehicle to the first road communication device; the coordinates of the center of the second circle are the coordinates of the second road communication device, and the radius is the horizontal distance from the vehicle to the second road communication device;
  • the first road communication device and the second road communication device belong to the n road communication devices;
  • the coordinates of the vehicle are calculated according to the coordinates of the at least three candidate points.
  • calculating the coordinates of the vehicle according to the coordinates of the at least three candidate points includes:
  • centroid coordinates of the polygon surrounded by at least three candidate points as the coordinates of the vehicle
  • the coordinates of the at least three candidate points are weighted and averaged to obtain the coordinates of the vehicle.
  • the device 3 may be a field-programmable gate array (FPGA), a dedicated integrated chip, a system on chip (SoC), and a central processor unit (CPU) that implement related functions.
  • FPGA field-programmable gate array
  • SoC system on chip
  • CPU central processor unit
  • NP Network processor
  • digital signal processing circuit microcontroller (micro controller unit, MCU), programmable controller (programmable logic device, PLD) or other integrated chips can also be used.
  • the foregoing describes in detail a vehicle positioning method according to an embodiment of the present application, and the following provides a vehicle-based positioning device (hereinafter referred to as the device 4) according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a device structure provided by an embodiment of the application, hereinafter referred to as device 4, which can be integrated in a vehicle such as a vehicle, as shown in FIG. 4, the device includes: a memory 402, a processor 401, and a transmitter 404 and receiver 403.
  • the memory 402 may be an independent physical unit, and may be connected to the processor 401, the transmitter 404, and the receiver 403 through a bus.
  • the memory 402, the processor 401, the transmitter 404, and the receiver 401 can also be integrated together and implemented by hardware.
  • the transmitter 404 is used for transmitting signals, for example, transmitting a positioning request signal in a broadcast manner.
  • the receiver 403 may be a CMOS receiver for receiving signals, for example: receiving positioning measurement signals.
  • the memory 402 is used to store a program that implements the above method embodiment or each module of the device embodiment, and the processor 401 calls the program to execute the operation of the above method embodiment.
  • the device may also only include a processor.
  • the memory for storing the program is located outside the device, and the processor is connected to the memory through a circuit/wire for reading and executing the program stored in the memory.
  • the processor may be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP.
  • CPU central processing unit
  • NP network processor
  • the processor may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • the memory may include volatile memory (volatile memory), such as random-access memory (RAM); the memory may also include non-volatile memory (non-volatile memory), such as flash memory (flash memory) , A hard disk drive (HDD) or a solid-state drive (solid-state drive, SSD); the memory may also include a combination of the foregoing types of memory.
  • volatile memory such as random-access memory (RAM)
  • non-volatile memory such as flash memory (flash memory)
  • flash memory flash memory
  • HDD hard disk drive
  • solid-state drive solid-state drive
  • the sending unit or transmitter executes the steps sent by the foregoing method embodiments
  • the receiving unit or receiver executes the steps received by the foregoing method embodiments
  • other steps are executed by other units or processors.
  • the sending unit and the receiving unit can form a transceiver unit
  • the receiver and transmitter can form a transceiver.
  • An embodiment of the present application also provides a computer storage medium storing a computer program, and the computer program is used to execute the vehicle positioning method provided in the foregoing embodiment.
  • the embodiments of the present application also provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the vehicle positioning method provided in the above-mentioned embodiments.
  • this application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

一种车辆定位装置(104)、方法、计算机程序产品和车辆。通过检测车辆行驶的路边固定设置的道路通信装置（101,102,103）发射的信号的接收信号强度，基于接收信号强度确定车辆到至少三个道路通信装置（101,102,103）的距离，根据各道路通信装置（101,102,103）的坐标和计算的距离确定车辆的坐标，由于车辆和道路通信装置（101,102,103）之间没有障碍物遮挡，接收信号强度较大，解决相关技术中使用卫星定位带来的定位发生偏移的问题，因此可以提高车辆定位的精度。

Description

车辆定位方法、装置和车辆 技术领域
本申请涉及自动驾驶领域，尤其涉及一种车辆定位方法、装置和车辆。
背景技术
在自动驾驶领域，通常使用卫星定位系统对车辆进行定位，例如：GPS(Global Positioning System，全球卫星定位系统)、北斗卫星定位系统等对车辆进行定位，车辆通过接收卫星的定位测量信号对车辆进行定位，然后车辆被建筑物遮挡时(例如车辆进入涵洞或室内)，车辆接收到的卫星信号会非常微弱，从而导致定位发生偏移，无法准确的对车辆进行定位。
发明内容
本申请实施例所要解决的技术问题在于，提供一种车辆定位方法、装置和车辆，解决卫星对车辆定位不准确的问题。
第一方面，本申请提供了一种车辆定位方法，包括：
获取n个道路通信装置各自发送的定位测量信号的接收信号强度；其中，n为大于或等于3的整数；
获取所述n个道路通信装置各自的坐标；
根据所述接收信号强度确定车辆到所述道路通信装置的距离；
根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
在一种可能的设计中，所述获取n个道路通信装置各自发送的定位测量信号的接收信号强度，包括：
接收m个道路通信装置各自发送的定位测量信号；其中，m为大于n的整数；
测量m个定位测量信号各自的接收信号强度；
从m个道路通信装置中筛选出接收信号强度大于信号强度阈值的n个道路通信装置；
确定所述n个道路通信装置的接收信号强度。
在一种可能的设计中，所述接收m个道路通信装置各自发送的定位测量信号之前，还包括：
广播定位请求信号；其中，所述定位请求信号用于指示所述道路通信装置发送定位测量信号。
在一种可能的设计中，所述定位测量信号携带所述道路通信装置的坐标；
其中，所述获取所述n个道路通信装置各自的坐标，包括：
解析所述定位测量信号得到所述道路通信装置的坐标。
在一种可能的设计中，所述定位测量信号还携带所述道路通信装置的垂直高度；
其中，所述根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
根据所述垂直高度和所述距离计算所述车辆到所述道路通信装置的水平距离；
根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐 标计算所述车辆的坐标。
在一种可能的设计中，所述定位测量信号携带所述道路通信装置的设备标识；
其中，所述获取所述n个道路通信装置各自的坐标，包括：
解析所述定位测量信号得到所述道路通信装置的设备标识；
根据所述设备标识在服务器中查询对应的所述道路通信装置的坐标。
在一种可能的设计中，所述根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
根据所述设备标识在服务器中查询对应的所述道路通信装置的垂直高度；
根据所述垂直高度和所述距离计算所述车辆到所述道路通信装置的水平距离；
根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
在一种可能的设计中，所述根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
确定至少三个候选点的坐标；其中，所述候选点是根据所述第一圆形和第二圆形得到，所述第一圆形的圆心坐标为第一道路通信装置的坐标，半径为所述车辆到所述第一道路通信装置的水平距离；所述第二圆形的圆心坐标为第二道路通信装置的坐标，半径为所述车辆到所述第二道路通信装置的水平距离；所述第一道路通信装置和所述第二道路通信装置属于所述n个道路通信装置；
根据所述至少三个候选点的坐标计算所述车辆的坐标。
在一种可能的设计中，根据所述至少三个候选点的坐标计算所述车辆的坐标包括：
根据至少三个候选点围成的多边形的质心坐标作为所述车辆的坐标；或
将所述至少三个候选点的坐标进行加权平均得到所述车辆的坐标。
第二方面，本申请提供了一种车辆定位装置，包括：
获取单元，用于获取n个道路通信装置各自发送的定位测量信号的接收信号强度；其中，n为大于或等于3的整数；
所述获取单元，还用于获取所述n个道路通信装置各自的坐标；
距离计算单元，用于根据所述接收信号强度确定车辆到所述道路通信装置的距离；
坐标计算单元，用于根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
本申请的又一方面公开了一种基于车辆定位装置，距离补偿装置包括：接收器、发射器、存储器和处理器；其中，所述存储器中存储一组程序代码，且所述处理器用于调用所述存储器中存储的程序代码，执行上述各方面所述的车辆定位方法。
基于同一申请构思，由于该装置解决问题的原理以及有益效果可以参见上述各可能的距离补偿装置的方法实施方式以及所带来的有益效果，因此该装置的实施可以参见方法的实施，重复之处不再赘述。
本申请的又一方面提了供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述各方面所述的方法。
本申请的又一方面提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述各方面所述的方法。
在本申请实施例中，检测车辆到至少三个车辆通信装置发射的定位测量信号的接收信号强度，根据接收信号强度确定车辆到各个车辆通信装置之间的距离，各个车辆通信装置 固定设置于路边，因此各个道路通信装置的坐标是固定不变的，根据车辆到各个道路通信装置之间的距离和各个道路通信装置的坐标计算车辆的坐标，由此实现对车辆的实时定位，由于车辆和道路通信装置之间没有障碍物遮挡，接收信号强度较大，解决相关技术中使用卫星定位带来的定位发生偏移的问题，因此可以提高车辆定位的精度。
附图说明
为了更清楚地说明本申请实施例或背景技术中的技术方案，下面将对本申请实施例或背景技术中所需要使用的附图进行说明。
图1是本申请实施例提供的车辆定位系统的架构示意图；
图2是本申请实施例提供的一种车辆定位方法的流程示意图；
图3～图8是本实施例提供的车辆定位的原理示意图；
图9是本申请实施例提供的一种基于车辆定位装置的结构示意图；
图10是本申请实施例提供的一种基于车辆定位装置的另一结构示意图。
具体实施方式
为使得本申请实施例的发明目的、特征、优点能够更加的明显和易懂，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而非全部实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
参见图1，为本申请实施例提供的车辆定位系统的结构示意图，车辆定位系统包括至少三个路边定位装置和车辆定位装置。如图1所示的车辆定位系统包括道路通信装置101、道路通信装置102、道路通信装置103和车辆定位装置104。道路通信装置可以设置在道路两侧也可以设置在道路的一侧，同时道路通信装置也可以距离地面一定高度，例如：道路通信装置设置于路边的路灯、测速仪或其他道路交通设备上。车辆定位装置设置于车辆上，随着车辆的移动而移动。道路通信装置和车辆定位装置之间采用无线方式进行通信，例如：使用蓝牙、WiFi、超宽频、zigbee等方式进行通信。
请参见图2，图2是本申请实施例提供的一种车辆定位方法，该方法包括但不限于如 下步骤：
S201、获取n个道路通信装置各自发送的定位测量信号的接收信号强度。
其中，n为大于或等于3的整数，本申请实施例必须根据至少三个道路通信装置发送的定位测量信号来对车辆进行定位。各个道路通信装置可以周期性的以广播的方式发送定位测量信号，各个道路通信装置发送定位测量信号可以是同步的，即各个道路通信装置发送定位测量信号的起始时间和周期都是相同的。设置于车辆上的车辆定位装置接收到各个道路通信装置发送的定位测量信号。车辆定位装置测量来自n个道路通信装置的定位测量信号的接收信号强度(Received Signal Strength Indication，RSSI)。车辆定位装置与道路通信装置之间的距离和接收信号强度呈正相关性，距离越大则测量到的接收信号强度越小，距离越小则测量到的接收信号强度越大。定位测量信号为已知信号，车辆定位装置可以根据信号幅度、相位或周期等信号特征来识别接收到的信号是否为定位测量信号。
例如：参见图1所示，在需要对车辆进行定位时，此时车辆的周围分布有3个道路通信装置：道路通信装置101、道路通信装置102和道路通信装置103，3个道路通信装置周期性的向车辆定位装置104发送定位测量信号。在定位时刻t，车辆定位装置104测量来自道路通信装置101的定位测量信号的接收信号强度为-20分贝(DB)，车辆定位装置测量来自道路通信装置102的定位测量信号的接收信号强度为-50分贝，车辆定位装置测量来自道路通信装置103的定位测量信号的接收信号强度为-35分贝。
在一种可能的实施方式中，所述获取n个道路通信装置各自发送的定位测量信号的接收信号强度，包括：
接收m个道路通信装置各自发送的定位测量信号；m为大于n的整数；
测量m个定位测量信号各自的接收信号强度；
从m个道路通信装置中筛选出接收信号强度大于信号强度阈值的n个道路通信装置；
确定所述n个道路通信装置的接收信号强度。
其中，在车辆定位装置存在m个道路通信装置时，车辆定位装置接收m个道路通信装置各自发送的定位测量信号，车辆定位装置测量m个定位测量信号的接收信号强度；车辆定位装置预存储或预配置有信号强度阈值，车辆定位装置在m个定位测量信号中筛选出n个接收信号强度大于信号强度阈值的n个道路通信装置，确定筛选出的n个道路通信装置的接收信号强度。通过信号强度阈值筛选出n个定位测量信号的接收信号强度，使用距离近的道路通信装置进行定位，可以提高定位的精度。
例如：车辆定位装置在定位时刻t接收到5个道路通信装置的定位测量信号，检测到5个道路通信装置的定位测量信号的接收信号强度分布如下：道路通信装置1的接收信号强度为-35dB，道路通信装置2的接收信号强度为-40dB，道路通信装置3的接收信号强度为-45dB，道路通信装置4的接收信号强度为-70dB，道路通信装置5的接收信号强度为-60dB。假设信号强度阈值为-50dB，那么车辆定位装置从上述5个道路通信装置中筛选出的大于信号强度阈值的道路通信装置为：道路通信装置1、道路通信装置2和道路通信装置3。
S202、获取所述n个道路通信装置各自的坐标。
其中，道路通信装置的坐标表示道路通信装置的位置，坐标可以是经纬度坐标或平面直角坐标系中的坐标。由于各个道路通信装置固定设置于路边，各个道路通信装置的位置 是已知的，坐标可以是道路通信装置根据内置的定位模块获取的或者由测试人员预先配置的给道路通信装置，本申请实施例不作限制。各个道路通信装置在路边的分布位置本申请实施例不作限制，例如：可以等间隔的分布在道路两侧，也可以只设置于道路的一侧。
例如：根据图1所示，车辆定位装置获取到道路通信装置101的坐标为(x1，y1)，道路通信装置102的坐标为(x2，y2)，道路通信装置103的坐标为(x3，y3)。
在一种可能的实施中，获取n个道路通信装置的坐标的方法包括：
定位测量信号中携带道路通信装置的坐标，车辆定位装置解析道路通信装置发送的定位测量信号，解析成功后得到道路通信装置的坐标。
例如：道路通信装置101发送的定位测量信号中携带道路通信装置101的坐标(x1，y1)，道路通信装置102发送的定位测量信号携带道路通信装置102的坐标(x2，y2)，道路通信装置103发送的定位测量信号携带道路通信装置103的坐标。
在另一种可能的实施方式中，获取n个道路通信装置的坐标的方法包括：
定位测量信号中携带道路通信装置的设备标识，设备标识用于唯一表示道路通信装置的身份，设备标识可以是MAC(Media Access Control，媒体访问控制)地址，车辆定位装置根据设备标识在本地或服务器上查询道路通信装置的坐标，服务器或本地存储有设备标识和道路通信装置之间的映射关系。
例如：道路通信装置101发送的定位测量信号中携带道路通信装置101的设备标识：MAC1，车辆定位装置解析定位测量信号得到MAC1，然后在部署在互联网的服务器中查询MAC1对应的道路通信装置101坐标为(x1，y1)；道路通信装置102发送的定位测量信号中携带的道路通信装置102的设备标识：MAC2，车辆定位装置解析该定位测量信号得到MAC2，然后在部署在互联网的服务器中查询MAC2对应的道路通信装置2的坐标为(x2，y2)；道路通信装置103发送的定位测量信号中携带道路通信装置103的设备标识：MAC3，车辆定位装置解析该定位测量信号得到MAC3，然后在部署在互联网中的服务器中查询MAC3对应的道路通信装置103的坐标(x3，y3)。
S203、根据所述接收信号强度确定车辆到道路通信装置的距离；
其中，接收信号强度和距离呈反相关性，接收信号强度越大则车辆到道路通信装置之间的距离越近，接收信号强度越小则车辆到道路通信装置之间的距离越远。车辆定位装置可以根据预配置的拟合函数确定接收信号强度对应的距离，拟合函数是预先根据已知的多组样本数据(距离和接收信号强度)进行拟合得到的，拟合方法可以是最小二乘法。
例如：根据图1所示，车辆定位装置根据来自道路通信装置101的定位测量信号的接收信号强度，确定到道路通信装置101之间的距离为r1；车辆定位装置根据来自道路通信装置102的定位测量信号的接收信号强度，确定到道路通信装置102之间的距离为r2；车辆定位装置根据来自道路通信装置103的定位测量信号的接收信号强度，确定到道路通信装置103之间的距离为r3。
S204、根据车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
其中，在各个道路通信装置距离地面的垂直高度小于或等于高度阈值时(例如：5cm)，将S203计算得到的距离近似等于车辆到道路通信装置的水平距离。在道路通信装置距离地 面的垂直高度大于高度阈值时，例如：道路通信装置设置在路灯的顶端，那么S203计算到的距离实际为车辆到道路通信装置的斜边距离，由于道路通信装置的垂直高度是已知量且固定不变，根据勾股定理可以计算出车辆到道路通信装置的水平距离。
其中，车辆定位装置获取道路通信装置的垂直高度的方法可以是：定位测量信号中携带道路通信装置的垂直高度，车辆定位装置解析接收到的定位测量信号后得到道路通信装置的垂直高度；或定位测量信号中携带道路通信装置的设备标识，车辆定位装置根据设备标识在本地或服务器查询对应的垂直高度，本地或服务器中预存储有设备标识和垂直高度之间的映射关系。
在本实施例中，对于n个道路通信装置来说，以道路通信装置的坐标为圆心坐标，车辆到道路通信装置的水平距离为半径进行画圆，会得到n个圆形，在理想状态下，上述得到的n个圆形会存在一个共同的交点，即多个圆形相交于一点，那么该交点的坐标即为车辆的坐标。
举例来说，道路通信装置101的坐标A1(x1，y1)，车辆到道路通信装置101的水平距离为R1；道路通信装置102的坐标为A2(x2，y2)，车辆到道路通信装置102的水平距离为R2；道路通信装置103的坐标为A3(x3，y3)，车辆到道路通信装置103的水平距离为R3。以A1为圆心，R1为半径画圆形成圆形1；以A2为圆心，R2为半径画圆形成圆形2；以A3为圆心，R3为半径画圆形成圆形3。圆形1、圆形2和圆形3存在一个共同的交点B点，很容易根据三个圆形的半径和圆心的坐标计算得到B点的坐标，B点的坐标即为车辆的坐标。
在实际应用场景中，车辆定位测量装置测量到的水平距离可能存在误差，那么n个圆形可能不存在一个共同的交点，n个圆形中的任意两个圆形来说，两个圆形存在相交和不相交两种情况。例如：参见图4所示，n＝3，3个圆形两两相交，但是不存在共同的交点，圆形1和圆形2之间存在两个交点(C点和D点)，圆形1和圆形3之间存在两个交点(A点和E点)，圆形2和圆形3之间存在两个交点(B点和F点)，圆形1、圆形2和圆形3之间无法只交于一点。参见图5所示，n＝3，3个圆形中任意两个圆形均不相交，圆形1、圆形2和圆形3之间均不存在交点。
在本申请实施例中，以道路通信装置的坐标为圆心，车辆到道路通信装置的水平距离为半径画圆，那么会得到n个圆形，对于n个圆形中的任意两个圆形来说，计算两个圆形对应的候选点的坐标，最终选取的候选点的数量大于或等于3个。
其中，计算候选点的坐标包括：参见图6，在两个圆形相交时，圆形1的圆心为A1，圆形2的圆心为A2，圆形1和圆形2的交点为A点和B点，线段A1A2和线段AB的交点C即为候选点，根据圆形的对称性质，可以得知线段A1A2垂直于线段AB，且线段AC的长度和线段CB的长度相等，假设圆心A1的坐标为(x1，y1)，圆心A2的坐标为(x2，y2)，圆形1的半径为R1，圆形2的半径为R2，那么线段A1A的长度为R1，线段A2A的长度为R2，可以计算得到A点坐标为(x3，y3)，B点坐标为(x4，y4)，并进一步得到候选点C的x轴坐标(经度坐标)为：(x3+x4)/2，候选点C的y轴坐标(纬度坐标)为：(y3+y4)/2，其中，A1C表示线段A1C的长度，A1A2表示线段A1A2的长度。根据图6的计算至少三个候选点的坐标。
参见图7所示，在两个圆形不相交时，计算两个圆形对应的候选点包括：圆形1的圆心为A1，圆形2的圆心为A2点，圆形1的半径为R1，圆形2的半径为R2，两个圆形不相交，假设圆心A1的坐标为(x1，y1)，圆心A2的坐标为(x2，y2)。圆心A1与A2的距离为D。圆形1和圆形2对应的候选点为O点，那么候选点O的x轴坐标(经度坐标)为：
Figure PCTCN2020081819-appb-000001
候选点O的y轴坐标(纬度坐标)为：
Figure PCTCN2020081819-appb-000002
其中，根据图6和图7的方法获得至少三个获选点的坐标之后，根据三个候选点的坐标确定车辆的坐标，确定至少三个候选点围成的多边形的质心的坐标，将该质心的坐标作为车辆的坐标或将至少三个候选点的坐标进行加权平均得到车辆的坐标。
举例来说，参见图8所示，A1点为圆形1的圆心，A1点为圆形2的圆心，A3点为圆形3的圆心，A4点为圆形4的坐标，B1点为圆形1和圆形2对应的候选点，B2点为圆形2和圆形4对应的候选点，B3点为圆形3和圆形4对应的候选点，候选点B1、候选点B2和候选点B3围成一个三角形B1B2B3，加上候选点B1的坐标为(a1，b1)，候选点B2的坐标为(a2，b2)，候选点B3的坐标为(a3，b3)，那么确定三角形B1B2B3的质心的坐标为
Figure PCTCN2020081819-appb-000003
或者将候选点B1、候选点B2和候选点B3的坐标进行加权平均后也可以得到车辆的坐标为
Figure PCTCN2020081819-appb-000004
根据图2的描述，检测车辆到至少三个车辆通信装置发射的定位测量信号的接收信号强度，根据接收信号强度确定车辆到各个车辆通信装置之间的距离，各个车辆通信装置固定设置于路边，因此各个道路通信装置的坐标是固定不变的，根据车辆到各个道路通信装置之间的距离和各个道路通信装置的坐标计算车辆的坐标，由此实现对车辆的实时定位，由于车辆和道路通信装置之间没有障碍物遮挡，接收信号强度较大，解决相关技术中使用卫星定位带来的定位发生偏移的问题，因此可以提高车辆定位的精度。
上述详细阐述了本申请实施例的一种车辆定位方法，下面提供了本申请实施例的一种车辆定位装置(以下简称装置3)。
图9所示的装置3可以实现图2所示实施例的车辆定位方法，装置3包括获取单元301、距离计算单元302和坐标计算单元303。
获取单元301，用于获取n个道路通信装置各自发送的定位测量信号的接收信号强度；其中，n为大于或等于3的整数；
所述获取单元301，还用于获取所述n个道路通信装置各自的坐标；
距离计算单元302，用于根据所述接收信号强度确定车辆到所述道路通信装置的距离；
坐标计算单元303，用于根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
可选的，所述获取n个道路通信装置各自发送的定位测量信号的接收信号强度，包括：
接收m个道路通信装置各自发送的定位测量信号；其中，m为大于n的整数；
测量m个定位测量信号各自的接收信号强度；
从m个道路通信装置中筛选出接收信号强度大于信号强度阈值的n个道路通信装置；
确定所述n个道路通信装置的接收信号强度。
可选的，装置3还包括：
广播单元，用于广播定位请求信号；其中，所述定位请求信号用于指示所述道路通信装置发送定位测量信号。
可选的，所述定位测量信号携带所述道路通信装置的坐标；
其中，所述获取所述n个道路通信装置各自的坐标，包括：
解析所述定位测量信号得到所述道路通信装置的坐标。
可选的，所述定位测量信号还携带所述道路通信装置的垂直高度；
其中，所述根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
根据所述垂直高度和所述距离计算所述车辆到所述道路通信装置的水平距离；
根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
可选的，所述定位测量信号携带所述道路通信装置的设备标识；
其中，所述获取所述n个道路通信装置各自的坐标，包括：
解析所述定位测量信号得到所述道路通信装置的设备标识；
根据所述设备标识在服务器中查询对应的所述道路通信装置的坐标。
可选的，所述根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
根据所述设备标识在服务器中查询对应的所述道路通信装置的垂直高度；
根据所述垂直高度和所述距离计算所述车辆到所述道路通信装置的水平距离；
根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
可选的，所述根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
确定至少三个候选点的坐标；其中，所述候选点是根据所述第一圆形和第二圆形得到，所述第一圆形的圆心坐标为第一道路通信装置的坐标，半径为所述车辆到所述第一道路通信装置的水平距离；所述第二圆形的圆心坐标为第二道路通信装置的坐标，半径为所述车辆到所述第二道路通信装置的水平距离；所述第一道路通信装置和所述第二道路通信装置属于所述n个道路通信装置；
根据所述至少三个候选点的坐标计算所述车辆的坐标。
可选的，根据所述至少三个候选点的坐标计算所述车辆的坐标包括：
根据至少三个候选点围成的多边形的质心坐标作为所述车辆的坐标；或
将所述至少三个候选点的坐标进行加权平均得到所述车辆的坐标。
本申请实施例和图1～图8的方法实施例基于同一构思，其带来的技术效果也相同，具体过程可参照图1～图8的方法实施例的描述，此处不再赘述。
所述装置3可以为实现相关功能的现场可编程门阵列(field-programmable gate array，FPGA)，专用集成芯片，系统芯片(system on chip，SoC)，中央处理器(central processor unit，CPU)，网络处理器(network processor，NP)，数字信号处理电路，微控制器(micro  controller unit，MCU)，还可以采用可编程控制器(programmable logic device，PLD)或其他集成芯片。
上述详细阐述了本申请实施例的一种车辆定位方法，下面提供了本申请实施例的一种基于车辆定位装置(以下简称装置4)。
图10为本申请实施例提供的一种装置结构示意图，以下简称装置4，装置4可以集成于车辆等交通工具中，如图4所示，该装置包括：存储器402、处理器401、发射器404以及接收器403。
存储器402可以是独立的物理单元，与处理器401、发射器404以及接收器403可以通过总线连接。存储器402、处理器401、发射器404以及接收器401也可以集成在一起，通过硬件实现等。
发射器404用于发射信号，例如：以广播的方式发射定位请求信号。接收器403可以为CMOS接收器，用于接收信号，例如：接收定位测量信号。
存储器402用于存储实现以上方法实施例，或者装置实施例各个模块的程序，处理器401调用该程序，执行以上方法实施例的操作。
可选地，当上述实施例的车辆定位方法中的部分或全部通过软件实现时，装置也可以只包括处理器。用于存储程序的存储器位于装置之外，处理器通过电路/电线与存储器连接，用于读取并执行存储器中存储的程序。
处理器可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)或者CPU和NP的组合。
处理器还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
存储器可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；存储器也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；存储器还可以包括上述种类的存储器的组合。
上述实施例中，发送单元或发射器执行上述各个方法实施例发送的步骤，接收单元或接收器执行上述各个方法实施例接收的步骤，其它步骤由其他单元或处理器执行。发送单元和接收单元可以组成收发单元，接收器和发射器可以组成收发器。
本申请实施例还提供了一种计算机存储介质，存储有计算机程序，该计算机程序用于执行上述实施例提供的车辆定位方法。
本申请实施例还提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述实施例提供的车辆定位方法。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产 品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。

Claims (13)

  1. 一种车辆定位方法，其特征在于，包括：
    获取n个道路通信装置各自发送的定位测量信号的接收信号强度；其中，n为大于或等于3的整数；
    获取所述n个道路通信装置各自的坐标；
    根据所述接收信号强度确定车辆到所述道路通信装置的距离；
    根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
  2. 根据权利要求1所述的方法，其特征在于，所述获取n个道路通信装置各自发送的定位测量信号的接收信号强度，包括：
    接收m个道路通信装置各自发送的定位测量信号；其中，m为大于n的整数；
    测量m个定位测量信号各自的接收信号强度；
    从m个道路通信装置中筛选出接收信号强度大于信号强度阈值的n个道路通信装置；
    确定所述n个道路通信装置的接收信号强度。
  3. 根据权利要求1所述的方法，其特征在于，所述接收m个道路通信装置各自发送的定位测量信号之前，还包括：
    广播定位请求信号；其中，所述定位请求信号用于指示所述道路通信装置发送定位测量信号。
  4. 根据权利要求1所述的方法，其特征在于，所述定位测量信号携带所述道路通信装置的坐标；
    其中，所述获取所述n个道路通信装置各自的坐标，包括：
    解析所述定位测量信号得到所述道路通信装置的坐标。
  5. 根据权利要求4所述的方法，其特征在于，所述定位测量信号还携带所述道路通信装置的垂直高度；
    其中，所述根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
    根据所述垂直高度和所述距离计算所述车辆到所述道路通信装置的水平距离；
    根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
  6. 根据权利要求1所述的方法，其特征在于，所述定位测量信号携带所述道路通信装置的设备标识；
    其中，所述获取所述n个道路通信装置各自的坐标，包括：
    解析所述定位测量信号得到所述道路通信装置的设备标识；
    根据所述设备标识在服务器中查询对应的所述道路通信装置的坐标。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述车辆到所述n个道路通信 装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
    根据所述设备标识在服务器中查询对应的所述道路通信装置的垂直高度；
    根据所述垂直高度和所述距离计算所述车辆到所述道路通信装置的水平距离；
    根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
  8. 根据权利要求5或7所述的方法，其特征在于，所述根据所述车辆到所述n个道路通信装置的水平距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标，包括：
    确定至少三个候选点的坐标；其中，所述候选点是根据所述第一圆形和第二圆形得到，所述第一圆形的圆心坐标为第一道路通信装置的坐标，半径为所述车辆到所述第一道路通信装置的水平距离；所述第二圆形的圆心坐标为第二道路通信装置的坐标，半径为所述车辆到所述第二道路通信装置的水平距离；所述第一道路通信装置和所述第二道路通信装置属于所述n个道路通信装置；
    根据所述至少三个候选点的坐标计算所述车辆的坐标。
  9. 根据权利要求8所述的方法，其特征在于，根据所述至少三个候选点的坐标计算所述车辆的坐标包括：
    根据至少三个候选点围成的多边形的质心坐标作为所述车辆的坐标；或
    将所述至少三个候选点的坐标进行加权平均得到所述车辆的坐标。
  10. 一种车辆定位装置，其特征在于，包括：
    获取单元，用于获取n个道路通信装置各自发送的定位测量信号的接收信号强度；其中，n为大于或等于3的整数；
    所述获取单元，还用于获取所述n个道路通信装置各自的坐标；
    距离计算单元，用于根据所述接收信号强度确定车辆到所述道路通信装置的距离；
    坐标计算单元，用于根据所述车辆到所述n个道路通信装置各自的距离和所述n个道路通信装置各自的坐标计算所述车辆的坐标。
  11. 一种计算机程序产品，其特征在于，所述计算机程序产品包括指令，当所述计算机程序产品在计算机上运行时，使得计算机执行如权利要求1至9任意一项所述的方法。
  12. 一种车辆定位装置，其特征在于，包括处理器、存储器、发射器和接收器，所述处理器与所述发射器和接收器耦合，存储器用于存储计算机程序或指令，所述处理器用于执行所述存储器中的计算机程序或指令，以控制所述接收器和所述发射器收发信号；当所述处理器执行所述计算机程序或指令时，所述处理器还用于实现如权利要求1至9任意一项所述的方法。
  13. 一种车辆，其特征在于，包括如权利要求10或12所述的车辆定位装置。
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