WO2024088330A1 - Procédé de détermination de position, procédé d'envoi d'informations, procédé de transformation de coordonnées et appareil - Google Patents

Procédé de détermination de position, procédé d'envoi d'informations, procédé de transformation de coordonnées et appareil Download PDF

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Publication number
WO2024088330A1
WO2024088330A1 PCT/CN2023/126671 CN2023126671W WO2024088330A1 WO 2024088330 A1 WO2024088330 A1 WO 2024088330A1 CN 2023126671 W CN2023126671 W CN 2023126671W WO 2024088330 A1 WO2024088330 A1 WO 2024088330A1
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WIPO (PCT)
Prior art keywords
information
road information
road
target traffic
traffic object
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PCT/CN2023/126671
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English (en)
Chinese (zh)
Inventor
张学艳
杨天
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中信科智联科技有限公司
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Publication of WO2024088330A1 publication Critical patent/WO2024088330A1/fr

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Classifications

    • 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
    • H04W4/029—Location-based management or tracking services
    • 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]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present disclosure relates to the technical field of vehicle networking, and in particular to a position determination method, an information sending method, a coordinate conversion method and a device.
  • the purpose of the present disclosure is to provide a location determination method, an information sending method, a coordinate conversion method and an apparatus, so as to solve the current problem that the relative location of a device cannot be determined when there is no MAP message.
  • an embodiment of the present disclosure provides a location determination method, which is applied to a vehicle networking terminal, wherein the vehicle networking terminal is located on a first vehicle networking device, and the method includes:
  • the first information includes at least one of first driving state data, first absolute position information, and first road information of a first target traffic object;
  • Receive second information sent by a second vehicle networking device wherein the second information includes a second target traffic at least one of second driving state data, second absolute position information, and second road information of the object;
  • the relative position relationship between the first target traffic object and the second target traffic object is determined according to the first information and the second information.
  • determining the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information includes:
  • the relative distance between the first target traffic object and the second target traffic object is determined based on at least one of the first driving status data and the first absolute position information, and at least one of the second driving status data and the second absolute position information.
  • the first road information and the second road information respectively include at least one of a lane number, an intersection identification ID and a map identification.
  • the method before the step of determining the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information, the method further includes:
  • the first road information and the second road information are converted into road information in the same coordinate system according to a map identifier in the first road information, a map identifier in the second road information and a preconfigured first coordinate conversion relationship.
  • converting the first road information and the second road information into road information in the same coordinate system includes any one of the following:
  • the first road information and the second road information are respectively converted into road information in a standard coordinate system.
  • the method further includes:
  • the second information is sent to a data processing module, where the second information is used to trigger the data processing module to convert the first road information and the second road information into road information within the same coordinate system.
  • the data processing module is a map module or a coordinate conversion module.
  • the method further includes:
  • the first information is periodically sent to Internet of Vehicles devices within a first range, wherein the first range is determined according to a location of the first Internet of Vehicles device.
  • the method before the step of periodically sending the first information to the Internet of Vehicles devices within the first range, the method further includes:
  • the first road information is converted into road information in a standard coordinate system.
  • the method before the step of acquiring the first information, the method further includes:
  • a first request is sent to a map module, where the first request is used to request the first road information.
  • an embodiment of the present disclosure provides an information sending method, which is applied to a map module, and the map module is located on a first Internet of Vehicles device.
  • the method includes:
  • the third information is sent, where the third information at least includes the first road information of the first target traffic object.
  • the first road information includes at least one of a lane number, an intersection ID and a map identifier.
  • the sending of the third information includes any one of the following:
  • the third information is sent to a coordinate conversion module, where the third information is used to trigger the coordinate conversion module to perform coordinate conversion on the first road information, and the coordinate conversion module is located on the first Internet of Vehicles device.
  • the method before sending the third information to the Internet of Vehicles terminal, the method further includes:
  • the first road information is converted into road information in a standard coordinate system according to a preconfigured second coordinate conversion relationship.
  • the method before sending the third information to the Internet of Vehicles terminal, the method further includes:
  • the map identifier in the first road information the map identifier in the second road information and a pre-configured second coordinate conversion relationship, converting the first road information and the second road information into road information in the same coordinate system;
  • the sending the first road information to the Internet of Vehicles terminal includes:
  • the converted first road information and the converted second road information are sent to the Internet of Vehicles terminal.
  • converting the first road information and the second road information into road information in the same coordinate system includes at least one of the following:
  • the first road information and the second road information are respectively converted into road information in a standard coordinate system.
  • the sending of the third information includes at least any one of the following:
  • the third information is sent according to a preset rule.
  • the present disclosure provides a coordinate conversion method, including:
  • the converted first road information and/or the second road information is sent to the vehicle-connected Network terminal.
  • the converting the first road information and/or the second road information into road information in the same coordinate system includes any one of the following:
  • the first road information and/or the second road information is converted into road information in a standard coordinate system.
  • an embodiment of the present disclosure provides a position determination device, which is applied to a vehicle networking terminal, wherein the vehicle networking terminal is located on a first vehicle networking device, and the device includes:
  • An acquisition module configured to acquire first information, wherein the first information includes at least one of first driving state data of a first target traffic object, first absolute position information, and first road information;
  • a receiving module configured to receive second information sent by a second vehicle networking device, wherein the second information includes at least one of second driving state data, second absolute position information, and second road information of a second target traffic object;
  • a determination module is used to determine the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information.
  • the embodiment of the present disclosure provides an information sending device, which is applied to a map module, and the map module is located on a first Internet of Vehicles device, and the device includes:
  • the sending module is used to send third information, where the third information at least includes first road information of the first target traffic object.
  • a coordinate conversion device including:
  • a receiving module configured to receive third information sent by the map module, and/or receive second information sent by the Internet of Vehicles terminal, wherein the third information includes first road information of a first target traffic object, and the second information includes at least one of second driving state data, second absolute position information, second road information and a map identifier of a second target traffic object;
  • a data processing module configured to convert the first road information and/or the second road information into Road information in the same coordinate system
  • a sending module is used to send the converted first road information and/or the second road information to the Internet of Vehicles terminal.
  • an embodiment of the present disclosure provides a vehicle networking terminal, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the position determination method described in the first aspect.
  • the embodiment of the present disclosure provides a map module, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the information sending method described in the second aspect.
  • an embodiment of the present disclosure provides a coordinate conversion device, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the coordinate conversion method described in the third aspect.
  • the embodiment of the present disclosure provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by the processor, it implements the position determination method as described in the first aspect, or implements the information sending method as described in the second aspect, or implements the coordinate conversion method as described in the third aspect.
  • a vehicle networking terminal located on a first vehicle networking device obtains first information, wherein the first information includes at least one of first driving status data, first absolute position information and first road information of a first target traffic object; and receives second information sent by a second vehicle networking device, wherein the second information includes at least one of second driving status data, second absolute position information and second road information of a second target traffic object; then, the vehicle networking terminal determines the relative position relationship between the first target traffic object and the second target traffic object based on the first information and the second information, thereby realizing the determination of the position relationship between the two based on the information interacted between the vehicle networking devices, so as to determine the positions of other target traffic objects based on the positions of the target traffic objects themselves or perceived by themselves, thereby solving the problem that the traffic objects cannot be accurately determined when there is no MAP message.
  • the relative position problem is the relative position problem.
  • FIG1 is a schematic diagram of determining a relative position relationship through a MAP message in the related art
  • FIG2 is a schematic diagram of a flow chart of a location determination method according to an embodiment of the present disclosure
  • FIG3 is a schematic diagram of a flow chart of a method for sending information according to an embodiment of the present disclosure
  • FIG4 is a schematic diagram of the architecture of V2X and navigation map fusion according to an embodiment of the present disclosure
  • FIG5 is a schematic diagram of a flow chart of a coordinate conversion method according to an embodiment of the present disclosure
  • FIG6 is a schematic diagram of a forward collision warning scenario according to an embodiment of the present disclosure.
  • FIG7 is a schematic diagram of the structure of a position determination device according to an embodiment of the present disclosure.
  • FIG8 is a schematic diagram of the structure of an information sending device according to an embodiment of the present disclosure.
  • FIG9 is a schematic structural diagram of a coordinate conversion device according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of the structure of a vehicle networking terminal according to an embodiment of the present disclosure.
  • sequence numbers of the following processes do not imply the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
  • B corresponding to A means that B is associated with A, and B can be determined according to A.
  • determining B according to A does not mean determining B only according to A, and B can also be determined according to A and/or other information.
  • the main working principles of the forward collision warning, intersection collision warning, left turn assistance, blind spot warning/lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle loss of control warning, emergency vehicle reminder and other scenarios based on V2V communication are as follows:
  • the remote vehicle sends a Basic Safety Message (BSM), which contains the vehicle’s speed, position, direction, etc.
  • BSM Basic Safety Message
  • the host vehicle (HV) receives the BSM from the remote vehicle:
  • the HV has MAP information of the current road section, it can match the vehicle to a specific lane and then determine whether the RV is relevant to the safety of the ego vehicle;
  • the HV does not have the MAP information of the current road section, it can directly determine the offset rate and overlap rate of the two vehicles and decide whether there is a collision risk between the two vehicles;
  • intersection collision warning left turn assistance
  • road hazard warning speed limit warning
  • red light running warning collision warning for vulnerable traffic participants
  • green wave speed guidance in-vehicle signage
  • congestion reminder ahead which are realized based on V2I communication
  • Roadside equipment sends roadside safety messages (RSM) and MAP messages to assist HVs in implementing scenarios such as intersection collision warning, left turn assistance, and collision warning for vulnerable traffic participants;
  • RSM roadside safety messages
  • MAP MAP messages
  • Roadside equipment sends Road Side Information (RSI) messages and MAP messages to assist HVs in implementing scenarios such as road hazard warnings, speed limit warnings, in-vehicle signs, and congestion warnings ahead;
  • RSSI Road Side Information
  • the roadside equipment sends Signal Phase Timing Message (SPAT) and MAP messages to assist HVs in implementing scenarios such as red light running warning and green wave speed guidance.
  • STA Signal Phase Timing Message
  • MAP MAP
  • the roadside equipment sends MAP messages mainly to assist the HV in determining the position of the vehicle in the map and its positional relationship with other vehicles.
  • Vehicle A obtains its absolute position information through its Global Navigation Satellite System (GNSS) sensor;
  • GNSS Global Navigation Satellite System
  • the relative position relationship between vehicles is determined by the received MAP message. For example, on a curved road, although two vehicles have a certain overlap rate, they are not in the same lane, so there is no need for partial safety warning;
  • the relative position relationship between the vehicle and the event broadcast by the RSU is determined by the received MAP message, such as a road hazard warning.
  • the RSU broadcasts the specific location of the mark, and the vehicle calculates these locations.
  • the vehicle is then matched to the map, and then it is determined whether the vehicle overlaps with these points, and then a decision is made as to whether an early warning is needed.
  • MAP messages provide "absolute road structure", and the vehicle obtains the absolute position, then matches its own position to the “absolute map”, and then compares the relative position relationship with other vehicles.
  • MAP messages rely on the broadcast of RSU. In actual deployment, RSU cannot guarantee coverage of all areas, which seriously restricts the promotion and application of Internet of Vehicles technology.
  • the embodiments of the present disclosure provide a position determination method, an information sending method, a coordinate conversion method and a device.
  • the scheme of the embodiments of the present disclosure is described in detail below in combination with specific embodiments.
  • an embodiment of the present disclosure provides a method for determining a position, which is applied to an Internet of Vehicles terminal, and the Internet of Vehicles terminal is located on a first Internet of Vehicles device, wherein the first Internet of Vehicles device may be a device having an Internet of Vehicles function, such as an automobile, an RSU, or a pedestrian's handheld terminal.
  • the Internet of Vehicles terminal is an on-board unit (OBU);
  • OBU on-board unit
  • the Internet of Vehicles terminal is a module in the RSU or the handheld terminal that implements the Internet of Vehicles function; the method for determining a position includes:
  • Step 201 obtaining first information, wherein the first information includes at least one of first driving state data, first absolute position information and first road information of a first target traffic object;
  • the first target traffic object when the first Internet of Vehicles device is a car, can be the car itself or a traffic event or traffic sign information perceived by the car; when the first Internet of Vehicles device is an RSU, the first target traffic object can be traffic sign information perceived by the RSU, such as sign information of road construction ahead, or a traffic event perceived by the RSU, such as a traffic accident; or other vehicles, pedestrians, etc. monitored by the RSU.
  • the first information When the first target traffic object is a static traffic object, the first information includes first absolute position information and first road information, and when the first target traffic object is a dynamic traffic object, the first information also includes first driving status data.
  • the first driving state data may be obtained from a controller area network (CAN) bus of the first vehicle networking device or by other means
  • the first absolute position information may be obtained from a GNSS or other positioning module of the first vehicle networking device
  • the first road information may be sent by a map module on the first vehicle networking device.
  • the map module The group may send third information to the Internet of Vehicles terminal, where the third information includes the first road information.
  • Step 202 receiving second information sent by a second vehicle networking device, wherein the second information includes at least one of second driving state data, second absolute position information, and second road information of a second target traffic object;
  • the second vehicle networking device can be an RSU, a handheld terminal or other car, etc.
  • the second information can be an RSM or RSI, etc.
  • the second vehicle networking device is another car, the second information can be a BSM, etc.
  • the second information can also be other V2X messages.
  • RSM needs to send the absolute position information of the perceived traffic participants, and add the relative position information of the surrounding environment of the absolute position information
  • RSI needs to send the absolute position information corresponding to the event or sign information, etc., and add the relative position relationship between the absolute position and the surrounding environment, etc.
  • the second vehicle networking device is a car
  • the second information is BSM.
  • the second target traffic object when the second Internet of Vehicles device is an RSU, the second target traffic object may be other cars, traffic events or traffic sign information perceived by the RSU; when the second Internet of Vehicles device is a car, the second target traffic object may be the car itself or traffic events or traffic sign information perceived by the car; when the second Internet of Vehicles device is a handheld terminal, the second target traffic object may be the handheld terminal itself or other traffic participants, traffic events or traffic signs perceived by the handheld terminal; wherein, when the second target traffic object is a static traffic object, the second information may include second absolute position information and second road information, and when the second target traffic object is a dynamic traffic object, the second information may also include second driving status data.
  • Step 203 Determine the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information.
  • a vehicle networking terminal located on a first vehicle networking device obtains first information, wherein the first information includes at least one of first driving status data, first absolute position information, and first road information of a first target traffic object; and receives second information sent by a second vehicle networking device, wherein the second information includes at least one of second driving status data, second absolute position information, and second road information of a second target traffic object; then, the vehicle networking terminal determines the relative position relationship between the first target traffic object and the second target traffic object based on the first information and the second information, thereby realizing information determination based on interaction between vehicle networking devices.
  • the positional relationship between the two perceived target traffic objects is used to determine the position of other target traffic objects based on the position of itself or the target traffic object perceived by itself, solving the problem of being unable to accurately determine the relative position of traffic objects when there is no MAP message.
  • the first road information and the second road information respectively include at least one of a lane number, an intersection identification ID, and a map identification.
  • step 203 determining the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information, includes:
  • This step is specifically to determine whether the lane corresponding to the lane number in the first information is the same as the lane corresponding to the lane number in the second information. If they are the same, the first target traffic object and the second target traffic object are located in the same lane; specifically, when the map identifier in the first information is the same as the map identifier in the second information, if the lane number in the first information is the same as the lane number in the second information, the first target traffic object and the second target traffic object are located in the same lane; when the map identifier in the first information is different from the map identifier in the second information, the two lane numbers can be converted into the same map coordinate system based on the map identifier to determine whether the lanes corresponding to the two lane numbers are the same.
  • the relative distance between the first target traffic object and the second target traffic object is determined based on at least one of the first driving status data and the first absolute position information, and at least one of the second driving status data and the second absolute position information.
  • the initial relative distance between the first target traffic object and the second target traffic object when the first information is acquired and the second information is received can be determined based on the first absolute position and the second absolute position.
  • the change trend of the relative distance between the first target traffic object and the second target traffic object can be determined based on the first driving state data to determine the current relative distance between the first target traffic object and the second target traffic object; or, when the first target traffic object is a dynamic traffic object and the second target traffic object is a dynamic traffic object, the change trend of the relative distance between the first target traffic object and the second target traffic object can be determined based on the first driving state data and the second driving state data.
  • the state data determines a change trend of the relative distance between the first target traffic object and the second target traffic object to determine the current relative distance between the first target traffic object and the second target traffic object.
  • the first information and the second information both include an intersection ID and a lane number
  • step 203 before determining the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information, the method further includes:
  • the first road information and the second road information are converted into road information in the same coordinate system according to a map identifier in the first road information, a map identifier in the second road information and a preconfigured first coordinate conversion relationship.
  • the map identifier in the first road information is different from the map identifier in the second road information, it is determined that the manufacturers and/or versions of the map software used by the first vehicle networking device and the second vehicle networking device are different. Therefore, it is necessary to convert the information (lane number and/or intersection ID) in the first road information and the second road information except the map identifier into the coordinate system of the same map, so as to determine the relative position relationship between the first target traffic object and the second target traffic object based on the converted data.
  • map identifier in the first road information is the same as the map identifier in the second road information, it is determined that the map software used by the first vehicle networking device and the second vehicle networking device is the same version, so there is no need to perform the steps of this optional implementation method.
  • converting the first road information and the second road information into road information in the same coordinate system includes any of the following:
  • the first road information and the second road information are respectively converted into road information in a standard coordinate system.
  • the second road information when performing road information conversion, can be converted into information belonging to the same coordinate system as the first road information, or the first road information can be converted into information belonging to the same coordinate system as the second road information, or the first road information and the second road information can be converted into road information within a pre-configured standard coordinate system, etc., so that the reference information of the first road information and the second road information is the same, thereby facilitating the determination of whether the two target traffic objects are located in the same lane by comparing the first road information and the second road information.
  • the method further includes:
  • the second information is sent to a data processing module, where the second information is used to trigger the data processing module to convert the first road information and the second road information into road information within the same coordinate system.
  • the coordinate conversion process of the embodiment of the present disclosure can be executed by the Internet of Vehicles terminal that executes the embodiment of the present disclosure, or it can be executed by the data processing module of the same Internet of Vehicles device because the Internet of Vehicles terminal is located in the same Internet of Vehicles device.
  • the embodiment of the present disclosure does not specifically limit the execution subject of the coordinate conversion process.
  • the data processing module is a map module or a coordinate conversion module. That is, the coordinate conversion process can be implemented by the map module.
  • the Internet of Vehicles terminal needs to forward the received second information to the map module, or the Internet of Vehicles terminal sends the second road information in the received second information to the map module, so that the map module performs coordinate conversion according to the second road information in the second information and the first road information generated by the map module; or, a module for implementing coordinate conversion can be added to the first Internet of Vehicles device, and the coordinate conversion module performs coordinate conversion according to the second information sent by the Internet of Vehicles terminal or the second road information in the second information, and the first road information sent by the map module, and sends the converted information to the Internet of Vehicles terminal; of course, the first road information can also be sent by the Internet of Vehicles terminal to the coordinate conversion module, that is: the map module sends the generated first road information to the Internet of Vehicles terminal, and the Internet of Vehicles terminal sends the received first road information and the second information (second road information
  • the method further includes:
  • the first information is periodically sent to Internet of Vehicles devices within a first range, wherein the first range is determined according to a location of the first Internet of Vehicles device.
  • the Internet of Vehicles terminal will periodically send the first information to other Internet of Vehicles devices around the first Internet of Vehicles device, so that other Internet of Vehicles devices can determine the relative position relationship between them and the first target traffic object based on the received information.
  • the method before the step of periodically sending the first information to the Internet of Vehicles devices within the first range, the method further includes:
  • the first road information is converted into road information in a standard coordinate system.
  • the road information exchanged between different Internet of Vehicles devices can be in the following situations: Situation 1: The sender determines the road information of the target traffic object according to its own (map) coordinate system and sends it; Situation 2: The sender converts the road information of the target traffic object determined according to its own (map) coordinate system into information in the standard coordinate system and sends it; Situation 3: The sender converts the road information of the target traffic object determined according to its own coordinate system into information in the coordinate system of the receiver and sends it.
  • the receiver can perform information conversion based on the coordinate system based on the received road information and its own (map) coordinate system.
  • the method further includes:
  • a first request is sent to a map module, where the first request is used to request the first road information.
  • the Internet of Vehicles terminal can send a request to the map module to obtain the first road information based on its own needs.
  • the map module will respond to the first request and send third information to the Internet of Vehicles terminal, where the third information includes the first road information.
  • the embodiment of the present disclosure further provides an information sending method, which is applied to a map module, and the map module is located on a first Internet of Vehicles device, wherein, as mentioned above, the first Internet of Vehicles device may be a device having Internet of Vehicles functions such as a car, an RSU or a pedestrian's handheld terminal, and the method includes:
  • Step 301 Send third information, where the third information at least includes first road information of a first target traffic object.
  • the first target traffic object when the first Internet of Vehicles device is a car, can be the car itself or a traffic event or traffic sign information perceived by the car; when the first Internet of Vehicles device is an RSU, the first target traffic object can be traffic sign information perceived by the RSU, such as sign information of road construction ahead, or a traffic event perceived by the RSU, such as a traffic accident; or other vehicles, pedestrians, etc. monitored by the RSU.
  • the map module sends the absolute position information of the first target traffic object from the GNSS module or other positioning module, and determines the first road information based on the absolute position information and the map stored in the map module.
  • the map module sends third information including at least first road information of a first target traffic object, so that the Internet of Vehicles terminal can determine the relative positions between two target traffic objects based on the first road information and information received from other Internet of Vehicles devices, thereby solving the problem of being unable to accurately determine the relative positions of traffic objects when there is no MAP message.
  • the first road information includes at least one of a lane number, an intersection ID, and a map identifier.
  • step 401, sending third information includes any of the following:
  • the third information is sent to a coordinate conversion module, where the third information is used to trigger the coordinate conversion module to perform coordinate conversion on the first road information, and the coordinate conversion module is located on the first Internet of Vehicles device.
  • the map module can directly send the third information to the Internet of Vehicles terminal, so that the Internet of Vehicles terminal sends a message including the third information to other Internet of Vehicles terminals, or determines the relative position between two target traffic objects based on the third information; the map module can also send the third information to the coordinate conversion module, so that the coordinate conversion module can perform coordinate conversion on the first road information, and the coordinate conversion module can send the converted road information to the Internet of Vehicles terminal.
  • the method before sending the third information to the Internet of Vehicles terminal, the method further includes:
  • the first road information is converted into a standard coordinate Road information within the standard system.
  • the first road information sent by the map module to the Internet of Vehicles terminal is the road information in the standard coordinate system, so that the Internet of Vehicles terminal does not need to perform coordinate conversion again, that is, the road information exchanged between different Internet of Vehicles devices is the road information in the standard coordinate system, avoiding the receiver from performing coordinate conversion again.
  • the Internet of Vehicles terminal can further convert the road information in the standard coordinate system into the road information in the receiver's coordinate system.
  • the method before sending the third information to the Internet of Vehicles terminal, the method further includes:
  • the fourth information includes at least part of the second information received by the Internet of Vehicles terminal, that is, the fourth information may only include the second road information in the second information, and the fourth information may also include all the information in the second information, that is, the Internet of Vehicles terminal is responsible for forwarding the received second information to the map module.
  • the map identifier in the first road information the map identifier in the second road information and a pre-configured second coordinate conversion relationship, converting the first road information and the second road information into road information in the same coordinate system;
  • the sending the first road information to the Internet of Vehicles terminal includes:
  • the converted first road information and the converted second road information are sent to the Internet of Vehicles terminal.
  • the map module has the function of coordinate conversion, and can convert the received second road information and the generated first road information into road information within the same coordinate system, thereby enabling the Internet of Vehicles terminal to directly determine the relative position between two target traffic objects based on the road information sent by the map module.
  • converting the first road information and the second road information into road information in the same coordinate system includes any of the following:
  • the first road information and the second road information are respectively converted into road information in a standard coordinate system.
  • the second road information when converting road information, can be converted into information belonging to the same coordinate system as the first road information, or the first road information can be converted into information belonging to the same coordinate system as the second road information, or the first road information and the second road information can be converted into road information in a pre-configured standard coordinate system, etc., so that the reference information of the first road information and the second road information is the same, thereby facilitating the Internet of Vehicles terminal to determine whether two target traffic objects are located in the same lane by comparing the first road information and the second road information.
  • the sending of the third information includes at least any one of the following:
  • the third information is sent according to a preset rule, for example, the third information is sent when the relative position relationship of the first target traffic object changes.
  • the map module can decide whether to send the third information based on the application function requirements (real-time signals from the Internet of Vehicles terminal or fixed settings). For example, functions that do not require lane-level positioning may not be sent.
  • the interaction process between the Internet of Vehicles terminal (the OBU module in FIG. 4 ) and the map module (the onboard map module) in the embodiment of the present disclosure is described by taking the case where the first Internet of Vehicles device is a car and the first target traffic object is the car itself:
  • the OBU module obtains vehicle driving status data from the vehicle's CAN bus or through other means, such as vehicle speed, heading angle, headlight status, etc.
  • the OBU module obtains the absolute position information of the vehicle from GNSS or other positioning modules
  • the vehicle map module (such as the vehicle map application (Application, APP)) obtains the vehicle absolute position information from the GNSS or other positioning modules;
  • the vehicle map module matches the latitude and longitude of the vehicle to the vehicle map according to the absolute position information of the vehicle, obtains the relative position of the vehicle in the map in the vehicle coordinate system, and/or converts the relative position to the target (receiving party or unified) map coordinate system, and sends the above information to the OBU module;
  • the OBU module obtains the relative position of the vehicle in the map (the mapping of the absolute position of the vehicle in the map coordinates) from the on-board map module, or information used to determine the relative position, such as the intersection ID, the lane to which it belongs, etc.;
  • the OBU module receives SPAT, RSM and RSI provided by the roadside equipment, or receives BSM messages sent by surrounding vehicles;
  • the OBU module integrates the acquired vehicle driving status data, vehicle absolute position and vehicle relative position in the map into the BSM and sends it to the surrounding Internet of Vehicles devices;
  • the OBU determines whether to trigger the Internet of Vehicles application based on the information received in step "fifth" and step "sixth".
  • the implementation method also includes: the OBU module sends information such as events and signs near the vehicle to the on-board map module (this information is sent to the OBU module by other surrounding Internet of Vehicles devices), so that the on-board map module performs coordinate conversion on this information.
  • the embodiment of the present disclosure further provides a coordinate conversion method, including:
  • Step 501 receiving third information sent by a map module, and/or receiving second information sent by a vehicle networking terminal, wherein the third information includes first road information of a first target traffic object, and the second information includes at least one of second driving state data, second absolute position information, second road information and a map identifier of a second target traffic object;
  • the first information when the first target traffic object is a static traffic object, the first information includes first absolute position information and first road information, etc., and when the first target traffic object is a dynamic traffic object, the first information also includes first driving state data, etc.
  • the second information when the second target traffic object is a static traffic object, the second information includes second absolute position information and second road information, etc., and when the second target traffic object is a dynamic traffic object, the second information also includes second driving state data, etc.
  • Step 502 converting the first road information and/or the second road information into road information in the same coordinate system
  • Step 503 Send the converted first road information and/or second road information to the Internet of Vehicles terminal.
  • a module for executing a coordinate conversion function may be provided on the first Internet of Vehicles device to convert road information in different coordinate systems into road information in the same coordinate system.
  • step 502 converting the first road information and/or the second road information into road information in the same coordinate system, includes any of the following:
  • the first road information and/or the second road information is converted into road information in a standard coordinate system.
  • the second road information when converting road information, can be converted into information belonging to the same coordinate system as the first road information, or the first road information can be converted into information belonging to the same coordinate system as the second road information, or the first road information and the second road information can be converted into road information within a pre-configured standard coordinate system, etc.
  • the V2X application can be triggered based on the relative position relationship. For example, when the relative position relationship meets the target V2X application triggering condition, the target V2X application is triggered.
  • the target V2X application is triggered.
  • the RSU sends a SPAT message, which contains the phase status of traffic lights in different directions of the intersection.
  • the HV can determine whether to trigger a red light running warning based on its current traffic intention at the intersection and the remaining time of the traffic light.
  • the decision-maker can be the OBU module;
  • the HV can display the phases of all traffic lights in the current driving direction, such as a red light for left turn, a green light for straight going, and no light control for right turn, without applying a warning.
  • the HV should issue a collision warning to the vehicle in front of the lane where the vehicle is located.
  • both the HV and the RV send BSM (including vehicle dynamic driving information, as well as the road section and lane numbers, etc.).
  • the HV determines whether the RV is in the same road section as itself based on the road section number, and determines whether the RV is in the same lane as itself based on the lane number. Then decide whether to trigger the forward collision warning.
  • RSU sends an RSI message, which includes the road section number and lane number where the danger information is located.
  • the HV After receiving the RSI message, the HV can determine the relative position of the dangerous situation ahead and the vehicle based on the road section number and lane number where the vehicle is located, and then decide whether a prompt is needed.
  • the RSU broadcasts the information of traffic participants within the sensing range through RSM.
  • RSM should include the basic information of road traffic participants, as well as the road sections and lanes to which the road traffic participants belong.
  • the HV After receiving the RSM message, the HV decides whether to trigger a warning and what kind of warning to trigger based on the relative position relationship between the traffic participants and the vehicle.
  • an embodiment of the present disclosure further provides a position determination device, which is applied to a vehicle networking terminal, and the vehicle networking terminal is located on a first vehicle networking device.
  • the device includes:
  • An acquisition module 701 is used to acquire first information, where the first information includes at least one of first driving state data of a first target traffic object, first absolute position information, and first road information;
  • a receiving module 702 is used to receive second information sent by a second vehicle networking device, where the second information includes at least one of second driving state data, second absolute position information, and second road information of a second target traffic object;
  • the determination module 703 is used to determine the relative position relationship between the first target traffic object and the second target traffic object according to the first information and the second information.
  • the determining module 703 includes:
  • a first determination submodule configured to determine whether the first target traffic object and the second target traffic object are located in the same lane according to the first road information and the second road information;
  • the second determination submodule is used to determine the relative distance between the first target traffic object and the second target traffic object based on at least one of the first driving status data and the first absolute position information, and at least one of the second driving status data and the second absolute position information when the first target traffic object and the second target traffic object are located in the same lane.
  • the first road information and the second road information respectively include at least one of a lane number, an intersection identification ID and a map identification.
  • the device further comprises:
  • the first data processing module is used to convert the first road information and the second road information into road information in the same coordinate system according to the map identifier in the first road information, the map identifier in the second road information and a pre-configured first coordinate conversion relationship.
  • the first data processing module is specifically configured to perform any of the following:
  • the first road information and the second road information are respectively converted into road information in a standard coordinate system.
  • the device further comprises:
  • the first sending module is used to send the second information to the data processing module, and the second information is used to trigger the data processing module to convert the first road information and the second road information into road information in the same coordinate system.
  • the first data processing module is a map module or a coordinate conversion module.
  • the device further comprises:
  • the second sending module is used to periodically send the first information to the Internet of Vehicles devices within a first range, wherein the first range is determined according to the location of the first Internet of Vehicles devices.
  • the device further comprises:
  • the second data processing module is used to convert the first road information into road information in a standard coordinate system.
  • the device further comprises:
  • the third sending module is used to send a first request to the map module, where the first request is used to request the first road information.
  • the embodiment of the present disclosure further provides an information sending device, which is applied to a map module, and the map module is located on a first Internet of Vehicles device, and the device includes:
  • the sending module 801 is used to send third information, where the third information at least includes first road information of a first target traffic object.
  • the first road information includes at least one of a lane number, an intersection ID and a map identifier.
  • the sending module 801 is specifically configured to perform any of the following:
  • the third information is sent to a coordinate conversion module, where the third information is used to trigger the coordinate conversion module to perform coordinate conversion on the first road information, and the coordinate conversion module is located on the first Internet of Vehicles device.
  • the device further comprises:
  • the first data processing module is used to convert the first road information into road information in a standard coordinate system according to a pre-configured second coordinate conversion relationship before the sending module 801 sends the third information to the Internet of Vehicles terminal.
  • the device further comprises:
  • a receiving module used for receiving fourth information sent by the Internet of Vehicles terminal before the sending module 801 sends the third information to the Internet of Vehicles terminal, wherein the fourth information at least includes the second road information of the second target traffic object;
  • a second data processing module configured to convert the first road information and the second road information into road information in the same coordinate system according to a map identifier in the first road information, a map identifier in the second road information, and a pre-configured second coordinate conversion relationship;
  • the sending module 801 is specifically used to send the converted first road information and the converted second road information to the Internet of Vehicles terminal.
  • the first data processing module and the second data processing module may respectively perform any of the following:
  • the first road information and the second road information are respectively converted into road information in a standard coordinate system.
  • the sending module 801 is specifically configured to perform at least one of the following:
  • the third information is sent according to a preset rule.
  • the embodiment of the present disclosure further provides a coordinate conversion device, including:
  • the receiving module 901 is used to receive the third information sent by the map module, and/or receive the second information sent by the Internet of Vehicles terminal, wherein the third information includes the first road information of the first target traffic object, and the second information includes at least one of the second driving state data, the second absolute position information, the second road information and the map identifier of the second target traffic object;
  • a data processing module 902 configured to convert the first road information and/or the second road information into road information in the same coordinate system
  • the sending module 903 is used to send the converted first road information and/or the second road information to the Internet of Vehicles terminal.
  • the data processing module 902 is specifically configured to perform any of the following:
  • the first road information and/or the second road information is converted into road information in a standard coordinate system.
  • an embodiment of the present disclosure further provides a vehicle networking terminal, including a transceiver 1010, a memory 1020, a processor 1000, and a computer program stored on the memory 1020 and running on the processor 1000.
  • a vehicle networking terminal including a transceiver 1010, a memory 1020, a processor 1000, and a computer program stored on the memory 1020 and running on the processor 1000.
  • the processor 1000 executes the computer program, the location determination method applied to the vehicle networking terminal as described above is implemented, and the same technical effect can be achieved. In order to avoid repetition, it will not be described here.
  • the present disclosure also provides a map module, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the
  • the computer program implements the information sending method applied to the map module as described above and can achieve the same technical effect. In order to avoid repetition, it will not be described here.
  • An embodiment of the present disclosure also provides a coordinate conversion device, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor.
  • a coordinate conversion device including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor.
  • the processor executes the computer program, the coordinate conversion method as described above is implemented and the same technical effect can be achieved. In order to avoid repetition, it will not be described here.
  • the disclosed embodiment also provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the various processes of the embodiment of the location determination method applied to the vehicle networking terminal as described above, or the various processes of the embodiment of the information sending method applied to the map module as described above, or the various processes of the embodiment of the coordinate conversion method as described above are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
  • the computer-readable storage medium such as a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.
  • each component or each step can be decomposed and/or recombined.
  • These decompositions and/or recombinations should be regarded as equivalent schemes of the present invention.
  • the steps of performing the above-mentioned series of processing can be naturally performed in the order of description or in chronological order, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other.
  • the purpose of the present disclosure can also be achieved by running a program or a group of programs on any computing device.
  • the computing device can be a well-known general-purpose device. Therefore, the purpose of the present disclosure can also be achieved by simply providing a program product containing a program code that implements the method or device. In other words, such a program product also constitutes the present disclosure, and a storage medium storing such a program product can also constitute the present disclosure.
  • the storage medium can be any well-known storage medium or any storage medium developed in the future.

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Abstract

La présente divulgation se rapporte au domaine technique de l'Internet des véhicules. Sont divulgués un procédé de détermination de position, un procédé d'envoi d'informations, un procédé de transformation de coordonnées et un appareil. Le procédé de détermination de position est appliqué à des terminaux Internet de véhicule, et ledit procédé consiste à : acquérir de premières informations, les premières informations comprenant des premières données d'état de conduite et/ou des premières informations de position absolue et/ou des premières informations de route d'un premier sujet de circulation cible ; recevoir de secondes informations envoyées par un second dispositif Internet des véhicules, les secondes informations comprenant des secondes données d'état de conduite et/ou des secondes informations de position absolue et/ou des secondes informations de route d'un second sujet de circulation cible ; et, en fonction des premières informations et des secondes informations, déterminer une relation de position relative entre le premier sujet de circulation cible et le second sujet de circulation cible.
PCT/CN2023/126671 2022-10-26 2023-10-26 Procédé de détermination de position, procédé d'envoi d'informations, procédé de transformation de coordonnées et appareil WO2024088330A1 (fr)

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CN202211318917.7 2022-10-26
CN202211318917.7A CN117979231A (zh) 2022-10-26 2022-10-26 位置确定方法、信息发送方法、坐标转换方法及装置

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112583872A (zh) * 2019-09-29 2021-03-30 华为技术有限公司 一种通信方法及装置
CN113920781A (zh) * 2021-09-30 2022-01-11 中国电信股份有限公司 车辆行驶预警方法、装置及存储介质
WO2022057645A1 (fr) * 2020-09-21 2022-03-24 华为技术有限公司 Procédé et appareil de rappel de conduite assistée, procédé et appareil de rappel de conduite assistée par carte et carte
CN114973633A (zh) * 2022-05-12 2022-08-30 北京凯拉斯信息技术有限公司 无人车辆编队行驶控制方法及系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112583872A (zh) * 2019-09-29 2021-03-30 华为技术有限公司 一种通信方法及装置
WO2022057645A1 (fr) * 2020-09-21 2022-03-24 华为技术有限公司 Procédé et appareil de rappel de conduite assistée, procédé et appareil de rappel de conduite assistée par carte et carte
CN113920781A (zh) * 2021-09-30 2022-01-11 中国电信股份有限公司 车辆行驶预警方法、装置及存储介质
CN114973633A (zh) * 2022-05-12 2022-08-30 北京凯拉斯信息技术有限公司 无人车辆编队行驶控制方法及系统

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