CN113917467A - Vehicle positioning method, device and system - Google Patents
Vehicle positioning method, device and system Download PDFInfo
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- CN113917467A CN113917467A CN202010664633.8A CN202010664633A CN113917467A CN 113917467 A CN113917467 A CN 113917467A CN 202010664633 A CN202010664633 A CN 202010664633A CN 113917467 A CN113917467 A CN 113917467A
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- 230000004807 localization Effects 0.000 claims description 24
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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Abstract
The invention provides a vehicle positioning method, a device and a system, wherein the vehicle positioning method comprises the following steps: a related information acquisition step of acquiring related information for determining position information of a target vehicle when the target vehicle enters a predetermined range; and a position information determination step of determining position information of the target vehicle according to the association information. According to the vehicle positioning method, the vehicle positioning device and the vehicle positioning system, the target vehicle can be positioned without depending on GNSS assistance, so that functions can be provided even if the vehicle positioning method, the vehicle positioning device and the vehicle positioning system are applied to places such as an underground parking lot and the like where GNSS signals are absent or weak, and the positioning accuracy is not influenced.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a vehicle positioning method, device and system.
Background
Currently, in many vehicle positioning methods, the positioning accuracy usually depends on the assistance of GNSS (Global Navigation Satellite System). However, in these methods using GNSS or the like, the positioning accuracy is not high enough, and the accuracy is lower under interference of urban environment and trees or the like, or the function is not provided in application scenes such as underground. In addition, the complexity of the vehicle-end equipment of the schemes is high, the precision is easily influenced, and the application scene is limited.
Disclosure of Invention
To this end, the present invention provides a vehicle positioning method, apparatus and system to solve at least one of the above problems.
According to an aspect of the present invention, there is provided a vehicle positioning method including: a related information acquisition step of acquiring related information for determining position information of a target vehicle when the target vehicle enters a predetermined range; and a position information determination step of determining position information of the target vehicle according to the association information.
In a possible implementation manner, the vehicle positioning method further includes a step of identifying a target vehicle before the step of acquiring the associated information.
For the vehicle positioning method, in one possible implementation manner, the target vehicle identification step includes: acquiring the moving speed of each object in the preset range; acquiring a running speed of the target vehicle from the target vehicle; and determining an object of which the moving speed matches the traveling speed as the target vehicle.
For the vehicle positioning method, in one possible implementation manner, the target vehicle identification step includes: acquiring the moving speed of each object in the preset range at least two different moments; acquiring the running speeds of the target vehicle at the at least two different moments from the target vehicle; and determining an object, the moving speed of which matches the traveling speed at the at least two different times, as the target vehicle.
For the vehicle positioning method, in one possible implementation manner, the target vehicle identification step includes: identifying the target vehicle according to pre-stored identification information of the serviced vehicle.
For the above vehicle positioning method, in a possible implementation manner, the step of obtaining the associated information includes: acquiring the position information of the specific object in the preset range; and acquiring the position relation information of the target vehicle and the specific object.
With the above vehicle positioning method, in one possible implementation, the positional relationship information is acquired by transmitting an electromagnetic wave toward a predetermined area by a radar device.
With regard to the vehicle positioning method, in one possible implementation manner, the position information determining step includes: judging whether the distance between the target vehicle and the specific object is within a predetermined threshold value according to the position relation information between the target vehicle and the specific object; determining, in a case where the distance is within the predetermined threshold, position information of the specific object as position information of the target vehicle; and determining the position information of the target vehicle from the position information of the specific object and the distance, in a case where the distance is not within the predetermined threshold.
With regard to the vehicle positioning method, in one possible implementation manner, the position information determining step includes: and determining the position information of the target vehicle according to the position information of the specific object and the position relation information of the target vehicle and the specific object.
For the above vehicle positioning method, in a possible implementation manner, after the step of determining the position information, the method further includes: a position information transmitting step of transmitting the position information of the target vehicle to the target vehicle.
According to a second aspect of the present invention, there is provided a vehicle positioning device comprising: a related information acquisition unit configured to acquire related information for determining position information of a target vehicle when the target vehicle comes within a predetermined range; and a position information determination unit configured to determine position information of the target vehicle according to the association information.
With regard to the vehicle positioning device, in one possible implementation manner, the vehicle positioning device further comprises a target vehicle identification unit.
With regard to the vehicle locating apparatus described above, in one possible implementation, the target vehicle identification unit is configured to: acquiring the moving speed of each object in the preset range; acquiring a running speed of the target vehicle from the target vehicle; and determining an object of which the moving speed matches the traveling speed as the target vehicle.
With regard to the vehicle locating apparatus described above, in one possible implementation, the target vehicle identification unit is configured to: acquiring the moving speed of each object in the preset range at least two different moments; acquiring the running speeds of the target vehicle at the at least two different moments from the target vehicle; and determining an object, the moving speed of which matches the traveling speed at the at least two different times, as the target vehicle.
With the above vehicle localization apparatus, in one possible implementation, the target vehicle identification unit is configured to identify the target vehicle according to pre-stored identification information of a served vehicle.
With regard to the above vehicle positioning apparatus, in one possible implementation manner, the association information obtaining unit is configured to: acquiring the position information of the specific object in the preset range; and acquiring the position relation information of the target vehicle and the specific object.
With the above vehicle positioning device, in one possible implementation, the positional relationship information is acquired by transmitting an electromagnetic wave toward a predetermined area by a radar device.
With regard to the above vehicle positioning device, in one possible implementation, the position information determining unit is configured to: judging whether the distance between the target vehicle and the specific object is within a predetermined threshold value according to the position relation information between the target vehicle and the specific object; determining, in a case where the distance is within the predetermined threshold, position information of the specific object as position information of the target vehicle; and determining the position information of the target vehicle from the position information of the specific object and the distance, in a case where the distance is not within the predetermined threshold.
With the above vehicle positioning device, in one possible implementation, the position information determination unit is configured to determine the position information of the target vehicle from the position information of the specific object and the positional relationship information of the target vehicle and the specific object.
For the vehicle positioning device, in one possible implementation manner, the vehicle positioning device further includes: a position information transmitting unit configured to transmit position information of the target vehicle to the target vehicle.
According to a third aspect of the present invention, there is provided a vehicle positioning system comprising: the above vehicle positioning device; and an in-vehicle communication unit mounted on the target vehicle and configured to communicate with the vehicle positioning device.
Therefore, according to the vehicle positioning method, device and system provided by the embodiment of the invention, when the target vehicle enters the preset range, the position information of the target vehicle can be determined according to the acquired associated information for determining the position information of the target vehicle. Thus, according to the vehicle positioning method, device and system provided by the embodiment of the invention, the target vehicle can be positioned without depending on GNSS assistance, so that the function can be provided even if the vehicle positioning method, device and system are applied to places without GNSS signals (or with weak GNSS signals) such as underground parking lots, and the positioning accuracy is not influenced. In addition, the application scenarios of the vehicle positioning method, the vehicle positioning device and the vehicle positioning system according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, by using the vehicle positioning method, device and system provided by the embodiment of the invention, the position of the vehicle can be determined by using a positioning device outside the vehicle, so that the complexity of the vehicle-end equipment can be reduced.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.
FIG. 1 shows a flow chart of a vehicle localization method according to an embodiment of the present invention.
Fig. 2 shows a flow chart of a vehicle localization method according to another embodiment of the present invention.
Fig. 3 shows a flow chart of a vehicle localization method according to a further embodiment of the present invention.
Fig. 4 shows a flow chart of a vehicle localization method according to yet another embodiment of the present invention.
Fig. 5 shows a block diagram of a vehicle positioning apparatus according to an embodiment of the present invention.
Fig. 6 shows a block diagram of a vehicle positioning apparatus according to another embodiment of the present invention.
Fig. 7 shows a block diagram of a vehicle positioning system according to an embodiment of the present invention.
Fig. 8 shows a block diagram of a vehicle positioning system according to another embodiment of the present invention.
FIG. 9 illustrates a schematic diagram of the operation of a vehicle locating system in accordance with an embodiment of the present invention.
Fig. 10 shows a brief flow of a vehicle positioning method according to still another embodiment of the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, procedures, components, and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention.
As described in the background, in many existing vehicle positioning methods, the accuracy of the positioning is often dependent on GNSS assistance. However, in these methods using GNSS or the like, the positioning accuracy is not high enough, and the accuracy is lower under interference of urban environment and trees or the like, or the function is not provided in application scenes such as underground. In addition, the complexity of the vehicle-end equipment of the schemes is high, the precision is easily influenced, and the application scene is limited.
In view of the above, the present invention provides a vehicle positioning method, apparatus and system, thereby solving at least one of the above problems.
The following describes the vehicle positioning method, device and system in detail.
FIG. 1 shows a flow chart of a vehicle localization method according to an embodiment of the present invention. The vehicle positioning method is performed by, for example, a vehicle positioning device (i.e., a roadside device) provided at a roadside. As shown in fig. 1, the vehicle positioning method may mainly include the steps of:
a related information acquisition step S101 of acquiring related information for determining position information of a target vehicle when the target vehicle comes within a predetermined range; and
a position information determining step S102, for determining the position information of the target vehicle according to the associated information.
Specifically, the vehicle positioning device first determines whether the target vehicle enters a predetermined range. For example, the vehicle localization apparatus may determine whether the target vehicle enters within a predetermined range, such as a recognizable range of a camera or a radar apparatus, by a recognition device such as a camera or a radar apparatus. Furthermore, the target vehicle may also actively send a message to the vehicle locating device via, for example, the on-board communication unit when entering the predetermined range, to inform the vehicle locating device that it has entered the predetermined range, whereby the vehicle locating device may be informed that it wants to get location services. The target vehicle is, for example, a serviceable vehicle registered on the vehicle locating device or a server associated with the vehicle locating device.
Next, when the target vehicle comes within a predetermined range, in step S101, the vehicle positioning device acquires association information for determining position information of the target vehicle. In one possible implementation manner, the related information may be, for example, position information (relative position or absolute position) of a specific object within the predetermined range, or position information of an object matching the target vehicle, which is determined by the vehicle positioning device according to a predetermined rule. Details of acquiring the association information will be described later.
Then, in step S102, the vehicle positioning device determines the position information of the target vehicle from the association information acquired in step S101. Details of determining the position information of the target vehicle in step S102 will be described later.
It should be noted that, in the embodiment of the present invention, the determined position information may be absolute position information (i.e., determined longitude and latitude information, for example) or may be relative position information (relative to a known object position). That is, any information may be used as the position information as long as the target vehicle can be located based on the information.
Thus, according to the vehicle positioning method of the embodiment of the invention, when the target vehicle enters the predetermined range, the position information of the target vehicle can be determined according to the acquired associated information for determining the position information of the target vehicle. Thus, according to the vehicle positioning method of the embodiment of the invention, the vehicle positioning device can position the target vehicle without depending on GNSS assistance, and therefore, even if it is applied to a place without GNSS signals (or with weak GNSS signals), such as an underground parking lot, it is possible to provide a function, and the positioning accuracy is not affected. In addition, the application scenarios of the vehicle positioning method according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, by using the vehicle positioning method provided by the embodiment of the invention, the position of the vehicle can be determined by using a positioning device outside the vehicle, so that the complexity of the vehicle-end equipment can be reduced.
The specific steps of the vehicle positioning method of the embodiment of the present invention will be described in more detail below.
Fig. 2 shows a flow chart of a vehicle localization method according to another embodiment of the present invention. In fig. 2, the same steps as those in fig. 1 are assigned the same reference numerals, and detailed description thereof is omitted here.
In the present embodiment, the vehicle positioning method in fig. 2 is mainly different from the vehicle positioning method in fig. 1 in that a target vehicle identification step S100 is further included before step S101.
In one possible implementation, in the above step S100, the target vehicle may be identified according to pre-stored identification information of the served vehicle. Specifically, for example, the identification information of the serviced vehicle may be pre-stored in the vehicle locating device or a server associated with the vehicle locating device. The served vehicle is the vehicle needing the positioning service, namely the target vehicle. The identification information is, for example, a license plate of the vehicle or other information that can identify the vehicle. Thus, in the case where the target vehicle comes within the predetermined range, the vehicle positioning device may actively recognize the identification information or receive the identification information transmitted from the target vehicle by, for example, an identification information recognition device (e.g., a camera), and recognize the target vehicle based on the identification information.
In addition, in a possible implementation manner, as shown in fig. 2, step S100 may specifically include:
step S1001, acquiring the moving speed of each object in a preset range;
step S1002, acquiring the running speed of the target vehicle from the target vehicle; and
and step S1003, determining the object with the moving speed matched with the running speed as the target vehicle.
Specifically, in step S1001, the vehicle positioning device may constantly transmit a detection signal to a surrounding area (e.g., a front area) at predetermined time intervals, for example, to detect objects within a predetermined range, thereby being able to obtain the position (relative position) and moving speed of each object. For example, the vehicle positioning device has a radar device, and an object can be detected within a predetermined range by the radar device transmitting radar to a forward area. The predetermined range is a range detectable by radar, typically several hundred meters ahead.
Next, in step S1002, when the target vehicle enters a predetermined range defined by the vehicle locating device, the vehicle locating device may acquire its traveling speed from the target vehicle. When the target vehicle enters the preset range, the running speed of the target vehicle can be actively provided through the vehicle-mounted communication unit of the target vehicle. However, the target vehicle may also transmit its travel speed to the vehicle localization apparatus through its in-vehicle communication unit upon receiving a travel speed acquisition request of the vehicle localization apparatus.
Then, in step S1003, the vehicle positioning device compares the acquired moving speed of each object with the traveling speed transmitted from the target vehicle, and determines, as the target vehicle, an object whose moving speed matches the traveling speed of the target vehicle, among the objects.
For example, at the time when the target vehicle enters the predetermined range, the presence of three objects, i.e., a first object, a second object, and a third object, within the predetermined range is detected, and the position information and the moving speed of the three objects at that time are obtained by a radar device or the like. On the other hand, the vehicle positioning device acquires the travel speed of the target vehicle at that time from the target vehicle. Then, the vehicle positioning device compares the moving speeds of the three objects with the traveling speeds of the target vehicle, respectively, and determines an object (e.g., a first object) whose speed matches as the target vehicle. In this case, the position information of the target vehicle may be determined from the position information (i.e., the association information) of the object. In other words, the position information of the object may be determined as the position information of the target vehicle.
Thus, according to the vehicle positioning method of the embodiment of the invention, the object as the target vehicle can be determined according to the matching of the moving speed of each object within the predetermined range and the traveling speed of the target vehicle, so that the position information of the object is determined as the position information of the target vehicle. Thus, according to the vehicle positioning method of the embodiment of the invention, when the target vehicle enters the predetermined range, the position information of the target vehicle can be determined according to the acquired associated information for determining the position information of the target vehicle. Thus, according to the vehicle positioning method of the embodiment of the invention, the vehicle positioning device can position the target vehicle without depending on GNSS assistance, and therefore, even if it is applied to a place without GNSS signals (or with weak GNSS signals), such as an underground parking lot, it is possible to provide a function, and the positioning accuracy is not affected. In addition, the application scenarios of the vehicle positioning method according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, by using the vehicle positioning method provided by the embodiment of the invention, the position of the vehicle can be determined by using a positioning device outside the vehicle, so that the complexity of the vehicle-end equipment can be reduced.
In the above example, which of the objects is the target vehicle is determined by comparison between the moving speed of each object at a certain time and the traveling speed of the target vehicle. However, in an actual application scenario, there may be the following: at a certain time, there is a matching of the moving speed of two or more objects with the traveling speed of the target vehicle. In this case, it is necessary to further determine which of the plurality of objects is the target vehicle. For this reason, the target vehicle may be further determined by acquiring the moving speed of each object at a plurality of times (at least two different times) and the traveling speed of the target vehicle.
Fig. 3 shows a flow chart of a vehicle localization method according to a further embodiment of the present invention. In fig. 3, the same steps as those in fig. 1 and 2 are given the same reference numerals, and detailed description thereof is omitted here.
The main difference between the vehicle positioning method in fig. 3 and the vehicle positioning method in fig. 2 is that step S100 may mainly include the following steps:
step S2001, acquiring the moving speed of each object in a preset range at least two different moments;
step S2002, acquiring the running speeds of the target vehicle at least two different moments from the target vehicle; and
step S2003, determining an object whose moving speed and traveling speed match at least two different times as a target vehicle.
The following description will be made in detail taking three times (time 1, time 2, and time 3) as an example. However, the present invention is not limited thereto, and the moving speed and the traveling speed at any number of times may be acquired as needed.
Specifically, first, in step S2001, the moving speeds of the objects within a predetermined range at time 1, time 2, and time 3 are acquired, respectively. In addition, the position information of the moving speed of each object at the time 1, the time 2 and the time 3 can be acquired at the same time.
On the other hand, in step S2002, the traveling speeds of the target vehicle at time 1, time 2, and time 3 are acquired, respectively.
Next, in step S2003, the moving speeds of the respective objects at time 1, time 2, and time 3 are respectively compared with the traveling speeds of the target vehicle at the respective times, and an object that matches at each time is determined as the target vehicle. In this case, the position information of the target vehicle at the respective times may be determined from the position information (i.e., the association information) of the object at the respective times. In other words, the position information of the object at each time may be determined as the position information of the target vehicle at the corresponding time.
It should be noted that in the embodiment of the present invention, "matching" does not mean that the speeds are absolutely the same as long as the difference between the speeds is smaller than the predetermined threshold.
Therefore, according to the vehicle positioning method provided by the embodiment of the invention, the target vehicle can be further accurately determined, so that the positioning precision of the target vehicle can be improved.
Fig. 4 shows a flow chart of a vehicle localization method according to yet another embodiment of the present invention. In fig. 4, the same steps as those in fig. 1 to 3 are given the same reference numerals, and detailed description thereof is omitted here.
The vehicle positioning method in fig. 4 is mainly different from the vehicle positioning method in the above-described embodiment in that step S101 may mainly include the steps of:
step S1011, obtaining the position information of the specific object in the preset range; and
step S1012, the positional relationship information of the target vehicle and the specific object is acquired.
Specifically, in a vehicle locating device or a server associated with the vehicle locating device, position information of a specific object within a predetermined range of the vehicle locating device may be prestored. The specific object may be a vehicle locating device or a certain marker (e.g., a guideboard, a building name or label, etc.). The location information may be absolute location information (i.e. determined latitude and longitude information, for example) or relative location information (with respect to the location of a known object). In this case, when the target vehicle enters the predetermined range, in step S1011, the position information of a certain specific object within the predetermined range may be acquired. Next, in step S1012, the positional relationship information of the target vehicle and the specific object may be acquired. The positional relationship information is acquired by, for example, a radar device transmitting an electromagnetic wave toward a predetermined area. In other words, the association information of the embodiment of the present invention may include the position information of the specific object and the position relationship information of the target vehicle and the specific object.
Accordingly, in step S102, the following steps may be mainly included:
step S1021, judging whether the distance between the target vehicle and the specific object is within a preset threshold value according to the position relation information between the target vehicle and the specific object;
step S1022 of determining, in a case where the distance is within a predetermined threshold value, position information of the specific object as position information of the target vehicle; and
in step S1023, in the case where the distance is not within the predetermined threshold value, the position information of the target vehicle is determined from the position information of the specific object and the distance.
Specifically, first, in step S1021, the vehicle localization apparatus determines whether the distance between the target vehicle and the specific object is within a predetermined threshold value from the positional relationship information of the target vehicle and the specific object acquired in step S1012. The predetermined threshold value may be arbitrarily set according to the user's needs, and may be set to 5 meters, for example. That is, it is determined whether the distance between the target vehicle and the specific object is sufficiently close. Next, when it is determined that the distance is within the predetermined threshold value, that is, sufficiently close, the position information of the specific object may be determined as the position information of the target vehicle. That is, the position information of the target vehicle is substantially (approximately) the position information of the specific object (step S1022). On the other hand, if it is determined that the distance is not within the predetermined threshold value, that is, not sufficiently close, it is necessary to specify the position information of the target vehicle from the position information of the specific object and the distance (step S1023).
In one possible implementation, the position information of the target vehicle may be determined directly from the position information of the specific object and the position relationship information of the target vehicle and the specific object. That is, the accurate position information of the target vehicle is determined directly from these two pieces of information.
Thus, according to the vehicle positioning method of the embodiment of the invention, the position information of the target vehicle can be determined from the position information of the specific object within the predetermined range and the position relationship information between the target vehicle and the specific object. Thus, according to the vehicle positioning method of the embodiment of the invention, the object as the target vehicle can be determined according to the matching of the moving speed of each object within the predetermined range and the traveling speed of the target vehicle, so that the position information of the object is determined as the position information of the target vehicle. Thus, according to the vehicle positioning method of the embodiment of the invention, when the target vehicle enters the predetermined range, the position information of the target vehicle can be determined according to the acquired associated information for determining the position information of the target vehicle. Thus, according to the vehicle positioning method of the embodiment of the invention, the vehicle positioning device can position the target vehicle without depending on GNSS assistance, and therefore, even if it is applied to a place without GNSS signals (or with weak GNSS signals), such as an underground parking lot, it is possible to provide a function, and the positioning accuracy is not affected. In addition, the application scenarios of the vehicle positioning method according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, by using the vehicle positioning method provided by the embodiment of the invention, the position of the vehicle can be determined by using a positioning device outside the vehicle, so that the complexity of the vehicle-end equipment can be reduced.
Furthermore, in a possible implementation manner, in the foregoing embodiment, as shown in fig. 4, after the step S102, the method may further include:
a position information sending step 103, for sending the position information of the target vehicle to the target vehicle.
Specifically, after the vehicle positioning device determines the position information of the target vehicle, the determined position information may be transmitted to the target vehicle.
In one possible implementation, the vehicle locating device (road end) may transmit the location information in a broadcast manner. Accordingly, the target vehicle (vehicle end) can match reception according to the matching information in the broadcast information. The matching information may be information for determining the corresponding vehicle, such as vehicle-end identification information/moving speed, etc.
In one possible implementation, the vehicle locating device (road-end) may send the location information in an end-to-end manner. Accordingly, the target vehicle (vehicle end) receives corresponding position information after information matching is carried out through the vehicle-mounted communication unit of the target vehicle.
Therefore, according to the vehicle positioning method provided by the embodiment of the invention, the determined position information of the target vehicle can be sent to the target vehicle, so that accurate positioning and information notification of the target vehicle are realized.
Fig. 5 shows a block diagram of a vehicle positioning apparatus according to an embodiment of the present invention. As shown in fig. 5, the vehicle positioning device 50 may mainly include: a related information acquisition unit 51 configured to acquire related information for determining position information of a target vehicle when the target vehicle comes within a predetermined range; and a position information determination unit 52 configured to determine position information of the target vehicle from the association information.
The vehicle positioning device 50 according to the embodiment of the invention may perform the vehicle positioning method in any of the above-described embodiments. For specific requirements of the vehicle positioning method, please refer to the detailed description in the above embodiments, which is not repeated herein.
Thus, according to the vehicle positioning device of the embodiment of the invention, the object as the target vehicle can be determined according to the matching of the moving speed of each object within the predetermined range and the traveling speed of the target vehicle, so that the position information of the object is determined as the position information of the target vehicle. Thus, according to the vehicle positioning device of the embodiment of the invention, when the target vehicle enters the predetermined range, the position information of the target vehicle can be determined according to the acquired association information for determining the position information of the target vehicle. Thus, according to the vehicle positioning device of the embodiment of the invention, the vehicle positioning device can position the target vehicle without depending on GNSS assistance, and therefore, even if the device is applied to a place without GNSS signals (or with weak GNSS signals), such as an underground parking lot, the function can be provided, and the positioning accuracy is not affected. In addition, the application scenarios of the vehicle positioning device according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, the vehicle positioning device is positioned outside the vehicle, so that the complexity of vehicle-end equipment can be reduced.
Fig. 6 shows a block diagram of a vehicle positioning apparatus according to another embodiment of the present invention. In fig. 6, the same components as those of fig. 5 are given the same reference numerals, and detailed description thereof is omitted here.
The vehicle localization apparatus 60 in fig. 6 mainly differs from the vehicle localization apparatus 50 in fig. 5 in that a target vehicle identification unit 53 is further included.
With regard to the vehicle locating device 60 described above, in one possible implementation, the target vehicle identifying unit 53 is configured to: acquiring the moving speed of each object in the preset range; acquiring a running speed of the target vehicle from the target vehicle; and determining an object of which the moving speed matches the traveling speed as the target vehicle.
With regard to the vehicle locating device 60 described above, in one possible implementation, the target vehicle identifying unit 53 is configured to: acquiring the moving speed of each object in the preset range at least two different moments; acquiring the running speeds of the target vehicle at the at least two different moments from the target vehicle; and determining an object, the moving speed of which matches the traveling speed at the at least two different times, as the target vehicle.
With the vehicle locating device 60 described above, in one possible implementation, the target vehicle identification unit 53 is configured to identify the target vehicle according to pre-stored identification information of the served vehicle.
With regard to the vehicle positioning device 60 described above, in one possible implementation, the association information obtaining unit 51 is configured to: acquiring the position information of the specific object in the preset range; and acquiring the position relation information of the target vehicle and the specific object.
With the above vehicle positioning device 60, in one possible implementation, the positional relationship information is acquired by transmitting an electromagnetic wave toward a predetermined area by a radar device.
With regard to the vehicle positioning device 60 described above, in one possible implementation, the position information determining unit 52 is configured to: judging whether the distance between the target vehicle and the specific object is within a predetermined threshold value according to the position relation information between the target vehicle and the specific object; determining, in a case where the distance is within the predetermined threshold, position information of the specific object as position information of the target vehicle; and determining the position information of the target vehicle from the position information of the specific object and the distance, in a case where the distance is not within the predetermined threshold.
With the vehicle positioning device 60 described above, in one possible implementation, the position information determination unit 52 is configured to determine the position information of the target vehicle according to the position information of the specific object and the positional relationship information of the target vehicle and the specific object.
With regard to the vehicle positioning device 60, in one possible implementation manner, the vehicle positioning device further includes: a position information transmitting unit 54 configured to transmit the position information of the target vehicle to the target vehicle.
The vehicle positioning device 60 according to the embodiment of the invention may perform the vehicle positioning method in any of the above-described embodiments. For specific requirements of the vehicle positioning method, please refer to the detailed description in the above embodiments, which is not repeated herein.
Thus, according to the vehicle positioning device of the embodiment of the invention, the object as the target vehicle can be determined according to the matching of the moving speed of each object within the predetermined range and the traveling speed of the target vehicle, so that the position information of the object is determined as the position information of the target vehicle. Thus, according to the vehicle positioning device of the embodiment of the invention, when the target vehicle enters the predetermined range, the position information of the target vehicle can be determined according to the acquired association information for determining the position information of the target vehicle. Thus, according to the vehicle positioning device of the embodiment of the invention, the vehicle positioning device can position the target vehicle without depending on GNSS assistance, and therefore, even if the device is applied to a place without GNSS signals (or with weak GNSS signals), such as an underground parking lot, the function can be provided, and the positioning accuracy is not affected. In addition, the application scenarios of the vehicle positioning device according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, the vehicle positioning device is positioned outside the vehicle, so that the complexity of vehicle-end equipment can be reduced.
Fig. 7 shows a block diagram of a vehicle positioning system according to an embodiment of the present invention. As shown in fig. 7, the vehicle positioning system 70 may mainly include: the vehicle locating device 50 or 60 according to any of the above embodiments; and an in-vehicle communication unit 71 mounted on the target vehicle and configured to communicate with the vehicle positioning device.
The vehicle positioning system 70 according to the embodiment of the invention may perform the vehicle positioning method in any of the above-described embodiments. For specific requirements of the vehicle positioning method, please refer to the detailed description in the above embodiments, which is not repeated herein.
Thus, according to the vehicle positioning system of the embodiment of the invention, the object as the target vehicle can be determined according to the matching of the moving speed of each object within the predetermined range and the traveling speed of the target vehicle, so that the position information of the object is determined as the position information of the target vehicle. Thus, according to the vehicle positioning system of the embodiment of the invention, when the target vehicle enters the predetermined range, the position information of the target vehicle can be determined according to the acquired association information for determining the position information of the target vehicle. Thus, according to the vehicle positioning system of the embodiment of the invention, the target vehicle can be positioned without depending on the assistance of GNSS, so that even if the vehicle positioning system is applied to a place without GNSS signals (or with weak GNSS signals), such as an underground parking lot, the function can be provided, and the positioning accuracy is not affected. In addition, the application scenarios of the vehicle positioning system according to the embodiment of the invention are less limited, so that the invention has the potential of being widely applied. In addition, the vehicle positioning device is positioned outside the vehicle, so that the complexity of vehicle-end equipment can be reduced.
Fig. 8 shows a block diagram of a vehicle positioning system according to another embodiment of the present invention. As shown in FIG. 8, the vehicle localization system may include a vehicle localization device and a target vehicle. The vehicle positioning device includes: a radar device for detecting a relative position and a moving speed of an object within a predetermined range by transmitting a radar toward a front area; a camera for recognizing a license plate of a target vehicle and judging an approximate position of the vehicle; a Road Side Unit (RSU) for communicating with the vehicle Side communication Unit to send and receive information to and from each other; and a controller for operating a vehicle identification and location algorithm to determine the location of the target vehicle. The target vehicle includes: and the vehicle-end communication Unit (OBU) is used for communicating with the road-end communication Unit so as to send and receive information mutually.
The general process by which the vehicle positioning system determines the position of the target vehicle is as follows. When a target vehicle passes through a road end, the road end (vehicle positioning device) identifies a license plate of the target vehicle through a camera, simultaneously receives the current running speed of the vehicle sent to the road end by the vehicle end, and the road end detects the relative positions and the moving speeds of various objects through a radar. After the license plate of the target vehicle is identified, if the running speed received by the road end is matched with the moving speed of an object detected by the radar and the object (namely the target vehicle) is in the radar detection area, the road end sends the vehicle position information to a vehicle end communication unit (OBU) by using a road end communication unit (RSU) and transmits the vehicle position information to a vehicle end controller. Thereby, the target vehicle can obtain the position information thereof. FIG. 9 illustrates a schematic diagram of the operation of a vehicle locating system in accordance with an embodiment of the present invention.
With the vehicle positioning system, the vehicle positioning method provided by the embodiment of the invention comprises the following steps. Fig. 10 shows a brief flow of a vehicle positioning method according to still another embodiment of the present invention.
Step 1, setting a radar detection area
The radar can detect the distance of hundreds of meters ahead, but the effective observation space is set to be only within a certain range of a short distance so as to eliminate the interference of objects out of the range.
When the target vehicle runs into the radar detection area, the license plate of the target vehicle with the vehicle-end communication unit is identified through the camera, objects detected by the radar appearing in the range of the identification distance of the camera at the moment of identifying the license plate are marked, and approximate position information of the objects is obtained.
Step 3, vehicle matching and tracking
And comparing and matching the moving speed of the object detected in the last step with the running speed of the target vehicle which is sent by the vehicle end and is received by the road end all the time so as to eliminate the strong interference object such as other adjacent running vehicles.
Step 4, sending vehicle position information
When the target vehicle, namely the object detected by the radar in the previous step, is continuously matched, the road end sends vehicle position information to the vehicle end, namely the current relative distance between the target vehicle and the road end, so that the accuracy of the received vehicle and road end position information is ensured when the vehicle passes through the road end every time.
Thus, according to the vehicle positioning system of the embodiment of the present invention, the road-side is composed of a camera, a radar, and a vehicle-side communication unit (RSU). The vehicle is equipped with an on-board unit (OBU) for communication. Detection and tracking of the target vehicle is dependent on the cooperation of the camera and the radar. The road end can ensure the accuracy of the vehicle position since the vehicle position information is transmitted to the target vehicle within a specific small range. Compared with the prior art, the application scene is not limited because the GNSS is not used. In addition, the method can also be applied to underground parking lots and other cases. The position of the tree and the road end and the like can not interfere the precision of obtaining the vehicle position information, and are not easily influenced by the environment. In addition, the complexity of vehicle-end equipment is reduced, and the road-end active detection precision is high, so that the method has the potential of being widely applied.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (21)
1. A vehicle positioning method, characterized by comprising:
a related information acquisition step of acquiring related information for determining position information of a target vehicle when the target vehicle enters a predetermined range; and
and a position information determining step of determining the position information of the target vehicle according to the associated information.
2. The vehicle positioning method according to claim 1, further comprising a target vehicle identification step before the association information acquisition step.
3. The vehicle localization method according to claim 2, wherein the target vehicle identification step includes:
acquiring the moving speed of each object in the preset range;
acquiring a running speed of the target vehicle from the target vehicle; and
determining an object of which the moving speed matches the traveling speed as the target vehicle.
4. The vehicle localization method according to claim 2, wherein the target vehicle identification step includes:
acquiring the moving speed of each object in the preset range at least two different moments;
acquiring the running speeds of the target vehicle at the at least two different moments from the target vehicle; and
determining an object, the moving speed of which matches the traveling speed at the at least two different times, as the target vehicle.
5. The vehicle localization method according to claim 2, wherein the target vehicle identification step includes: identifying the target vehicle according to pre-stored identification information of the serviced vehicle.
6. The vehicle positioning method according to claim 1, characterized in that the association information acquisition step includes:
acquiring the position information of the specific object in the preset range; and
and acquiring the position relation information of the target vehicle and the specific object.
7. The vehicle positioning method according to claim 6, characterized in that the positional relationship information is acquired by transmitting an electromagnetic wave toward a predetermined area by a radar device.
8. The vehicle positioning method according to claim 6, characterized in that the position information determining step includes:
judging whether the distance between the target vehicle and the specific object is within a predetermined threshold value according to the position relation information between the target vehicle and the specific object;
determining, in a case where the distance is within the predetermined threshold, position information of the specific object as position information of the target vehicle; and
determining the location information of the target vehicle from the location information of the specific object and the distance, if the distance is not within the predetermined threshold.
9. The vehicle positioning method according to claim 6, characterized in that the position information determining step includes:
and determining the position information of the target vehicle according to the position information of the specific object and the position relation information of the target vehicle and the specific object.
10. The vehicle positioning method according to any one of claims 1 to 9, characterized by further comprising, after the position information determining step:
a position information transmitting step of transmitting the position information of the target vehicle to the target vehicle.
11. A vehicle positioning device, comprising:
a related information acquisition unit configured to acquire related information for determining position information of a target vehicle when the target vehicle comes within a predetermined range; and
a position information determination unit configured to determine position information of the target vehicle according to the association information.
12. The vehicle localization apparatus according to claim 11, further comprising a target vehicle identification unit.
13. The vehicle localization apparatus according to claim 12, wherein the target vehicle identification unit is configured to:
acquiring the moving speed of each object in the preset range;
acquiring a running speed of the target vehicle from the target vehicle; and
determining an object of which the moving speed matches the traveling speed as the target vehicle.
14. The vehicle localization apparatus according to claim 12, wherein the target vehicle identification unit is configured to:
acquiring the moving speed of each object in the preset range at least two different moments;
acquiring the running speeds of the target vehicle at the at least two different moments from the target vehicle; and
determining an object, the moving speed of which matches the traveling speed at the at least two different times, as the target vehicle.
15. The vehicle localization apparatus according to claim 12, wherein the target vehicle identification unit is configured to identify the target vehicle from pre-stored identification information of a served vehicle.
16. The vehicle positioning apparatus according to claim 11, characterized in that the association information acquisition unit is configured to:
acquiring the position information of the specific object in the preset range; and
and acquiring the position relation information of the target vehicle and the specific object.
17. The vehicle positioning apparatus according to claim 16, characterized in that the positional relationship information is acquired by transmitting an electromagnetic wave toward a predetermined area by a radar device.
18. The vehicle positioning apparatus according to claim 16, characterized in that the position information determination unit is configured to:
judging whether the distance between the target vehicle and the specific object is within a predetermined threshold value according to the position relation information between the target vehicle and the specific object;
determining, in a case where the distance is within the predetermined threshold, position information of the specific object as position information of the target vehicle; and
determining the location information of the target vehicle from the location information of the specific object and the distance, if the distance is not within the predetermined threshold.
19. The vehicle positioning device according to claim 16, characterized in that the position information determination unit is configured to determine the position information of the target vehicle from the position information of the specific object and the positional relationship information of the target vehicle and the specific object.
20. The vehicle positioning apparatus according to any one of claims 11 to 19, characterized by further comprising:
a position information transmitting unit configured to transmit position information of the target vehicle to the target vehicle.
21. A vehicle positioning system, comprising:
the vehicle positioning device according to any one of claims 11 to 20; and
an in-vehicle communication unit mounted on the target vehicle and configured to communicate with the vehicle locating device.
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| CN202010664633.8A CN113917467A (en) | 2020-07-10 | 2020-07-10 | Vehicle positioning method, device and system |
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| CN202010664633.8A CN113917467A (en) | 2020-07-10 | 2020-07-10 | Vehicle positioning method, device and system |
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