Vehicle positioning method and device
A vehicle and location information technology, applied in the field of vehicle positioning, can solve problems such as low positioning accuracy, and achieve the effects of strong adaptability, high detection accuracy, precise positioning and tracking
Active Publication Date: 2021-02-12
BEIJING WANJI TECH
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Problems solved by technology
[0004] At present, the auxiliary positioning system of multi-lane free flow mainly realizes the positioning and tracking of vehicles through video detection, but the video detection method is easily affected by the weather environment, vehicle occlusion, etc., and the positioning accuracy is relatively low
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[0079] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0080] figure 1 A schematic flow diagram of a vehicle positioning method provided by an embodiment of the present invention is shown, as shown in figure 1 As shown, the vehicle positioning method of this embodiment is as follows.
[0081] 101. Acquire multi-channel laser scanning line data of the laser detection area, the laser scanning line dat...
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The present invention provides a vehicle positioning method and device. The method includes: acquiring multiple laser scanning line data in the laser detection area, including: the distance value, pulse width value and pulse peak value in the echoes of each scanning point of each laser; Coordinate transformation, converted to the position information data in the Cartesian coordinate system; according to the distance value, pulse width value and pulse peak value, the reflection characteristic value representing the characteristics of the reflective surface is obtained; according to the position information data or reflection characteristic value in the Cartesian coordinate system, the Divide the vehicle-owned areas in the laser detection area, and determine the number of vehicle-owned areas and the width, height, and reflection characteristic value of each vehicle-owned area; according to the position information data in the Cartesian coordinate system, the obtained reflection characteristic The width, height and reflection characteristic value of the area match all the car areas with all the existing vehicles stored in order to realize the positioning and tracking of the vehicles in the laser detection area. This method has high detection accuracy and strong adaptability.
Description
technical field [0001] The invention relates to the technical field of vehicle positioning, in particular to a vehicle positioning method and device. Background technique [0002] In the prior art, the multi-lane free-flow system is an important application of Dedicated Short Range Communications (DSRC) technology, and is widely used in vehicle-road communication under the state of free movement of vehicles, road and bridge toll collection, traffic flow investigation, multi-sense It has broad application prospects in the field of path identification, and in the fields of urban traffic management, traffic congestion control and emission control. [0003] In the DSRC-based multi-lane free-flow system, the roadside system uses multiple Road Side Unit (RSU) antennas to form a continuous DSRC communication area in the cross-section of the road, so as to communicate with vehicles loaded in the communication area. The On Board Unit (OBU for short) performs wireless communication t...
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IPC IPC(8): G01S17/88
CPCG01S17/88
Inventor 李娟娟陈偲沈峰杨光
Owner BEIJING WANJI TECH