A multi-vehicle cooperative positioning algorithm considering the relative position between vehicles in the vehicle-vehicle communication environment

Abstract

A multi-vehicle collaborative positioning algorithm that considers the relative positions between vehicles in a vehicle-to-vehicle communication environment belongs to the field of automotive technology. The method is to use vehicle-to-vehicle communication technology and sensors such as vehicle-mounted GPS and millimeter wave radar to collect the motion status information, position information, relative position information of the two vehicles and the target vehicle's prediction information of the own vehicle and the target vehicle. , processing and storage, and then perform data fusion and prediction on the obtained information to obtain positioning information with higher positioning accuracy and better positioning effect, and send it to other communication vehicles as input values ​​to form a closed-loop process. Under the current technical level, the present invention simply and effectively improves positioning accuracy by taking into account the relative positions between vehicles and using advanced vehicle-to-vehicle communication technology and vehicle-mounted terminals.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a multi-vehicle cooperative positioning algorithm considering relative positions between vehicles. Background technique [0002] With the development of Internet of Vehicles technology, vehicle safety and service applications have become more and more abundant, and accurate vehicle location information has become more and more important. GPS (Global Positioning System) global positioning system is widely used in the field of vehicle navigation and has become the main source of vehicle location information. However, due to the high-rise buildings in the urban environment, the satellite signal is blocked, and the multi-path signal is seriously interfered, resulting in a high GPS positioning error sometimes reaching tens of meters to hundreds of meters, or even being unable to locate. Although when the positioning effect is good, the positioning error will reach 5 to 10 meters....

AI Technical Summary

Problems solved by technology

Low positioning accuracy and poor positioning stability limit the use of GPS systems in areas related to life safety such as vehicle safety and anti-collision detection

[0003] Most of the existing methods to improve positioning accuracy start from the principle of satellite navigation and positioning systems, including position estimation based on carrier phase and position estimation based on pseudorange, but positioning errors still exist after these methods are processed and cannot solve the problem of GPS signal loss

In terms of vehicle-mounted terminals, the method of integrated navigation is generally used, and the combination of inertial navigation and GPS positioning is used to improve positioning accuracy. However, inertial navigation sensors with sufficient accuracy are expensive, and even very expensive sensors require a long initialization time. , and there will be error accumulation after a long time

Images