Automatic driving vehicle positioning method and device based on V2X

Abstract

The invention provides an automatic driving vehicle positioning method and device based on V2X. The automatic driving vehicle positioning method comprises the steps that the number of satellite signals received by positioning equipment of a current automatic driving vehicle is obtained; and whether the number of the satellite signals is less than a preset first signal threshold value or not is judged, if yes, it is shown that a GNSS signal is poor, at the moment, the distance values between a plurality of target terminals communicating with the current automatic driving vehicle and the currentautomatic driving vehicle, and position information of all the target terminals are measured correspondingly, all the obtained position information and the distance values are subjected to information fusion through a data fusion algorithm, and the position information of the current automatic driving vehicle is calculated. Due to the fact that no additional hardware equipment is additionally arranged, the cost is lowered while the positioning precision of the vehicle is improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent transportation, and more specifically, relates to a positioning method and device for a self-driving vehicle based on V2X (vehicle to everything, that is, information exchange with the outside world). Background technique [0002] Accurate positioning is crucial to the automatic driving technology of vehicles. Currently, the commonly used positioning methods are GPS, Beidou and other GNSS (Global Navigation Satellite System, Global Navigation and Positioning System) to provide positioning information. Due to the multipath effect of GNSS signals during transmission, it often leads to poor GNSS signals in road conditions such as high-rise buildings or tree-lined roads, which directly affects the positioning accuracy of vehicles, and thus affects the safe driving of autonomous vehicles. Although there are high-precision positioning technologies such as RTK (Real-time kinematic, real-time ...

AI Technical Summary

Problems solved by technology

Due to the multipath effect of GNSS signals in the transmission process, it often leads to poor GNSS signals in road conditions such as tall buildings or tree-lined roads, which directly affects the positioning accuracy of vehicles, and thus affects the safe driving of autonomous vehicles.

Although there are high-precision positioning technologies such as RTK (Real-time kinematic, real-time dynamic) to solve the above problems, the cost was high at that time, which was not conducive to the promotion and application of RTK technology

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