Network delay positioning error compensation method, device and electronic equipment
A technology of network delay and positioning error, applied in the field of vehicle positioning
Active Publication Date: 2021-02-02
浙江金乙昌科技股份有限公司
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[0003] In the process of proposing the present disclosure, the inventors found that in the Internet of Vehicles, there is inevitably a network transmission delay in the end-to-end data transmission process
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[0152] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily realize them. Also, for clarity, parts not related to describing the exemplary embodiments are omitted in the drawings.
[0153] In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts or combinations thereof disclosed in the specification, and are not intended to exclude one or a plurality of other features, numbers, steps, acts, parts, parts or combinations thereof exist or are added.
[0154] In addition, it should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings...
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The embodiment of the invention discloses a network delay positioning error compensation method and device, and electronic equipment in the Internet of vehicles. The method comprises the steps of acquiring vehicle state information and transmission delay information, wherein the vehicle state information comprises vehicle position information, vehicle angle information and vehicle speed information; the vehicle angle information comprises the course angle and pitch angle of a vehicle; a direction vector is determined according to the vehicle position information and vehicle angle information;based on the direction vector, the vehicle speed information and transmission delay information, a displacement compensation value is determined; and the predicted position of the vehicle is determined according to the vehicle position information and the displacement compensation value. According to the technical scheme, the vehicle state information and the transmission delay information can becombined, the displacement compensation value can be determined, so that the correction of the vehicle position information can be achieved, the decrease of positioning accuracy caused by the networktransmission delay when the vehicle moves at high speed can be effectively avoided, and the driving security of the vehicle is improved.
Description
technical field [0001] The present disclosure relates to the technical field of vehicle positioning, and in particular to a method, device and electronic equipment for compensating network delay positioning errors in the Internet of Vehicles. Background technique [0002] The Internet of Vehicles refers to the collection, storage and transmission of vehicle working conditions and static and dynamic information through the installation of vehicle-mounted terminal equipment. The introduction of the concept of Internet of Vehicles has brought more possibilities for future travel methods and lifestyles. [0003] During the process of proposing the present disclosure, the inventors found that in the Internet of Vehicles, network transmission delay inevitably exists during end-to-end data transmission. For example, a self-driving vehicle can obtain its own location information through GPS equipment, and obtain the location information of other vehicles through the network to obta...
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IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 路兆铭凌宇豪初星河王鲁晗温向明
Owner 浙江金乙昌科技股份有限公司