High-precision positioning system and positioning method based on vehicle-road cooperation

A vehicle-road coordination and positioning method technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, road network navigators, etc. Avoid the effect of increasing, avoiding equipment and engineering implementation costs

Active Publication Date: 2020-03-13
成都云科新能汽车技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to provide a high-precision positioning system and positioning method based on vehicle-road coordination, which is used to so...

Method used

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  • High-precision positioning system and positioning method based on vehicle-road cooperation
  • High-precision positioning system and positioning method based on vehicle-road cooperation
  • High-precision positioning system and positioning method based on vehicle-road cooperation

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Embodiment 1

[0068] The high-precision positioning method based on vehicle-road coordination, the specific content is as follows,

[0069] The first case: when the vehicle is running within the coverage of the UWB base station of the first node at the end of the field, the vehicle performs position calculation through the UWB module of the vehicle positioning terminal, and fuses it with the position information output by the IMU module, so that Obtain high-precision positioning information of the vehicle;

[0070] The second situation: when the vehicle has driven out of the coverage area of ​​the UWB base station of the above-mentioned first node, and has entered the monitoring range of the network camera of the corresponding road section, the regional management unit to which the above-mentioned first node belongs will use the real-time information collected by the network camera Video data, to identify, track and estimate the target vehicle’s position, and send the result through remote ...

Embodiment 2

[0098] The high-precision positioning system based on vehicle-road coordination mainly includes two parts: the vehicle end and the field end. Among them, the vehicle consists of a vehicle-mounted positioning terminal (including core modules such as UWB, IMU, wireless communication, computing and processing, and an optional RTK module), UWB antennas (one pair at the front and rear), and GNSS antennas (one pair at the front and rear, optional )composition. The field end part is composed of several regional subsystems (usually deployed at various key nodes of the campus road network), and each regional subsystem includes a regional management unit (RMU), several UWB positioning base stations and network cameras.

[0099] exist figure 1 In the positioning system shown, the functions of the core components of the car end and the field end are as follows:

[0100] car end

[0101] 1) Vehicle positioning terminal

[0102] The vehicle positioning terminal includes at least one UWB...

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Abstract

The invention discloses a high-precision positioning system based on vehicle-road cooperation, which comprises a vehicle-mounted positioning terminal. The vehicle-mounted positioning terminal comprises a UWB module, an IMU module, a wireless communication module and an operation and processing module, and the vehicle-mounted positioning terminal is used for processing local signals output by the UWB module and the IMU module, receiving remote signals from a field end part and carrying out corresponding position calculation, fusion and output. According to the invention, the vehicle-end minimumsystem only comprises core modules such as UWB, IMU, wireless communication, and operation and processing, and the cost of the vehicle-end minimum system is far lower than that of a high-precision positioning system adopting laser or visual SLAM.

Description

technical field [0001] The invention belongs to the technical field of intelligent networked vehicles, and in particular relates to a high-precision positioning system and positioning method based on vehicle-road coordination. Background technique [0002] Unmanned transport in specific scenarios such as airports, logistics parks, and factories is one of the most likely directions for the industrialization of autonomous driving and related technologies in recent years. The business processes involved in the above scenarios often require the delivery vehicle to be able to realize automatic driving in indoor and outdoor related areas, and this also puts forward relatively high requirements for vehicle positioning technology. [0003] The high-precision positioning technology for the above-mentioned autonomous driving application scenarios is usually divided into two categories, one is to achieve vehicle positioning outdoors and indoors through differential GPS (or other GNSS s...

Claims

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Application Information

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IPC IPC(8): G01C21/34G01S19/48
CPCG01C21/3415G01S19/48
Inventor 曾帆刘力杨旭姚远康权
Owner 成都云科新能汽车技术有限公司
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