Multi-vehicle cooperative positioning platform and positioning method under limit working condition

A technology of extreme working conditions and co-location, applied in the field of vehicle perception, can solve problems such as inability to meet high-precision maps, inaccurate positioning, and large vehicle positioning errors, and achieve the effect of solving signal interruption, reliable use, and high-precision positioning

Active Publication Date: 2020-05-08
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Based on the extreme working conditions, the positioning of the vehicle is greatly affected, and it cannot be accurately positioned, resulting in road traffic congestion and serious consequences for vehicle driving safety. In order to accelerate the improvement of the transportation system and the development of intelligent networked vehicles, the development of Multi-vehicle collaborative positioning improves the transportation system and lays a solid foundation for future driverless vehicles
[0004] With the continuous improvement of the four major positioning systems, the positioning is diversified, but none of them can independently complete the high-precision positioning of the vehicle. The positioning accuracy of the market positioning system and the receiver is mostly within the range of 10 meters. The use of GPS in vehicles cannot satisfy high-precision maps. Due to the impact of vehicle positioning, it is urgent to develop a multi-vehicle collaborative positioning platform under extreme working conditions, which can solve the problem of large vehicle positioning errors, and at the same time promote the development of intelligent networked vehicles and traffic The improvement of the system will accelerate the development of the vehicle-road-network system and promote the overall development process of the Internet of Vehicles

Method used

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  • Multi-vehicle cooperative positioning platform and positioning method under limit working condition
  • Multi-vehicle cooperative positioning platform and positioning method under limit working condition
  • Multi-vehicle cooperative positioning platform and positioning method under limit working condition

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] It is assumed that the vehicles located in the network include three vehicles, namely the first vehicle, the second vehicle and the third vehicle,

[0057] The satellite group includes a first receiving satellite, a second receiving satellite and a third receiving satellite,

[0058] The aforementioned communication device includes a first base station, a second base station, and a third base station. The three base stations communicate with each other through buried optical cables, and the first vehicle, the second vehicle, and the third vehicle communicate with the first base station and the second base station at the same time. And the third base station realizes real-time connection in pairs, and the first base station, the second base station and the third base station simultaneously receive the positioning signal of the satellite group in real time;

[0059] The aforementioned vehicle-mounted device includes a base station receiver installed at the front and rear ...

Embodiment 2

[0068] A positioning method for a multi-vehicle collaborative positioning platform under extreme working conditions, comprising the following steps:

[0069] The first step: the first base station, the second base station and the third base station obtain the positioning signal sent by the satellite group in real time, obtain the positioning value of the base station in different environments, and finally obtain the positioning point information of each vehicle through vehicle-to-vehicle communication, TOA and AOA ;

[0070] Step 2: Receive the position information of the first base station, the second base station, and the third base station through the base station receivers installed at the front and rear of the vehicle, that is, obtain the absolute road-level positioning of the vehicle under extreme working conditions, and combine it with the The four radars on each vehicle can calculate the time, distance and direction angle when the vehicle travels to the positioning poi...

Embodiment 3

[0075] In the first step in Example 2, Figure 5 As shown, to obtain the positioning point information of each vehicle, the specific steps are as follows: Take obtaining the positioning point information of the first vehicle as an example:

[0076] Set the coordinates of the first base station and the second base station as known points A 1 =(x 1 ,y 1 ), A 2 =(x 2 ,y 2 ), set the coordinates of the first vehicle as V n =(v i ,v j ), the distance between vehicles can be obtained through vehicle-to-vehicle communication, TOA and AOA, and A 1 A 2 、A 1 V i 、A 2 V i , according to the formula of the anchor point of the first vehicle

[0077]

[0078]

[0079]

[0080] Obtain the positioning point V of the first vehicle n =(v i ,v j );

[0081] The positioning points of the remaining vehicles can be obtained in this way.

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Abstract

The invention relates to a multi-vehicle cooperative positioning platform and positioning method under a limit working condition. The positioning platform comprises a communication device, a vehicle-mounted device, roadside devices and a satellite group which cooperate with one another to realize precise positioning of vehicles under a limit working condition. The communication device provides a real-time signal for a vehicle located in a network; the vehicle-mounted device is installed on the vehicle located in the network and receives information of the communication device and position information of other adjacent vehicles in real time; the roadside devices are arranged on two sides of a road and provide information of fixation objects on two sides of the road for the vehicle-mounted device in real time; the satellite group provides road-level vehicle positioning for the vehicle located in the network on high-quality road conditions, provides absolute positioning for the vehicle located in the network under a limit working condition, and provides auxiliary positioning for the vehicle-mounted device and the roadside devices at the same time. According to the invention, road andenvironment sensing and accurate positioning can be completed in real time under the limit working condition, and a powerful basis is provided for the development of intelligent net connected vehiclesand the improvement of a traffic road system.

Description

technical field [0001] The invention relates to a multi-vehicle cooperative positioning platform and a positioning method under extreme working conditions, belonging to the field of vehicle perception. Background technique [0002] Multi-vehicle collaborative positioning is an important part of vehicle-road coordination. As a subsystem of vehicle-road coordination, multi-vehicle collaborative positioning is an important part of collaborative research through multi-vehicle information interaction. It is a new generation of intelligent transportation collaboration researched by European, American and Japanese countries. key technologies. [0003] Based on the extreme working conditions, the positioning of the vehicle is greatly affected, and it cannot be accurately positioned, resulting in road traffic congestion and serious consequences for vehicle driving safety. In order to accelerate the improvement of the transportation system and the development of intelligent networked ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/46G01S19/47G01S19/51G01S5/02G01C21/16H04W4/02H04W4/44H04W4/46
CPCG01S19/46G01S19/47G01S19/51G01S5/0257G01C21/165H04W4/02H04W4/44H04W4/46
Inventor 殷国栋王法安庄伟超梁晋豪董昊轩汪刘赢卢彦博
Owner SOUTHEAST UNIV
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