Shared positioning system for intelligent driving automobile based on V2X

Abstract

The invention, which relates to the technical field of intelligent driving, discloses a V2X-based shared positioning system for an intelligent driving automobile, comprising a vehicle-mounted device, a roadside unit, a mobile terminal and a central processing server. The vehicle-mounted equipment comprises an assembling base fixed to the intelligent driving vehicle, an equipment body fixedly installed on the outer wall of the top of the assembling base, a controller fixedly installed on the outer wall of the top of the equipment body, two cable anti-disengaging mechanisms sequentially arranged on the two sides of the equipment body, a heat dissipation mechanism and a signal self-adaptive adjusting mechanism. Through real-time communication between the vehicle and the infrastructure, between the vehicle and other vehicles and between the vehicle and pedestrians, high-precision and real-time updated position sharing is realized, so that the road safety is improved, the traffic flow management is optimized, and reliable environmental perception is provided for the autonomous vehicle; vehicle-mounted equipment installed on the intelligent driving vehicle has a cable anti-falling function, an intelligent heat dissipation function and a signal self-adaptive change adjusting function.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a V2X-based shared positioning system for intelligent driving vehicles. Background Art

[0002] With the development of intelligent transportation systems, V2X communication technology has become one of the key technologies for achieving highly automated driving. However, the existing V2X-based positioning system for intelligent driving vehicles has the following problems during use:

[0003] First, traditional positioning systems often rely on satellite navigation systems, which have positioning errors in urban canyons or areas with severe multipath effects, and the positioning information of a single vehicle cannot be effectively used by other vehicles or traffic management systems, limiting its potential in improving traffic safety and efficiency.

[0004] Secondly, the on-board equipment installed on smart driving vehicles generally does not have cable anti-detachment function, intelligent heat dissipation function, and signal adaptive change adjustment function, which will affect the operating efficiency of the on-board equipment. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a V2X-based shared positioning system for smart driving vehicles, which realizes high-precision, real-time updated location sharing through real-time communication between vehicles and infrastructure, vehicles and other vehicles, and vehicles and pedestrians, thereby improving road safety, optimizing traffic flow management, and providing reliable environmental perception for autonomous driving vehicles.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A V2X-based shared positioning system for smart driving vehicles, including an on-board device, a roadside unit, a mobile terminal and a central processing server;

[0008] The vehicle-mounted device is installed on each smart driving car, responsible for collecting the vehicle's own positioning data, and communicating with other vehicles, roadside units and mobile terminals through the V2X communication module;

[0009] The roadside unit is deployed on the road infrastructure and is responsible for receiving positioning data from the vehicle-mounted equipment and broadcasting the data to surrounding vehicles and traffic management centers after integration;

[0010] The mobile terminal is a portable device used by pedestrians and non-motorized vehicles, and participates in the sharing of positioning information through V2X communication technology;

[0011] The central processing server is located in the traffic management center, and is used to process, analyze and store the positioning data collected from various vehicle-mounted devices and roadside units, and provide real-time traffic status information and decision support;

[0012] The vehicle-mounted device includes an assembly seat fixed on the intelligent driving vehicle, a device body fixedly installed on the top outer wall of the assembly seat, a controller fixedly installed on the top outer wall of the device body, two cable anti-dropping mechanisms, a heat dissipation mechanism and a signal adaptive adjustment mechanism sequentially arranged on both sides of the device body.

[0013] As a preferred technical solution of the present invention, a row of equally spaced electrical connectors are provided on both sides of the device body, and the cable anti-detachment mechanism includes two mounting blocks symmetrically fixed to the side walls of the device body, a guide assembly, a transmission shaft rotatably installed between the two mounting blocks, and a centering clamping assembly provided on the transmission shaft and having the same number of electrical connectors on one side.

[0014] As a preferred technical solution of the present invention, the centering clamping assembly includes a bidirectional threaded unit arranged on the transmission shaft, two centering slide rods symmetrically threaded on two opposite threaded ends of the bidirectional threaded unit, and two C-type clamps symmetrically fixed to the outer walls of opposite ends of the two centering slide rods.

[0015] As a preferred technical solution of the present invention, the guide assembly includes two fixed seats symmetrically fixed to the side walls of the equipment body, a guide shaft fixedly connected between the two fixed seats, and two guide sleeves fixedly embedded in two centering slide rods. The two guide sleeves are both slidably connected to the guide shafts, and the top outer wall of the transmission shaft is fixedly connected with an anti-slip rotating cap.

[0016] As an optimal technical solution of the present invention, the heat dissipation mechanism includes a ventilation channel opened in the front of the device body, a plurality of heat dissipation ports opened in the rear of the device body and distributed at equal distances, a vertical screw rotatably installed in the ventilation channel, a reciprocating slider threadedly connected to the middle of the vertical screw, a heat dissipation fan fixedly installed on the outer wall of one side of the reciprocating slider, a servo drive assembly and a temperature sensor fixedly installed on the front inner wall of the device body.

[0017] As a preferred technical solution of the present invention, the temperature sensor and the cooling fan are both electrically connected to the controller, the outer wall of the reciprocating slider is slidably connected to the inner wall of the ventilation channel, and the cooling fan is located in the device body.

[0018] As an optimal technical solution of the present invention, the servo drive assembly includes a servo motor fixedly mounted on the front outer wall of the equipment body, a driving gear fixedly mounted on the output shaft of the servo motor, and a transmission gear fixedly mounted on the top of the vertical screw and meshing with the driving gear.

[0019] As a preferred technical solution of the present invention, the signal adaptive adjustment mechanism includes a box body fixedly connected to the upper outer wall of the rear side of the device body, two rotating shafts rotatably installed in the box body, two mounting seats fixedly connected to one end of the two rotating shafts in turn, a control component, a signal sensor fixedly installed on the top outer wall of the box body, and a signal receiver and a signal transmitter fixedly installed on the top outer walls of the two mounting seats in turn.

[0020] As a preferred technical solution of the present invention, the control component includes a stepper motor fixedly installed on the side wall of the box, a linkage shaft rotatably installed in the box, two worm gears fixedly mounted on the linkage shaft in sequence, and two worm wheels fixedly mounted on the other ends of the two linkage shafts in sequence, and the signal sensor and the stepper motor are electrically connected to the controller.

[0021] As a preferred technical solution of the present invention, one end of the linkage shaft is coaxially fixedly connected to the output shaft of the stepper motor, and the two worms are respectively meshed with the two worm wheels.

[0022] The beneficial effects of the present invention are:

[0023] 1. The V2X-based shared positioning system for smart driving vehicles proposed in the present invention realizes high-precision, real-time updated location sharing through real-time communication between vehicles and infrastructure, vehicles and other vehicles, and vehicles and pedestrians, thereby improving road safety, optimizing traffic flow management, and providing reliable environmental perception for autonomous driving vehicles;

[0024] 2. The vehicle-mounted device installed on the intelligent driving vehicle of the present invention has a cable anti-drop function, which can prevent the cable from falling off due to the bumps caused by the vehicle during use, thereby reducing the failure rate and maintenance rate of the vehicle-mounted device;

[0025] 3. The vehicle-mounted device installed on the intelligent driving vehicle of the present invention has an intelligent heat dissipation function. When the temperature sensor detects that the temperature in the device body is abnormal, the heat dissipation fan will reciprocate in the device body, which can expand the heat dissipation range of the heat dissipation fan, facilitate uniform heat dissipation and cooling in the device body, improve the heat dissipation effect during the operation of the entire vehicle-mounted device, and help ensure the efficient operation of the vehicle-mounted device;

[0026] 4. The vehicle-mounted device installed on the smart driving vehicle of the present invention has a signal adaptive change adjustment function. When the smart driving vehicle equipped with the vehicle-mounted device travels to an area with weak signals, the signal receiver and signal transmitter installed on the device body will flexibly deflect to a suitable tilt angle, so that the working angles of the two can be adaptively changed and adjusted, thereby improving the effects of signal reception and signal transmission to a certain extent, thereby improving the communication effect between the V2X communication module in the vehicle-mounted device and other vehicles, roadside units and mobile terminals. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0028] Figure 1 A schematic diagram of the overall forward-looking three-dimensional structure of the vehicle-mounted equipment in a V2X-based shared positioning system for smart driving vehicles proposed by the present invention;

[0029] Figure 2 A schematic diagram of a three-dimensional enlarged structure of a cable anti-drop mechanism in an on-board device in a V2X-based shared positioning system for smart driving vehicles proposed by the present invention;

[0030] Figure 3 A schematic diagram of the overall rear-view stereoscopic structure of the vehicle-mounted equipment in a V2X-based shared positioning system for smart driving vehicles proposed by the present invention;

[0031] Figure 4 A schematic diagram of the side planar structure of a centering clamping assembly in a vehicle-mounted device in a V2X-based shared positioning system for a smart driving vehicle proposed by the present invention;

[0032] Figure 5 This is a schematic diagram of the three-dimensional structure of a signal receiver and a signal transmitter in a vehicle-mounted device in a V2X-based shared positioning system for smart driving vehicles proposed by the present invention in a retracted state;

[0033] Figure 6 A three-dimensional enlarged structural schematic diagram of a heat dissipation mechanism in an on-board device in a V2X-based shared positioning system for smart driving vehicles proposed by the present invention;

[0034] Figure 7 A schematic diagram of the internal three-dimensional structure of a box in a vehicle-mounted device in a V2X-based shared positioning system for smart driving vehicles proposed by the present invention;

[0035] Figure 8 For the present invention Figure 7 A three-dimensional enlargement of the middle A part;

[0036] Fig. 9 This is a schematic diagram of the system composition structure of a V2X-based shared positioning system for smart driving vehicles proposed in the present invention.

[0037] In the figure: 1. On-board equipment; 2. Roadside unit; 3. Mobile terminal; 4. Central processing server; 5. Assembly seat; 6. Equipment body; 7. Electrical connector; 8. Controller; 9. Mounting block; 10. Transmission shaft; 11. Bidirectional threaded unit; 12. Centering slide bar; 13. C-type clamp; 14. Ventilation channel; 15. Vertical lead screw; 16. Reciprocating slider; 17. Cooling fan; 18. Temperature sensor; 19. Servo motor; 20. Driving gear; 21. Transmission gear; 22. Box; 23. Rotating shaft; 24. Mounting seat; 25. Signal receiver; 26. Signal transmitter; 27. Stepping motor; 28. Linkage shaft; 29. ​​Worm; 30. Worm wheel; 31. Heat dissipation port; 32. Signal sensor; 33. Fixed seat; 34. Guide shaft; 35. Guide sleeve; 36. Anti-slip rotating cap. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0039] Example 1, reference Fig. 9 , a V2X-based shared positioning system for intelligent driving vehicles, comprising a vehicle-mounted device 1, a roadside unit 2, a mobile terminal 3 and a central processing server 4;

[0040] The vehicle-mounted device 1 is installed on each smart driving car, responsible for collecting the vehicle's own positioning data and communicating with other vehicles, roadside units 2 and mobile terminals 3 through the V2X communication module;

[0041] The roadside unit 2 is deployed on the road infrastructure and is responsible for receiving the positioning data from the vehicle-mounted device 1, integrating and broadcasting the data to the surrounding vehicles and the traffic management center;

[0042] Mobile terminal 3 is a portable device used by pedestrians and non-motorized vehicles, and participates in the sharing of positioning information through V2X communication technology;

[0043] The central processing server 4 is located in the server of the traffic management center, and is used to process, analyze and store the positioning data collected from each vehicle-mounted device 1 and roadside unit 2, and provide real-time traffic status information and decision support;

[0044] When the smart driving car is driving, its on-board device 1 will continuously collect GPS positioning data, and exchange this data with the surrounding roadside units 2 and other vehicles through its own V2X communication module. When the vehicle enters an area with weak GPS signals, it can obtain auxiliary positioning information from other vehicles or roadside units 2, and correct its own position estimation through its own fusion algorithm. At the same time, the latest positioning data of the smart driving vehicle will also be sent to the traffic management center for updating the traffic flow model and providing navigation services. This improves the accuracy and reliability of positioning, especially in an environment with limited GPS signals, enhances the coordination ability between vehicles, helps avoid collisions and reduce traffic congestion, and provides real-time and accurate data support for traffic management departments to better plan and manage traffic;

[0045] Further, such as Figure 1 As shown, the vehicle-mounted device 1 includes an assembly seat 5 fixed on the intelligent driving vehicle, a device body 6 fixedly installed on the top outer wall of the assembly seat 5, a controller 8 fixedly installed on the top outer wall of the device body 6, and two cable anti-detachment mechanisms, a heat dissipation mechanism and a signal adaptive adjustment mechanism arranged on both sides of the device body 6 in sequence.

[0046] Example 2, reference Figure 1-5 This embodiment is optimized on the basis of embodiment 1, specifically:

[0047] In this embodiment, a row of equally spaced electrical connectors 7 are provided on both sides of the device body 6, and the cable anti-drop mechanism includes two mounting blocks 9 symmetrically fixed to the side walls of the device body 6, a guide assembly, a transmission shaft 10 rotatably mounted between the two mounting blocks 9, and a centering clamping assembly provided on the transmission shaft 10 and having the same number as the electrical connectors 7 on one side;

[0048] Furthermore, the centering clamping assembly includes a bidirectional threaded unit 11 disposed on the transmission shaft 10, two centering slide bars 12 symmetrically threaded on two opposite threaded ends of the bidirectional threaded unit 11, and two C-shaped clamps 13 symmetrically fixed to the outer walls of opposite ends of the two centering slide bars 12;

[0049] Furthermore, the guide assembly includes two fixing seats 33 symmetrically fixed to the side walls of the device body 6, a guide shaft 34 fixedly connected between the two fixing seats 33, and two guide sleeves 35 fixedly embedded in the two centering slide bars 12. The two guide sleeves 35 are both slidably connected to the guide shaft 34, and the top outer wall of the transmission shaft 10 is fixedly connected with an anti-slip rotating cap 36;

[0050] When the cable anti-drop mechanism of this embodiment is in use: the transmission shaft 10 is driven to rotate through the anti-slip rotating cap 36, and then the bidirectional threaded unit 11 on the transmission shaft 10 will rotate, and then the two centering slide rods 12 threadedly connected on the bidirectional threaded unit 11 will drive the two C-type clamps 13 to align and move closer to clamp and fix the cables connected at the electrical connector 7, so that the various cables electrically connected on the device body 6 can be effectively clamped and fixed, which can avoid the cable falling off caused by the bumps generated by the vehicle's driving, thereby reducing the failure rate and maintenance rate of the vehicle-mounted equipment 1.

[0051] Example 3, reference Figure 1 , Figure 3 and Figure 6 This embodiment is optimized on the basis of embodiment 1, specifically:

[0052] In this embodiment, the heat dissipation mechanism includes a ventilation channel 14 opened in front of the device body 6, a plurality of heat dissipation ports 31 opened in the back of the device body 6 and distributed at equal distances, a vertical lead screw 15 rotatably installed in the ventilation channel 14, a reciprocating slider 16 threadedly connected to the middle of the vertical lead screw 15, a heat dissipation fan 17 fixedly installed on the outer wall of one side of the reciprocating slider 16, a servo drive assembly and a temperature sensor 18 fixedly installed on the inner wall of the front of the device body 6;

[0053] Further, the temperature sensor 18 and the cooling fan 17 are both electrically connected to the controller 8, the outer wall of the reciprocating slider 16 is slidably connected to the inner wall of the ventilation channel 14, and the cooling fan 17 is located in the device body 6;

[0054] Further, the servo drive assembly includes a servo motor 19 fixedly mounted on the front outer wall of the device body 6 and electrically connected to the controller 8, a drive gear 20 fixedly mounted on the output shaft of the servo motor 19, and a transmission gear 21 fixedly mounted on the top of the vertical lead screw 15 and meshing with the drive gear 20;

[0055] During the specific implementation of this embodiment: when the temperature sensor 18 detects that the temperature inside the device body 6 is abnormal, the abnormal signal will be fed back to the controller 8, and the controller 8 will control the operation of the cooling fan 17 and the servo motor 19. At this time, the servo motor 19 will control the driving gear 20 to rotate, and then the transmission gear 21 meshing with the driving gear 20 will control the vertical screw 15 to rotate. Under the limit of the ventilation channel 14, the reciprocating slider 16 threadedly connected to the vertical screw 15 will drive the cooling fan 17 to reciprocate in the device body 6, which can expand the heat dissipation range of the cooling fan 17, facilitate uniform heat dissipation and cooling in the device body 6, improve the heat dissipation effect during the operation of the entire vehicle-mounted device 1, and help to ensure the efficient operation of the vehicle-mounted device 1.

[0056] Example 4, reference Figure 1 , Figure 5 , Figure 7-8 This embodiment is optimized on the basis of embodiment 1, specifically:

[0057] In this embodiment, the signal adaptive adjustment mechanism includes a box body 22 fixedly connected to the upper outer wall of the rear side of the device body 6, two rotating shafts 23 rotatably installed in the box body 22, two mounting seats 24 fixedly connected to one end of the two rotating shafts 23 in sequence, a control component, a signal sensor 32 fixedly installed on the top outer wall of the box body 22, and a signal receiver 25 and a signal transmitter 26 fixedly installed on the top outer walls of the two mounting seats 24 in sequence;

[0058] Furthermore, the control assembly includes a stepper motor 27 fixedly mounted on the side wall of the box 22, a linkage shaft 28 rotatably mounted in the box 22, two worms 29 fixedly mounted on the linkage shaft 28 in sequence, and two worm wheels 30 fixedly mounted on the other ends of the two linkage shafts 28 in sequence;

[0059] Further, one end of the linkage shaft 28 is coaxially fixedly connected to the output shaft of the stepper motor 27, the two worms 29 are respectively meshed with the two worm wheels 30, and the signal sensor 32 and the stepper motor 27 are both electrically connected to the controller 8;

[0060] In the specific implementation of this embodiment: when the smart driving vehicle equipped with the vehicle-mounted device 1 travels to an area with weak signals, the signal sensor 32 will sense the weak signal and feed it back to the controller 8, and the controller 8 will control the stepper motor 27 to operate. At this time, the two worms 29 on the linkage shaft 28 are driven by the stepper motor 27 to rotate, and then the two worm wheels 30 engaged with the two worms 29 will drive the two mounting seats 24 on the two rotating shafts 23 to rotate a certain angle, so that the signal receiver 25 and the signal transmitter 26 installed on the two mounting seats 24 can be flexibly deflected to a suitable tilt angle, so that the working angles of the two can be adaptively changed and adjusted, thereby improving the signal reception and signal transmission effects to a certain extent, thereby improving the communication effect between the V2X communication module in the vehicle-mounted device 1 and other vehicles, the roadside unit 2 and the mobile terminal 3.

[0061] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A shared positioning system for intelligent driving vehicles based on V2X, characterized in that: It includes an on-vehicle device (1), a roadside unit (2), a mobile terminal (3) and a central processing server (4); The vehicle-mounted device (1) is installed on each smart driving car, is responsible for collecting the vehicle's own positioning data, and communicates with other vehicles, roadside units (2) and mobile terminals (3) through a V2X communication module; The roadside unit (2) is deployed on the road infrastructure and is responsible for receiving positioning data from the vehicle-mounted device (1), integrating the data and broadcasting it to surrounding vehicles and traffic management centers; The mobile terminal (3) is a portable device used by pedestrians and non-motorized vehicles, and participates in the sharing of positioning information through V2X communication technology; The central processing server (4) is located at a server of a traffic management center, and is used to process, analyze and store positioning data collected from various vehicle-mounted devices (1) and roadside units (2), and provide real-time traffic status information and decision support; The vehicle-mounted device (1) comprises an assembly seat (5) fixed on the intelligent driving vehicle, a device body (6) fixedly mounted on the top outer wall of the assembly seat (5), a controller (8) fixedly mounted on the top outer wall of the device body (6), two cable anti-dropping mechanisms, a heat dissipation mechanism and a signal self-adaptive adjustment mechanism sequentially arranged on both sides of the device body (6).

2. A V2X-based shared positioning system for smart driving vehicles according to claim 1, characterized in that: Both sides of the device body (6) are provided with a row of electrical connectors (7) distributed at equal distances, and the cable anti-drop mechanism comprises two mounting blocks (9) symmetrically fixed to the side walls of the device body (6), a guide assembly, a transmission shaft (10) rotatably mounted between the two mounting blocks (9), and a centering clamping assembly provided on the transmission shaft (10) and having the same number as the electrical connectors (7) on one side.

3. A V2X-based shared positioning system for smart driving vehicles according to claim 2, characterized in that: The centering clamping assembly comprises a bidirectional threaded unit (11) arranged on a transmission shaft (10), two centering slide bars (12) symmetrically threaded on two opposite threaded ends of the bidirectional threaded unit (11), and two C-shaped clamps (13) symmetrically fixed to the outer walls of opposite ends of the two centering slide bars (12).

4. The V2X-based shared positioning system for smart driving vehicles according to claim 2, characterized in that: The guide assembly comprises two fixing seats (33) symmetrically fixed to the side walls of the equipment body (6), a guide shaft (34) fixedly connected between the two fixing seats (33), and two guide sleeves (35) fixedly embedded in two centering slide bars (12), the two guide sleeves (35) are both slidably connected to the guide shaft (34), and the top outer wall of the transmission shaft (10) is fixedly connected with an anti-skid rotating cap (36).

5. The V2X-based shared positioning system for smart driving vehicles according to claim 1, characterized in that: The heat dissipation mechanism comprises a ventilation channel (14) provided at the front of the device body (6), a plurality of heat dissipation ports (31) provided at the rear of the device body (6) and distributed at equal distances, a vertical lead screw (15) rotatably installed in the ventilation channel (14), a reciprocating slider (16) threadedly connected to the middle of the vertical lead screw (15), a heat dissipation fan (17) fixedly installed on the outer wall of one side of the reciprocating slider (16), a servo drive assembly, and a temperature sensor (18) fixedly installed on the inner wall of the front of the device body (6).

6. A V2X-based shared positioning system for intelligent driving vehicles according to claim 5, characterized in that: The temperature sensor (18) and the cooling fan (17) are both electrically connected to the controller (8), the outer wall of the reciprocating slider (16) is slidably connected to the inner wall of the ventilation channel (14), and the cooling fan (17) is located in the device body (6).

7. The V2X-based shared positioning system for smart driving vehicles according to claim 5, characterized in that: The servo drive assembly comprises a servo motor (19) fixedly mounted on the front outer wall of the equipment body (6), a driving gear (20) fixedly sleeved on the output shaft of the servo motor (19), and a transmission gear (21) fixedly sleeved on the top end of the vertical lead screw (15) and meshing with the driving gear (20).

8. The V2X-based shared positioning system for smart driving vehicles according to claim 1, characterized in that: The signal adaptive adjustment mechanism comprises a box body (22) fixedly connected to the upper outer wall of the rear side of the device body (6), two rotating shafts (23) rotatably installed in the box body (22), two mounting seats (24) fixedly connected to one end of the two rotating shafts (23) in sequence, a control component, a signal sensor (32) fixedly installed on the top outer wall of the box body (22), and a signal receiver (25) and a signal transmitter (26) fixedly installed on the top outer walls of the two mounting seats (24) in sequence.

9. A V2X-based shared positioning system for intelligent driving vehicles according to claim 8, characterized in that: The control assembly comprises a stepper motor (27) fixedly mounted on the side wall of the housing (22), a linkage shaft (28) rotatably mounted in the housing (22), two worm gears (29) fixedly mounted on the linkage shaft (28) in sequence, and two worm wheels (30) fixedly mounted on the other ends of the two linkage shafts (28) in sequence, and the signal sensor (32) and the stepper motor (27) are both electrically connected to the controller (8).

10. A V2X-based shared positioning system for intelligent driving vehicles according to claim 9, characterized in that: One end of the linkage shaft (28) is coaxially fixedly connected to the output shaft of the stepping motor (27), and the two worms (29) are respectively meshed with the two worm wheels (30).

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