Method for vehicle positioning, vehicle-mounted UWB device, roadside UWB device and medium

Abstract

Embodiments of the present disclosure relate to a method for vehicle positioning, a vehicle-mounted UWB device, a roadside UWB device, and a medium. According to the method, a first relative horizontal distance between a vehicle-mounted UWB device and a roadside UWB device at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment are determined; the location information of the roadside UWB device is obtained; the first moving distance of the vehicle where the vehicle-mounted UWB device is located from the first moment to the second moment and the second moving distance from the second moment to the third moment are determined; and based on the first moving distance and the second moving distance, the moving trajectory of the vehicle is determined on three circles with the location information of the roadside UWB device as the center and the first relative horizontal distance, the second relative horizontal distance, and the third relative horizontal distance as the radius. Thus, high-precision vehicle positioning can be achieved at a low cost.

Description

Technical Field

[0001] The embodiments of the present disclosure generally relate to the field of information processing, and more particularly to a method for vehicle positioning, a vehicle-mounted UWB device, a roadside UWB device, and a computer storage medium. Background Art

[0002] With the continuous evolution of new technologies and new models such as intelligent transportation, autonomous driving, and smart cockpits, the demand for high-precision positioning of vehicles has become increasingly urgent.

[0003] The traditional global navigation satellite system (GNSS) can only meet general positioning needs. Its usual positioning accuracy is 5 to 10 meters, and in some cases greater than 10 meters. Therefore, it cannot meet the requirements of high-precision positioning at the sub-meter, decimeter, or even centimeter level. Summary of the invention

[0004] Provided are a method for vehicle positioning, a vehicle-mounted UWB device, a roadside UWB device, and a computer storage medium, which can realize high-precision vehicle positioning at low cost.

[0005] According to the first aspect of the present disclosure, a method for vehicle positioning is provided. The method includes: determining a first relative horizontal distance between a vehicle-mounted UWB device and a roadside UWB device at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment, wherein the first moment is earlier than the second moment, and the second moment is earlier than the third moment; obtaining the location information of the roadside UWB device; determining a first moving distance of the vehicle where the vehicle-mounted UWB device is located from the first moment to the second moment and a second moving distance of the vehicle from the second moment to the third moment; and based on the first moving distance and the second moving distance, determining the movement trajectory of the vehicle on three circles with the location information of the roadside UWB device as the center and the first relative horizontal distance, the second relative horizontal distance, and the third relative horizontal distance as the radius.

[0006] According to a second aspect of the present disclosure, a vehicle-mounted UWB device is provided. The vehicle-mounted UWB device includes: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to the first aspect.

[0007] According to a third aspect of the present disclosure, a roadside UWB device is provided. The roadside UWB device includes: at least one processor, and a memory connected to the at least one processor in communication, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to the first aspect.

[0008] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0009] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0011] Figure 1 is a schematic diagram of an information processing environment 100 according to an embodiment of the present disclosure.

[0012] Figure 2 is a schematic diagram of a method 200 for vehicle positioning according to an embodiment of the present disclosure.

[0013] Figure 3 is a schematic diagram of a vehicle in a state 300 at different times according to an embodiment of the present disclosure.

[0014] Figure 4 It is a schematic diagram of a method 400 for determining a moving trajectory of a vehicle on three circles with the location information of a roadside UWB device as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius according to an embodiment of the present disclosure.

[0015] Figure 5 It is a schematic diagram of a process 500 for determining a moving trajectory of a vehicle on three circles with the location information of a roadside UWB device as the center and with the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius respectively according to an embodiment of the present disclosure.

[0016] Figure 6 It is a schematic diagram of a method 600 for determining a moving trajectory of a vehicle on three circles with the location information of a roadside UWB device as the center and with the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius respectively according to an embodiment of the present disclosure.

[0017] Figure 7 It is a schematic diagram of a process 700 for determining a moving trajectory of a vehicle on three circles with the location information of a roadside UWB device as the center and with the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius according to an embodiment of the present disclosure.

[0018] Figure 8 is a schematic diagram of a process 800 for vehicle localization according to an embodiment of the present disclosure.

[0019] Fig. 9 is a schematic diagram of a process 900 for vehicle localization according to an embodiment of the present disclosure.

[0020] Fig.10 1 is a block diagram of a computing device 1000 for implementing the method for vehicle positioning according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0022] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0023] As mentioned above, traditional GNSS cannot meet the requirements of high-precision positioning. There are currently three main technical forms in the high-precision solutions for intelligent transportation and vehicle positioning: 1) differential positioning methods based on RTK (ground-based positioning) and RTD (satellite-based positioning); 2) technologies that closely integrate RTK differential positioning with inertial navigation position calculation and other position information; 3) high-precision positioning technology based on camera or laser point cloud recognition of position information.

[0024] The above solutions can achieve high-precision positioning capabilities, but they cannot provide continuous, stable and reliable high-precision services or require high-cost software and hardware configurations (such as laser and millimeter-wave radar, high-precision maps), resulting in low penetration rates and other problems.

[0025] 1. Differential positioning method based on RTK (ground-based positioning) and RTD (satellite-based positioning)

[0026] This technology requires the use of a GNSS receiver to provide basic location information, and then combines it with the RTK data received through the wireless communication network to perform local differential positioning to improve real-time positioning accuracy.

[0027] This solution is usually very accurate in positioning in open and unobstructed areas (when using wireless communication networks, the communication channel must be unobstructed and the delay must be low), and can achieve centimeter-level positioning. However, in urban areas (or mountainous areas), when there are buildings, elevated roads, tree shades, and hillsides nearby, it is susceptible to multipath interference and serious offset. At the same time, the delay of the wireless communication network will also affect the position accuracy. Therefore, under the condition of random interference from the environment, its positioning accuracy has serious deviations, and its reliability and stability are insufficient.

[0028] 2. Use fusion inertial navigation technology plus RTK or other position matching technology

[0029] This solution requires the support of high-precision inertial navigation equipment and RTK differential data to provide reliable position accuracy. Considering that RTK differential positioning input may be affected by environmental factors, the reliability and stability of its positioning output are not enough to meet the needs of actual scenarios.

[0030] 3. High-precision positioning technology (SLAM technology) based on image recognition or laser point cloud recognition

[0031] This solution requires the vehicle itself to be equipped with high-precision cameras or lidar and other equipment to match high-precision maps. The implantation of this equipment and functions is basically only applicable to advanced autonomous driving vehicles, and the cost is unaffordable for ordinary vehicles.

[0032] In order to at least partially solve one or more of the above problems and other potential problems, an example embodiment of the present disclosure proposes a solution for vehicle positioning. In this solution, the first relative horizontal distance between the vehicle-mounted UWB device and the roadside UWB device at the first moment, the second relative horizontal distance at the second moment, and the third relative horizontal distance at the third moment are determined, the first moment is earlier than the second moment, and the second moment is earlier than the third moment; the location information of the roadside UWB device is obtained; the first moving distance of the vehicle where the vehicle-mounted UWB device is located from the first moment to the second moment and the second moving distance of the vehicle from the second moment to the third moment are determined; and based on the first moving distance and the second moving distance, the moving trajectory of the vehicle is determined on three circles with the location information of the roadside UWB device as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius. In this way, high-precision vehicle positioning can be achieved at low cost.

[0033] Hereinafter, specific examples of the present solution will be described in more detail with reference to the accompanying drawings.

[0034] Figure 1A schematic diagram of an example of an information processing environment 100 according to an embodiment of the present disclosure is shown. The information processing environment 100 may include a roadside UWB (Ultra-wideband) device 110, a vehicle-mounted UWB device 120, and a vehicle 130 in which the vehicle-mounted UWB device 120 is located. It should be understood that the roadside UWB device 110 may be located on the side of any road or in a tunnel.

[0035] The roadside UWB device 110 and the vehicle-mounted UWB device 120 can communicate and locate via UWB technology. For example, the roadside UWB device 110 or the vehicle-mounted UWB device 120 can determine the relative distance between each other via the time of flight (ToF) between the roadside UWB device 110 and the vehicle-mounted UWB device 120.

[0036] In some embodiments, the roadside UWB device 110 and the vehicle-mounted UWB device 120 may have one or more processing units, including dedicated processing units such as image processing units GPU, field programmable gate arrays FPGA and application-specific integrated circuits ASIC, and general-purpose processing units such as central processing units CPU. The roadside UWB device 110 and the vehicle-mounted UWB device 120 may have a memory that is communicatively connected to the one or more processing units, wherein the memory stores instructions that can be executed by one or more processing units, and the instructions are executed by one or more processing units to enable one or more processors to perform related functions. The roadside UWB device 110 and the vehicle-mounted UWB device 120 may also have a communication unit for UWB communication between each other.

[0037] The roadside UWB device 110 or the vehicle-mounted UWB device 120 can be used to determine a first relative horizontal distance at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment between the vehicle-mounted UWB device 120 and the roadside UWB device 110, wherein the first moment is earlier than the second moment, and the second moment is earlier than the third moment; obtain the location information of the roadside UWB device 110; determine a first moving distance from the first moment to the second moment of the vehicle 130 where the vehicle-mounted UWB device 120 is located and a second moving distance from the second moment to the third moment; and based on the first moving distance and the second moving distance, determine the moving trajectory of the vehicle 130 on three circles with the location information of the roadside UWB device 110 as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius respectively.

[0038] This makes it possible to achieve high-precision vehicle positioning at low cost.

[0039] Figure 2 FIG. 2 shows a flow chart of a method 200 for vehicle positioning according to an embodiment of the present disclosure. For example, the method 200 may be performed as follows: Figure 1 The method 200 is performed by the roadside UWB device 110 or the vehicle-mounted UWB device 120. It should be understood that the method 200 may further include additional blocks not shown and / or may omit the blocks shown, and the scope of the present disclosure is not limited in this respect.

[0040] At box 202, the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines a first relative horizontal distance at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment between the vehicle-mounted UWB device 120 and the roadside UWB device 110, the first moment being earlier than the second moment, and the second moment being earlier than the third moment.

[0041] In some embodiments, the roadside UWB device 110 or the vehicle-mounted UWB device 120 may determine a first relative distance between the vehicle-mounted UWB device 120 and the roadside UWB device 110 at a first moment. The roadside UWB device 110 or the vehicle-mounted UWB device 120 may obtain the installation height of the vehicle-mounted UWB device 120 and the installation height of the roadside UWB device 110. Subsequently, the roadside UWB device 110 or the vehicle-mounted UWB device 120 may determine the relative vertical distance between the roadside UWB device 110 and the vehicle-mounted UWB device 120 based on the installation height of the vehicle-mounted UWB device 120 and the installation height of the roadside UWB device 110. Next, the roadside UWB device 110 or the vehicle-mounted UWB device 120 may determine the first relative horizontal distance based on the first relative distance and the relative vertical distance. It should be understood that block 202 may be performed before block 204, block 204 may be performed before block 202, or block 202 and block 204 may be performed in parallel, and the scope of the present disclosure is not limited thereto.

[0042] like Figure 3 As shown, the vehicle 130 where the vehicle-mounted UWB device 120 is located is located at P1, P2 and P3 at the first moment t1, the second moment t2 and the third moment t3, respectively, and is constantly approaching the roadside UWB device 110. At the first moment t1, the second moment t2 and the third moment t3, the flight time between the vehicle-mounted UWB device 120 and the roadside UWB device 110 is ToF1, ToF2 and ToF3 respectively, then the first relative distance S1, the second relative distance S2 and the third relative distance S3 between the vehicle-mounted UWB device 120 and the roadside UWB device 110 can be determined to be ToF1*c, ToF2*c and ToF3*c respectively, where c is the speed of light. It should be understood that determining the relative distance between the roadside UWB device 110 and the vehicle-mounted UWB device 120 by flight time is only an example, and can also be determined by other suitable methods, such as arrival time, etc., and the scope of the present disclosure is not limited here.

[0043] The installation height of the roadside UWB device 110 is H, and the installation height of the vehicle-mounted UWB device 120 is h. The installation height of the roadside UWB device 110 can be stored at the roadside UWB device 110, and the installation height of the vehicle-mounted UWB device 120 can be stored at the vehicle-mounted UWB device 120. When method 200 is executed at the roadside UWB device 110, the roadside UWB device 110 can receive the installation height of the vehicle-mounted UWB device 120 from the vehicle-mounted UWB device 120. When method 200 is executed at the vehicle-mounted UWB device 120, the vehicle-mounted UWB device 120 can receive the installation height of the roadside UWB device 110 from the roadside UWB device 110. The relative vertical distance between the roadside UWB device 110 and the vehicle-mounted UWB device 120 is Hh. The first relative horizontal distance R1 can be determined as R1=[S1 2 -(Hh) 2 ] 1 / 2 .

[0044] The second relative horizontal distance R2 and the third relative horizontal distance R3 can be determined in a similar manner to the first relative horizontal distance R2 = [S2 2 -(Hh) 2 ] 1 / 2 , R3=[S3 2 -(Hh) 2 ] 1 / 2 The specific process will not be described in detail.

[0045] As a result, the problem of inaccurate positioning caused by the height difference between the roadside UWB device and the vehicle-mounted UWB device is eliminated, and the positioning accuracy is improved.

[0046] Before determining the first relative distance, the second relative distance, and the third relative distance, the roadside UWB device 110 and the vehicle UWB device 120 may perform authentication, establish a connection, and perform time calibration after entering each other's detection range (eg, 20 meters).

[0047] At block 204 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 obtains location information of the roadside UWB device 110 .

[0048] The location information of the roadside UWB device 110 includes, for example, but is not limited to, the longitude and latitude information of the roadside UWB device 110 , which may be stored at the roadside UWB device 110 .

[0049] When the method 200 is executed at the in-vehicle UWB device 120 , the in-vehicle UWB device 120 may receive the location information of the roadside UWB device 110 from the roadside UWB device 110 .

[0050] At box 206 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines a first moving distance of the vehicle 130 where the vehicle-mounted UWB device 120 is located from the first moment to the second moment and a second moving distance of the vehicle 130 from the second moment to the third moment.

[0051] When method 200 is executed at the on-board UWB device 120, the on-board UWB device 120 can obtain the speed of the vehicle 130 between the first moment and the third moment, determine the first moving distance based on the speed and the time interval between the first moment and the second moment, and determine the second moving distance based on the speed and the time interval between the second moment and the third moment.

[0052] like Figure 3 As shown, the speed of the vehicle 130 where the on-board UWB device 120 is located between the first moment t1 and the third moment t3 is V (for example, the average speed), then the first moving distance D1 is (t2-t1)*V, and the second moving distance D2 is (t3-t2)*V.

[0053] When the method 200 is executed at the roadside UWB device 110 , the roadside UWB device 110 may receive the first moving distance and the second moving distance from the in-vehicle UWB device 120 .

[0054] At box 208, the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines the moving trajectory of the vehicle 130 on three circles with the location information of the roadside UWB device 110 as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius based on the first moving distance and the second moving distance.

[0055] Combined with the following Figure 4-7 A method for determining a moving trajectory of a vehicle 130 on three circles with the location information of a roadside UWB device 110 as a center and with a first relative horizontal distance, a second relative horizontal distance and a third relative horizontal distance as radii is described in detail.

[0056] When the method 200 is executed at the roadside UWB device 110 , in some embodiments, the roadside UWB device 110 may also send the movement trajectory of the vehicle 130 to the on-board UWB device 120 .

[0057] Therefore, high-precision vehicle positioning is achieved by using only one vehicle-mounted UWB device and one roadside UWB device, which reduces costs compared to traditional solutions. Since UWB positioning has high accuracy and is not affected by the environment, its application scenarios are more extensive and reliable. In addition, in specific areas, when GNSS global positioning is interfered by the environment, using roadside UWB devices to provide positioning information support is a good supplement.

[0058] Figure 4 A flowchart of a method 400 for determining a moving track of a vehicle 130 on three circles with the location information of a roadside UWB device 110 as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius is shown according to an embodiment of the present disclosure. For example, the method 400 may be performed as follows: Figure 1 The method 400 may be performed by the roadside UWB device 110 or the vehicle-mounted UWB device 120 shown. It should be understood that the method 400 may also include additional blocks not shown and / or may omit the blocks shown, and the scope of the present disclosure is not limited in this respect. In this embodiment, it is considered that the moving direction of the vehicle between the first moment and the third moment has not changed.

[0059] At block 402 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines a third moving distance from a first time to a third time based on the first moving distance and the second moving distance.

[0060] Since the moving direction of the vehicle does not change, the first moving distance and the second moving distance can be added to obtain a third moving distance D3 = D1 + D2.

[0061] At box 404, the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines four moving trajectories, each of the four moving trajectories includes a first point on a first circle with the roadside UWB device 110 as the center and the first relative horizontal distance as the radius, a second point on a second circle with the roadside UWB device 110 as the center and the second relative horizontal distance as the radius, and a third point on a third circle with the roadside UWB device 110 as the center and the third relative horizontal distance as the radius, the first point is separated from the second point by a first moving distance, the second point is separated from the third point by a second moving distance, and the first point is separated from the third point by a third moving distance.

[0062] like Figure 5 As shown, there is a first circle 520 with the location information of the roadside UWB device 110 as the center 510 and the first relative horizontal distance R1 as the radius, a second circle 530 with the location information of the roadside UWB device 110 as the center 510 and the second relative horizontal distance R2 as the radius, and a third circle 540 with the location information of the roadside UWB device 110 as the center 510 and the third relative horizontal distance R3 as the radius.

[0063] For example, the location information of the roadside UWB device is represented as (a, b), the first point on the first circle 520 can be represented as (X1, Y1), the second point on the second circle 530 can be represented as (X2, Y2), and the third point on the third circle 540 can be represented as (X3, Y3). The first point, the second point, and the third point meet the following conditions: 1) (X1-a) 2 +(Y1-b)2 =R1 2 ; 2)(X2-a) 2 +(Y2-b) 2 =R2 2 ; 3)(X3-a) 2 +(Y3-b) 2 =R3 2 ; 4)(X1-X2) 2 +(Y1-Y2) 2 =D1 2 ;5)(X3-X2) 2 +(Y3-Y2) 2 =D2 2 ;6)(X1-X3) 2 +(Y1-Y3) 2 =D3 2 .

[0064] By solving the above-mentioned set of six quadratic equations, four sets of solutions can be calculated, that is, four moving trajectories, namely (first point 521, second point 531, third point 541), (first point 522, second point 532, third point 542), (first point 523, second point 533, third point 543), and (first point 524, second point 534, third point 544).

[0065] At block 406 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 obtains the moving direction of the vehicle 130 between the first time and the third time.

[0066] When executed at the vehicle-mounted UWB device 120, the vehicle-mounted UWB device 120 may obtain the GNSS signal of the vehicle 130 where the vehicle-mounted UWB device 120 is located between the first moment and the third moment, thereby determining the moving direction of the vehicle 130 between the first moment and the third moment. Alternatively, the vehicle-mounted UWB device 120 may obtain the direction sensor information or angular velocity sensor information of the vehicle 130 between the first moment and the third moment, thereby determining the moving direction of the vehicle 130 between the first moment and the third moment.

[0067] When executed at the roadside UWB device 110 , the roadside UWB device 110 may receive the above-mentioned moving direction from the vehicle-mounted UWB device 120 .

[0068] At block 408 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines a movement trajectory that matches the movement direction from the four movement trajectories.

[0069] For example, if the moving direction of the vehicle is from the upper right to the lower left, the matching moving trajectory is determined to be (first point 521, second point 531, third point 541). If the moving direction of the vehicle is from the lower right to the upper left, the matching moving trajectory is determined to be (first point 522, second point 532, third point 542). If the moving direction of the vehicle is from the upper left to the lower right, the matching moving trajectory is determined to be (first point 523, second point 533, third point 543). If the moving direction of the vehicle is from the lower left to the upper right, the matching moving trajectory is determined to be (first point 524, second point 534, third point 544). The matching moving trajectory can be determined based on the moving direction of the vehicle. This solution can be applicable to the situation where the roadside UWB device 110 is located on both sides of the road (that is, there is a lane on one side of the roadside UWB device 110 and no lane on the other side) or the middle isolation zone of the road (that is, there are lanes on both sides of the roadside UWB device 110).

[0070] Alternatively, in some embodiments, at box 406, the roadside UWB device 110 or the vehicle-mounted UWB device 120 obtains map lane information within a predetermined range centered on the location information of the roadside UWB device 110, and the map lane information indicates the lane area and lane direction. The predetermined range includes, for example, but is not limited to a rectangle, a circle, etc. with a predetermined size. At box 408, the roadside UWB device 110 or the vehicle-mounted UWB device 120 can determine a moving trajectory that matches the map lane information from the four moving trajectories. This solution can be applicable to the situation where the roadside UWB device 110 is located on both sides of the road, that is, the situation where there is a lane on one side of the roadside UWB device 110 and no lane on the other side.

[0071] For example, if the map lane information indicates that the lane area is located on the upper side of the roadside UWB device 110 and the lane direction is from right to left, the matching moving trajectory is determined to be (first point 521, second point 531, third point 541). If the map lane information indicates that the lane area is located on the lower side of the roadside UWB device 110 and the lane direction is from right to left, the matching moving trajectory is determined to be (first point 522, second point 532, third point 542). If the map lane information indicates that the lane area is located on the upper side of the roadside UWB device 110 and the lane direction is from left to right, the matching moving trajectory is determined to be (first point 523, second point 533, third point 543). If the map lane information indicates that the lane area is located on the lower side of the roadside UWB device 110 and the lane direction is from left to right, the matching moving trajectory is determined to be (first point 524, second point 534, third point 544). Thus, the matching moving trajectory is screened out using the map lane information.

[0072] In this way, the movement trajectory of the vehicle relative to the roadside UWB device can be accurately determined.

[0073] Figure 6 The flowchart of a method 600 for determining the moving track of the vehicle 130 on three circles with the location information of the roadside UWB device 110 as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius according to an embodiment of the present disclosure is shown. For example, the method 600 may be performed as follows: Figure 1 The method 400 is performed by the roadside UWB device 110 or the vehicle-mounted UWB device 120 shown. It should be understood that the method 400 may also include additional boxes not shown and / or the boxes shown may be omitted, and the scope of the present disclosure is not limited in this respect. In this embodiment, the moving direction of the vehicle changes at the second moment, and the moving direction from the second moment to the third moment turns relative to the moving direction from the first moment to the second moment, for example, the turning angle is Q.

[0074] At block 602 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 obtains a turning angle Q of the vehicle 130 at a second moment.

[0075] When executed at the roadside UWB device 110 , the roadside UWB device 110 may obtain the turning angle of the vehicle 130 at the second moment from the onboard UWB device 120 .

[0076] When executed at the in-vehicle UWB device 120 , the in-vehicle UWB device 120 may obtain a turning angle of the vehicle 130 at the second moment.

[0077] At block 604 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines a third moving distance from the first moment to a third moment based on the turning angle Q of the vehicle 130 at the second moment, the first moving distance, and the second moving distance.

[0078] The turning angle of the vehicle 130 at the second moment is Q, and the angle between the first moving distance D1 and the second moving distance D2 is 180-Q. The third moving distance D3 can be calculated by the cosine theorem to be (D1 2 +D2 2 -2D1*D2*cos(180-Q)) 1 / 2 .

[0079] At box 606, the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines four moving trajectories, each of the four moving trajectories includes a first point on a first circle with the roadside UWB device 110 as the center and the first relative horizontal distance as the radius, a second point on a second circle with the roadside UWB device 110 as the center and the second relative horizontal distance as the radius, and a third point on a third circle with the roadside UWB device 110 as the center and the third relative horizontal distance as the radius, the first point is separated from the second point by a first moving distance, the second point is separated from the third point by a second moving distance, and the first point is separated from the third point by a third moving distance.

[0080] like Figure 7 As shown, there is a first circle 720 with the location information of the roadside UWB device 110 as the center 710 and the first relative horizontal distance R1 as the radius, a second circle 730 with the location information of the roadside UWB device 110 as the center 710 and the second relative horizontal distance R2 as the radius, and a third circle 740 with the location information of the roadside UWB device 110 as the center 710 and the third relative horizontal distance R3 as the radius.

[0081] For example, the location information of the roadside UWB device is represented as (a, b), the first point on the first circle 720 can be represented as (X1, Y1), the second point on the second circle 730 can be represented as (X2, Y2), and the third point on the third circle 740 can be represented as (X3, Y3). The first point, the second point, and the third point meet the following conditions: 1) (X1-a) 2 +(Y1-b) 2 =R1 2 ; 2)(X2-a) 2 +(Y2-b) 2 =R2 2 ; 3)(X3-a) 2 +(Y3-b) 2 =R3 2 ; 4)(X1-X2) 2 +(Y1-Y2) 2 =D1 2 ;5)(X3-X2) 2 +(Y3-Y2) 2 =D2 2 ;6)(X1-X3) 2 +(Y1-Y3) 2 =D3 2 .

[0082] By solving the above-mentioned set of six quadratic equations, four sets of solutions can be calculated, that is, four moving trajectories, namely (first point 721, second point 731, third point 741), (first point 722, second point 732, third point 742), (first point 723, second point 733, third point 743), and (first point 724, second point 734, third point 744).

[0083] At block 608 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 obtains the moving direction of the vehicle 130 between the first time and the third time.

[0084] When executed at the vehicle-mounted UWB device 120, the vehicle-mounted UWB device 120 may obtain the GNSS signal of the vehicle 130 where the vehicle-mounted UWB device 120 is located between the first moment and the third moment, thereby determining the moving direction of the vehicle 130 between the first moment and the third moment. Alternatively, the vehicle-mounted UWB device 120 may obtain the direction sensor information or angular velocity sensor information of the vehicle 130 between the first moment and the third moment, thereby determining the moving direction of the vehicle 130 between the first moment and the third moment.

[0085] When executed at the roadside UWB device 110 , the roadside UWB device 110 may receive the above-mentioned moving direction from the vehicle-mounted UWB device 120 .

[0086] At block 610 , the roadside UWB device 110 or the vehicle-mounted UWB device 120 determines a movement trajectory that matches the movement direction from the four movement trajectories.

[0087] For example, if the moving direction of the vehicle is from the upper right to the lower left, the matching moving trajectory is determined to be (first point 721, second point 731, third point 741). If the moving direction of the vehicle is from the lower right to the upper left, the matching moving trajectory is determined to be (first point 722, second point 732, third point 742). If the moving direction of the vehicle is from the upper left to the lower right, the matching moving trajectory is determined to be (first point 723, second point 733, third point 743). If the moving direction of the vehicle is from the lower left to the upper right, the matching moving trajectory is determined to be (first point 724, second point 734, third point 744). Thus, the matching moving trajectory can be screened out using the moving direction of the vehicle. This solution can be applicable to situations where the roadside UWB device 110 is located on both sides of the road (that is, there is a lane on one side of the roadside UWB device 110 and no lane on the other side) or in the middle isolation zone of the road (that is, there are lanes on both sides of the roadside UWB device 110).

[0088] Alternatively, in some embodiments, at box 608, the roadside UWB device 110 or the vehicle-mounted UWB device 120 obtains map lane information within a predetermined range centered on the location information of the roadside UWB device 110, and the map lane information indicates the lane area and lane direction. The predetermined range includes, for example, but is not limited to a rectangle, a circle, etc. with a predetermined size. At box 610, the roadside UWB device 110 or the vehicle-mounted UWB device 120 can determine a moving trajectory that matches the map lane information from the four moving trajectories. This solution can be applicable to the situation where the roadside UWB device 110 is located on both sides of the road, that is, the situation where there is a lane on one side of the roadside UWB device 110 and no lane on the other side.

[0089] For example, if the map lane information indicates that the lane area is located on the upper side of the roadside UWB device 110 and the lane direction is from right to left, the matching moving trajectory is determined to be (first point 721, second point 731, third point 741). If the map lane information indicates that the lane area is located on the lower side of the roadside UWB device 110 and the lane direction is from right to left, the matching moving trajectory is determined to be (first point 722, second point 732, third point 742). If the map lane information indicates that the lane area is located on the upper side of the roadside UWB device 110 and the lane direction is from left to right, the matching moving trajectory is determined to be (first point 723, second point 733, third point 743). If the map lane information indicates that the lane area is located on the lower side of the roadside UWB device 110 and the lane direction is from left to right, the matching moving trajectory is determined to be (first point 724, second point 734, third point 744). Thus, the matching moving trajectory is screened out using the map lane information.

[0090] Therefore, since the turning angle at the second moment is taken into account, the movement trajectory of the vehicle relative to the roadside UWB device can be determined more accurately compared to the case where it is not taken into account.

[0091] Figure 8 FIG. 8 is a schematic diagram of a process 800 for vehicle positioning according to an embodiment of the present disclosure. Figure 8 As shown, at 802, the roadside UWB device 110 determines a first relative horizontal distance at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment between the vehicle-mounted UWB device 120 and the roadside UWB device 110, the first moment being earlier than the second moment, and the second moment being earlier than the third moment.

[0092] At 804 , the roadside UWB device 110 obtains location information of the roadside UWB device 110 .

[0093] At 806 , the roadside UWB device 110 receives from the on-vehicle UWB device 120 a first moving distance of the vehicle 130 where the on-vehicle UWB device 120 is located from the first moment to the second moment and a second moving distance of the vehicle 130 from the second moment to the third moment.

[0094] At 808 , the roadside UWB device 110 determines the moving trajectory of the vehicle 130 on three circles with the location information of the roadside UWB device 110 as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius based on the first moving distance and the second moving distance.

[0095] At 810 , the roadside UWB device 110 sends the movement trajectory of the vehicle 130 to the onboard UWB device 120 .

[0096] Therefore, high-precision vehicle positioning is achieved by using only one vehicle-mounted UWB device and one roadside UWB device, which reduces costs compared to traditional solutions. Since UWB positioning has high accuracy and is not affected by the environment, its application scenarios are more extensive and reliable. In addition, in specific areas, when GNSS global positioning is interfered by the environment, using roadside UWB devices to provide positioning information support is a good supplement.

[0097] Fig. 9 FIG. 9 is a schematic diagram of a process 900 for vehicle positioning according to an embodiment of the present disclosure. Fig. 9 As shown, at 902, the on-board UWB device 120 determines a first relative horizontal distance at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment between the on-board UWB device 120 and the roadside UWB device 110, the first moment being earlier than the second moment, and the second moment being earlier than the third moment.

[0098] At 904 , the in-vehicle UWB device 120 receives the location information of the roadside UWB device 110 from the roadside UWB device 110 .

[0099] At 906 , the in-vehicle UWB device 120 determines a first moving distance of the vehicle 130 in which the in-vehicle UWB device 120 is located from the first moment to the second moment and a second moving distance of the vehicle 130 from the second moment to the third moment.

[0100] At 908 , the on-board UWB device 120 determines the moving trajectory of the vehicle 130 on three circles with the location information of the roadside UWB device 110 as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius based on the first moving distance and the second moving distance.

[0101] Therefore, high-precision vehicle positioning is achieved by using only one vehicle-mounted UWB device and one roadside UWB device, which reduces costs compared to traditional solutions. Since UWB positioning has high accuracy and is not affected by the environment, its application scenarios are more extensive and reliable. In addition, in specific areas, when GNSS global positioning is interfered by the environment, using roadside UWB devices to provide positioning information support is a good supplement.

[0102] Fig.10 1 shows a schematic block diagram of an example device 1000 that can be used to implement an embodiment of the present disclosure. Figure 1 The roadside UWB device 110 and the vehicle-mounted UWB device 120 shown can be implemented by the device 1000. As shown in the figure, the device 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 1002 or computer program instructions loaded from a storage unit 1008 to a random access memory (RAM) 1003. In the random access memory 1003, various programs and data required for the operation of the device 1000 can also be stored. The central processing unit 1001, the read-only memory 1002, and the random access memory 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0103] A number of components in the device 1000 are connected to the input / output interface 91005, including: an input unit 1006, such as a keyboard, a mouse, a microphone, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the device 1000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0104] The various processes and processing described above, such as methods 200, 400, 700, 800, may be performed by the central processing unit 1001. For example, in some embodiments, the methods 200, 400, 700, 800 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1008. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1000 via the read-only memory 1002 and / or the communication unit 1009. When the computer program is loaded into the random access memory 1003 and executed by the central processing unit 1001, one or more actions of the methods 200, 400, 700, 800 described above may be performed.

[0105] The present disclosure relates to methods, apparatuses, systems, computing devices, computer-readable storage media, and / or computer program products. The computer program products may include computer-readable program instructions for executing various aspects of the present disclosure.

[0106] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0107] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0108] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0109] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0110] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0111] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0112] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0113] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for vehicle positioning, comprising: Determine a first relative horizontal distance between the vehicle-mounted UWB device and the roadside UWB device at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment, the first moment being earlier than the second moment, and the second moment being earlier than the third moment; Obtaining location information of the roadside UWB device; Determine a first moving distance of the vehicle where the on-board UWB device is located from the first moment to the second moment and a second moving distance of the vehicle from the second moment to the third moment; Determining a third moving distance from the first moment to the third moment based on the first moving distance and the second moving distance includes: acquiring a turning angle of the vehicle at the second moment; and determining the third moving distance from the first moment to the third moment based on the turning angle, the first moving distance, and the second moving distance; and Based on the first moving distance and the second moving distance, determining the moving trajectory of the vehicle on three circles with the location information of the roadside UWB device as the center and the first relative horizontal distance, the second relative horizontal distance and the third relative horizontal distance as the radius respectively, including: Determine four movement trajectories, each of the four movement trajectories includes a first point on a first circle with the location information of the roadside UWB device as the center and the first relative horizontal distance as the radius, a second point on a second circle with the location information of the roadside UWB device as the center and the second relative horizontal distance as the radius, and a third point on a third circle with the location information of the roadside UWB device as the center and the third relative horizontal distance as the radius, the first point and the second point are separated by the first movement distance, the second point and the third point are separated by the second movement distance, and the first point and the third point are separated by the third movement distance; Acquire the moving direction of the vehicle between the first moment and the third moment or map lane information within a predetermined range centered on the position information, the map lane information indicating a lane area and a lane direction; and A moving trajectory matching the moving direction or the map lane information is determined from the four moving trajectories.

2. The method according to claim 1, wherein determining the first relative horizontal distance between the vehicle-mounted UWB device and the roadside UWB device at the first moment comprises: Determine a first relative distance between the vehicle-mounted UWB device and the roadside UWB device at the first moment; Obtaining the installation height of the vehicle-mounted UWB device and the installation height of the roadside UWB device; Determining a relative vertical distance between the roadside UWB device and the vehicle-mounted UWB device based on the installation height of the vehicle-mounted UWB device and the installation height of the roadside UWB device; and The first relative horizontal distance is determined based on the first relative distance and the relative vertical distance. 3 . The method according to claim 1 , wherein the method is performed at the vehicle-mounted UWB device, and obtaining the location information of the roadside UWB device comprises receiving the location information of the roadside UWB device from the roadside UWB device.

4. The method according to claim 1, wherein the method is performed at the roadside UWB device, and determining the moving direction of the vehicle between the first moment and the third moment, the first moving distance of the vehicle from the first moment to the second moment, and the second moving distance of the vehicle from the second moment to the third moment comprises: The moving direction, the first moving distance, and the second moving distance are received from the vehicle-mounted UWB device.

5. The method according to claim 4, further comprising: The moving trajectory of the vehicle is sent to the vehicle-mounted UWB device.

6. A vehicle-mounted UWB device, comprising: at least one processor; as well as A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the method of any one of claims 1-2.

7. A roadside UWB device, comprising: at least one processor; as well as A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the method of any one of claims 1-2 and 3-5.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 5.

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