A method for determining a position, a synchronization method, a device, a equipment and a terminal

Abstract

The present invention provides a location determination method, synchronization method, device, equipment and terminal. The location determination method, applied to a first RSU, comprises: sending a pilot signal and a positioning signal; the positioning signal comprises: an identity ID of the first RSU, a timing adjustment value of the first RSU and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signal; the timing offset value is a timing offset between the first RSU and the second RSU. The scheme of the present invention can improve the synchronization accuracy between vehicle networking terminals and ensure the positioning accuracy of the OBU.

Description

[0001] This application claims priority to the application date of December 30, 2020, the application number is 2020116144361, and the invention name is "A position determination method, synchronization method, device, equipment and terminal". Technical Field

[0002] The present invention relates to the field of communication technology, and in particular to a location determination method, a synchronization method, an apparatus, a device and a terminal. Background Art

[0003] The location information of vehicles and related positioning technologies are the core of the Internet of Vehicles technology, which is not only related to the safety of vehicles during driving, but also affects the safety of other traffic participants and the development of various Internet of Vehicles applications. At present, the positioning method of the Internet of Vehicles mainly relies on the Global Navigation Satellite System (GNSS). However, when the vehicle is in complex environments such as urban canyons, overpasses, viaducts, underground parking lots, tunnels, etc., it may not be able to receive satellite signals and cannot be synchronized through satellite signals. In order to solve the positioning problem in the absence of GNSS signals, the current main method is to lay roadside equipment (Road-Side-Unit, RSU) on the roadside and use LTE-V2X air interface communication between RSU and on-board equipment (On-BoardUnit, OBU) to locate the vehicle. However, due to the propagation distance between RSUs, the signal will generate propagation delay during the propagation process, resulting in timing drift between RSUs, resulting in low synchronization accuracy of the entire Internet of Vehicles system, affecting the positioning accuracy of OBU. Summary of the invention

[0004] The present invention provides a location determination method, a synchronization method, a device, an equipment and a terminal, which solve the problem in the prior art that the synchronization accuracy of the entire vehicle networking system is low due to the timing drift between RSUs, thereby affecting the positioning accuracy of the OBU.

[0005] In a first aspect, an embodiment of the present invention provides a location determination method, which is applied to a first roadside equipment RSU, and the method includes:

[0006] Sending pilot signals and positioning signaling;

[0007] The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; and the timing offset value is a timing offset between the first RSU and the second RSU.

[0008] In a second aspect, an embodiment of the present invention provides a location determination method, applied to a mobile terminal, the method comprising:

[0009] Receive a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between at least two of the RSUs;

[0010] The position is determined according to the positioning signaling.

[0011] In a third aspect, an embodiment of the present invention provides a synchronization method, applied to a second RSU, the method comprising:

[0012] Receive a pilot signal and a positioning signaling sent by a first RSU; the positioning signaling includes: an identity ID of the first RSU, a first timing adjustment value of the first RSU, and a first timing offset value of the first RSU; wherein the first timing adjustment value is an adjustment amount when the first RSU is synchronized with a synchronization source when sending the positioning signaling; the first timing offset value includes a timing offset between the first RSU and the second RSU;

[0013] Synchronize with the first RSU according to the positioning signaling.

[0014] In a fourth aspect, an embodiment of the present invention provides a position determination device, applied to a first RSU, including:

[0015] A sending module, used for sending pilot signals and positioning signaling;

[0016] The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; and the timing offset value is a timing offset between the first RSU and the second RSU.

[0017] In a fifth aspect, an embodiment of the present invention provides a position determination device, applied to a mobile terminal, including:

[0018] A first receiving module is used to receive a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between two RSUs;

[0019] The position calculation module is used to determine the position according to the positioning signaling.

[0020] In a sixth aspect, an embodiment of the present invention provides a synchronization device, applied to a second RSU, including:

[0021] A second receiving module is used to receive a pilot signal and a positioning signaling sent by a first RSU; the positioning signaling includes: an identity ID of the first RSU, a first timing adjustment value of the first RSU, and a first timing offset value of the first RSU; wherein the first timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; the first timing offset value includes a timing offset between the first RSU and the second RSU;

[0022] A synchronization processing module is used to synchronize with the first RSU according to the positioning signaling.

[0023] In the seventh aspect, an embodiment of the present invention provides a roadside device, which is a first RSU, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the position determination method described in the first aspect when executing the computer program.

[0024] In an eighth aspect, an embodiment of the present invention provides a mobile terminal, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the location determination method described in the second aspect when executing the computer program.

[0025] In the ninth aspect, an embodiment of the present invention provides a roadside device, which is a second RSU, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the steps of the synchronization method described in the third aspect are implemented.

[0026] In a tenth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect, the second aspect, or the third aspect.

[0027] The beneficial effects of the above technical solution of the present invention are:

[0028] In the above scheme, the pilot signal and positioning signaling are sent through the first roadside equipment RSU; the positioning signaling includes: the identity ID of the first RSU, the timing adjustment value of the first RSU and the timing offset value of the first RSU; wherein the timing adjustment value is the adjustment amount when the first RSU synchronizes with the synchronization source when sending the positioning signaling; the timing offset value is the timing offset between the first RSU and the second RSU. It can realize the location determination of mobile terminals such as OBU according to the pilot signal and positioning signaling, and other RSUs can also synchronize with the first RSU according to the positioning signaling, and can eliminate the timing drift between RSUs caused by the RSU propagation distance, thereby improving the synchronization accuracy of the entire Internet of Vehicles system and ensuring the positioning accuracy of OBU. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 One of the flow charts showing the location determination method according to an embodiment of the present invention;

[0030] Figure 2 A schematic diagram showing that the timing adjustment of an embodiment of the present invention is performed within a gap in which positioning signaling is sent;

[0031] Figure 3 A second flowchart showing a method for determining a position according to an embodiment of the present invention;

[0032] Figure 4 A schematic diagram showing sending positioning signaling according to an embodiment of the present invention;

[0033] Figure 5 A schematic diagram showing a positioning process according to an embodiment of the present invention;

[0034] Figure 6 A schematic diagram showing one of the application scenarios of an embodiment of the present invention;

[0035] Figure 7 Framework diagram of wireless communication technology for connected vehicles based on LTE;

[0036] Figure 8 A flowchart showing a synchronization method according to an embodiment of the present invention;

[0037] Fig. 9 A second schematic diagram showing an application scenario of an embodiment of the present invention;

[0038] Fig.10 A third schematic diagram showing an application scenario of an embodiment of the present invention;

[0039] Fig.11 One of the structural block diagrams of the position determination device according to an embodiment of the present invention;

[0040] Fig.12 A second structural block diagram showing a position determination device according to an embodiment of the present invention;

[0041] Fig.13 A structural block diagram showing a synchronization device according to an embodiment of the present invention;

[0042] Fig.14 One of the schematic diagrams showing the hardware structure of the roadside equipment of the present invention;

[0043] Fig.15 A schematic diagram showing the hardware structure of a mobile terminal of the present invention;

[0044] Fig.16 The second schematic diagram showing the hardware structure of the roadside equipment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present invention. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. In addition, for clarity and brevity, the description of known functions and structures is omitted.

[0046] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present invention. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0047] In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0048] Additionally, the terms "system" and "network" are often used interchangeably herein.

[0049] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0050] In the embodiment of the present invention, the form of the access network is not limited, and may be an access network including a macro base station (Macro Base Station), a micro base station (Pico Base Station), a Node B (the name of a 3G mobile base station), an enhanced base station (eNB), a home enhanced base station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), etc. The user terminal may be a mobile phone (or mobile phone), or other equipment capable of sending or receiving wireless signals, including user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a CPE (Customer Premise Equipment) capable of converting a mobile signal into a WiFi signal, or a mobile smart hotspot, a smart home appliance, or other equipment that can spontaneously communicate with a mobile communication network without human operation.

[0051] Specifically, the embodiments of the present invention provide a position determination method, a synchronization processing method, an apparatus, a device and a terminal, which solve the problem in the prior art that the synchronization accuracy of the entire Internet of Vehicles system is low due to positioning drift between RSUs, affecting the positioning accuracy of the OBU.

[0052] First embodiment

[0053] like Figure 1 As shown, an embodiment of the present invention provides a location determination method, which is applied to a first roadside equipment RSU, and the method specifically includes the following steps:

[0054] Step 11: Send pilot signal and positioning signaling;

[0055] The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; and the timing offset value is a timing offset between the first RSU and the second RSU.

[0056] In this step, sending the pilot signal and positioning signaling includes: sending the positioning signaling through a physical sidelink control channel (PSCCH); or sending the positioning signaling through PSCCH and a physical sidelink shared channel (PSSCH); or sending the positioning signaling through PSSCH.

[0057] The pilot signal is a demodulation reference signal (DMRS for short).

[0058] It should be pointed out that for LTE-V2X systems and NR-V2X systems, when PSCCH transmission is performed, DMRS signals are sent at the same time, which can be used for PSCCH channel detection on the receiving side; when PSSCH transmission is performed, DMRS signals are sent at the same time, which can be used for PSSCH channel detection on the receiving side.

[0059] It should be noted that, for the timing adjustment, the first timing adjustment value is an adjustment made by the first RSU in the interval of sending the positioning signaling, such as Figure 2 As shown, it is a schematic diagram showing the timing relationship between the sending of positioning signaling and timing adjustment.

[0060] In the above embodiment, the pilot signal and positioning signaling are sent by the roadside equipment RSU; the mobile terminal such as the onboard unit (OBU) or vulnerable road users (VRU) can receive the positioning signaling and pilot signal sent by at least one RSU, determine the actual timing deviation between the RSUs according to the timing adjustment value and timing offset value in the positioning signaling, and achieve accurate positioning according to the actual timing deviation between the RSUs. It can solve the problem that due to the propagation distance between the RSUs, the signal will generate propagation delay during the propagation process, resulting in timing drift between the RSUs, thereby causing low synchronization accuracy of the entire Internet of Vehicles system and affecting the positioning accuracy of the OBU.

[0061] In one embodiment, sending the positioning signaling through the PSCCH and the direct link shared channel PSSCH includes:

[0062] Sending the first part of the positioning signaling via PSCCH; and

[0063] Sending the second part of the positioning signaling via PSSCH;

[0064] The first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the first RSU, the timing adjustment value of the first RSU and the timing offset value of the first RSU.

[0065] Specifically, the first part is carried by direct link control information SCI.

[0066] In this embodiment, the positioning signaling includes two parts, the first part is carried on the PSCCH, and the second part is carried on the PSSCH. Among them, the industry standard YD / T3755-2020 "Technical requirements for roadside equipment supporting direct communication based on LTE network wireless communication technology" stipulates that the direct link control information SCI adopts SCI format 1, and there are currently at least 7 bits left as padding bits. As an implementation method, the first part of the positioning signaling in this embodiment can use the last N bits of SCI in PSCCH: a i 、a i+1 ,……,a i+N-1 It is used to carry and indicate the current subframe number and whether it is positioning signaling. a j is the value of the jth bit; i=31-N+1. If the value of a is greater than 0, it indicates that the PSCCH carries the first part of the positioning signaling, and the PSSCH indicated by the PSCCH carries the second part of the message.

[0067] When the positioning signaling is sent through PSSCH, the positioning signaling can be optionally carried in a MAC (Medium Access Control) layer PDU (Protocol Data Unit) or carried in the application layer. When using MAC layer PDU, the channel 10101-11011 reserved in the LCID (Logical Channel ID field) in the SL-SCH (Sidelink Shared Channel) can be used to carry the PSSCH positioning signaling; when carried in the application layer, such as Figure 7 As shown, the sending end (terminal 1) can carry the positioning signaling in the application layer message, and the receiving end (terminal 2) parses it at the application layer.

[0068] Exemplarily, the format of the second part of the positioning signaling sent by the first RSU may be as shown in the following Table 1:

[0069] ID of the first RSU Timing adjustment value of the first RSU Timing offset between the first RSU and the second RSU

[0070] Table 1

[0071] The timing offset is the timing offset measured by the first RSU relative to the local time (the first RSU) through the positioning signaling sent by the nearby second RSU monitored.

[0072] Furthermore, in one embodiment, the positioning signaling further includes: location information of the first RSU; and the location information of the first RSU is indicated by the second part.

[0073] Exemplarily, the format of the positioning signaling sent by the first RSU may be as shown in the following Table 2:

[0074]

[0075] Table 2

[0076] The position information of the first RSU is M-dimensional position information of the first RSU, which is used to locate the vehicle, and 1≤M≤3.

[0077] It should be pointed out that Table 1 and Table 2 above correspond to two formats of positioning signaling respectively. When mobile terminals such as OBU and VRU cannot obtain the location information of RSU through electronic maps or other means, the format of positioning signaling is shown in Table 2. When mobile terminals such as OBU and VRU can obtain the location information of RSU through electronic maps or other means, the format of positioning signaling is shown in Table 1.

[0078] The second RSU is one or more of the N nearby RSUs monitored by the first RSU, and the timing offset between the first RSU and the second RSU is the timing offset relative to the first RSU (the first RSU) measured by the first RSU by receiving the positioning signaling sent by the second RSU.

[0079] It should be noted that when the positioning signaling is sent through the PSSCH, the positioning signaling also includes: the position information of the first RSU. The position information of the first RSU is the M-dimensional position information of the first RSU, which is used to locate the vehicle, 1≤M≤3.

[0080] Second embodiment

[0081] like Figure 8 As shown, the second embodiment of the present invention provides a location determination method, which is applied to a mobile terminal, wherein the mobile terminal includes but is not limited to: an on-board unit OBU and a vulnerable road user (Vulnerable Roas Users, VRU). The method specifically includes the following steps:

[0082] Step 21: receiving a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between at least two of the RSUs;

[0083] In this step, receiving the pilot signal and positioning signaling sent by at least two RSUs includes: receiving the positioning signaling sent by at least two RSUs through the direct link control channel PSCCH; or receiving the positioning signaling sent by at least two RSUs through PSCCH and the direct link shared channel PSSCH; or receiving the positioning signaling sent by at least two RSUs through PSSCH; wherein the pilot signal is a demodulation reference signal DMRS.

[0084] It should be pointed out that for LTE-V2X systems and NR-V2X systems, when PSCCH transmission is performed, DMRS signals are sent at the same time, which can be used for PSCCH channel detection on the receiving side; when PSSCH transmission is performed, DMRS signals are sent at the same time, which can be used for PSSCH channel detection on the receiving side.

[0085] It should be noted that, for the timing adjustment, the first timing adjustment value is an adjustment made by the first RSU in the interval of sending the positioning signaling, such as Figure 2 As shown, it is a schematic diagram showing the timing relationship between the sending of positioning signaling and timing adjustment.

[0086] Among them, for receiving the positioning signaling sent by at least two RSUs through PSSCH, the positioning signaling can be carried in the MAC (Medium Access Control) layer PDU (Protocol Data Unit) or carried in the application layer. When using MAC layer PDU, the channel 10101-11011 reserved by LCID (Logical Channel IDfield) in SL-SCH (Sidelink Shared Channel) can be used to carry PSSCH positioning signaling; when carried in the application layer, such as Figure 7 As shown, the sending end (terminal 1) can carry the positioning signaling in the application layer message, and the receiving end (terminal 2) parses it at the application layer.

[0087] Step 22: Determine the position according to the positioning signaling.

[0088] In this step, the actual deviation value between the RSUs may be calculated according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs; and the position may be further determined according to the actual deviation value between the RSUs.

[0089] Specifically, calculating the actual deviation value between the RSUs according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs includes:

[0090] The actual deviation value between the two RSUs is calculated according to the following formula:

[0091] R xy =(Ta xy -Ta yx -Td x +Td y -Δt xy +Δt yx ) / 2;

[0092] Among them, the two RSUs are x and y, Rt xy is the actual deviation between x and y; Ta xy The timing offset value determined for x relative to y; Ta yx The timing offset value determined for y relative to x; Td x is the timing adjustment value of x; Td y is the timing adjustment value of y; Δt xy Timing measurement error determined for x; Δt yx Timing measurement error determined for y.

[0093] For example, Figure 4 As shown, let the propagation distance between RSUx and RSUy be L xy ; Assume that at time i-1, the timing offsets of RSUx and RSUy from the reference clock are T x,i-1 and T y,i-1 , RSUy receives the positioning signaling sent by RSUx, and the measured relative timing offset is Ta yx,i-1 , RSUx and RSUy are adjusted by timing Td x,i-1 , Td y,i-1 After that, at time i, the timing offsets of RSUx and RSUy from the reference clock are T x,i and T y,i , RSUy sends positioning signaling, RSUx receives the positioning signaling sent by RSUy, and the measured relative timing offset is Ta xy,i .but:

[0094]

[0095]

[0096] Among them, Δt yx,i-1 and Δt xy,i are the timing measurement errors of RSUy and RSUx respectively, and c is the speed of light.

[0097] In practical applications, RSUx and RSUy are relatively static, Ta xy,i and Ta yx,i-1 The actual measurement is close to that of T x,i =(T x,i-1 -Td x,i-1 ), T y,i =(T y,i-1 -Td y,i-1 ), then, T x,i-1 =T x,i +Td x,i-1 and T y,i-1 =T y,i +Td y,i-1 Substituting into equation (1), subtracting equation (1) from equation (2), we can get T x,i and T y,i The actual deviation between the two is calculated as follows:

[0098] R xy,i =T x,i -T y,i

[0099] =(Ta xy,i -Ta yx,i-1 -Td x,i-1 +Td y,i-1 -Δt xy,i +Δt yx,i-1 ) / 2

[0100] It can be seen from formula (3) that this calculation method can eliminate the propagation distance L between RSUs. xy Regarding the impact of timing deviation, the OBU can determine the actual timing deviation between RSUs through the timing offset value and timing adjustment value in the positioning signaling sent by the RSU, thereby achieving more accurate positioning.

[0101] In the above embodiment, the OBU can obtain the actual timing deviation between the RSUs by receiving the timing offset value and the timing adjustment value between the RSUs transmitted by each RSU in the positioning signaling, thereby achieving more accurate positioning. This can solve the problem that due to the propagation distance between the RSUs, the signal will generate propagation delay during the propagation process, resulting in timing drift between the RSUs, thereby causing low synchronization accuracy of the entire Internet of Vehicles system and affecting the positioning accuracy of the OBU.

[0102] In one embodiment, the receiving the positioning signaling sent by at least two RSUs through the PSCCH and the direct link shared channel PSSCH includes:

[0103] receiving a first part of the positioning signaling sent by at least two RSUs through a PSCCH; and

[0104] Receiving a second part of the positioning signaling sent by at least two RSUs via a PSSCH;

[0105] The first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the RSU, the timing adjustment value of the RSU and the timing offset value of the RSU.

[0106] Specifically, the first part is carried by direct link control information SCI.

[0107] In this embodiment, the positioning signaling includes two parts, the first part is carried on the PSCCH, and the second part is carried on the PSSCH. Among them, the industry standard YD / T3755-2020 "Technical requirements for roadside equipment supporting direct communication based on LTE network wireless communication technology" stipulates that the direct link control information SCI adopts SCI format 1, and there are currently at least 7 bits left as padding bits. As an implementation method, the first part of the positioning signaling in this embodiment can use the last N bits of SCI in PSCCH: a i 、a i+1 ,……,a i+N-1 It is used to carry and indicate the current subframe number and whether it is positioning signaling. a j is the value of the jth bit; i=31-N+1. If the value of a is greater than 0, it indicates that the PSCCH carries the first part of the positioning signaling, and the PSSCH indicated by the PSCCH carries the second part of the message.

[0108] Exemplarily, the format of the second part of the positioning signaling sent by the first RSU may be as shown below:

[0109] ID of the first RSU Timing adjustment value of the first RSU Timing offset between the first RSU and the second RSU

[0110] The timing offset is the timing offset measured by the first RSU relative to the local time (the first RSU) through the positioning signaling sent by the nearby second RSU monitored.

[0111] Furthermore, in one embodiment, the positioning signaling further includes: location information of the first RSU; and the location information of the first RSU is indicated by the second part.

[0112] Exemplarily, the format of the positioning signaling sent by the first RSU may be as shown below:

[0113]

[0114] The position information of the first RSU is M-dimensional position information of the first RSU, which is used to locate the vehicle, and 1≤M≤3.

[0115] The second RSU is one or more of the N nearby RSUs monitored by the first RSU, and the timing offset between the first RSU and the second RSU is the timing offset relative to the first RSU (the first RSU) measured by the first RSU by receiving the positioning signaling sent by the second RSU.

[0116] In one embodiment, when the positioning signaling sent by the first RSU does not include the location information of the first RSU, the method further includes: determining the location information of at least two of the RSUs;

[0117] In one embodiment, when receiving the positioning signaling sent by at least two RSUs through PSSCH, the positioning signaling further includes: RSU position information. The RSU position information is M-dimensional position information of the RSU, which is used to locate the vehicle, 1≤M≤3.

[0118] Furthermore, in the above step 22, determining the position according to the positioning signaling includes:

[0119] Calculating an actual deviation value between the RSUs according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs;

[0120] The position of the mobile terminal is calculated based on the position information of at least two of the RSUs and the actual deviation value.

[0121] For example, Figure 5 As shown in the figure, it shows the positioning process of the mobile terminal. First, the RSUs are synchronized by wire or wireless means (it should be noted that in this synchronization state, there is still a synchronization problem caused by timing drift between the RSUs). The synchronized RSU sends positioning signaling, receives positioning signaling sent by other RSUs, and calculates the timing offset with other RSUs. The OBU receives positioning signaling sent by multiple RSUs, and then uses the TDOA principle to locate its own position.

[0122] Now assume that the OBU receives the positioning signaling of n RSUs, where the positions of the n RSUs are (x i ,y i , z i), i = 1, 2, ..., n; the time difference between the time when the OBU receives the positioning signaling sent by the RSU and the time when each RSU sends the positioning signaling is Δt i , i = 1, 2, ..., n. When the time of RSUj is used as the positioning time reference, the position of OBU (x0, y0, z0) can be obtained by solving the following formula:

[0123]

[0124] Where Δt is the clock deviation between OBU and RSUj, c is the speed of light, ΔRt ij is the actual deviation between RSUi and RSUj.

[0125] For example, see Figure 6 In the application scenario shown in the figure, it is assumed that RSU1, RSU2, RSU3 and RSU4 have entered the synchronization state (it should be noted that in this synchronization state, there is still a synchronization problem caused by timing drift between RSUs), and OBU1 obtains the three-dimensional coordinates (x i ,y i , z i ), i = 1, 2, 3, 4, the clock difference between OBU1 and RSU1 is Δt, and the time difference between the time when OBU receives the RSU positioning signal and the time when RSU sends the positioning signal is Δt i , i = 1, 2, 3, 4. When the time of RSU1 is used as the positioning time reference, the position (x0, y0, z0) and Δt of OBU1 can be obtained by solving the following equations:

[0126]

[0127]

[0128]

[0129]

[0130] Where c is the speed of light.

[0131] Third embodiment

[0132] like Figure 8 As shown, the third embodiment of the present invention provides a synchronization method, which is applied to a second RSU, and the method specifically includes the following steps:

[0133] Step 31: receiving a pilot signal and a positioning signaling sent by a first RSU; the positioning signaling includes: an identity ID of the first RSU, a first timing adjustment value of the first RSU, and a timing offset value of the first RSU; wherein the first timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between the first RSU and the second RSU;

[0134] In this step, receiving the pilot signal and positioning signaling sent by the first RSU includes: receiving the positioning signaling sent by the first RSU through a physical sidelink control channel (PSCCH); or receiving the positioning signaling sent by the first RSU through a PSCCH and a physical sidelink share channel (PSSCH). The pilot signal is a demodulation reference signal (DMRS).

[0135] It should be pointed out that for LTE-V2X systems and NR-V2X systems, when PSCCH transmission is performed, DMRS signals are sent at the same time, which can be used for PSCCH channel detection on the receiving side; when PSSCH transmission is performed, DMRS signals are sent at the same time, which can be used for PSSCH channel detection on the receiving side.

[0136] It should be noted that, for the timing adjustment, the first timing adjustment value is an adjustment made by the first RSU in the interval of sending the positioning signaling, such as Figure 2 As shown, it is a schematic diagram showing the timing relationship between the sending of positioning signaling and timing adjustment.

[0137] It can be understood that if T is the relative offset value between the RSU and the reference time, and Td is the timing adjustment when sending the positioning signaling, then when sending the positioning signaling, the offset value between the RSU and the reference time is T+Td.

[0138] Step 32: Synchronize with the first RSU according to the positioning signaling.

[0139] In the above embodiment, by receiving the positioning signaling sent by the first RSU, the actual timing deviation from the first RSU can be obtained through the timing offset value and timing adjustment value in the positioning signaling, thereby achieving more accurate synchronization between RSUs, and achieving synchronization and coordination between RSUs even when time synchronization cannot be performed through satellite signals and the internal clock accuracy of the Internet of Vehicles equipment is low and cannot meet the requirements of high-precision time synchronization for a long time. It can solve the problem that due to the propagation distance between RSUs, the signal will generate propagation delay during the propagation process, resulting in timing drift between RSUs, thereby causing low synchronization accuracy of the entire Internet of Vehicles system and affecting the positioning accuracy of the OBU.

[0140] It should be pointed out that due to the propagation distance between RSUs, the synchronization signal will produce a propagation delay during the propagation process, resulting in a drift in the timing between the RSUs and halving the maximum transmission distance of the synchronization signal. In this embodiment, by transmitting the timing offset value and timing adjustment between the first RSU and the second RSU in the positioning signaling, the influence of the propagation distance on the timing can be eliminated, which is beneficial to improving the synchronization accuracy between the RSUs, thereby improving the positioning accuracy of the OBU.

[0141] In one embodiment, in the above step 32, synchronizing with the first RSU according to the positioning signaling includes:

[0142] Determine a second timing offset value of the second RSU relative to the first RSU by receiving the positioning signaling sent by the first RSU;

[0143] determining a second timing adjustment value of the second RSU when receiving the positioning signaling;

[0144] Calculate an actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value, and the second timing offset value;

[0145] The second RSU is synchronized with the first RSU according to the actual deviation value.

[0146] Specifically, calculating the actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value, and the second timing offset value includes:

[0147] The actual deviation value between the second RSU and the first RSU is calculated according to the following formula:

[0148] R xy =(Ta xy -Ta yx -Td x +Tdy +Δt yx -Δt xy ) / 2;

[0149] Among them, x is the second RSU, y is the first RSU, Rt xy is the actual deviation between the second RSU and the first RSU; Ta yx is the first timing offset value; Ta xy is the second timing offset value; Td x is the second timing adjustment value; Td y is the first timing adjustment value; Δt yx The timing measurement error determined for the first RSU; Δt xy A timing measurement error is determined for the second RSU.

[0150] For example, Figure 4 As shown, let the propagation distance between RSUx and RSUy be L xy ; Assume that at time i-1, the timing offsets of RSUx and RSUy from the reference clock are T x,i-1 and T y,i-1 , RSUy receives the positioning signaling sent by RSUx, and the measured relative timing offset is Ta yx,i-1 , RSUx and RSUy are adjusted by timing Td x,i-1 , Td y,i-1 After that, at time i, the timing offsets of RSUx and RSUy from the reference clock are T x,i and T y,i , RSUy sends positioning signaling, RSUx receives the positioning signaling sent by RSUy, and the measured relative timing offset is Ta xy,i .but:

[0151]

[0152]

[0153] Among them, Δt yx,i-1 and Δt xy,i are the timing measurement errors of RSUy and RSUx respectively, and c is the speed of light.

[0154] In practical applications, RSUx and RSUy are relatively static, Ta xy,i and Ta yx,i-1 The actual measurement is close to that of T x,i =(T x,i-1 -Td x,i-1 ), T y,i =(T y,i-1 -Td y,i-1), then, T x,i-1 =T x,i +Td x,i-1 and T y,i-1 =T y,i +Td y,i-1 Substituting into equation (1), subtracting equation (1) from equation (2), we can get T x,i and T y,i The actual deviation between the two is calculated as follows:

[0155] R xy,i =T x,i -T y,i

[0156] =(Ta xy,i -Ta yx,i-1 -Td x,i-1 +Td y,i-1 -Δt xy,i +Δt yx,i-1 ) / 2

[0157] It can be seen from formula (3) that this calculation method can eliminate the propagation distance L between RSUs. xy Regarding the impact of timing deviation, OBU can determine the actual timing deviation between RSUs through the timing offset value and timing adjustment value in the positioning signaling sent by RSU, thereby eliminating the impact of low synchronization accuracy between RSUs on positioning accuracy and achieving more accurate positioning.

[0158] In the above embodiment, each RSU transmits the timing offset value between RSUs and the timing adjustment value of RSU in the positioning signaling, so as to achieve higher synchronization accuracy between RSUs, which is beneficial to improving the synchronization accuracy of the Gengge Internet of Vehicles system and achieving more accurate positioning of the OBU.

[0159] Combine the following Fig. 9 and Fig.10 The calculation of the actual timing deviation between RSUs is introduced based on the specific application scenario.

[0160] Exemplarily, the system parameter configuration of Internet of Vehicles devices such as RSU and OBU is as follows: system bandwidth is 20MHz, half-duplex mode is supported, subcarrier spacing is 15kHz, cyclic prefix (CP) length is 4.687μs (5.208μs (symbol 0)), modulation mode is QPSK, and maximum transmit power is 23dBm.

[0161] like Fig. 9As shown in the figure, it shows a vehicle networking application scenario including 4 RSUs. RSU1, RSU2, RSU3 and RSU4 send positioning signaling respectively. When sending for the first time, RSU cannot calculate the timing offset with other RSUs, so it can be set to 0. RSU1 to RSU4 receive positioning messages sent by other RSUs respectively and calculate the timing offset Ta with the local time. ij , i = 1, 2, 3, 4; j = 1, 2, 3, 4, i ≠ j, and sent in the next positioning signaling. The actual timing deviation Rt between RSUs can be calculated by the timing offset carried in the positioning signaling. ij for:

[0162] R ij =T i -T j ≈(Ta ij -Ta ji -Td i +Td j +Δt ji -Δt ij ) / 2

[0163] Among them, T i is the offset between RSUi and the reference time, T j is the offset between RSUj and the reference time, Ta ij is the timing offset measured by RSUi from RSUj, Ta ji is the timing offset measured by RSUj from RSUi, Td i The timing adjustment when RSUi sends positioning signaling, Td j is the timing adjustment when RSUj sends positioning signaling, Δt ji is the timing measurement error of RSUj, Δt ij is the timing measurement error of RSUi.

[0164] For example, Fig.10 As shown in the figure, for the scenario where RSU can only receive positioning signaling from adjacent RSUs. RSU1 and RSU2 can send and receive positioning signaling to each other, then the actual timing deviation between RSU2 and RSU1 can be obtained as:

[0165] R 21 =T2-T1≈(Ta 21 -Ta 12 -Td2+Td1+Δt 12 -Δt 21 ) / 2;

[0166] Similarly, the actual timing deviation between RSU3 and RSU2, and the actual timing deviation between RSU4 and RSU3 can be obtained. Then the actual timing deviation between RSU3 and RSU4 and RSU1 is:

[0167] R 31 =Rt 32 +Rt 21 ;

[0168] R 41 =Rt 43 +Rt 31 ;

[0169] From the above example, it can be seen that by transmitting the timing offset value between RSUs and the timing adjustment of RSUs in the positioning signaling, the actual timing deviation between RSUs can be obtained, thereby achieving synchronization between RSUs and eliminating the propagation distance L between RSUs. xy The impact on timing deviation is improved, and the synchronization accuracy between RSUs is improved.

[0170] It should be noted that, in some embodiments, when the RSU calculates the combined value of the timing adjustment value and the timing offset value in the positioning signaling transmission, the OBU may also calculate the actual deviation value between the RSUs.

[0171] For example, when each RSU transmits the difference between the timing adjustment value and the timing offset value in the positioning signaling, the actual timing deviation between the RSUs can be calculated according to the following formula (4):

[0172] R xy =(Ta xy -T′a yx -Td x -Δt xy +Δt yx ) / twenty four)

[0173] Among them, T′a yx is the difference between the first timing offset value and the first timing adjustment value; x is the second RSU, y is the first RSU, Rt xy is the actual timing offset between the first RSU and the second terminal RSU; Ta xy is the second timing offset value; Td x is the second timing adjustment value; Δt yx The timing measurement error determined for the first RSU; Δt xy A timing measurement error is determined for the second RSU.

[0174] It should be noted that the derivation process of the above formula (4) is as follows:

[0175] For the above formula (2), T′a xy,i =Ta xy,i -Td x,i , T′a yx,i =Ta yx,i -Td y,i ;

[0176] but,

[0177] Then, Rt xy,i =T x,i -T y,i

[0178] =(Ta xy,i -Ta yx,i-1 -Td x,i-1 +Td y -Δt xy,i +Δt yx,i-1 ) / 2

[0179] =(Ta xy,i -Td x,i-1 -T′a xy,i -Δt xy,i +Δt yx,i-1 ) / 2.

[0180] By Rt xy,i =(Ta xy,i -Td x,i-1 -T′a xy,i -Δt xy,i +Δt yx,i-1 ) / 2, it can be seen that when the RSU sends the difference between the timing offset value and the timing adjustment value instead of sending the timing offset value and the timing adjustment value separately, the OBU can still calculate the actual timing deviation between the first RSU and the second RSU according to the positioning signaling sent by the first RSU and the second RSU.

[0181] Fourth embodiment

[0182] like Fig.11 As shown, an embodiment of the present invention provides a position determination device 1000, using a first RSU, including:

[0183] The sending module 1001 is used to send a pilot signal and a positioning signal;

[0184] The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; and the timing offset value is a timing offset between the first RSU and the second RSU.

[0185] Optionally, the sending module 1001 includes:

[0186] A first sending submodule is used for direct link control channel PSCCH and DMRS pilot signal; or

[0187] The second sending submodule is used for PSCCH and DMRS pilot signals and direct link shared channel PSSCH and DMRS pilot signals.

[0188] Optionally, the second sending submodule includes:

[0189] A first sending unit, configured to send a first part of the positioning signaling through a PSCCH; and

[0190] A second sending unit, configured to send the second part of the positioning signaling through a PSSCH; and

[0191] A third sending unit, configured to send the positioning signaling through a PSSCH;

[0192] The first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the first RSU, the timing adjustment value of the first RSU and the timing offset value of the first RSU.

[0193] Optionally, the positioning signaling further includes: location information of the first RSU;

[0194] The location information of the first RSU is indicated by the second part.

[0195] Optionally, the first part is carried by direct link control information SCI.

[0196] Optionally, when the positioning signaling is sent via PSSCH, the positioning signaling also includes: location information of the first RSU.

[0197] The fourth embodiment of the present invention corresponds to the method of the first embodiment. All implementation means in the first embodiment are applicable to the embodiment of the position determination device and can achieve the same technical effect.

[0198] Fifth embodiment

[0199] like Fig.12 As shown, a position determination device 1100 according to an embodiment of the present invention is applied to a mobile terminal, and the device 1100 includes:

[0200] The first receiving module 1101 is used to receive a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between two RSUs;

[0201] The position calculation module 1102 is used to determine the position according to the positioning signaling.

[0202] Optionally, the first receiving module 1101 includes:

[0203] A first receiving submodule is configured to receive the positioning signaling sent by at least two RSUs via a direct link control channel PSCCH; or

[0204] The second receiving submodule is used to receive the positioning signaling sent by at least two RSUs through the PSCCH and the direct link shared channel PSSCH.

[0205] The third receiving submodule is used to receive the positioning signaling sent by at least two RSUs through PSSCH; wherein the pilot signal is a demodulation reference signal DMRS.

[0206] Optionally, the second receiving submodule includes:

[0207] A first receiving unit, configured to receive a first part of the positioning signaling sent by at least two RSUs through a PSCCH; and

[0208] A second receiving unit, configured to receive a second part of the positioning signaling sent by at least two RSUs through the PSSCH;

[0209] The first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the RSU, the timing adjustment value of the RSU and the timing offset value of the RSU.

[0210] Optionally, the positioning signaling further includes: location information of the RSU;

[0211] And the location information of the RSU is indicated by the second part.

[0212] Optionally, when receiving the positioning signaling sent by at least two RSUs through the PSSCH, the positioning signaling further includes: location information of the RSU.

[0213] Optionally, the device 1100 further includes:

[0214] A determination module, configured to determine location information of at least two of the RSUs;

[0215] The above-mentioned position solving module 1102 comprises:

[0216] A first solver module, configured to calculate an actual deviation value between the RSUs according to timing adjustment values ​​of at least two of the RSUs and timing offset values ​​of at least two of the RSUs;

[0217] The second solver module is used to calculate the position of the mobile terminal according to the position information of at least two RSUs and the actual deviation value.

[0218] Optionally, the first solver module includes:

[0219] The solving unit is used to calculate the actual deviation value between the two RSUs according to the following formula:

[0220] R xy =(Ta xy -Ta yx -Td x +Td y -Δt xy +Δt yx ) / 2;

[0221] Among them, the two RSUs are x and y, Rt xy is the actual deviation between x and y; Ta xy The timing offset value determined for x relative to y; Ta yx The timing offset value determined for y relative to x; Td x is the timing adjustment value of x; Td y is the timing adjustment value of y; Δt xy Timing measurement error determined for x; Δt yx Timing measurement error determined for y.

[0222] The fifth embodiment is a device corresponding to the method in the second embodiment. All implementation means in the method embodiment are applicable to the embodiment of the position determination device and can achieve the same technical effect.

[0223] Sixth embodiment

[0224] like Fig.13 As shown, a synchronization device 1200 according to an embodiment of the present invention is applied to a second RSU, and the device 1200 includes:

[0225] The second receiving module 1201 is used to receive the pilot signal and positioning signaling sent by the first RSU; the positioning signaling includes: the identity ID of the first RSU, the first timing adjustment value of the first RSU and the timing offset value of the first RSU; wherein the first timing adjustment value is the adjustment amount when the first RSU synchronizes with the synchronization source when sending the positioning signaling; the timing offset value includes the timing offset between the first RSU and the second RSU;

[0226] The synchronization processing module 1202 is used to synchronize with the first RSU according to the positioning signaling.

[0227] Optionally, the synchronization processing module 1202 includes:

[0228] A first processing submodule, configured to determine a second timing offset value of the second RSU relative to the first RSU by receiving the positioning signaling sent by the first RSU;

[0229] A second processing submodule, configured to determine a second timing adjustment value of the second RSU when receiving the positioning signaling;

[0230] A third processing submodule, configured to calculate an actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value and the second timing offset value;

[0231] The fourth processing submodule is configured to synchronize the second RSU with the first RSU according to the actual deviation value.

[0232] Optionally, the third processing submodule includes:

[0233] A processing unit, configured to calculate an actual deviation value between the second RSU and the first RSU according to the following formula:

[0234] R xy =(Ta xy -Ta yx -Td x +Td y +Δt yx -Δt xy ) / 2;

[0235] Among them, x is the second RSU, y is the first RSU, Rt xy is the actual deviation between the second RSU and the first RSU; Ta yx is the first timing offset value; Ta xy is the second timing offset value; Td x is the second timing adjustment value; Tdy is the first timing adjustment value; Δt yx The timing measurement error determined for the first RSU; Δt xy A timing measurement error is determined for the second RSU.

[0236] The sixth embodiment is a device corresponding to the method in the third embodiment. All implementation means in the above method embodiment are applicable to the embodiment of the synchronization device and can achieve the same technical effect.

[0237] Seventh embodiment

[0238] In order to better achieve the above goals, Fig.14 As shown, the seventh embodiment of the present invention further provides a roadside device, wherein the roadside device is a first RSU, including:

[0239] A processor 1300; and a memory 1320 connected to the processor 1300 via a bus interface, wherein the memory 1320 is used to store programs and data used by the processor 1300 when performing operations, and the processor 1300 calls and executes the programs and data stored in the memory 1320.

[0240] The transceiver 1310 is connected to the bus interface and is used to receive and send data under the control of the processor 1300 ; the processor 1300 is used to read the program in the memory 1320 .

[0241] Specifically, the transceiver 1310 is used to send a pilot signal and a positioning signaling;

[0242] The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; and the timing offset value is a timing offset between the first RSU and the second RSU.

[0243] Among them, Fig.14In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1300 and memory represented by memory 1320. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1310 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. The processor 1300 is responsible for managing the bus architecture and general processing, and the memory 1320 may store data used by the processor 1300 when performing operations.

[0244] Optionally, the transceiver 1310 is specifically used to send the positioning signaling through the direct link control channel PSCCH; or send the positioning signaling through the PSCCH and the direct link shared channel PSSCH; or send the positioning signaling through the PSSCH; wherein the pilot signal is a demodulation reference signal DMRS. Optionally, when the transceiver 1310 sends the positioning signaling through the PSCCH and the direct link shared channel PSSCH, it is specifically used to send the first part of the positioning signaling through the PSCCH; and send the second part of the positioning signaling through the PSSCH;

[0245] The first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the first RSU, the timing adjustment value of the first RSU and the timing offset value of the first RSU.

[0246] Optionally, the positioning signaling also includes: location information of the first RSU; the location information of the first RSU is indicated by the second part.

[0247] Optionally, the first part is carried by direct link control information SCI.

[0248] Optionally, when the positioning signaling is sent via PSSCH, the positioning signaling also includes: location information of the first RSU.

[0249] The roadside equipment provided by the present invention transmits pilot signals and positioning signals; enables mobile terminals such as OBU or VRU to receive positioning signals and pilot signals sent by at least one RSU, determine the actual timing deviation between RSUs according to the timing adjustment value and timing offset value in the positioning signal, and achieve accurate positioning according to the actual timing deviation between RSUs. It can solve the problem that due to the propagation distance between RSUs, the signal will generate propagation delay during the propagation process, resulting in timing drift between RSUs, thereby causing low synchronization accuracy of the entire vehicle networking system and affecting the positioning accuracy of the OBU.

[0250] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing relevant hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

[0251] Eighth embodiment

[0252] In order to better achieve the above goals, Fig.15 As shown, the eighth embodiment of the present invention further provides a mobile terminal, including:

[0253] A processor 1400; and a memory 1420 connected to the processor 1400 via a bus interface, wherein the memory 1420 is used to store programs and data used by the processor 1400 when performing operations, and the processor 1400 calls and executes the programs and data stored in the memory 1420.

[0254] The transceiver 1410 is connected to the bus interface and is used to receive and send data under the control of the processor 1400 ; the processor 1400 is used to read the program in the memory 1420 .

[0255] Specifically, the transceiver 1410 is used to receive a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between at least two of the RSUs;

[0256] The processor 1400 is configured to determine a position according to the positioning signaling.

[0257] Among them, Fig.15In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 1400 and various circuits of the memory represented by the memory 1420 are linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1410 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 1430 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 1400 is responsible for managing the bus architecture and general processing, and the memory 1420 may store data used by the processor 1400 when performing operations.

[0258] Optionally, the transceiver 1410 is specifically used to receive the positioning signaling sent by at least two RSUs through the direct link control channel PSCCH; or receive the positioning signaling sent by at least two RSUs through PSCCH and the direct link shared channel PSSCH; or receive the positioning signaling sent by at least two RSUs through PSSCH; wherein the pilot signal is a demodulation reference signal DMRS.

[0259] Optionally, when receiving the positioning signaling sent by at least two RSUs through the PSCCH and the direct link shared channel PSSCH, the transceiver 1410 is specifically used to receive a first part of the positioning signaling sent by at least two RSUs through the PSCCH; and receive a second part of the positioning signaling sent by at least two RSUs through the PSSCH;

[0260] The first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the RSU, the timing adjustment value of the RSU and the timing offset value of the RSU.

[0261] Optionally, the positioning signaling further includes: location information of the RSU;

[0262] And the location information of the RSU is indicated by the second part.

[0263] Optionally, when receiving the positioning signaling sent by at least two RSUs through the PSSCH, the positioning signaling further includes: location information of the RSU.

[0264] Optionally, the processor 1400 is further configured to determine location information of at least two of the RSUs;

[0265] When the processor 1400 determines the position according to the positioning signaling, it is specifically configured to:

[0266] Calculating an actual deviation value between the RSUs according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs;

[0267] The position of the mobile terminal is calculated based on the position information of at least two of the RSUs and the actual deviation value.

[0268] Optionally, when the processor 1400 calculates the actual deviation value between the RSUs according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs, is specifically configured to:

[0269] The actual deviation value between the two RSUs is calculated according to the following formula:

[0270] R xy =(Ta xy -Ta yx -Td x +Td y -Δt xy +Δt yx ) / 2;

[0271] Among them, the two RSUs are x and y, Rt xy is the actual deviation between x and y; Ta xy The timing offset value determined for x relative to y; Ta yx The timing offset value determined for y relative to x; Td x is the timing adjustment value of x; Td y is the timing adjustment value of y; Δt xy Timing measurement error determined for x; Δt yx Timing measurement error determined for y.

[0272] The mobile terminal provided by the present invention can obtain the actual timing deviation between RSUs by receiving the timing offset value and the timing adjustment value between RSUs transmitted by each RSU in the positioning signaling, thereby achieving more accurate positioning. It can solve the problem that due to the propagation distance between RSUs, the propagation delay of the signal during the propagation process will cause the timing drift between RSUs, thereby causing the low synchronization accuracy of the entire Internet of Vehicles system and affecting the positioning accuracy of the OBU.

[0273] Ninth embodiment

[0274] In order to better achieve the above goals, Fig.16As shown, the ninth embodiment of the present invention further provides a roadside device, wherein the roadside device is a second RSU, including:

[0275] A processor 1500; and a memory 1520 connected to the processor 1500 via a bus interface, wherein the memory 1520 is used to store programs and data used by the processor 1500 when performing operations, and the processor 1500 calls and executes the programs and data stored in the memory 1520.

[0276] The transceiver 1510 is connected to the bus interface and is used to receive and send data under the control of the processor 1500 ; the processor 1500 is used to read the program in the memory 1520 .

[0277] Specifically, the transceiver 1510 is used to receive a pilot signal and a positioning signaling sent by a first RSU; the positioning signaling includes: an identity ID of the first RSU, a first timing adjustment value of the first RSU, and a first timing offset value of the first RSU; wherein the first timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; the first timing offset value includes a timing offset between the first RSU and the second RSU;

[0278] The processor 1500 is configured to synchronize with the first RSU according to the positioning signaling.

[0279] Among them, Fig.16 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1500 and memory represented by memory 1520. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1510 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. The processor 1500 is responsible for managing the bus architecture and general processing, and the memory 1520 may store data used by the processor 1500 when performing operations.

[0280] Optionally, the processor 1500 is configured to, when synchronizing with the first RSU according to the positioning signaling, specifically:

[0281] Determine a second timing offset value of the second RSU relative to the first RSU by receiving the positioning signaling sent by the first RSU;

[0282] determining a second timing adjustment value of the second RSU when receiving the positioning signaling;

[0283] Calculate an actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value, and the second timing offset value;

[0284] The second RSU is synchronized with the first RSU according to the actual deviation value.

[0285] Optionally, when the processor 1500 calculates an actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value, and the second timing offset value, the processor 1500 is specifically configured to:

[0286] The actual deviation value between the second RSU and the first RSU is calculated according to the following formula:

[0287] R xy =(Ta xy -Ta yx -Td x +Td y +Δt yx -Δt xy ) / 2;

[0288] Among them, x is the second RSU, y is the first RSU, Rt xy is the actual deviation between the second RSU and the first RSU; Ta yx is the first timing offset value; Ta xy is the second timing offset value; Td x is the second timing adjustment value; Td y is the first timing adjustment value; Δt yx The timing measurement error determined for the first RSU; Δt xy A timing measurement error is determined for the second RSU.

[0289] The roadside equipment provided by the present invention can obtain the actual timing deviation from the first RSU by receiving the positioning signaling sent by the first RSU and by using the timing offset value and timing adjustment value in the positioning signaling, thereby realizing more accurate synchronization between the RSUs, and realizing synchronous coordination between the RSUs even when time synchronization cannot be performed through satellite signals and the internal clock accuracy of the Internet of Vehicles equipment is low and the requirements of high-precision time synchronization cannot be met for a long time. It can solve the problem that due to the propagation distance between the RSUs, the signal will generate propagation delay during the propagation process, resulting in timing drift between the RSUs, thereby causing low synchronization accuracy of the entire Internet of Vehicles system and affecting the positioning accuracy of the OBU.

[0290] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing related hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

[0291] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing related hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

[0292] In addition, a specific embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method in the first embodiment, the second embodiment, or the third embodiment are implemented. And the same technical effect can be achieved, so it will not be repeated here to avoid repetition.

[0293] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0294] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0295] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining a position, characterized in that: Applied to a first roadside equipment RSU, the method includes: Sending a pilot signal and a positioning signaling; wherein the positioning signaling is used for the mobile terminal to determine the position, and / or the positioning signaling is used for the second RSU to synchronize with the first RSU; The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU, and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU is synchronized with a synchronization source when sending the positioning signaling; the timing offset value is a timing offset between the first RSU and the second RSU; wherein sending the pilot signal and the positioning signaling includes: Sending the first part of the positioning signaling via PSCCH; and Sending the second part of the positioning signaling via PSSCH; Among them, the first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the first RSU, the timing adjustment value of the first RSU and the timing offset value of the first RSU; the pilot signal is a demodulation reference signal DMRS.

2. The method for determining a position according to claim 1, characterized in that: The positioning signaling also includes: location information of the first RSU; The location information of the first RSU is indicated by the second part.

3. The method for determining a position according to claim 1, characterized in that: The first part is carried by direct link control information SCI.

4. A method for determining a position, characterized in that: Applied to a mobile terminal, the method comprises: Receive a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between at least two of the RSUs; Determine the position according to the positioning signaling; wherein the receiving the pilot signal and the positioning signaling sent by at least two RSUs includes: receiving a first part of the positioning signaling sent by at least two RSUs through a PSCCH; and Receiving a second part of the positioning signaling sent by at least two RSUs via a PSSCH; Among them, the first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the RSU, the timing adjustment value of the RSU and the timing offset value of the RSU; the pilot signal is a demodulation reference signal DMRS.

5. The method for determining a position according to claim 4, characterized in that: The positioning signaling also includes: location information of the RSU; And the location information of the RSU is indicated by the second part.

6. The method for determining a position according to claim 4, characterized in that: Also includes: Determining location information of at least two of the RSUs; The determining of the position according to the positioning signaling includes: Calculating an actual deviation value between the RSUs according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs; The position of the mobile terminal is calculated based on the position information of at least two of the RSUs and the actual deviation value.

7. The method for determining a position according to claim 6, characterized in that: The calculating the actual deviation value between the RSUs according to the timing adjustment values ​​of at least two of the RSUs and the timing offset values ​​of at least two of the RSUs comprises: The actual deviation value between the two RSUs is calculated according to the following formula: Rt xy (Ta xy -Are yx -Td x +Td y −Δt xy +Δt yx ) / 2; Among them, the two RSUs are x and y, Rt xy is the actual deviation between x and y; Ta xy The timing offset value determined for x relative to y; Ta yx The timing offset value determined for y relative to x; Td x is the timing adjustment value of x; Td y is the timing adjustment value of y; Δt xy Timing measurement error determined for x; Δt yx Timing measurement error determined for y.

8. A synchronization method, characterized in that: Applied to the second RSU, the method comprises: Receive a pilot signal and a positioning signaling sent by a first RSU; the positioning signaling includes: an identity ID of the first RSU, a first timing adjustment value of the first RSU, and a first timing offset value of the first RSU; wherein the first timing adjustment value is an adjustment amount when the first RSU is synchronized with a synchronization source when sending the positioning signaling; the first timing offset value is a timing offset between the first RSU and the second RSU; Synchronize with the first RSU according to the positioning signaling; The step of synchronizing with the first RSU according to the positioning signaling includes: Determine a second timing offset value of the second RSU relative to the first RSU by receiving the positioning signaling sent by the first RSU; determining a second timing adjustment value of the second RSU when receiving the positioning signaling; Calculate an actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value, and the second timing offset value; The second RSU is synchronized with the first RSU according to the actual deviation value.

9. The synchronization method according to claim 8, characterized in that: The calculating, according to the first timing offset value, the first timing adjustment value, the second timing adjustment value, and the second timing offset value, an actual deviation value between the second RSU and the first RSU includes: The actual deviation value between the second RSU and the first RSU is calculated according to the following formula: Rt xy (Ta xy -Are yx -Td x +Td y +Δt yx −Δt xy ) / 2; Among them, x is the second RSU, y is the first RSU, Rt xy is the actual deviation between the second RSU and the first RSU; Ta yx is the first timing offset value; Ta xy is the second timing offset value; Td x is the second timing adjustment value; Td y is the first timing adjustment value; Δt yx The timing measurement error determined for the first RSU; Δt xy A timing measurement error is determined for the second RSU.

10. A position determination device, characterized in that: Applied to the first RSU, including: A sending module, configured to send a pilot signal and a positioning signaling; wherein the positioning signaling is used for the mobile terminal to determine the position, and / or the positioning signaling is used for the second RSU to synchronize with the first RSU; The positioning signaling includes: an identity ID of the first RSU, a timing adjustment value of the first RSU, and a timing offset value of the first RSU; wherein the timing adjustment value is an adjustment amount when the first RSU synchronizes with the synchronization source when sending the positioning signaling; the timing offset value is a timing offset between the first RSU and the second RSU; The sending module is specifically used for: Sending the first part of the positioning signaling via PSCCH; and Sending the second part of the positioning signaling via PSSCH; Among them, the first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the first RSU, the timing adjustment value of the first RSU and the timing offset value of the first RSU; the pilot signal is a demodulation reference signal DMRS.

11. A position determination device, characterized in that: Applied to mobile terminals, including: A first receiving module is used to receive a pilot signal and a positioning signaling sent by at least two RSUs; the positioning signaling includes: an identity ID of the RSU, a timing adjustment value of the RSU, and a timing offset value of the RSU; wherein the timing adjustment value is an adjustment amount when the RSU synchronizes with a synchronization source when sending the positioning signaling; the timing offset value includes a timing offset between two RSUs; A position calculation module, used to determine the position according to the positioning signaling; The first receiving module is specifically used for: receiving a first part of the positioning signaling sent by at least two RSUs through a PSCCH; and Receiving a second part of the positioning signaling sent by at least two RSUs via a PSSCH; Among them, the first part is used to indicate whether the PSCCH carries the positioning signaling; the PSSCH indicated by the PSCCH carries the second part of the positioning signaling, and the second part is used to indicate the identity ID of the RSU, the timing adjustment value of the RSU and the timing offset value of the RSU; the pilot signal is a demodulation reference signal DMRS.

12. A synchronization device, characterized in that: Applied to the second RSU, including: A second receiving module is used to receive a pilot signal and a positioning signaling sent by a first RSU; the positioning signaling includes: an identity ID of the first RSU, a first timing adjustment value of the first RSU, and a first timing offset value of the first RSU; wherein the first timing adjustment value is an adjustment amount when the first RSU synchronizes with a synchronization source when sending the positioning signaling; the first timing offset value is a timing offset between the first RSU and the second RSU; A synchronization processing module, configured to synchronize with the first RSU according to the positioning signaling; The synchronization processing module includes: A first processing submodule, configured to determine a second timing offset value of the second RSU relative to the first RSU by receiving the positioning signaling sent by the first RSU; A second processing submodule, configured to determine a second timing adjustment value of the second RSU when receiving the positioning signaling; A third processing submodule, configured to calculate an actual deviation value between the second RSU and the first RSU according to the first timing offset value, the first timing adjustment value, the second timing adjustment value and the second timing offset value; The fourth processing submodule is configured to synchronize the second RSU with the first RSU according to the actual deviation value.

13. A roadside device, the roadside device being a first RSU, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the position determination method according to any one of claims 1 to 3 when executing the computer program.

14. A mobile terminal, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the position determination method as claimed in any one of claims 4 to 7 when executing the computer program.

15. A roadside device, the roadside device being a second RSU, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the synchronization method as claimed in any one of claims 8 to 9 when executing the computer program.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the steps of the position determination method as described in any one of claims 1 to 3, or implements the steps of the position determination method as described in any one of claims 4 to 7, or implements the steps of the synchronization method as described in any one of claims 8 to 9.

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