A device and method for performing an interim verification on a relative position positioning device

Abstract

The present application discloses a device and method for in - period verification of relative - position positioning equipment, which relates to the technical field of autonomous driving system testing. It includes a bracket assembly, on whose sliding track there are, in sequence from front to back, a moving module for installing target vehicle positioning equipment and a simulated ranging module for installing host vehicle positioning equipment, and the moving module can slide on the sliding track. The simulated ranging module controls the relative - angle change between a first directional antenna and a first positioning antenna in the host vehicle positioning equipment, and processes the actual heading - angle data according to the relative - angle change. A distance - measurement unit is used to measure the actual distance data between the host vehicle positioning equipment and the target vehicle positioning equipment. A processing module compares the actual transverse and longitudinal data with the theoretical transverse and longitudinal data output by the host vehicle positioning equipment to obtain a verification result. The present application can accurately simulate the situation of relative - position positioning equipment in actual operation and improve the verification accuracy of relative - position positioning equipment.

Description

Technical Field

[0001] This application relates to the technical field of autonomous driving system testing, and specifically relates to a device and method for performing in - period verification on relative position positioning equipment. Background Technique

[0002] At present, the relative position positioning equipment used in the industry for ADAS (Advanced Driving Assistance System) testing includes a set of host vehicle positioning equipment and a set of target vehicle positioning equipment, which respectively collect positioning information of the host and target vehicles, etc. The computing unit on the host vehicle positioning equipment can obtain the relative position of the two vehicles by calculating the positions of the two vehicles and its own heading, so as to meet the parameter acquisition requirements in ADAS testing.

[0003] In order to regularly check the status of the equipment, an in - period verification needs to be carried out between two metrological verifications, and the purpose is to verify the accuracy of the equipment. Currently, the verification parameter for the relative position positioning equipment is the relative distance between the two vehicles, and the method is as follows:

[0004] Positioning equipment (including gyroscopes and antennas) is installed on the host vehicle and the target vehicle respectively. At the same time, a base station is set up. After the base station sends differential signals to the antennas, the accuracy of the antennas can be improved. When the equipment is in use, it is necessary to drive the vehicle to activate the gyroscope and make the positioning equipment RTK (Real - time kinematic) lock to obtain position measurement data with an error within the set range. Specifically, as Figure 1 shown, gyroscopes 3 and antennas 4 are provided on both the host vehicle 1 and the target vehicle 2. Generally, the gyroscope 3 is used to measure the vehicle acceleration, and the antenna 4 at the rear of the vehicle is a positioning antenna for measuring the vehicle position, and the antenna 4 at the rear of the vehicle is a directional antenna for measuring the vehicle heading angle.

[0005] Output points 5 are respectively set at the front - most end of the host vehicle 1 and the rear - most end of the target vehicle 2. After the vehicle positions are measured by the antennas 4, the position relationship of the output points 5 can be calculated according to the position relationship between the output points 5 and the antennas 4. Make the output points 5 of the host vehicle 1 and the target vehicle 2 contact for a distance zero - clearing operation, and then place the two vehicles according to the Figure 1 position shown. The target vehicle 2 moves forward and stops after traveling a certain distance. Compare the straight - line distance d between the two output points 5 displayed on the relative position positioning equipment with the straight - line distance between the two output points 5 measured by a (calibrated) tape measure. Repeat the above operation twice to achieve the in - period verification of the relative position positioning equipment.

[0006] The above - mentioned method cannot fully represent the actual situation of the relative position positioning equipment in actual use, and the reasons are as follows:

[0007] In actual use, the relative position positioning device is installed on a vehicle and moves with the vehicle constantly, being in a state of constant motion all the time. In the above method, the relative position positioning device is measured in a stationary state.

[0008] In actual use, the heading of the master vehicle positioning device changes at any time, resulting in the real-time change of the relative horizontal and longitudinal distances between the two vehicles calculated through the heading of the master vehicle. Moreover, the parameters required for actual testing are the horizontal and longitudinal distances between the master vehicle and the target vehicle (including the relative distance in the X direction and the relative distance in the Y direction), rather than just the straight-line distance between the master vehicle and the target vehicle obtained in the above method. Summary of the Invention

[0009] Aiming at the problems existing in the prior art, the purpose of the present application is to provide a device and method for in-period verification of a relative position positioning device, which can accurately simulate the actual operation situation of the relative position positioning device and improve the verification accuracy of the relative position positioning device.

[0010] To achieve the above object, the technical solution adopted is:

[0011] The first aspect of the present application provides a device for in-period verification of a relative position positioning device, including:

[0012] A bracket assembly, which includes a fixed bracket and a displacement device for moving the fixed bracket; a sliding track and a power module are provided on the fixed bracket, and a moving module for installing a target vehicle positioning device and a simulated ranging module for installing a master vehicle positioning device are arranged on the sliding track in the front-back order, and the power module is used to drive the moving module to slide on the sliding track;

[0013] The simulated ranging module includes a heading angle measurement and control unit and a distance measurement unit. The heading angle measurement and control unit is used to control the relative angle change between the first directional antenna and the first positioning antenna in the master vehicle positioning device, and process the obtained actual heading angle data according to the relative angle change. The distance measurement unit is used to measure the actual distance data between the master vehicle positioning device and the target vehicle positioning device;

[0014] A processing module, which is used to process the actual horizontal and longitudinal data according to the actual heading angle data and the actual distance data, and compare the actual horizontal and longitudinal data with the theoretical horizontal and longitudinal data output by the master vehicle positioning device to obtain a verification result.

[0015] In some embodiments, the power module includes a motor and a steel wire rope. The motor is installed on the fixed bracket, and the power output end of the motor is connected to the moving module through the steel wire rope.

[0016] In some embodiments, the mobile module includes a fourth mounting position for mounting the second directional antenna in the target vehicle positioning device, a fifth mounting position for mounting the second gyroscope in the target vehicle positioning device, and a sixth mounting position for mounting the second positioning antenna in the target vehicle positioning device;

[0017] The fourth mounting position and the sixth mounting position are located on the front and rear sides of the fifth mounting position. The fourth mounting position is located on the side away from the main vehicle positioning device, and the sixth mounting position is located on the side close to the main vehicle positioning device.

[0018] In some embodiments, the mobile module further includes an iron plate disposed outside the second positioning antenna in the target vehicle positioning device. The iron plate is perpendicular to the sliding track and faces the main vehicle positioning device.

[0019] In some embodiments, the analog ranging module includes a first mounting position for mounting the first directional antenna in the main vehicle positioning device, a second mounting position for mounting the first gyroscope in the main vehicle positioning device, and a third mounting position for mounting the first positioning antenna in the main vehicle positioning device;

[0020] The first mounting position and the third mounting position are located on the front and rear sides of the second mounting position. The first mounting position is located on the side close to the target vehicle positioning device, and the third mounting position is located on the side away from the target vehicle positioning device.

[0021] In some embodiments, the heading angle measurement and control unit includes an angle turntable and an angle measurement unit. The fixed end and the mobile end of the angle turntable are respectively provided with the third mounting position and the first mounting position. The fixed end is fixedly mounted on a fixed bracket, and the mobile end moves along a preset arc slide rail between two preset limit points;

[0022] The angle measurement unit is disposed behind the angle turntable.

[0023] In some embodiments, the distance measurement unit is disposed outside the first positioning antenna in the main vehicle positioning device and is used to measure the relative distance from the iron plate.

[0024] In some embodiments, the device further includes:

[0025] A base station for providing a differential signal to the relative positioning device.

[0026] The second aspect of the present application provides a method for performing an interim verification on a relative position positioning device. Based on the device for performing an interim verification on a relative position positioning device, the method includes:

[0027] In the initial state, use the distance measurement unit to measure the initial distance data between the main vehicle positioning device and the target vehicle positioning device, and input the initial distance data into the main vehicle positioning device as the initial transverse and longitudinal data of the main vehicle positioning device;

[0028] In the working state, use the displacement device to move the fixed bracket, use the power module to move the moving module along the sliding track, use the distance measurement unit to measure the actual distance data, use the analog ranging module to change the relative angle change between the first directional antenna and the first positioning antenna in the master vehicle positioning device, and use the heading angle measurement and control unit to measure the actual heading angle data; according to the actual heading angle data and the actual distance data, process to obtain the actual transverse and longitudinal data, and compare the actual transverse and longitudinal data with the theoretical transverse and longitudinal data output by the master vehicle positioning device to obtain the verification result.

[0029] In some embodiments, in the working state, the actual transverse and longitudinal data is calculated using the following formula:

[0030]

[0031] Where,

[0032] D x真 represents the true relative distance between the master vehicle positioning device and the target vehicle positioning device in the x-axis direction;

[0033] D y真 represents the true relative distance between the master vehicle positioning device and the target vehicle positioning device in the y-axis direction;

[0034] D represents the actual distance data;

[0035] a represents the actual heading angle data.

[0036] The beneficial effects brought by the technical solution provided by this application include:

[0037] Both the master vehicle positioning device and the target vehicle positioning device in the relative positioning device are installed on the same moving carrier, which can simulate the real working conditions where both the master vehicle and the target vehicle are in a moving state during the period verification.

[0038] Considering that the relative positioning device relies on dual antennas to determine the heading, therefore, use the heading angle measurement and control unit to change the angle of the positioning antenna of the master vehicle to simulate the change of the heading angle, so as to simulate the real operation scenario of the master vehicle.

[0039] Since there is a distance change between the master vehicle and the target vehicle during the actual operation, use the sliding track and the power module to continuously change the distance between the two sets of positioning devices, so as to simulate the real operation scenario of the master vehicle and the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the in-period verification of the relative position positioning device in the prior art.

[0041] Figure 2 This is a schematic diagram of the device for performing interim verification on the relative position positioning device in the embodiments of the present invention.

[0042] Figure 3 This is a schematic diagram of the mobile module in the embodiments of the present invention.

[0043] Figure 4 This is a schematic diagram of the analog ranging module in the embodiments of the present invention.

[0044] Reference numerals:

[0045] 1 - Master vehicle; 2 - Target vehicle; 3 - Gyroscope; 4 - Antenna; 5 - Output point; 6 - Mobile module; 7 - Fourth mounting position; 8 - Fifth mounting position; 9 - Sixth mounting position; 10 - Iron plate; 11 - First mounting position; 12 - Second mounting position; 13 - Third mounting position; 14 - Course angle measurement and control unit; 15 - Distance measurement unit; 16 - Analog ranging module; 17 - Fixed bracket; 18 - Motor; 19 - Steel wire rope. Detailed implementation manners

[0046] The following further describes the present application in detail with reference to the accompanying drawings and embodiments.

[0047] Refer to Figure 2 As shown, the embodiments of the present invention provide a device for performing interim verification on a relative position positioning device, including a movable support assembly, a mobile module 6 that can move back and forth on the support assembly, and an analog ranging module 16 provided on the support assembly. The support assembly can drive the mobile module 6 and the analog ranging module 16 to move together. A target vehicle positioning device can be installed on the mobile module 6, and the mobile module 6 can drive the target vehicle positioning device to move back and forth, thereby simulating the actual operation of the target vehicle. A master vehicle positioning device can be installed on the analog ranging module 16, and the analog ranging module 16 can change the angle between the first positioning antenna and the first directional antenna in the master vehicle positioning device, thereby changing the course angle data collected by the master vehicle positioning device, and thus simulating the actual operation of the master vehicle.

[0048] In this embodiment, multiple practical problems faced by the interim verification of this type of device are fundamentally solved. It has low cost, simple installation, easy operation, and no restrictions on the site.

[0049] Specifically, as Figures 2 to 4 shown, the support assembly includes a fixed bracket 17 and a displacement device for moving the fixed bracket 17. A sliding track and a power module are provided on the fixed bracket 17. The mobile module 6 for installing the target vehicle positioning device and the analog ranging module 16 for installing the master vehicle positioning device are arranged on the sliding track in the front-to-back order, and the power module is used to drive the mobile module 6 to slide on the sliding track

[0050] The analog ranging module 16 includes a heading angle measurement and control unit 14 and a distance measurement unit 15. The heading angle measurement and control unit 14 is used to control the relative angle change between the first directional antenna and the first positioning antenna in the host vehicle positioning device, and processes the actual heading angle data based on the relative angle change. The distance measurement unit 15 is used to measure the actual distance data between the host vehicle positioning device and the target vehicle positioning device.

[0051] The processing module is used to process the actual lateral and longitudinal data based on the actual heading angle data and the actual distance data, and compare the actual lateral and longitudinal data with the theoretical lateral and longitudinal data output by the host vehicle positioning device to obtain the verification result.

[0052] In this embodiment, both the host vehicle positioning device and the target vehicle positioning device in the relative positioning device are installed on the same moving carrier, which can simulate the real working condition where both the host vehicle and the target vehicle are in a moving state during the calibration.

[0053] Considering that the relative positioning device relies on dual antennas to determine the heading, therefore, the heading angle measurement and control unit 14 is used to change the angle of the positioning antenna of the host vehicle to simulate the change of the heading angle, so as to simulate the real operation scenario of the host vehicle.

[0054] Since there is a distance change between the host vehicle and the target vehicle during the actual operation, the sliding track and the power module are used to continuously change the distance between the two positioning devices, so as to simulate the real operation scenario of the host vehicle and the target vehicle.

[0055] In a preferred embodiment, the power module includes a motor 18 and a steel wire rope 19. The motor 18 is installed on a fixed bracket 17, and the power output end of the motor 18 is connected to the moving module 6 through the steel wire rope 19.

[0056] In this embodiment, the fixed bracket 17 is for moving and placing the moving module 6 and the analog ranging module 16, and it can be fixed on a moving carrier, such as using a truck as the displacement device. A sliding track and a power module are installed on the fixed bracket 17. The power module can be a traction device under the fixed bracket 17, including a motor 18 and a steel wire rope 19, and the moving module 6 is pulled to slide on the track by the forward and reverse rotation of the motor 18.

[0057] In a preferred embodiment, the moving module 6 includes a fourth mounting position 7 for installing the second directional antenna in the target vehicle positioning device, a fifth mounting position 8 for installing the second gyro in the target vehicle positioning device, and a sixth mounting position 9 for installing the second positioning antenna in the target vehicle positioning device.

[0058] The fourth mounting position 7 and the sixth mounting position 9 are located on the front and rear sides of the fifth mounting position 8. The fourth mounting position 7 is located on the side far from the host vehicle positioning device, and the sixth mounting position 9 is located on the side close to the host vehicle positioning device.

[0059] In a preferred embodiment, the moving module 6 further includes an iron plate 10 disposed outside the second positioning antenna in the target vehicle positioning device, and the iron plate 10 is perpendicular to the sliding track and faces the host vehicle positioning device.

[0060] The distance measuring unit 15 is disposed outside the first positioning antenna in the host vehicle positioning device and is configured to measure the relative distance from the iron plate 10.

[0061] In this embodiment, the iron plate 10 can be disposed outside the second positioning antenna in the target positioning device, and the distance measuring unit 15, such as a laser distance meter, can be disposed outside the first positioning antenna in the host vehicle positioning device. The actual distance data D can be obtained by measuring the distance between the two positioning antennas with the laser distance meter. The moving module 6 can slide along the track on the fixed bracket 17 under the traction of the traction device below the fixed bracket 17, that is, the value of D can be changed.

[0062] In a preferred embodiment, the analog ranging module 16 includes a first mounting position 11 for mounting the first directional antenna in the host vehicle positioning device, a second mounting position 12 for mounting the first gyroscope in the host vehicle positioning device, and a third mounting position 13 for mounting the first positioning antenna in the host vehicle positioning device.

[0063] The first mounting position 11 and the third mounting position 13 are located on the front and rear sides of the second mounting position 12. The first mounting position 11 is located on the side close to the target vehicle positioning device, and the third mounting position 13 is located on the side far from the target vehicle positioning device.

[0064] The heading angle measurement and control unit 14 includes an angle turntable and an angle measurement unit. The fixed end and the mobile end of the angle turntable are respectively provided with the third mounting position 13 and the first mounting position 11. The fixed end is fixedly mounted on the fixed bracket 17, and the mobile end moves along a preset arc-shaped slide rail between two preset limit points.

[0065] The angle measurement unit is disposed behind the angle turntable.

[0066] In this embodiment, the analog ranging module 16 is mainly an angle turntable. The angle turntable is fixed on the fixed bracket 17 and remains stationary. The mobile end of the angle turntable can move along the arc-shaped slide rail between two limit points according to a set program. The angle measurement unit can calculate the angle a between the original position and the line connecting the fixed end and the mobile end at a certain moment in real time. This angle a is the actual heading angle data. The distance between the fixed end and the mobile end can be 1 m.

[0067] The laser distance meter can be flush with the fixed end and can measure the distance D from the iron plate 10.

[0068] The embodiment of the present invention also provides a method for period verification of a relative position positioning device, comprising:

[0069] In the initial state, the distance measuring unit 15 is used to measure the initial distance data between the main vehicle positioning device and the target vehicle positioning device, and the initial distance data is input into the main vehicle positioning device to serve as the initial horizontal and vertical data of the main vehicle positioning device.

[0070] In the working state, the fixed bracket 17 is moved by the displacement device, the mobile module 6 is moved along the sliding track by the power module, the actual distance data is measured by the distance measuring unit 15, the relative angle change between the first directional antenna and the first positioning antenna in the main vehicle positioning device is changed by the analog distance measuring module 16, and the actual heading angle data is measured by the heading angle measurement and control unit 14; according to the actual heading angle data and the actual distance data, the actual transverse and longitudinal data are processed and compared with the theoretical transverse and longitudinal data output by the main vehicle positioning device to obtain the verification result.

[0071] In this embodiment, the main vehicle positioning device is placed on the analog distance measurement module 16, and the target vehicle positioning device is placed on the mobile module 6. The fixed bracket 17 is placed on a truck, and the measurement and control points of the main vehicle positioning device and the target vehicle positioning device are placed at their respective positioning antennas through the software provided by the relative position positioning device.

[0072] Set up the base station, drive the truck to activate the relative position positioning device and make the relative position positioning device RTK lock.

[0073] In the initial state, the vehicle stops and starts the initial distance calibration work. The distance measurement unit 15 is used to measure the initial distance data D between the main vehicle positioning device and the target vehicle positioning device. 0 , the original relative distance output value is changed to D through the main vehicle positioning device 0 .

[0074] In the working state, the fixed bracket 17 is moved by the displacement device, for example, it travels freely for 10 minutes within the test site (base station coverage area). The moving module 6 is moved along the sliding track by the power module, and the relative angle between the first directional antenna and the first positioning antenna in the master vehicle positioning device is changed by the analog ranging module 16. During this process, the actual distance data D is measured by the distance measurement unit 15, and the heading angle data a is measured by the heading angle measurement and control unit 14. According to the actual heading angle data a and the actual distance data D, the actual transverse and longitudinal data are processed. The actual transverse and longitudinal distances represent the true relative distances in the x direction and the y-axis direction between the master vehicle positioning device and the target vehicle positioning device. Generally, the x-axis is set to be parallel to the sliding track. The actual transverse and longitudinal data are compared with the theoretical transverse and longitudinal data output by the master vehicle positioning device to obtain the verification result, and this verification result represents the data accuracy of the relative position positioning device.

[0075] In the working state, the actual transverse and longitudinal data are calculated using the following formula:

[0076]

[0077] where D x真 represents the true relative distance in the x-axis direction between the master vehicle positioning device and the target vehicle positioning device. D y真 represents the true relative distance in the y-axis direction between the master vehicle positioning device and the target vehicle positioning device. D represents the actual distance data. a represents the actual heading angle data.

[0078] In this embodiment, both the master vehicle positioning device and the target vehicle positioning device in the relative positioning device are installed on the same moving carrier, which can simulate the real working conditions where both the master vehicle and the target vehicle are in a moving state during the calibration.

[0079] Considering that the relative positioning device relies on dual antennas to determine the heading, therefore, the heading angle measurement and control unit 14 is used to change the angle of the positioning antenna of the master vehicle to simulate the change of the heading angle, thereby simulating the real operating scenario of the master vehicle.

[0080] Since there are distance changes between the master vehicle and the target vehicle during actual operation, the sliding track and the power module are used to continuously change the distance between the two sets of positioning devices, thereby simulating the real operating scenario of the master vehicle and the target vehicle.

[0081] This application is not limited to the above embodiments. For those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements are also considered within the protection scope of this application.

Claims

1. A device for performing interim verification on a relative position positioning device, characterized in that, the device includes: A bracket assembly, which includes a fixed bracket and a displacement device for moving the fixed bracket; a sliding track and a power module are provided on the fixed bracket, and a moving module for installing the target vehicle positioning device and a simulated ranging module for installing the master vehicle positioning device are arranged on the sliding track in the front-to-back order, and the power module is used to drive the moving module to slide on the sliding track; The simulated ranging module, which includes a heading angle measurement and control unit and a distance measurement unit, the heading angle measurement and control unit is used to control the relative angle change between the first directional antenna and the first positioning antenna in the master vehicle positioning device, and processes the actual heading angle data according to the relative angle change, and the distance measurement unit is used to measure the actual distance data between the master vehicle positioning device and the target vehicle positioning device; A processing module, which is used to process the actual lateral and longitudinal data according to the actual heading angle data and the actual distance data, and compare the actual lateral and longitudinal data with the theoretical lateral and longitudinal data output by the master vehicle positioning device to obtain the verification result.

2. The device for performing interim verification on a relative position positioning device according to claim 1, characterized in that, the power module includes a motor and a steel wire rope, the motor is installed on the fixed bracket, and the power output end of the motor is connected to the moving module through the steel wire rope.

3. The device for performing interim verification on a relative position positioning device according to claim 1, characterized in that, the moving module includes a fourth installation position for installing the second directional antenna in the target vehicle positioning device, a fifth installation position for installing the second gyro in the target vehicle positioning device, and a sixth installation position for installing the second positioning antenna in the target vehicle positioning device; The fourth installation position and the sixth installation position are located on the front and back sides of the fifth installation position, the fourth installation position is located on the side away from the master vehicle positioning device, and the sixth installation position is located on the side close to the master vehicle positioning device.

4. The device for performing interim verification on a relative position positioning device according to claim 1, characterized in that, the moving module further includes an iron plate arranged outside the second positioning antenna in the target vehicle positioning device, and the iron plate is perpendicular to the sliding track and faces the master vehicle positioning device.

5. The device for performing interim verification on a relative position positioning device according to claim 1, characterized in that, the simulated ranging module includes a first installation position for installing the first directional antenna in the master vehicle positioning device, a second installation position for installing the first gyro in the master vehicle positioning device, and a third installation position for installing the first positioning antenna in the master vehicle positioning device; The first installation position and the third installation position are located on the front and back sides of the second installation position, the first installation position is located on the side close to the target vehicle positioning device, and the third installation position is located on the side away from the target vehicle positioning device.

6. The device for performing interim verification on a relative position positioning device according to claim 5, characterized in that, The heading angle measurement and control unit includes an angle turntable and an angle measurement unit. The fixed end and the mobile end of the angle turntable are respectively provided with the third mounting position and the first mounting position. The fixed end is fixedly mounted on a fixed bracket, and the mobile end moves along a preset arc slide rail between two preset limit points; The angle measurement unit is arranged behind the angle turntable.

7. The device for performing an interim verification on a relative position positioning device according to claim 4, characterized in that, The distance measurement unit is arranged outside the first positioning antenna in the host vehicle positioning device and is used to measure the relative distance from the iron plate.

8. The device for performing an interim verification on a relative position positioning device according to claim 1, characterized in that, The device further includes: A base station, which is used to provide differential signals to the relative positioning device.

9. A method for performing an interim verification on a relative position positioning device, characterized in that, Based on the device for performing an interim verification on a relative position positioning device according to any one of claims 1-8, the method includes: Initial state: Using the distance measurement unit to measure the initial distance data between the host vehicle positioning device and the target vehicle positioning device, and inputting the initial distance data into the host vehicle positioning device as the initial transverse and longitudinal data of the host vehicle positioning device; Working state: Using the displacement device to move the fixed bracket, using the power module to move the moving module along the sliding track, using the distance measurement unit to measure the actual distance data, using the analog ranging module to change the relative angle change between the first directional antenna and the first positioning antenna in the host vehicle positioning device, and using the heading angle measurement and control unit to measure the actual heading angle data; According to the actual heading angle data and the actual distance data, process to obtain the actual transverse and longitudinal data, and compare the actual transverse and longitudinal data with the theoretical transverse and longitudinal data output by the host vehicle positioning device to obtain the verification result.

10. The method for performing an interim verification on a relative position positioning device according to claim 9, characterized in that, In the working state, the actual transverse and longitudinal data is calculated using the following formula: wherein, Represents the true relative distance between the host vehicle positioning device and the target vehicle positioning device in the x-axis direction; Indicates the true relative distance in the y-axis direction between the host vehicle positioning device and the target vehicle positioning device; D represents the actual distance data; a represents the actual heading angle data.

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