A blind lane positioning method and device based on high-precision GNSS positioning and MAP messages

Abstract

The blind path positioning method and device based on high-precision GNSS positioning and MAP message of the application relate to the technical field of guide dog devices. The method comprises: acquiring a first position of a first user based on high-precision GNSS positioning, including latitude and longitude coordinates; receiving and decoding a V2X map MAP message broadcast by a roadside device to acquire data items of all first roads within a preset distance of the first position; traversing latitude and longitude coordinates of each adjacent two points of all first road point sequence data items of the first roads; converting the latitude and longitude coordinates into rectangular coordinate system coordinates; calculating the perpendicular distance between the first position and all the first roads and determining the shortest perpendicular distance; and generating a guide planning path of the first road corresponding to the shortest perpendicular distance from the first position. The application is based on high-precision GNSS positioning and MAP message, locates the position of the blind path closest to the blind person, plans the most convenient and safe guide path, and realizes efficient and safe travel of the blind person.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of guide dog devices, and particularly relates to a blind path positioning method and device based on high-precision GNSS positioning and MAP messages. BACKGROUND

[0002] Currently, in order to facilitate the travel of blind people, the road administration department usually builds blind paths (i.e., blind paths) on both sides of the road, and blind people can detect the position of the blind path by using a blind stick to knock the surface of the road and guide their travel. However, the effect of the way of identifying the blind path by physically contacting the surface of the road through the blind stick is not ideal in actual use, and mainly has the following problems: 1) the blind path can be less identifiable due to reasons such as collapse due to long-term use and snow cover, and it is difficult to accurately confirm the position and direction of the blind path through physical knocking with the blind stick; 2) the blind person needs to use the blind stick to detect the current latest blind path information, which is time-consuming and laborious and the walking speed is slow. In summary, the existing physical detection method of the blind path still has problems such as difficulty in identifying the blind path, high frequency of operation, and low identification efficiency.

[0003] Therefore, it is desirable to provide a blind path positioning method and device based on high-precision GNSS positioning and MAP messages, which fuses high-precision satellite positioning information GNSS, blind path trajectory information described based on V2X MAP messages, and obstacle information RSM near the blind path identified by the roadside equipment in real time, and designs an automatic blind path auxiliary positioning device; realizes automatic positioning of the position of the blind path closest to the blind person, automatic planning of the most convenient and safe guiding path for the blind person, and prompting of the optimal path for the blind person to reach the blind path, effectively solves the problems of difficulty in identifying the blind path and high labor intensity in the traditional manual physical detection of the blind path, and finally realizes efficient travel and safe travel of the blind person. SUMMARY

[0004] According to a first aspect of some embodiments of the present application, a blind path positioning method based on high-precision GNSS positioning and MAP messages is provided, which is applied to a terminal (for example, a positioning device, etc.), and can obtain a first position of a first user based on high-precision GNSS positioning, the first position including longitude and latitude coordinates (Long G ,Lat G ); receiving V2X map (MAP) messages broadcast by a roadside equipment through a PC5 air interface and decoding to obtain data items of all first roads within a preset distance of the first position; traversing longitude and latitude coordinates (Long N ,Lat N ,Long N+1 ,Lat N+1); converting the first position and the latitude and longitude coordinates of the first road into Cartesian coordinate system coordinates; calculating the perpendicular distance of the first position from all the first roads and determining the shortest perpendicular distance; and generating a guidance planning path of the first position to the first road corresponding to the shortest perpendicular distance.

[0005] In some embodiments, the generating of the guidance planning path of the first position to the first road corresponding to the shortest perpendicular distance specifically comprises real-time sensing of environmental information and obstacle information of the first road by a roadside device according to position information of the first road corresponding to the shortest perpendicular distance.

[0006] In some embodiments, the roadside device real-time senses the environmental information and obstacle information of the first road by adopting RSM message packaging and coding conforming to the national standard V2X message standard, broadcasting and issuing by the roadside device, and receiving by PC5 air interface.

[0007] In some embodiments, the first road includes a blind road, and the obtaining of the data items of all the first roads within the preset distance of the first position specifically comprises decoding MAP message to obtain data items of all the blind road information within the preset distance of the first position; and traversing data item BlindLink of the blind road information described in the MAP message.

[0008] In some embodiments, the blind road information adopts MAP message packaging and coding conforming to the national standard V2X message standard, is broadcasted and issued by the roadside device, and is received by the PC5 air interface.

[0009] In some embodiments, the traversing of the data items of the first road specifically comprises traversing a blind road description point sequence in the data item BlindLink of the blind road information; and obtaining latitude and longitude coordinates (Long N ,Lat N ,Long N+1 ,Lat N+1 ) of each adjacent two points.

[0010] In some embodiments, the converting of the first position and the latitude and longitude coordinates of the first road into Cartesian coordinate system coordinates specifically comprises converting latitude and longitude coordinates (Long G ,Lat G ) of the first position into Cartesian coordinate system coordinates (x G ,y G ); and converting latitude and longitude coordinates (Long N ,Lat N ,Long N+1,Lat N+1 ) into Cartesian coordinate system coordinates (x N ,y N ,x N+1 ,y N+1 ).

[0011] In some embodiments, the calculating the first position and the perpendicular distance of all the first roads, specifically includes calculating the perpendicular distance D of the GNSS positioning coordinates (x G ,y G ) of the first user and the adjacent two points (x N ,y N ,x N+1 ,y N+1 ) of the first road according to the formula

[0012]

[0013] calculating the GNSS positioning coordinates (x G ,y G ) of the first user and the perpendicular distance D of the adjacent two points (x N ,y N ,x N+1 ,y N+1 ) of the first road.

[0014] According to some embodiments of the present application, a second aspect provides a blind road positioning device based on high-precision GNSS positioning and MAP message, the device comprises a GNSS positioning module configured to obtain a first position of a first user; a PC5 air interface configured to receive a MAP message and a RSM message; and a processing module configured to decode the MAP message and the RSM message.

[0015] In some embodiments, the blind road positioning device based on high-precision GNSS positioning and MAP message further comprises a GNSS positioning module configured to obtain a first position of a first user; a PC5 air interface configured to receive a MAP message and a RSM message; a memory configured to store data and instructions; and a processor in communication with the memory, wherein when executing the instructions in the memory, the processor is configured to: based on high-precision GNSS positioning, obtain a first position of a first user, the first position comprising longitude and latitude coordinates (Long G ,Lat G ); receive and decode a V2X map MAP message broadcast by a roadside device through a PC5 air interface to obtain data items of all first roads within a predetermined distance of the first position; and traverse the longitude and latitude coordinates (Long N ,Lat N ,Long N+1 ,Lat N+1Convert the latitude and longitude coordinates of the first location and the first road to rectangular coordinates; calculate the perpendicular distances between the first location and all the first roads, and determine the shortest perpendicular distance; generate a guidance planning path for the first road corresponding to the first location and the shortest perpendicular distance.

[0016] Therefore, according to some embodiments of this application, a method and apparatus for tactile paving based on high-precision GNSS positioning and MAP messages is designed to integrate high-precision satellite positioning information (GNSS), tactile paving point information described by V2X MAP messages, and obstacle information (RSM) near the tactile paving that is identified and sensed in real time by roadside equipment. This design enables an automated tactile paving auxiliary positioning device to automatically locate the tactile paving closest to the blind person, automatically plan the most convenient and safest guiding path for the blind person, and prompt the blind person with the optimal path to the tactile paving. This effectively solves the problems of the traditional method of manually physically detecting tactile paving with a white cane, such as the difficulty in identifying tactile paving and the high labor intensity, and ultimately achieves the goals of efficient and safe travel for the blind. Attached Figure Description

[0017] To better understand and illustrate some embodiments of this application, the following description of the embodiments will be made in conjunction with the accompanying drawings, in which the same numerical designations indicate corresponding parts.

[0018] Figure 1 This is an exemplary schematic diagram of a positioning system based on high-precision GNSS positioning and MAP messages, provided according to some embodiments of this application.

[0019] Figure 2 This is an exemplary flowchart of a blind path positioning method based on high-precision GNSS positioning and MAP messages provided according to some embodiments of this application. Detailed Implementation

[0020] The following description with reference to the accompanying drawings provides an illustrative understanding of various embodiments of the present application as defined by the claims and their equivalents. These embodiments include various specific details for ease of understanding, but are to be considered exemplary only. Therefore, those skilled in the art will understand that various changes and modifications can be made to the various embodiments described herein without departing from the scope and spirit of the present application. Furthermore, for the sake of brevity and clarity, descriptions of well-known functions and structures will be omitted.

[0021] The terms and phrases used in the following description and claims are not limited to their literal meaning, but are intended only to enable a clear and consistent understanding of this application. Therefore, it will be understood by those skilled in the art that the description of various embodiments of this application is provided for illustrative purposes only and is not intended to limit the application as defined in the appended claims and their equivalents.

[0022] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of some embodiments. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that the terminology used in the embodiments of this application is for the purpose of describing specific embodiments only and is not intended to limit the application. The singular forms “a,” “an,” “an,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the linked listed items. The expressions “first,” “second,” “the first,” and “the second” are used to modify the corresponding elements without regard to order or importance, and are merely used to distinguish one element from another, without limiting the corresponding elements.

[0024] According to some embodiments of this application, the terminal may be a smart terminal, platform, equipment, and / or electronic device, etc.; the smart terminal may include a positioning device, etc. The platform may include a cloud platform, etc., and the platform may include a system platform composed of one or more electronic devices; the equipment may include an intelligent connected vehicle (ICV); the electronic device may include one or more of the following: personal computer (PC, such as tablet computer, desktop computer, laptop, netbook, PDA), client device, virtual reality device (VR), augmented reality device (AR), mixed reality device (MR), XR device, renderer, smartphone, mobile phone, e-book reader, portable multimedia player (PMP), audio / video player (MP3 / MP4), camera, and wearable device, etc. According to some embodiments of this application, the wearable device may include accessory type (e.g., watch, ring, bracelet, glasses, or head-mounted device (HMD)), integrated type (e.g., electronic clothing), decorative type (e.g., skin pad, tattoo, or built-in electronic device), etc., or a combination of several. In some embodiments of this application, the electronic device may be flexible and not limited to the above-mentioned devices, or may be one or more of the various devices mentioned above. In this application, the term "user" may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0025] This application provides a method and apparatus for tactile paving positioning based on high-precision GNSS positioning and MAP messages. To facilitate understanding of this application, the embodiments will be described in detail below with reference to the accompanying drawings.

[0026] Figure 1 This is an exemplary schematic diagram of a positioning system based on high-precision GNSS positioning and MAP messages, provided according to some embodiments of this application. For example... Figure 1 The positioning system 100 based on high-precision GNSS positioning and MAP messages may include a network 110, an information terminal 120, a user terminal 130, and a server 140. Specifically, the information terminal 120 and the user terminal 130 establish communication through the network; for example, the information terminal 120 and the user terminal 130 can communicate in the same local area network (e.g., a network environment with the same router). Furthermore, the information terminal 120 can connect to the network 110 via wired (e.g., network cable) or wireless (e.g., cloud server), and the user terminal 130 can establish a communication connection to the network 110 via wired or wireless (e.g., WIFI). In some embodiments, the user terminal 130 can send user location information to the information terminal 120 and the server 140. Furthermore, the information terminal 120 and the server 140 can feed back map (MAP) message data, road environment information, obstacle information, etc., to the user terminal 130. As an example, server 140 and / or information terminal 120 can acquire map MAP message data, road environment information, obstacle information, etc., based on roadside equipment, or acquire descriptive information of special roads (e.g., tactile paving) based on map data from roadside equipment. The roadside equipment (RSU) can perceive road environment information, obstacle information, etc., through sensors, including but not limited to cameras, LiDAR, millimeter-wave radar, etc.

[0027] According to some embodiments of this application, the information terminal 120 and the user terminal 130 can be the same or different terminal devices. The terminal devices may include, but are not limited to, smart terminals, cloud platforms, mobile terminals, and computers. In guide vision scenarios, the information terminal 120 may include roadside equipment, and the user terminal 130 may include a positioning device. In some embodiments, the information terminal 120 and the user terminal 130 can be integrated into one device, for example, a positioning device with integrated sensors. In some embodiments, the server 140 is a type of computer, possessing advantages such as faster operation and higher load capacity than ordinary computers, but correspondingly, a higher price. In a network environment, the server can provide computing or application services to other clients (e.g., PCs, smartphones, ATMs, and large equipment such as transportation systems). The server has high-speed CPU computing power, long-term reliable operation, powerful I / O external data throughput capabilities, and better scalability. The services that the server can provide include, but are not limited to, the ability to respond to service requests, provide services, and ensure service availability. As an electronic device, the server has an extremely complex internal structure, including an internal structure similar to that of a regular computer. For example, the internal structure of the server may include a central processing unit (CPU), hard disk, memory, system, system bus, etc.

[0028] In some embodiments of this application, the positioning system 100 based on high-precision GNSS positioning and MAP messages may omit one or more components, or may further include one or more other components. For example, the positioning system 100 based on high-precision GNSS positioning and MAP messages may include multiple user terminals 130, such as multiple positioning devices. As another example, the positioning system 100 based on high-precision GNSS positioning and MAP messages may include one or more information terminals 120. Yet another example, the positioning system 100 based on high-precision GNSS positioning and MAP messages may include multiple servers 140, etc. In some embodiments, the positioning system 100 based on high-precision GNSS positioning and MAP messages may include, but is not limited to, a system based on guide vision scenario processing. The network 110 can be any type of communication network, which may include computer networks (e.g., local area networks (LANs) or wide area networks (WANs)), the Internet, and / or telephone networks, or a combination thereof. In some embodiments, the network 110 can be other types of wireless communication networks. The wireless communication may include microwave communication and / or satellite communication, etc. The wireless communication may include cellular communication, such as Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), 3rd Generation Telecommunication (3G), 4th Generation Telecommunication (4G), 5th Generation Telecommunication (5G), 6th Generation Telecommunication (6G), Long Term Evolution (LTE), LTE-Advanced (LTE-A), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Wireless Broadband (WiBro), etc., or a combination of several of these.In some embodiments, the user terminal 130 may be other equipment and / or electronic devices with equivalent functional modules, which may include one or a combination of virtual reality devices (VR), rendering machines, personal computers (PCs, such as tablets, desktop computers, laptops, netbooks, PDAs), smartphones, mobile phones, e-book readers, portable multimedia players (PMPs), audio / video players (MP3 / MP4), cameras, and wearable devices.

[0029] In some embodiments, the WIFI can be other types of wireless communication technologies. According to some embodiments of this application, the wireless communication may include Wireless Fidelity (WiFi), Bluetooth, Bluetooth Low Energy (BLE), ZigBee, Near Field Communication (NFC), Magnetic Secure Transmission, Radio Frequency and Body Area Network (BAN), or a combination thereof. According to some embodiments of this application, the wired communication may include Global Navigation Satellite System (GNSS), Global Positioning System (GPS), BeiDou Navigation Satellite System, or Galileo (European Global Navigation Satellite System), etc. The wired communication may include Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), Recommended Standard 232 (RS-232), and / or Plain Old Telephone Service (POTS), or a combination thereof.

[0030] It should be noted that the above description of the positioning system 100 based on high-precision GNSS positioning and MAP messages is for convenience only and should not be construed as limiting this application to the scope of the embodiments described. It is understood that those skilled in the art, based on the principles of this system, may arbitrarily combine the various components or connect them to other components to form subsystems without departing from these principles, making various modifications and changes in form and detail to the application fields of the above methods and systems. For example, the server 140 and / or the information terminal 120 can acquire map MAP information data, road environment information, obstacle information data, etc., through roadside equipment, etc. As another example, the information terminal 120 / user terminal 130 can be integrated into a positioning device, etc. Such modifications are all within the protection scope of this application.

[0031] Figure 2 This is an exemplary flowchart of a blind path positioning method based on high-precision GNSS positioning and MAP messages, provided according to some embodiments of this application. Figure 2 The process 200 can be implemented by a positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the blind path positioning method 200 based on high-precision GNSS positioning and MAP messages can be started automatically or by command. The command may include system commands, device commands, user commands, action commands, or a combination of several.

[0032] In 201, based on high-precision GNSS positioning, the first user's first location is obtained, the first location including latitude and longitude coordinates (Long... G ,Lat G Operation 201 can be implemented via a user terminal 130 of a positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the user terminal 130 can obtain a first location of a first user based on high-precision GNSS positioning, the first location including latitude and longitude coordinates (Long...). G ,Lat G In some embodiments, the server 140 may further determine the latitude and longitude coordinates of the first user based on the first user's first location. G ,Lat G )wait.

[0033] As an example, server 140 can provide the latitude and longitude coordinates (Long) of the first location. G ,Lat G Convert to Cartesian coordinates (x) G ,y G ).

[0034] In step 202, the V2X map (MAP) message broadcast by the roadside device is received and decoded via the PC5 air interface to obtain data items for all first roads within a preset distance from the first location. Operation 202 can be implemented via the information terminal 120 and user terminal 130 of the positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the user terminal 130 can receive and decode the V2X map (MAP) message broadcast by the information terminal 120 (roadside device) via the PC5 air interface to obtain data items for all first roads within a preset distance from the first location. For example, the first road includes tactile paving. Obtaining data items for all first roads within a preset distance from the first location specifically includes decoding the MAP message to obtain data items for all tactile paving information within the preset distance from the first location; and traversing the BlindLink data items describing the tactile paving information in the MAP message. The tactile paving information is encoded using MAP messages conforming to the national standard V2X message standard, broadcast by the roadside device, and received by the PC5 air interface. For example, the information terminal 120 and user terminal 130 can use the V2X MAP message representation method for tactile paving description. For example, server 140 and client 130 can use the methods in CV2X vehicle-to-infrastructure cooperation for tactile paving positioning.

[0035] In some embodiments, the preset distance of the first location may include a distance achievable by the first user within a preset time period. The preset time period may include a range from 0 min to 120 min, for example, 5 min, 10 min, 15 min, 20 min, 25 min, 30 min, 60 min, 120 min, etc. The preset distance may include a range from 0 m to 5000 m, for example, 100 m, 200 m, 500 m, 800 m, 1000 m, 1500 m, 2000 m, 5000 m, etc.

[0036] In some embodiments, the wireless communication between the information terminal 120 and the user terminal 130 of this application may include C-V2X end-to-end short-range wireless direct communication based on PC5 air interface, which may be different from the existing wireless communication methods such as long-range wireless communication based on 4G (including 4G module, 4G SIM card and 4G antenna).

[0037] In step 203, iterate through the data items of the first road, traversing the latitude and longitude coordinates (Long) of every two adjacent points in the first road's point trace sequence. N ,Lat N Long N+1 ,Lat N+1Operation 203 can be implemented via the user terminal 130 and server 140 of the positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the user terminal 130 and / or server 140 can traverse the latitude and longitude coordinates (Long) of every two adjacent points in the data item of the first road and the sequence of points of the first road. N ,Lat N Long N+1 ,Lat N+1 For example, traversing the data items of the first road specifically includes traversing the sequence of tactile paving description points in the BlindLink data item of the tactile paving information; obtaining the latitude and longitude coordinates of each adjacent pair of points (Long... N ,Lat N Long N+1 ,Lat N+1 ).

[0038] At step 204, the latitude and longitude coordinates of the first location and the first road are converted to Cartesian coordinates. Operation 204 can be implemented by the server 140 and / or the user terminal 130 of the positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the server 140 and / or the user terminal 130 can convert the latitude and longitude coordinates of the first location and the first road to Cartesian coordinates.

[0039] According to some embodiments of this application, converting the latitude and longitude coordinates of the first location and the first road into rectangular coordinates specifically includes converting the latitude and longitude coordinates of the first location (Long) to rectangular coordinates. G ,Lat G Convert to Cartesian coordinates (x) G ,y G ); All adjacent points of the first road have their latitude and longitude coordinates (Long) N ,Lat N Long N+1 ,Lat N+1 Convert to Cartesian coordinates (x) N ,y N ,x N+1 ,y N+1 ).

[0040] At step 205, the perpendicular distances between the first location and all of the first roads are calculated, and the shortest perpendicular distance is determined. Operation 205 can be implemented by a server 140 and / or a user terminal 130 of a positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the server 140 and / or the user terminal 130 can calculate the perpendicular distances between the first location and all of the first roads and determine the shortest perpendicular distance.

[0041] As an example, calculating the perpendicular distance between the first location and all the first roads specifically includes:

[0042] According to the formula

[0043]

[0044] Calculate the GNSS positioning coordinates (x) of the first user G ,y G ) and the two adjacent points (x) of the first road N ,y N ,x N+1 ,y N+1 The perpendicular distance D of ).

[0045] At step 206, a guided planning path is generated from the first location to the first road corresponding to the shortest perpendicular distance. Operation 205 can be implemented by the server 140 and / or the user terminal 130 of the positioning system 100 based on high-precision GNSS positioning and MAP messages. In some embodiments, the server 140 and / or the user terminal 130 can generate the guided planning path from the first location to the first road corresponding to the shortest perpendicular distance. As an example, the first road corresponding to the shortest perpendicular distance is the first user's target first road, and the guided planning path starts from the first user's first location and ends at the target first road.

[0046] According to some embodiments of this application, process 200 may further include, based on the location information of the first road corresponding to the shortest vertical distance, sensing the environmental information and obstacle information of the first road in real time through roadside equipment; dynamically generating a guidance planning path from the first location to the first road corresponding to the shortest vertical distance, etc. The roadside equipment senses the environmental information and obstacle information of the first road in real time, and broadcasts it through the roadside equipment and receives it through the PC5 air interface by using RSM message packaging encoding conforming to the national standard V2X message standard. For example, process 200 may further include converting the guidance information into voice assistance commands, broadcasting them to the blind person in real time through voice or a speaker, assisting the blind person in entering the tactile paving. For another example, process 200 may further include, after the blind person has safely entered the target tactile paving, continuously transmitting the tactile paving location information to the blind person through voice, ensuring that the blind person does not deviate from the tactile paving, ultimately achieving the goal of safe travel for the blind person, etc.

[0047] According to some embodiments of this application, the information of the first road (tactile paving information) can be displayed in the user interface (UI) of the user terminal 130. The display scenario of the tactile paving information can include, but is not limited to, scene display through any or a combination of VR, AR, MR, and XR. As an example, the first user can obtain perceptible voice information, tactile information, etc., based on any or a combination of VR, AR, MR, and XR to achieve the purpose of safe travel.

[0048] It should be noted that the above description of process 200 is for convenience only and should not limit this application to the scope of the embodiments described. It is understood that those skilled in the art, based on the principles of this system, may arbitrarily combine the various operations without departing from these principles, or combine sub-processes with other operations, making various formal and detailed modifications and changes to the functions implementing the above processes and operations. For example, process 200 may further include operations such as dynamically generating a guidance planning path from the first position as the starting point to the first road corresponding to the shortest vertical distance. As another example, process 200 may further include operations such as converting guidance information into voice assistance commands. Such variations are all within the protection scope of this application.

[0049] According to some embodiments of this application, a tactile paving positioning device based on high-precision GNSS positioning and MAP messages is provided. The device includes a GNSS positioning module configured to acquire the first location of a first user; a PC5 air interface configured to receive MAP messages and RSM messages; and a processing module configured to decode the MAP messages and RSM messages. Further, the tactile paving positioning device based on high-precision GNSS positioning and MAP messages may include a voice module configured to convert guidance information into voice assistance commands, which are then broadcast to the blind person in real time via voice or a speaker to assist them in merging into the tactile paving. For example, after the blind person has safely entered the target tactile paving, the device continuously transmits the tactile paving location information to the blind person via voice to ensure that the blind person does not deviate from the tactile paving, ultimately achieving the goal of safe travel for the blind person.

[0050] In some embodiments, this application only incorporates a high-precision positioning scheme to obtain the user's spatial location information. Other information is obtained from the roadside unit (RSU) via short-range V2X communication based on the PC5 interface. The RSU acts as a broadcast sharing device, providing information data services to a large number of positioning devices described in this application within a radius of several hundred meters. The unit cost of the positioning device in this application is significantly lower than other stand-alone solutions. Furthermore, because the sensing sensors are moved to the roadside, the positioning device in this application has much lower requirements for size and functionality than wearable devices, allowing the use of various sensing devices with better performance, such as LiDAR and millimeter-wave radar, as needed. In addition, the different sensing angle of the RSU allows for data quality superior to that captured by other integrated devices. Existing technologies integrate image processors, high-definition cameras, and require AI visual recognition technology, completing all functions on a single device. This places high demands on the device's hardware performance, resulting in higher costs. Moreover, due to its dependence on sensor hardware, its scalability and upgrade potential are limited.

[0051] The positioning device in this application primarily processes information transmitted from external sources. When new data types or formats of information need to be supported, only software updates and the addition of logic to support the new information are required to upgrade the application, demonstrating strong scalability. The beneficial effects of this application include applying the current V2X technology's support for map (MAP) messages to the description of tactile paving, and introducing V2I (Vehicle to Infrastructure) technology into V2P (Vehicle to Person).

[0052] According to some embodiments of this application, the blind path positioning device based on high-precision GNSS positioning and MAP messages further includes a GNSS positioning module configured to acquire the first location of a first user; a PC5 air interface configured to receive MAP messages and RSM messages; a memory configured to store data and instructions; and a processor communicating with the memory, wherein, when executing instructions in the memory, the processor is configured to: acquire the first location of the first user based on high-precision GNSS positioning, the first location including latitude and longitude coordinates (Long... G ,Lat G ); Receive and decode V2X map (MAP) messages broadcast by roadside equipment via PC5 air interface to obtain data items of all first roads within a preset distance of the first location; Traverse the latitude and longitude coordinates (Long) of every two adjacent points in the data items of the first roads. N ,Lat N Long N+1 ,Lat N+1Convert the latitude and longitude coordinates of the first location and the first road to rectangular coordinates; calculate the perpendicular distances between the first location and all the first roads, and determine the shortest perpendicular distance; generate a guidance planning path for the first road corresponding to the first location and the shortest perpendicular distance.

[0053] In summary, the tactile paving positioning method and device based on high-precision GNSS positioning and MAP messages according to the embodiments of this application, by fusing high-precision satellite positioning information (GNSS), tactile paving point information described by V2X MAP messages, and obstacle information (RSM) near the tactile paving that is identified and sensed in real time by roadside equipment, designs an automated tactile paving auxiliary positioning device; it can automatically locate the location of the tactile paving closest to the blind person, automatically plan the most convenient and safe guiding path for the blind person, and prompt the blind person to the optimal path to the tactile paving, effectively solving the problems of the difficulty in identifying tactile paving and the high manpower intensity of the traditional method of manually physically detecting tactile paving with a white cane, and ultimately achieving the goals of efficient and safe travel for the blind.

[0054] It should be noted that the above embodiments are merely examples, and this application is not limited to such examples, but various changes can be made.

[0055] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] Finally, it should be noted that the above series of processes includes not only processes executed in the order described herein in a time sequence, but also processes executed in parallel or separately, rather than in a time sequence.

[0057] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by hardware related to computer program instructions. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0058] The above-disclosed embodiments are merely some preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that implementing all or part of the above embodiments and making equivalent changes in accordance with the claims of this application still fall within the scope of the invention.

Claims

1. A method for tactile paving positioning based on high-precision GNSS positioning and MAP messages, characterized in that, include: Based on high-precision GNSS positioning, the first user's first location is obtained, including latitude and longitude coordinates. G Lat G ); The PC5 air interface receives and decodes the V2X map MAP message broadcast by the roadside equipment to obtain data items of all first roads within a preset distance of the first location. Iterate through the data item of the first road and find the latitude and longitude coordinates of every two adjacent points in the first road point sequence. N ,Lat N Long N+1 ,Lat N+1 ); Convert the latitude and longitude coordinates of the first location and the first road into rectangular coordinates; Calculate the perpendicular distances between the first location and all of the first roads, and determine the shortest perpendicular distance; Generate a guided planning path for the first road corresponding to the first position and the shortest vertical distance; Wherein, the first road includes a tactile paving path, and the specific data items for obtaining all first roads within a preset distance from the first location include: Decode the MAP message to obtain data items of all tactile paving information within a preset distance of the first location; Traversing the data item BlindLink describing the tactile paving information in the MAP message specifically includes: traversing the sequence of tactile paving description points in the data item BlindLink; and obtaining the latitude and longitude coordinates (LongN, LatN, LongN+1, LatN+1) of each adjacent pair of points.

2. The blind path positioning method based on high-precision GNSS positioning and MAP messages according to claim 1, characterized in that, The process of generating the guided planning path for the first road corresponding to the first position and the shortest perpendicular distance specifically includes: Based on the location information of the first road corresponding to the shortest vertical distance, the environmental information and obstacle information of the first road are perceived in real time by the roadside equipment. Dynamically generate a guided planning path starting from the first position and extending to the first road corresponding to the shortest vertical distance.

3. The blind path positioning method based on high-precision GNSS positioning and MAP messages according to claim 2, characterized in that, The roadside equipment senses the environmental and obstacle information of the first road in real time, and broadcasts the information through the roadside equipment and receives it through the PC5 air interface by using RSM message packaging and encoding that conforms to the national standard V2X message standard.

4. The blind path positioning method based on high-precision GNSS positioning and MAP messages according to claim 1, characterized in that, The tactile paving information is encoded using MAP messages that conform to the national standard V2X message standard, and is broadcast through roadside equipment and received by the PC5 air interface.

5. The blind path positioning method based on high-precision GNSS positioning and MAP messages according to claim 1, characterized in that, The step of converting the latitude and longitude coordinates of the first location and the first road into rectangular coordinates specifically includes: The latitude and longitude coordinates of the first location (Long G Lat G Convert to Cartesian coordinates (x) G ,y G ); All the latitude and longitude coordinates of every two adjacent points of the first road (Long) N ,Lat N Long N+1 ,Lat N+1 Convert to Cartesian coordinates (x) N ,y N ,x N+1 ,y N+1 ).

6. The blind path positioning method based on high-precision GNSS positioning and MAP messages according to claim 5, characterized in that, The calculation of the perpendicular distances between the first position and all the first roads specifically includes: According to the formula ， Calculate the GNSS positioning coordinates (x) of the first user G ,y G ) and the two adjacent points (x) of the first road N ,y N ,x N+1 ,y N+1 The perpendicular distance D of ).

7. A tactile paving positioning device based on high-precision GNSS positioning and MAP messages, characterized in that, include: The GNSS positioning module is configured to obtain the first user's first location; The PC5 air interface is configured to receive MAP messages and RSM messages. The processing module is configured to decode the MAP message and the RSM message; The tactile paving positioning device is used to perform the steps of the method as described in claim 1.

8. The tactile paving positioning device based on high-precision GNSS positioning and MAP messages according to claim 7, characterized in that, Specifically, it includes: The GNSS positioning module is configured to obtain the first user's first location; The PC5 air interface is configured to receive MAP messages and RSM messages. A memory, configured to store data and instructions; A processor that communicates with memory, wherein, when executing instructions in memory, the processor is configured to: Based on high-precision GNSS positioning, the first user's first location is obtained, including latitude and longitude coordinates. G Lat G ); The PC5 air interface receives and decodes the V2X map MAP message broadcast by the roadside equipment to obtain data items of all first roads within a preset distance of the first location. Iterate through the data items of the first road and calculate the latitude and longitude coordinates of every two adjacent points in the first road point sequence. N ,Lat N Long N+1 ,Lat N+1 ); Convert the latitude and longitude coordinates of the first location and the first road into rectangular coordinates; Calculate the perpendicular distances between the first location and all of the first roads, and determine the shortest perpendicular distance; Generate a guided planning path for the first road corresponding to the first position and the shortest vertical distance.

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