Vehicle position display method, system, device and cloud control platform

Abstract

The present invention provides a vehicle position display method, system, device and cloud control platform. The method includes: obtaining first position information reported by a vehicle positioning terminal and second position information of the vehicle positioning terminal detected by a roadside device; when a first deviation value between the first position information and the second position information is greater than a first preset threshold, determining first positioning reference information used by the vehicle positioning terminal to locate the first position information; based on the first positioning reference information and the second positioning reference information used by the cloud control platform to display a map, converting the first position information to position information matching the second positioning reference information to obtain third position information of the vehicle positioning terminal; and displaying the third position information on the map. The present invention can improve the display accuracy of the vehicle position by the cloud control platform.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of maps, and in particular to a vehicle position display method, system, device and cloud control platform. Background Art

[0002] The cloud control platform usually displays the full amount of information of the smart road network on the screen, with high-precision maps as the bottom layer of data, and superimposed on the map vehicle information and roadside information perceived by roadside equipment. Among them, vehicle information is usually the vehicle location information reported by the vehicle positioning terminal. The cloud control platform superimposes the vehicle on the bottom layer map in the form of a graphic based on the vehicle location information.

[0003] At present, the positioning reference information (such as coordinate system and reference epoch) used by the vehicle positioning terminal for positioning usually needs to be consistent with the positioning reference information used by the cloud control platform when displaying the map to ensure the accuracy of the vehicle position display. However, with different application scenarios, the vehicle positioning terminal and the cloud control platform may use different positioning reference information when positioning and displaying the map, resulting in poor accuracy of the vehicle position displayed on the map. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle position display method, system, device and cloud control platform to solve the problem in the prior art that the vehicle position displayed on the map is relatively poor in accuracy due to the different positioning reference information that may be used when the vehicle positioning terminal is positioning and when the cloud control platform displays the map.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle position display method, which is applied to a cloud control platform, and the method includes:

[0006] Acquire first location information reported by the vehicle positioning terminal and second location information of the vehicle positioning terminal detected by the roadside equipment;

[0007] When a first deviation value between the first location information and the second location information is greater than a first preset threshold, determining first positioning reference information used by the vehicle-mounted positioning terminal when positioning the first location information;

[0008] Based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, the first position information is converted into position information matching the second positioning reference information to obtain the third position information of the vehicle positioning terminal;

[0009] The third location information is displayed on the map.

[0010] In a second aspect, an embodiment of the present invention provides a vehicle position display system, the system comprising a cloud control platform, a vehicle positioning terminal and a roadside device, the cloud control platform respectively establishing communication connections with the vehicle positioning terminal and the roadside device;

[0011] The vehicle-mounted positioning terminal is used to report the first location information to the cloud control platform;

[0012] The roadside device is used to detect the second location information of the vehicle-mounted positioning terminal and report the second location information to the cloud control platform;

[0013] The cloud control platform is used to perform the following operations:

[0014] When a first deviation value between the first location information and the second location information is greater than a first preset threshold, determining first positioning reference information used by the vehicle-mounted positioning terminal when positioning the first location information;

[0015] Based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, the first position information is converted into position information matching the second positioning reference information to obtain the third position information of the vehicle positioning terminal;

[0016] The third location information is displayed on the map.

[0017] In a third aspect, an embodiment of the present invention provides a vehicle position display device, which is applied to a cloud control platform, and the device includes:

[0018] An acquisition module, used to acquire first location information reported by a vehicle-mounted positioning terminal and second location information of the vehicle-mounted positioning terminal detected by a roadside device;

[0019] a determination module, configured to determine, when a first deviation between the first location information and the second location information is greater than a first preset threshold, first positioning reference information used by the vehicle-mounted positioning terminal when locating the first location information;

[0020] a conversion module, configured to convert the first location information into location information matching the second location reference information based on the first location reference information and the second location reference information used by the cloud control platform when displaying a map, so as to obtain third location information of the vehicle-mounted positioning terminal;

[0021] A display module is used to display the third location information on the map.

[0022] In a fourth aspect, an embodiment of the present invention provides a cloud control platform, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above-mentioned vehicle position display method when executed by the processor.

[0023] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle position display method are implemented.

[0024] In an embodiment of the present invention, by obtaining the first location information reported by the vehicle positioning terminal and the second location information of the vehicle positioning terminal detected by the roadside equipment; when the first deviation value between the first location information and the second location information is greater than the first preset threshold, determining the first positioning reference information used by the vehicle positioning terminal when locating the first location information; based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, converting the first location information to the location information matching the second positioning reference information, obtaining the third location information of the vehicle positioning terminal; and displaying the third location information on the map. In this way, the deviation in the display of the vehicle position caused by the inconsistency of the positioning reference information used by the vehicle positioning terminal when locating and by the cloud control platform when displaying the map can be eliminated, thereby improving the accuracy of the cloud control platform in displaying the vehicle position. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0026] Figure 1 It is a map display diagram of the cloud control platform;

[0027] Figure 2 is a flow chart of a vehicle position display method provided by an embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the display deviation of the vehicle position on the map;

[0029] Figure 4 It is a schematic diagram showing the deviation between the positions of two vehicles;

[0030] Figure 5 is a structural schematic diagram of a vehicle position display system provided by an embodiment of the present invention;

[0031] Figure 6 It is a schematic diagram of the overall process of a vehicle position display method applied to a vehicle position display system;

[0032] Figure 7 is a structural schematic diagram of a vehicle position display device provided by an embodiment of the present invention;

[0033] Figure 8 It is a structural diagram of a cloud control platform provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that the vehicle position display method provided in the embodiment of the present invention relates to the field of high-precision positioning and high-precision maps, in particular to the field of geodetic coordinate systems, and can be widely used in smart road network cloud control systems.

[0036] The smart road network cloud control system provides dynamic basic data such as vehicle operation, infrastructure, traffic environment, and traffic management for intelligent vehicles and their users, road network management and service agencies. It has basic service mechanisms such as data storage, data operation and maintenance, big data analysis, cloud computing, and information security. It is a basic support system that supports the actual application needs of smart road networks.

[0037] The smart road network cloud control system usually displays the full information of the smart road network through a screen such as a large screen in the monitoring room, using a high-precision map as the bottom-level data, and superimposing vehicle information and roadside information perceived by roadside equipment on the map.

[0038] The vehicle information is usually the vehicle location information reported by the vehicle positioning terminal. The cloud control system will display the vehicle in the form of a graphic superimposed on the underlying map based on the vehicle location information. The roadside information sensed by the roadside equipment is vehicles on the road, pedestrians who break in, fallen objects, etc. The cloud control system will also display the corresponding objects in the form of a graphic superimposed on the underlying map based on the sensed roadside information. Figure 1 As shown, the screen displays the spilled objects sensed by the vehicle and roadside equipment.

[0039] The method can be executed by the vehicle position display device of the embodiment of the present invention. The vehicle position display device can be configured in the cloud control platform of the cloud control system to execute the vehicle position display method. The vehicle position display method provided by the embodiment of the present invention is first described below. The cloud control platform is suitable for cloud control platforms including but not limited to vehicle-road collaborative scenarios such as highways and urban roads.

[0040] See also Figure 2 , the figure shows a schematic diagram of the process of the vehicle position display method provided by an embodiment of the present invention. Applied to the cloud control platform, such as Figure 2 As shown, the method may include the following steps:

[0041] Step 201: Acquire first location information reported by a vehicle-mounted positioning terminal and second location information of the vehicle-mounted positioning terminal detected by a roadside device.

[0042] Here, the vehicle-mounted positioning terminal can be configured in any vehicle, and the vehicle can locate its location through the vehicle-mounted positioning terminal to obtain the first location information.

[0043] In order to display high-precision maps, the vehicle-mounted positioning terminal can perform high-precision positioning, such as using satellite signals for positioning. This technology is the most widely covered and most convenient way to obtain accurate coordinates, especially after the establishment of the Beidou satellite positioning system.

[0044] Beidou data radio waves, like other electromagnetic signals, are easily interfered by geographical environment and other radio waves. In order to eliminate the accuracy error caused by such interference, differential satellite positioning came into being. That is, the vehicle positioning terminal can be combined with the satellite system and the high-precision service system using differential satellite positioning technology for positioning.

[0045] Differential satellite positioning is also called ground-based augmentation system. A reference base station of the differential global navigation satellite system (GNSS) is established on known coordinates. The base station receives satellite positioning information, compares the positioning result with the known coordinates, calculates the error, and then sends the error information to the GNSS receiver, i.e., the vehicle-mounted positioning terminal, through the cellular communication network. The vehicle-mounted positioning terminal uses this error information to correct its own positioning results to achieve high-precision positioning.

[0046] Of course, the vehicle-mounted positioning terminal may also use other positioning technologies such as Global Positioning System (GPS) positioning technology for positioning, which is not specifically limited here.

[0047] When the vehicle-mounted positioning terminal performs positioning, it needs to describe the first position information based on the first positioning reference information. Different first positioning reference information will have different coordinates of the described first position information. The positioning reference information may include a geodetic coordinate system and a reference epoch for describing the position coordinates.

[0048] The geodetic coordinate system is a regional coordinate system used to describe the position of points on the earth. It uses a reference ellipsoid that is very similar to the natural shape of the earth as a reference surface for describing and calculating the positions and relationships of ground points.

[0049] Common geodetic coordinate systems include the World Geodetic System 1984 Coordinate System (WGS84), the China Geodetic Coordinate System 2000 (CGCS2000), and the International Terrestrial Reference Frame 2008 (ITRF2008). The location information provided by high-precision positioning service providers is usually based on the above three coordinate systems.

[0050] In astronomy, an epoch is a time point that some astronomical variables use as a reference, a specific instant that serves as a time reference standard. For example, celestial coordinates or the elliptical orbit elements of celestial bodies will be perturbed and change over time. These astronomical variables that change over time may include the mean ecliptic longitude or mean anomaly angle of the celestial body, the intersection of the orbit relative to the reference plane, the direction of the orbit's perihelion and aphelion or apsidium, the size of the orbit's semi-major axis, etc. In layman's terms, the earth's crust is in a state of motion, for example, continental plates will drift slightly over time (such as 3-5cm per year).

[0051] High-precision positioning and high-precision maps are usually based on data generated by geodetic measurements. In order to compare observation results at different times, it is usually necessary to indicate the observation time corresponding to the observation data when using the data. This time is called the observation epoch, also called the reference epoch.

[0052] For example, high-precision location services can usually provide data on three types of positioning parameter information, and can provide services to the vehicle-mounted positioning terminal through three different ports. The positioning parameter information of the services provided by the three ports is shown in Table 1 below.

[0053] Table 1 Positioning parameter information table of high-precision location service

[0054] port Geodetic coordinate system Reference epoch 8001 ITRF2008 2016.0 8002 WGS84 2015.0 8003 CGCS2000 2000.0

[0055] Among them, the most commonly used is the location service information of the coordinate system WGS84 reference epoch 2005.0, and 2005 means that the data used is the geodetic data observed in 2005.

[0056] There are two ways for the cloud control platform to obtain the first location information. The first way is that the vehicle positioning terminal can report the first location information through the connected cellular communication network. Correspondingly, the cloud control platform receives the first location information reported by the vehicle positioning terminal through the aggregation switch connected to the core network.

[0057] The second method is that the vehicle-mounted positioning terminal can be connected to a road side unit (RSU) and report the first location information to the RSU, and the RSU reports the first location information to the cloud control platform through a switch and a convergence switch connected to the switch, and the cloud control platform can receive the first location information accordingly. The RSU can be a part of the road side equipment.

[0058] Roadside equipment can refer to equipment installed on the roadside, which may include RSU, sensing equipment, computing units, power supply systems (Power Over Ethernet, POE) switches, etc. It is mainly used for roadside information perception and perception data fusion. It can communicate with vehicle-mounted equipment (such as vehicle-mounted positioning terminals) and access the smart road network cloud control system.

[0059] The roadside equipment can perform roadside video acquisition, object perception and event perception through sensing devices (including cameras, lidar, millimeter-wave radar, etc.); and the computing unit can calculate the roadside objects, events and their corresponding real-time positions based on the data collected by the sensing device, wherein the roadside objects may include vehicle-mounted positioning terminals, that is, the computing unit can determine the second position information of the vehicle-mounted positioning terminal based on the relevant data of the vehicle-mounted positioning terminal collected by the sensing device.

[0060] When the roadside equipment locates the vehicle, it usually needs to describe the location information of the vehicle positioning terminal based on the positioning reference information. Different positioning reference information will also have different coordinates of the described location information. The positioning reference information may include the geodetic coordinate system and reference epoch used to describe the location coordinates.

[0061] When the positioning reference information used by the roadside device is different from the second positioning reference information used by the cloud control platform to display the map, the position information of the vehicle positioning terminal determined by the roadside device can be converted based on the positioning reference information used by the roadside device and the second positioning reference information to obtain the position information under the second positioning reference information, i.e., the second position information. The coordinate conversion can be performed based on the relationship between the positioning coordinate system used by the roadside device and the map coordinate system. The coordinate conversion process can be performed on the roadside device side or on the cloud control platform side, which is not specifically limited here.

[0062] When the positioning reference information used by the roadside device is the same as the second positioning reference information used by the cloud control platform to display the map, the roadside device directly reports the second position information to the cloud control platform after obtaining it.

[0063] The roadside device can report the second location information to the cloud control platform through the switch and the aggregation switch connected to the switch, and correspondingly, the cloud control platform can receive the second location information.

[0064] Step 202: when a first deviation between the first location information and the second location information is greater than a first preset threshold, determine first positioning reference information used by the vehicle-mounted positioning terminal when locating the first location information.

[0065] In cloud control platform applications, it is usually necessary to ensure that the first positioning reference information used by the on-board positioning terminal to locate the vehicle is consistent with the second positioning reference information used by the cloud control platform to display the map, so as to ensure the consistency of the location data used, thereby ensuring the accuracy of the vehicle's position display on the map.

[0066] If the positioning reference information used by the vehicle positioning terminal and the map is different, such as at least one of the used coordinate system and reference epoch is different, especially the reference epoch is different, coordinate deviation will occur, resulting in deviation in the vehicle positioning display.

[0067] As more and more applications use high-precision positioning, and the usage scenarios are different, the vehicle positioning terminal side and the cloud control platform side may not use the same coordinate system and reference epoch, which will cause the real-time positioning information of the vehicle positioning terminal and the location information displayed on the map to be different from the same reference standard, resulting in deviations in the display of the vehicle position on the map. Figure 3 As shown, normally, the vehicle is traveling on the road, but when there is a display deviation, the vehicle is displayed on the grass beside the road.

[0068] In this case, a first deviation value between the first position information and the second position information can be determined. Since the first position information is the position information obtained by the vehicle positioning terminal under the reference standard of the first positioning reference information, and the second position information is the position information obtained under the reference standard of the second positioning reference information, if the first positioning reference information and the second positioning reference information are consistent, the first deviation value is usually relatively small.

[0069] When the first deviation value is greater than the first preset threshold, it can be indicated that the first positioning reference information and the second positioning reference information are inconsistent. The first preset threshold can represent the critical value of the position difference. When the critical value is exceeded, it indicates that there is a deviation between the two positions. The display of the deviation between the two positions is as follows: Figure 4 As shown, according to the first position information of the vehicle, the vehicle is displayed at the first position 401, and according to the second position information of the vehicle, the vehicle is displayed at the second position 402, and there is a deviation between the first position 401 and the second position 402. When the critical value is not exceeded, it means that the two positions are relatively close.

[0070] The first preset threshold is set according to the requirements of position accuracy and the actual positioning error, such as being set to 10 centimeters (cm). Because the error of dynamic centimeter-level positioning is usually around 10 cm, the display effect can be guaranteed by keeping the deviation within 10 cm.

[0071] When the first deviation value is greater than the first preset threshold, in order to perform coordinate conversion, it is necessary to determine the first positioning reference information used by the vehicle-mounted positioning terminal when locating the first position information. The determination method may include three methods.

[0072] The first method may be to directly determine the positioning reference information pre-stored on the cloud control platform as the first positioning reference information.

[0073] The second method is that the cloud control platform can query the vehicle-mounted positioning terminal for the coordinate system and reference epoch used for positioning. In response to the query request, the vehicle-mounted positioning terminal sends the coordinate system and reference epoch used for positioning to the cloud control platform. Accordingly, the cloud control platform can receive the reference positioning information used by the vehicle-mounted positioning terminal when locating the first position information, and determine the positioning reference information reported by the vehicle-mounted positioning terminal as the first positioning reference information.

[0074] The third method is that the cloud control platform can directly or when the vehicle-mounted positioning terminal does not respond to the query request, traverse the preset coordinate system and preset reference epoch to determine the combination of the coordinate system and reference epoch used by the vehicle-mounted positioning terminal for positioning. The traversal method will be described in detail in the following implementation method and will not be described in detail here.

[0075] When the first deviation value between the first position information and the second position information is less than or equal to the first preset threshold, the first position information can be directly displayed on the map, that is, the accuracy of the vehicle position display can be guaranteed.

[0076] In addition, after determining the first positioning reference information, the cloud control platform can store the coordinate system and reference epoch used by the vehicle-mounted positioning terminal for positioning, so as to simplify the subsequent process of displaying the position of the vehicle-mounted positioning terminal.

[0077] Step 203: based on the first positioning reference information and the second positioning reference information used by the cloud control platform to display a map, the first position information is converted into position information matching the second positioning reference information to obtain third position information of the vehicle-mounted positioning terminal.

[0078] In this step, on the premise of determining the first positioning reference information, the first position information can be converted into coordinates under the reference standard of the second positioning reference information based on the first positioning reference information and the second positioning reference information. Specifically, the coordinate conversion can be performed based on the relationship between the positioning coordinate system used by the vehicle positioning terminal and the map coordinate system to obtain the third position information of the vehicle positioning terminal, that is, the vehicle position information is converted into the position information in the corresponding coordinate system of the map and the reference epoch and displayed on the map.

[0079] Step 204: display the third location information on the map.

[0080] In this step, the map can be a high-precision map, which is mainly completed through on-site collection by a collection vehicle. The core equipment for collection can be a laser radar, a high-precision differential-inertial navigation-satellite positioning system, which can form a point cloud through laser reflection, complete the collection of various objects in the environment, and record the driving trajectory and high-precision position information of objects in the environment through a high-precision positioning system. Therefore, the position information in the high-precision map is related to the high-precision positioning system used during collection.

[0081] The position of the vehicle-mounted positioning terminal may be displayed on the map according to the position of the coordinates of the third position information in the map coordinate system.

[0082] In this embodiment, by obtaining the first location information reported by the vehicle positioning terminal and the second location information of the vehicle positioning terminal detected by the roadside equipment; when the first deviation value between the first location information and the second location information is greater than the first preset threshold, determine the first positioning reference information used by the vehicle positioning terminal when locating the first location information; based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, convert the first location information to the location information that matches the second positioning reference information to obtain the third location information of the vehicle positioning terminal; display the third location information on the map. In this way, the vehicle position display deviation caused by the inconsistency of the positioning reference information used by the vehicle positioning terminal when locating and the cloud control platform when displaying the map can be eliminated, thereby improving the accuracy of the cloud control platform's display of the vehicle position.

[0083] Moreover, as the applications requiring high-precision positioning information become more and more abundant, the high-precision positioning services used by vehicle-mounted positioning terminals and the positioning coordinate systems involved are becoming more and more diversified. This embodiment enables the cloud control platform to be compatible with multiple positioning coordinate systems through conversion between positioning coordinate systems, and provides access services for multiple vehicle positioning terminals using different positioning coordinate systems, and displays them on the screen of the cloud control platform. Compared with the prior art, the cloud control platform has better compatibility and can be compatible with multiple positioning coordinate systems.

[0084] Moreover, the vehicle-mounted positioning terminal does not need to negotiate with the cloud control platform in advance, that is, there is no need for the vehicle-mounted positioning terminal side and the cloud control platform side to agree in advance that the high-precision positioning of the vehicle-mounted positioning terminal and the high-precision map of the cloud control platform use the same coordinate system and reference epoch. By detecting the first position information and the second position information, if there is a deviation between the first position information and the second position information, the coordinate conversion is performed so that the first position information and the second position information are displayed in the same coordinate system to ensure the consistency of the position data used.

[0085] Optionally, the first positioning reference information used when determining the first position information positioned by the vehicle-mounted positioning terminal includes:

[0086] determining the positioning reference information pre-stored on the cloud control platform as the first positioning reference information; or,

[0087] determining the positioning reference information reported by the vehicle-mounted positioning terminal as the first positioning reference information; or,

[0088] The first positioning reference information is calculated based on the first position information, the second position information and the second positioning reference information.

[0089] In this implementation manner, there may be three methods for determining the first positioning reference information.

[0090] The first method may be to directly determine the positioning reference information pre-stored on the cloud control platform as the first positioning reference information.

[0091] The second method is that the cloud control platform can query the vehicle-mounted positioning terminal for the coordinate system and reference epoch used for positioning. In response to the query request, the vehicle-mounted positioning terminal sends the coordinate system and reference epoch used for positioning to the cloud control platform. Accordingly, the cloud control platform can receive the reference positioning information used by the vehicle-mounted positioning terminal when locating the first position information, and determine the positioning reference information reported by the vehicle-mounted positioning terminal as the first positioning reference information.

[0092] The third method is that the cloud control platform can directly or when the vehicle-mounted positioning terminal does not respond to the query request, traverse the preset coordinate system and preset reference epoch to determine the combination of the coordinate system and reference epoch used by the vehicle-mounted positioning terminal for positioning. The traversal method will be described in detail in the following implementation method and will not be described in detail here.

[0093] In this implementation, when there is a deviation between the first position information and the second position information, the first positioning reference information used by the vehicle-mounted positioning terminal to locate the first position information is determined in a variety of ways, thereby ensuring that the first positioning reference information can be accurately acquired.

[0094] Optionally, the calculating the first positioning reference information based on the first position information, the second position information and the second positioning reference information includes:

[0095] Based on the first location information, determining the region where the vehicle-mounted positioning terminal is located;

[0096] Determine a second deviation value between fourth position information and the second position information, wherein the fourth position information is position information obtained by converting the first position information to match the second position reference information based on preset positioning reference information and the second positioning reference information, wherein the preset positioning reference information includes a preset reference epoch;

[0097] Dividing the second deviation value by the target distance to obtain a target epoch difference value, where the target distance is the annual translation distance of the regional plate;

[0098] Determining a candidate reference epoch based on the target epoch difference and the preset reference epoch;

[0099] The first positioning reference information is determined based on candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch.

[0100] The purpose of this implementation is to match the coordinate system and reference epoch that the vehicle-mounted positioning terminal may use when the positioning reference information reported by the vehicle-mounted positioning terminal is inaccurate or no positioning reference information is reported, so as to convert the vehicle position information into the position information in the corresponding coordinate system and reference epoch of the map and display it on the map, so as to eliminate the display deviation caused by the inconsistency between the coordinate system and the reference epoch.

[0101] Specifically, we can first assume that the preset positioning reference information used by the vehicle-mounted positioning terminal includes the coordinate system WGS84 reference epoch 2005.0, the coordinate system CGCS2000 reference epoch 2000.0, and the coordinate system ITRF2008 reference epoch 2016.0. When matching, the preset positioning reference information can give priority to the combination of the above coordinate systems and reference epochs. When the combination matching of the above commonly used coordinate systems and reference epochs still has deviations, other coordinate systems or reference epochs can be matched to reduce the matching time and improve the matching efficiency.

[0102] Afterwards, based on the preset positioning reference information (including the selected combination of the coordinate system and reference epoch that need to be matched) and the second positioning reference information, the first position information can be converted into coordinates under the reference standard of the second positioning reference information to obtain the fourth position information, and the second deviation value between the fourth position information and the second position information can be calculated.

[0103] Usually, the crustal plates translate 3-5cm every year, such as plate A translates about 5cm every year, and plate B translates about 3cm every year. Therefore, the regional plate where the vehicle-mounted positioning terminal is located can be determined according to the first position information, and the candidate reference epoch can be determined based on the translation distance of the regional plate and the second deviation value.

[0104] Specifically, the first location information can be matched with the location information of each regional block to determine the regional block corresponding to the first location information. For example, if the first location information is within the location range of block B, it means that the regional block where the first location information is located is block B.

[0105] The second deviation value can be divided by the annual translation distance of the regional plate to determine the target epoch difference. For example, if the second deviation value is 15 cm and the annual translation distance of the regional plate is 3 cm, then the target epoch difference is 5.

[0106] A candidate reference epoch may be determined based on the target epoch difference and the preset reference epoch. Specifically, the candidate reference epoch may be determined based on the target epoch difference, the preset reference epoch, and the relative positional relationship between the first position information and the second position information. The number of candidate reference epochs may be one or more, which is not specifically limited here.

[0107] For example, the target epoch difference is 5, the preset reference epoch is 2005, and the relative position relationship between the first position information and the second position information is that the first position information is to the right of the second position information. If the regional block shifts to the right every year, in this case, 2005 can be subtracted from 5 to obtain the candidate reference epoch 2000. If the regional block shifts to the left every year, in this case, 2005 can be added with 5 to obtain the candidate reference epoch 2010.

[0108] In this way, a relatively close reference epoch can be calculated to quickly approach the reference epoch used by the vehicle-mounted positioning terminal to locate the first position information. In addition, the candidate reference epoch can also include a reference epoch adjacent to the candidate reference epoch directly determined based on the target epoch difference and the preset reference epoch. For example, the directly determined candidate reference epoch is 2000, and the candidate reference epochs can include 1999 and 2001.

[0109] Afterwards, the first positioning reference information can be determined based on the candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch. Specifically, for each candidate reference epoch, it can be determined whether there is a deviation between the position information after the coordinate conversion of the first position information and the second position information based on the candidate positioning reference information including the candidate reference epoch and the preset coordinate system. If there is no deviation, it can be determined that the candidate positioning reference information is the first positioning reference information. If there is a deviation between the position information after the coordinate conversion of the first position information and the second position information for each candidate reference epoch, the preset coordinate system can be adjusted until the deviation value between the position information after the coordinate conversion of the first position information and the second position information is less than the second preset threshold.

[0110] In this embodiment, the regional block where the vehicle-mounted positioning terminal is located is determined based on the first position information; the second deviation value between the fourth position information and the second position information is determined, the fourth position information is the position information that matches the first position information to the second position reference information based on the preset positioning reference information and the second positioning reference information, the preset positioning reference information includes a preset reference epoch; the second deviation value is divided by the target distance to obtain the target epoch difference, the target distance is the distance that the regional block moves each year; based on the target epoch difference and the preset reference epoch, the candidate reference epoch is determined; based on the candidate positioning reference information and the second positioning reference information, the first positioning reference information is determined, the candidate positioning reference information includes the candidate reference epoch. In this way, the time for matching positioning reference information can be reduced and the matching efficiency can be improved.

[0111] Optionally, the determining the first positioning reference information based on the candidate positioning reference information and the second positioning reference information includes:

[0112] Based on the candidate positioning reference information and the second positioning reference information, convert the first position information to position information matching the second positioning reference information to obtain fifth position information;

[0113] When the third deviation value between the fifth position information and the second position information is smaller than a second preset threshold, the candidate positioning reference information is determined as the first positioning reference information.

[0114] In this implementation, based on the candidate positioning reference information and the second positioning reference information, the first positioning information can be converted into coordinates under the reference standard of the second positioning reference information by utilizing the relationship between the coordinate system corresponding to the candidate positioning reference information and the coordinate system corresponding to the second positioning reference information to obtain the fifth positioning information.

[0115] Afterwards, a distance conversion formula of two coordinates may be used to determine a third deviation value between the fifth position information and the second position information. When the third deviation value is less than a second preset threshold, the candidate positioning reference information is determined as the first positioning reference information.

[0116] Among them, the second preset threshold is set according to the needs of position accuracy and the actual positioning error, such as being set to 10 centimeters (cm), because the error of dynamic centimeter-level positioning is usually around 10 cm, and the deviation is kept within 10 cm to ensure the display effect.

[0117] In this implementation, the first location information is converted to location information matching the second location reference information based on the candidate location reference information and the second location reference information to obtain the fifth location information; when the third deviation value between the fifth location information and the second location information is less than the second preset threshold, the candidate location reference information is determined as the first location reference information. In this way, the first location reference information can be quickly matched through the candidate location reference information.

[0118] Optionally, the preset positioning reference information includes a preset coordinate system, and the method further includes:

[0119] When a third deviation value between the fifth position information and the second position information is greater than or equal to the second preset threshold, updating the preset coordinate system;

[0120] The first positioning reference information is calculated based on the first position information, the second position information, the second positioning reference information, and the preset positioning reference information after the preset coordinate system is updated.

[0121] In this implementation, when the third deviation value is greater than or equal to the second preset threshold value, it indicates that there is a deviation between the two positions, that is, it indicates that under the premise of the preset coordinate system, the two positions cannot be brought close by adjusting the reference epoch. In this case, the preset coordinate system in the preset positioning reference information can be adjusted. Then, the first positioning reference information is recalculated based on the first position information, the second position information, the second positioning reference information, and the preset positioning reference information after updating the preset coordinate system. The calculation method is similar to the above implementation, and will not be described in detail here. In this way, the accuracy of the first positioning reference information matching can be guaranteed.

[0122] In addition, if the three common coordinate systems such as WGS84, CGCS2000, and ITRF2008 cannot find a suitable coordinate system and reference epoch, other coordinate systems will be selected for adaptation. Other coordinate systems include the 1954 Beijing coordinate system, the 1980 Xi'an coordinate system, and various other coordinate systems under the ITRF framework.

[0123] The vehicle position display system provided by an embodiment of the present invention is described below.

[0124] See also Figure 5 , the figure shows a schematic diagram of the structure of the vehicle position display system provided by an embodiment of the present invention, such as Figure 5 As shown, the vehicle position display system 500 includes a cloud control platform 501, a vehicle positioning terminal 502 and a roadside device 503, and the cloud control platform 501 establishes communication connections with the vehicle positioning terminal 502 and the roadside device 503 respectively;

[0125] The vehicle-mounted positioning terminal 502 is used to report the first location information to the cloud control platform 501;

[0126] The roadside device 503 is used to detect the second location information of the vehicle-mounted positioning terminal 502 and report the second location information to the cloud control platform 501;

[0127] The cloud control platform 501 is used to perform the following operations:

[0128] When a first deviation value between the first location information and the second location information is greater than a first preset threshold, determining first positioning reference information used by the vehicle-mounted positioning terminal 502 when positioning the first location information;

[0129] Based on the first positioning reference information and the second positioning reference information used by the cloud control platform 501 when displaying a map, the first position information is converted into position information matching the second positioning reference information to obtain the third position information of the vehicle positioning terminal 502;

[0130] The third location information is displayed on the map.

[0131] Optionally, the system further includes a convergence switch 504 , and the cloud control platform 501 establishes communication connections with the vehicle-mounted positioning terminal 502 and the roadside device 503 respectively through the convergence switch 504 .

[0132] In this embodiment, the vehicle position display system 500 can be called a smart road network cloud control system, and the cloud control system can also include several parts such as a cellular communication network 505, a high-precision service system 506, and a satellite system 507. The functions of each component are as follows:

[0133] The vehicle-mounted positioning terminal 502 is used to calculate the high-precision location information of the terminal through the received satellite positioning signal and the information of the high-precision positioning service, and report the real-time high-precision location information to the cloud control platform 501. The vehicle-mounted positioning terminal 502 can communicate with the roadside equipment 503 through the PC5 interface, and can also communicate with the cellular communication network 505 through the Uu interface.

[0134] The roadside equipment 503 includes RSU, sensing equipment, computing unit, PoE switch, etc., which are mainly used for roadside information perception, sensing data fusion, communication with vehicle-mounted equipment (such as vehicle-mounted positioning terminal), and access to the cloud control platform.

[0135] Among them, RSU is mainly used for communication with the vehicle-mounted positioning terminal 502. The content of the communication includes the access of the vehicle-mounted positioning terminal 502 and the location information of the vehicle. RSU can use short-range communication (Dedicated Short Range Communication, DSRC) and / or communication protocol (Long Term Evolution-Vehicle, LTE-V) technology to communicate with the vehicle-mounted positioning terminal 502 traveling on the road. Multiple RSUs will be deployed along the road.

[0136] The sensing devices include cameras, laser radars, millimeter-wave radars, etc., which are mainly used for roadside video acquisition, object perception, and event perception. The computing unit calculates roadside objects, events, and their corresponding real-time locations based on the data collected by the sensing devices. Roadside objects include but are not limited to vehicles, pedestrians, and spilled objects. The PoE switch provides network transmission and power supply for roadside devices such as RSU, sensing devices, and computing units. The above-mentioned roadside devices 503 are connected to the aggregation switch 504 through the PoE switch to achieve intercommunication with the cloud control platform 501.

[0137] The cellular communication network 505 refers to the existing mobile communication network, which includes base stations and core networks, and provides communication services for the vehicle positioning terminal 502 on the road section. The vehicle positioning terminal 502 can communicate with the cloud control platform 501 through the cellular communication network 505. The cellular communication network 505 includes but is not limited to typical mobile communication networks such as 2G, 3G, 4G, and 5G.

[0138] The high-precision service system 506 is used to provide high-precision positioning services to the vehicle-mounted positioning terminal 502, and includes a ground reference station and a high-precision positioning platform.

[0139] Among them, the ground reference station conducts long-term continuous observation of satellite positioning signals, and the communication facilities transmit the observation data in real time or regularly to the high-precision positioning platform for the calculation of differential positioning data. The ground reference stations are usually continuously covered, and the station spacing is between tens of kilometers and hundreds of kilometers. The high-precision positioning platform is used to calculate the observation data of each ground reference station, and calculate the differential positioning information from the observed data for the vehicle-mounted positioning terminal 502 to calculate the position.

[0140] The aggregation switch 504 is used to aggregate the transmission of each network, and can aggregate the transmission of the cellular communication network 505 and / or the roadside equipment 503 to the cloud control platform 501, thereby facilitating information exchange between the cellular communication network 505 and / or the roadside equipment 503 and the cloud control platform 501.

[0141] The cloud control platform 501 is used to manage vehicles and events on the road section and display them to operators and managers on the screen. The cloud control platform 501 includes a location calculation module, a cloud control module, a screen, etc.

[0142] Among them, the position calculation module is used to calculate the relationship between the vehicle reported position and the roadside perception position, and calculate the conversion relationship between the position information coordinate system and the reference epoch, and the position calculation module also stores and queries the coordinate system and reference epoch used by the vehicle-mounted positioning terminal 502 of the vehicle. This information is stored in the position calculation module in the form of a vehicle positioning system table, and the vehicle positioning system table is shown in Table 2 below. The cloud control module is used to realize the access, storage, analysis and other processing of roadside perception information and vehicle information data, as well as the functions of visual management and analysis. The screen is used to display the visual information output by the cloud control module.

[0143] Table 2 Vehicle positioning system table

[0144] License plate number Coordinate system Reference epoch A WGS84 2005.0 B WGS84 2005.0 C CGCS2000 2000.0

[0145] The satellite system 507 refers to a device in a satellite positioning system for transmitting satellite positioning signals, and provides the vehicle-mounted positioning terminal 502 with reference signals required for positioning.

[0146] Based on the architecture of the above vehicle position display system, the overall process of the vehicle position display method applied to the system is described in detail below. Figure 6 , the figure shows the overall process diagram of the vehicle position display method applied to the vehicle position display system, such as Figure 6 As shown, the overall process is as follows:

[0147] Step 601: The vehicle-mounted positioning terminal uses the services of the satellite system and the high-precision positioning system to obtain its high-precision position information.

[0148] The positioning method may be a conventional high-precision positioning method, in which the high-precision positioning system provides differential information to the vehicle-mounted positioning terminal, so that the vehicle-mounted positioning terminal calculates the high-precision position information of the vehicle through satellite signals and differential information.

[0149] Step 602: The vehicle positioning terminal uploads the vehicle information to the cloud control platform via the cellular communication network.

[0150] The vehicle information at least includes the license plate number and the vehicle location information, and may also include other vehicle information such as the vehicle model and color. The vehicle location information is the high-precision vehicle location information obtained by the vehicle-mounted positioning terminal in step 601.

[0151] Step 603 , the location calculation module of the cloud control platform queries whether the coordinate system and reference epoch used by the vehicle positioning terminal are saved. If the information of the vehicle positioning terminal is saved, the process proceeds to step 604 ; if the information of the vehicle positioning terminal is not saved, the process proceeds to step 605 .

[0152] The position calculation module may query in the vehicle positioning system table stored therein whether the coordinate system and reference epoch information used by the vehicle positioning terminal have been saved before.

[0153] Step 604 , the position calculation module converts the vehicle position coordinates into the coordinates of the cloud control platform map coordinate system and the reference epoch according to the coordinate system and the reference epoch used by the vehicle positioning and the cloud control platform map.

[0154] Among them, the coordinate conversion method can refer to the surveying and mapping industry standard CH / T 2014-2016 "Technical Specifications for Coordinate Conversion of Geodetic Control Points". The conversion method is relatively complex and there are existing standards. The conversion process is usually performed by a computer program.

[0155] Step 605: The cloud control module of the cloud control platform first displays the vehicle information on the screen according to the vehicle position coordinates.

[0156] Specifically, when only the location information reported by the vehicle is available, the system first displays the vehicle information according to the location coordinates reported by the vehicle. In subsequent steps, if the display effect is improved by information sensed by the roadside equipment, the vehicle location coordinates are further adjusted.

[0157] Step 606: The roadside equipment continuously detects roadside information, and when a roadside vehicle is detected, the vehicle information is acquired through the sensing device.

[0158] Among them, the sensing device detects at least the vehicle's license plate number and vehicle location information, and can also detect other vehicle information such as the vehicle's model and color.

[0159] Step 607: The roadside device sends the sensed vehicle information to the cloud control platform;

[0160] In step 608 , the position calculation module compares the position uploaded by the vehicle with the detected vehicle position coordinates to see if there is a deviation. If there is no deviation, the process proceeds to step 615 ; if there is a deviation, the process proceeds to step 609 .

[0161] In addition, the coordinate system and reference epoch used by the vehicle positioning terminal queried in the position calculation module may have new changes because the vehicle positioning terminal has replaced the high-precision positioning service. Therefore, even if the coordinate system and reference epoch used by the previously stored vehicle positioning terminal are queried in the position calculation module, they may not be the coordinate system and reference epoch currently being used by the vehicle positioning terminal for positioning. Therefore, after the roadside equipment detects the vehicle information, the position calculation module will continue to compare the vehicle's position coordinates.

[0162] Step 609: The position calculation module queries the vehicle-mounted positioning terminal for the coordinate system and reference epoch used for positioning.

[0163] Specifically, the position calculation module queries the vehicle for the coordinate system and reference epoch used by the vehicle-mounted positioning terminal of the vehicle according to the license plate number.

[0164] Step 610, whether the vehicle-mounted positioning terminal responds to the coordinate system and reference epoch used by it, if not responding, proceed to step 611, if responding, proceed to step 612;

[0165] Specifically, the response message of the vehicle-mounted positioning terminal includes the license plate number and its corresponding coordinate system and reference epoch.

[0166] Step 611: The position calculation module assumes the coordinate system and reference epoch used by the vehicle-mounted positioning terminal.

[0167] Step 612: The position calculation module converts the vehicle position coordinates into the coordinates of the platform map coordinate system and the reference epoch according to the coordinate system and the reference epoch used by the vehicle positioning terminal and the platform map during positioning.

[0168] Step 613 , the position calculation module compares the position coordinates after position conversion uploaded by the vehicle positioning terminal with the detected vehicle position coordinates to see if there is a deviation. If there is a deviation, the process proceeds to step 611 ; if there is no deviation, the process proceeds to step 614 .

[0169] Step 614 , the position calculation module stores the coordinate system and reference epoch used by the vehicle-mounted positioning terminal, and then proceeds to step 615 .

[0170] The coordinate system and reference epoch determined after calculation are the coordinate system and reference epoch most recently used by the vehicle positioning terminal. The position calculation module can store the information and update it to the latest information.

[0171] Step 615: The cloud control module of the cloud control platform displays the vehicle information on the screen according to the vehicle position coordinates.

[0172] The vehicle position display device provided by an embodiment of the present invention is described below.

[0173] See also Figure 7 , the figure shows a schematic diagram of the structure of the vehicle position display device provided by an embodiment of the present invention. Applied to the cloud control platform, such as Figure 7 As shown, the vehicle position display device 700 includes:

[0174] An acquisition module 701 is used to acquire first location information reported by a vehicle-mounted positioning terminal and second location information of the vehicle-mounted positioning terminal detected by a roadside device;

[0175] A determination module 702 is used to determine first positioning reference information used by the vehicle-mounted positioning terminal to locate the first position information when a first deviation value between the first position information and the second position information is greater than a first preset threshold;

[0176] A conversion module 703 is used to convert the first location information into location information matching the second location reference information based on the first location reference information and the second location reference information used by the cloud control platform when displaying a map, so as to obtain third location information of the vehicle-mounted positioning terminal;

[0177] The display module 704 is configured to display the third location information on the map.

[0178] Optionally, the determining module 702 includes:

[0179] A first determining submodule, configured to determine the positioning reference information pre-stored on the cloud control platform as the first positioning reference information;

[0180] A second determining submodule, configured to determine the positioning reference information reported by the vehicle-mounted positioning terminal as the first positioning reference information;

[0181] A calculation submodule is used to calculate the first positioning reference information based on the first position information, the second position information and the second positioning reference information.

[0182] Optionally, the calculation submodule includes:

[0183] A first determining unit, configured to determine a region where the vehicle-mounted positioning terminal is located based on the first location information;

[0184] a second determining unit, configured to determine a second deviation value between fourth position information and the second position information, wherein the fourth position information is position information obtained by converting the first position information to match the second position reference information based on preset positioning reference information and the second positioning reference information, wherein the preset positioning reference information includes a preset reference epoch;

[0185] an acquisition unit, configured to divide the second deviation value by a target distance to obtain a target epoch difference value, wherein the target distance is a distance that the regional plate moves each year;

[0186] A third determining unit, configured to determine a candidate reference epoch based on the target epoch difference and the preset reference epoch;

[0187] The fourth determining unit is used to determine the first positioning reference information based on candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch.

[0188] Optionally, the fourth determining unit is specifically configured to:

[0189] Based on the candidate positioning reference information and the second positioning reference information, convert the first position information to position information matching the second positioning reference information to obtain fifth position information;

[0190] When the third deviation value between the fifth position information and the second position information is smaller than a second preset threshold, the candidate positioning reference information is determined as the first positioning reference information.

[0191] Optionally, the preset positioning reference information includes a preset coordinate system, and the fourth determining unit is further used to:

[0192] When a third deviation value between the fifth position information and the second position information is greater than or equal to the second preset threshold, updating the preset coordinate system;

[0193] The first positioning reference information is calculated based on the first position information, the second position information, the second positioning reference information, and the preset positioning reference information after the preset coordinate system is updated.

[0194] The vehicle position display device 700 can implement each process implemented in the above-mentioned vehicle position display method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0195] The cloud control platform provided by the embodiment of the present invention is described below.

[0196] See also Figure 8 , which shows a schematic diagram of the structure of the cloud control platform provided by an embodiment of the present invention. Figure 8 As shown, the cloud control platform 800 includes: a processor 801 , a memory 802 , a user interface 803 and a bus interface 804 .

[0197] The processor 801 is used to read the program in the memory 802 and execute the following process:

[0198] Acquire first location information reported by the vehicle positioning terminal and second location information of the vehicle positioning terminal detected by the roadside equipment;

[0199] When a first deviation value between the first location information and the second location information is greater than a first preset threshold, determining first positioning reference information used by the vehicle-mounted positioning terminal when positioning the first location information;

[0200] Based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, the first position information is converted into position information matching the second positioning reference information to obtain the third position information of the vehicle positioning terminal;

[0201] The third location information is displayed on the map.

[0202] exist Figure 8 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 801 and various circuits of memory represented by memory 802 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 804 provides an interface. For different user devices, the user interface 803 may also be an interface that can be connected to external or internal devices, and the connected devices include but are not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0203] The processor 801 is responsible for managing the bus architecture and general processing, and the memory 802 can store data used by the processor 801 when performing operations.

[0204] Optionally, the processor 801 is further configured to:

[0205] determining the positioning reference information pre-stored on the cloud control platform as the first positioning reference information; or,

[0206] determining the positioning reference information reported by the vehicle-mounted positioning terminal as the first positioning reference information; or,

[0207] The first positioning reference information is calculated based on the first position information, the second position information and the second positioning reference information.

[0208] Optionally, the processor 801 is further configured to:

[0209] Based on the first location information, determining the region where the vehicle-mounted positioning terminal is located;

[0210] Determine a second deviation value between fourth position information and the second position information, wherein the fourth position information is position information obtained by converting the first position information to match the second position reference information based on preset positioning reference information and the second positioning reference information, wherein the preset positioning reference information includes a preset reference epoch;

[0211] Dividing the second deviation value by the target distance to obtain a target epoch difference value, wherein the target distance is the annual translation distance of the regional plate;

[0212] Determining a candidate reference epoch based on the target epoch difference and the preset reference epoch;

[0213] The first positioning reference information is determined based on candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch.

[0214] Optionally, the processor 801 is further configured to:

[0215] Based on the candidate positioning reference information and the second positioning reference information, convert the first position information to position information matching the second positioning reference information to obtain fifth position information;

[0216] When the third deviation value between the fifth position information and the second position information is smaller than a second preset threshold, the candidate positioning reference information is determined as the first positioning reference information.

[0217] Optionally, the preset positioning reference information includes a preset coordinate system, and the processor 801 is further configured to:

[0218] When a third deviation value between the fifth position information and the second position information is greater than or equal to the second preset threshold, updating the preset coordinate system;

[0219] The first positioning reference information is calculated based on the first position information, the second position information, the second positioning reference information, and the preset positioning reference information after the preset coordinate system is updated.

[0220] Preferably, an embodiment of the present invention further provides a cloud control platform, including a processor 801, a memory 802, and a computer program stored in the memory 802 and executable on the processor 801. When the computer program is executed by the processor 801, each process of the above-mentioned vehicle position display method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0221] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned vehicle position display method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0222] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0223] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0225] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0226] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0227] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0228] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle position display method, characterized in that: Applied to the cloud control platform, the method includes: Acquire first location information reported by the vehicle positioning terminal and second location information of the vehicle positioning terminal detected by the roadside equipment; When a first deviation value between the first location information and the second location information is greater than a first preset threshold, determining first positioning reference information used by the vehicle-mounted positioning terminal when locating the first location information; Based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, the first position information is converted into position information matching the second positioning reference information to obtain the third position information of the vehicle positioning terminal; displaying the third location information on the map; The first positioning reference information used when determining the first position information positioned by the vehicle-mounted positioning terminal includes: Based on the first location information, determining the region where the vehicle-mounted positioning terminal is located; Determine a second deviation value between fourth position information and the second position information, wherein the fourth position information is position information obtained by converting the first position information to match the second position reference information based on preset positioning reference information and the second positioning reference information, wherein the preset positioning reference information includes a preset reference epoch; Dividing the second deviation value by the target distance to obtain a target epoch difference value, wherein the target distance is the annual translation distance of the regional plate; Determining a candidate reference epoch based on the target epoch difference and the preset reference epoch; The first positioning reference information is determined based on candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch.

2. The method according to claim 1, characterized in that The determining the first positioning reference information based on the candidate positioning reference information and the second positioning reference information includes: Based on the candidate positioning reference information and the second positioning reference information, convert the first position information to position information matching the second positioning reference information to obtain fifth position information; When the third deviation value between the fifth position information and the second position information is smaller than a second preset threshold, the candidate positioning reference information is determined as the first positioning reference information.

3. The method according to claim 2, characterized in that The preset positioning reference information includes a preset coordinate system, and the method further includes: When a third deviation value between the fifth position information and the second position information is greater than or equal to the second preset threshold, updating the preset coordinate system; The first positioning reference information is calculated based on the first position information, the second position information, the second positioning reference information, and the preset positioning reference information after the preset coordinate system is updated.

4. A vehicle position display system, characterized in that: The system includes a cloud control platform, a vehicle-mounted positioning terminal and a roadside device, and the cloud control platform establishes communication connections with the vehicle-mounted positioning terminal and the roadside device respectively; The vehicle-mounted positioning terminal is used to report the first location information to the cloud control platform; The roadside device is used to detect the second location information of the vehicle-mounted positioning terminal and report the second location information to the cloud control platform; The cloud control platform is used to perform the following operations: When a first deviation value between the first location information and the second location information is greater than a first preset threshold, determining first positioning reference information used by the vehicle-mounted positioning terminal when locating the first location information; Based on the first positioning reference information and the second positioning reference information used by the cloud control platform when displaying the map, the first position information is converted into position information matching the second positioning reference information to obtain the third position information of the vehicle positioning terminal; displaying the third location information on the map; The cloud control platform is specifically used to perform the following operations: Based on the first location information, determining the region where the vehicle-mounted positioning terminal is located; Determine a second deviation value between fourth position information and the second position information, wherein the fourth position information is position information obtained by converting the first position information to match the second position reference information based on preset positioning reference information and the second positioning reference information, wherein the preset positioning reference information includes a preset reference epoch; Dividing the second deviation value by the target distance to obtain a target epoch difference value, wherein the target distance is the annual translation distance of the regional plate; Determining a candidate reference epoch based on the target epoch difference and the preset reference epoch; The first positioning reference information is determined based on candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch.

5. The system according to claim 4, characterized in that The system further includes a convergence switch, through which the cloud control platform establishes communication connections with the vehicle-mounted positioning terminal and the roadside equipment respectively.

6. A vehicle position display device, characterized in that: Applied to the cloud control platform, the device includes: An acquisition module, used to acquire first location information reported by a vehicle-mounted positioning terminal and second location information of the vehicle-mounted positioning terminal detected by a roadside device; a determination module, configured to determine, when a first deviation between the first location information and the second location information is greater than a first preset threshold, first positioning reference information used by the vehicle-mounted positioning terminal when locating the first location information; a conversion module, configured to convert the first location information into location information matching the second location reference information based on the first location reference information and the second location reference information used by the cloud control platform when displaying a map, so as to obtain third location information of the vehicle-mounted positioning terminal; A display module, configured to display the third location information on the map; Identify modules, specifically for: Based on the first location information, determining the region where the vehicle-mounted positioning terminal is located; Determine a second deviation value between fourth position information and the second position information, wherein the fourth position information is position information obtained by converting the first position information to match the second position reference information based on preset positioning reference information and the second positioning reference information, wherein the preset positioning reference information includes a preset reference epoch; Dividing the second deviation value by the target distance to obtain a target epoch difference value, wherein the target distance is the annual translation distance of the regional plate; Determining a candidate reference epoch based on the target epoch difference and the preset reference epoch; The first positioning reference information is determined based on candidate positioning reference information and the second positioning reference information, wherein the candidate positioning reference information includes the candidate reference epoch.

7. A cloud control platform, characterized in that: The cloud control platform includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the vehicle position display method as described in any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle position display method according to any one of claims 1 to 3 are implemented.

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