An Adaptive Calibration Method, Device and Terminal Device for Road Side Unit

Abstract

This application is applicable to the technical field of ETC positioning systems, and provides an adaptive calibration method, device and terminal device for roadside units. The method includes: when receiving a trigger signal sent by an induction device, determining the type of vehicle and real-time channel delay parameters based on the first signal sent by the on-vehicle unit; determining a plurality of pre-stored channel delay parameters corresponding to the type of vehicle; determining a target channel delay parameter and a target preset position among the plurality of pre-stored channel delay parameters according to the real-time channel delay parameters; determining the real-time position of the on-vehicle unit according to the target channel delay parameter; and determining a calibration result for vehicles of this type according to the real-time position and the target preset position. This application realizes improving the accuracy of adaptive positioning results for different types of vehicles at the same physical location, and avoiding the situation where the transaction success rate is reduced due to large positioning errors.

Description

Technical Field

[0001] This application belongs to the technical field of ETC positioning systems, and particularly relates to an adaptive calibration method, device, and terminal device for a roadside unit. Background Art

[0002] With the full popularization of segmented billing and the cancellation of provincial boundary stations, the Electronic Toll Collection (ETC) system is widely used in toll collection entrance and exit systems such as highways and parking lots, replacing manual toll collection, improving the driving user experience, reducing the work pressure of toll collectors, and effectively alleviating the congestion problem at toll booths.

[0003] However, due to the close lane spacing and vehicle spacing, there is a certain signal interference during the ETC system transaction process, which has a certain impact on the transaction success rate.

[0004] Related ETC systems can provide roadside units that can determine the position of on-vehicle electronic tags in real time. However, during their installation and use, manual calibration of each channel of the roadside unit positioning module is required, consuming a large amount of human and time costs; and for different types of vehicles at the same physical location, the positioning result errors are relatively large, which will affect the transaction success rate to a certain extent. Summary of the Invention

[0005] The embodiments of this application provide an adaptive calibration method, device, and terminal device for a roadside unit, which can solve the problems of high labor costs and relatively large positioning result errors for different types of vehicles at the same physical location in related ETC systems, thus affecting the transaction success rate.

[0006] In a first aspect, the embodiments of this application provide an adaptive calibration method for a roadside unit. The roadside unit is communicatively connected to a plurality of sensing devices, and the sensing devices are configured to trigger the roadside unit to obtain a signal sent by an on-vehicle unit in the vehicle in real time when detecting that the vehicle arrives at a corresponding preset position.

[0007] The adaptive calibration method for the roadside unit includes:

[0008] When receiving the trigger signal sent by the sensing device, determining the type of the vehicle and the real-time channel delay parameter based on the first signal sent by the on-vehicle unit obtained;

[0009] Determining a plurality of pre-stored channel delay parameters corresponding to the type of the vehicle;

[0010] Determining a target channel delay parameter and a target preset position among the plurality of pre-stored channel delay parameters according to the real-time channel delay parameter;

[0011] Determine the real-time position of the on-vehicle unit according to the target channel delay parameter;

[0012] Determine the calibration result for the type of vehicle according to the real-time position and the target preset position.

[0013] In one embodiment, before determining the type of vehicle and the real-time channel delay parameter based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the induction device, it further includes:

[0014] Obtain the second signals sent by each type of vehicle passing through multiple preset positions in sequence;

[0015] According to the second signals, respectively determine the pre-stored channel delay parameters of each type of vehicle at each of the preset positions;

[0016] Respectively determine the virtual installation angles of the roadside unit corresponding to each type of vehicle at each of the preset positions;

[0017] Establish a binding relationship between the pre-stored channel delay parameter and the virtual installation angle of the roadside unit when each type of vehicle is at each of the preset positions.

[0018] In one embodiment, the respectively determining the virtual installation angles of the roadside unit corresponding to each type of vehicle at each of the preset positions includes:

[0019] Determine the relative installation height of the on-vehicle unit on each type of vehicle; wherein, the relative installation height is the height difference between the first vertical height of the roadside unit and the second vertical height of the on-vehicle unit on each type of vehicle;

[0020] Determine the horizontal distance between each of the preset positions and the roadside unit;

[0021] According to the relative installation height and the horizontal distance, determine the virtual installation angles of the roadside unit corresponding to each type of vehicle at each of the preset positions.

[0022] In one embodiment, the determining the target channel delay parameter and the target preset position among the multiple pre-stored channel delay parameters according to the real-time channel delay parameter includes:

[0023] Respectively determine the correlation between the real-time channel delay parameter and each of the pre-stored channel delay parameters;

[0024] According to the correlation, determine the pre-stored channel delay parameter that meets the preset condition as the target channel delay parameter;

[0025] Determine the corresponding preset position according to the target channel delay parameter as the target preset position.

[0026] In one embodiment, the determining the real-time position of the on-vehicle unit according to the target channel delay parameter includes:

[0027] Calculate the arrival wave angle of the on-vehicle unit according to the target channel delay parameter;

[0028] Determine the target virtual installation angle of the roadside unit corresponding to the target channel delay parameter;

[0029] Calculate the real-time position of the on-vehicle unit according to the target virtual installation angle of the roadside unit and the arrival wave angle.

[0030] In one embodiment, the determining the calibration result for the type of vehicle according to the real-time position and the target preset position includes:

[0031] Determine the distance difference between the real-time position and the target preset position;

[0032] When it is detected that the distance difference is within the preset range, determine that the calibration of the type of vehicle is completed.

[0033] In one embodiment, the determining the distance difference between the real-time position and the target preset position includes:

[0034] Determine the first distance of the real-time position in the horizontal direction;

[0035] Determine the second distance of the target preset position in the horizontal direction;

[0036] Determine the horizontal distance difference between the first distance and the second distance.

[0037] In one embodiment, after determining the distance difference between the real-time position and the target preset position, it further includes:

[0038] When it is detected that the distance difference is outside the preset range, determine that the calibration of the type of vehicle fails;

[0039] Update the pre-stored channel delay parameter of the type of vehicle at the target preset position based on the real-time position, and return to execute the steps of determining the type and real-time channel delay parameter of the vehicle based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the induction device and the subsequent steps until it is detected that the distance difference is within the preset range.

[0040] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: When receiving the induction signal, the type of the vehicle and the real-time channel delay parameter are determined according to the first signal sent by the vehicle. According to the type of the vehicle, the pre-stored channel delay parameters at the corresponding multiple preset positions are determined, so as to determine the target channel delay parameter and the target preset position, and the real-time position of the vehicle is determined according to the target channel delay parameter. According to the real-time position and the target preset position, the calibration result of the vehicle is determined. That is, based on the relationship between the real-time channel delay parameters of different types of vehicles at different positions in the preset area and the pre-stored channel delay parameters, the real-time position of the current type of vehicle and the corresponding target preset position can be determined. According to the comparison between the real-time position and the corresponding target preset position, it can be obtained whether the current type of vehicle has completed adaptive calibration, so manual operation is not required, and the adaptive positioning accuracy for different types of vehicles at the same physical position is improved, thereby enhancing the transaction success rate.

[0041] In a second aspect, an embodiment of the present application provides an adaptive calibration device for a roadside unit. The roadside unit is communicatively connected to a plurality of induction devices, and the induction devices are configured to trigger the roadside unit to obtain the signal sent by the on-vehicle unit in the vehicle in real time when detecting that the vehicle arrives at the corresponding preset position.

[0042] The adaptive calibration device for the roadside unit includes:

[0043] A first signal recognition module, configured to determine the type of the vehicle and the real-time channel delay parameter based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the induction device;

[0044] A parameter determination module, configured to determine the corresponding multiple pre-stored channel delay parameters according to the type of the vehicle;

[0045] A data screening module, configured to determine the target channel delay parameter and the target preset position among the multiple pre-stored channel delay parameters according to the real-time channel delay parameter;

[0046] An information calculation module, configured to determine the real-time position of the on-vehicle unit according to the target channel delay parameter;

[0047] A calibration result determination module, configured to determine the calibration result for the type of vehicle according to the real-time position and the target preset position.

[0048] In an embodiment, the device further includes:

[0049] A signal acquisition module, configured to respectively acquire the second signals sent by each type of vehicle when passing through multiple preset positions in sequence;

[0050] The second signal recognition module is used to respectively determine the pre-stored channel delay parameters of each type of vehicle at each of the preset positions according to the second signal;

[0051] The angle calculation module is used to respectively determine the virtual installation angles of the roadside units corresponding to each type of vehicle at each of the preset positions;

[0052] The binding module is used to establish a binding relationship between the pre-stored channel delay parameters and the virtual installation angles of the roadside units when each type of vehicle is at each of the preset positions.

[0053] In one embodiment, the angle calculation module includes:

[0054] The height determination unit is used to determine the relative installation height of the on-vehicle unit of each type of vehicle; wherein, the relative installation height is the height difference between the first vertical height of the roadside unit and the second vertical height of the on-vehicle unit of each type of vehicle;

[0055] The horizontal distance determination unit is used to determine the horizontal distance between each of the preset positions and the roadside unit;

[0056] The first angle calculation unit is used to determine the virtual installation angle of the roadside unit corresponding to each type of vehicle at each of the preset positions according to the relative installation height and the horizontal distance.

[0057] In one embodiment, the data screening module includes:

[0058] The correlation calculation unit is used to respectively determine the correlation between the real-time channel delay parameter and each of the pre-stored channel delay parameters;

[0059] The target parameter determination unit is used to determine the pre-stored channel delay parameter that meets the preset conditions according to the correlation as the target channel delay parameter;

[0060] The target position determination unit is used to determine the corresponding preset position according to the target channel delay parameter as the target preset position.

[0061] In one embodiment, the information calculation module includes:

[0062] The second angle calculation unit is used to calculate the incoming wave angle of the on-vehicle unit according to the target channel delay parameter;

[0063] The target angle determination unit is used to determine the target virtual installation angle of the roadside unit corresponding to the target channel delay parameter;

[0064] A real-time position determination unit, configured to calculate the real-time position of the vehicle-mounted unit according to the target virtual installation angle of the roadside unit and the incoming wave angle.

[0065] In one embodiment, the calibration result determination module includes:

[0066] A distance calculation unit, configured to determine the distance difference between the real-time position and the target preset position;

[0067] A first calibration detection unit, configured to determine that the calibration of the vehicle of the type is completed when it is detected that the distance difference is within a preset range.

[0068] In one embodiment, the distance calculation unit includes:

[0069] A first distance determination subunit, configured to determine a first distance of the real-time position in the horizontal direction;

[0070] A second distance determination subunit, configured to determine a second distance of the target preset position in the horizontal direction;

[0071] A difference determination subunit, configured to determine the horizontal distance difference between the first distance and the second distance.

[0072] In one embodiment, the calibration result determination module further includes:

[0073] A second calibration detection unit, configured to determine that the calibration of the vehicle of the type fails when it is detected that the distance difference is outside the preset range;

[0074] An update unit, configured to update the pre-stored channel delay parameter of the vehicle of the type at the target preset position based on the real-time position, and return to execute the step of determining the type and real-time channel delay parameter of the vehicle based on the first signal sent by the vehicle-mounted unit obtained when receiving the trigger signal sent by the induction device and subsequent steps until it is detected that the distance difference is within the preset range.

[0075] In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the adaptive calibration method of the roadside unit as described in any one of the first aspects above when executing the computer program.

[0076] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program implements the adaptive calibration method of the roadside unit as described in any one of the first aspects above when executed by a processor.

[0077] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, it causes the terminal device to execute the adaptive calibration method of the roadside unit described in any one of the above first aspects.

[0078] It can be understood that for the beneficial effects of the above second aspect to fifth aspect, reference can be made to the relevant descriptions in the above first aspect, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0080] Figure 1 is a schematic diagram of an adaptive calibration system for a roadside unit provided by an embodiment of the present application;

[0081] Figure 2 is a schematic flowchart of an adaptive calibration method for a roadside unit provided by an embodiment of the present application;

[0082] Figure 3 is another schematic flowchart of an adaptive calibration method for a roadside unit provided by an embodiment of the present application;

[0083] Figure 4 is a schematic flowchart of step S104 of the adaptive calibration method for a roadside unit provided by an embodiment of the present application;

[0084] Figure 5 is a schematic diagram of an application scenario of an adaptive calibration method for a roadside unit provided by an embodiment of the present application;

[0085] Figure 6 is a schematic structural diagram of an adaptive calibration device for a roadside unit provided by an embodiment of the present application;

[0086] Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0087] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0088] It should be understood that when used in the specification of this application and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their combinations.

[0089] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0090] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" depending on the context.

[0091] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0092] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0093] The adaptive calibration method for the roadside unit provided by the embodiments of this application can be applied to the roadside unit, and the embodiments of this application do not impose any restrictions on the specific type of the terminal device.

[0094] In recent years, although the roadside unit in the ETC system has been able to provide the function of real-time determining the position of the on-vehicle electronic tag to complete transactions. However, during its installation and use processes, manual calibration of each channel of the positioning module of the roadside unit is required, consuming a large amount of human and time costs; and for different types of vehicles at the same physical location, the positioning result error is relatively large, which will affect the transaction success rate to a certain extent. To solve this problem, this application proposes an adaptive calibration method for the roadside unit, an adaptive calibration device for the roadside unit, a terminal device, and a computer-readable storage medium. During the vehicle driving process, the roadside unit communicates with the on-vehicle unit on the vehicle based on the trigger signal sent by the induction device, realizes the relationship between the real-time channel delay parameter and the pre-stored channel delay parameter of different types of vehicles at different preset positions within the preset area, determines the real-time position of the current type of vehicle and the corresponding target preset position, and obtains whether the current type of vehicle has completed adaptive calibration according to the comparison between the real-time position and the corresponding target preset position, thus eliminating the need for manual operation and improving the accuracy of the adaptive positioning result for different types of vehicles at the same physical location, and further improving the transaction success rate.

[0095] To implement the technical solution proposed in this application, an adaptive calibration system for the roadside unit can be first constructed. Please refer to Figure 1 , the adaptive calibration system for the roadside unit consists of more than one roadside unit ([[]] Figure 1 [[]] only one is shown) installed on the gantry of the public transportation road, and more than one induction device corresponding to the roadside unit and arranged at different preset positions ([[]] Figure 1 [[]] only 3 are shown, such as induction device a, induction device b, and induction device c), and the induction device is communicatively connected to the roadside unit. When the induction device detects that the vehicle arrives at the preset position, the induction device triggers the roadside unit to communicate with the on-vehicle unit installed on the vehicle. Figure 1 Among them, the roadside unit is a device capable of providing the adaptive calibration function, and the induction device is a sensing device (such as an embedded coil, a grating, or other sensing devices that can send trigger signals) capable of sensing that the vehicle arrives at the preset position and triggering the roadside unit to communicate with the on-vehicle unit. Figure 1

[0096]

[0097] ​​During the driving of the vehicle, when the sensing device detects that the vehicle arrives at the corresponding preset position, it sends a trigger signal to the roadside unit. When the roadside unit receives the trigger signal sent by the sensing device, it determines the type of the vehicle and the real-time channel delay parameter according to the first signal sent by the vehicle, determines the pre-stored channel delay parameters at the corresponding multiple preset positions according to the vehicle type, so as to determine the target channel delay parameter and the target preset position, determines the real-time position of the vehicle according to the target channel delay parameter, and determines the calibration result of the vehicle of this type according to the real-time position and the target preset position. That is, based on the relationship between the real-time channel delay parameters and the pre-stored channel delay parameters of different types of vehicles at different positions within the preset area, the real-time position of the current type of vehicle and the corresponding target preset position can be determined, and according to the comparison between the real-time position and the corresponding target preset position, the result of whether the current type of vehicle has completed adaptive calibration can be obtained.

[0098] To illustrate the technical solution proposed in this application, the following will be described through specific embodiments.

[0099] Figure 2 The schematic flowchart of the adaptive calibration method of the roadside unit provided in this application is shown. As an example but not a limitation, this method can be applied to the above-mentioned roadside unit. The roadside unit is communicatively connected to multiple sensing devices, and the sensing devices are used to trigger the roadside unit to obtain the signal sent by the in-vehicle unit in the vehicle in real time when detecting that the vehicle arrives at the corresponding preset position.

[0100] S101. When receiving the trigger signal sent by the sensing device, determine the type of the vehicle and the real-time channel delay parameter based on the first signal sent by the in-vehicle unit obtained.

[0101] Specifically, when a vehicle travels in places such as highways and parking lots, it needs to perform payment operations based on the Electronic Toll Collection (ETC) system. However, due to the close lane spacing and vehicle spacing, and the different installation heights of on-vehicle units for different types of vehicles, the positioning results of roadside units for different types of vehicles at fixed positions have large errors, affecting the transaction success rate of the ETC system. Therefore, it is set that multiple preset positions are arranged in front of the roadside unit, and corresponding induction devices are installed at each preset position, so that each induction device can generate a trigger signal and send it to the roadside unit when it detects that a vehicle arrives at the corresponding preset position. When the roadside unit receives the trigger signal, it communicates with the on-vehicle unit on the vehicle, obtains the first signal (specifically the DSRC uplink signal) sent by the on-vehicle unit, and determines the type of the vehicle and the real-time channel delay parameter of the vehicle at the current preset position through the first signal. (For example, when the vehicle travels to the first preset position, the induction device 1 at the first preset position sends a trigger signal to the roadside unit, so that the roadside unit receives the first signal sent by the vehicle at the first preset position; when the vehicle travels to the second preset position, the induction device 2 at the second preset position sends a trigger signal to the roadside unit, so that the roadside unit receives the first signal sent by the vehicle at the second preset position).

[0102] S102. Determine a corresponding plurality of pre-stored channel delay parameters according to the type of the vehicle.

[0103] Specifically, the channel delay parameters of each vehicle type at multiple preset positions are determined and stored in advance, and then a plurality of pre-stored channel delay parameters corresponding to each vehicle type are obtained. When determining the type of the vehicle, a plurality of pre-stored channel delay parameters associated with the vehicle type are queried and obtained.

[0104] S103. Determine a target channel delay parameter and a target preset position among the plurality of pre-stored channel delay parameters according to the real-time channel delay parameter.

[0105] Specifically, according to the real-time channel delay parameter determined by the first signal sent by the on-vehicle unit, a pre-stored channel delay parameter that meets the conditions is selected from the plurality of pre-stored channel delay parameters corresponding to the current vehicle type as the target channel delay parameter. The induction device triggered by the vehicle is determined according to the target channel delay parameter, and the preset position where the triggered induction device is located is used as the target preset position of the vehicle.

[0106] S104. Determine the real-time position of the on-vehicle unit according to the target channel delay parameter.

[0107] Specifically, based on the target channel delay parameter, the virtual installation angle of the roadside unit and the relative installation height of the on-vehicle unit of this type of vehicle relative to the roadside unit are determined. Based on the above virtual installation angle of the roadside unit and the relative installation height, the real-time position of the on-vehicle unit of this type of vehicle is calculated.

[0108] S105. Determine the calibration result for the vehicle of this type according to the real-time position and the target preset position.

[0109] Specifically, the real-time position is compared with the target preset position, and according to the comparison result, the calibration result of whether the vehicle of this type is calibrated successfully is determined.

[0110] As Figure 2 shown, in one embodiment, before determining the type of the vehicle and the real-time channel delay parameter based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the induction device, it further includes:

[0111] S201. Respectively obtain the second signals sent by each type of vehicle when passing through multiple preset positions in sequence;

[0112] S202. According to the second signals, respectively determine the pre-stored channel delay parameters of each type of vehicle at each of the preset positions;

[0113] S203. Respectively determine the virtual installation angles of the roadside unit corresponding to each type of vehicle at each of the preset positions;

[0114] S204. Establish the binding relationship between the pre-stored channel delay parameter and the virtual installation angle of the roadside unit when each type of vehicle is at each of the preset positions.

[0115] Specifically, during the driving process of the vehicle, it will pass through different preset positions in sequence in the driving direction and trigger the corresponding induction devices; correspondingly, when each type of vehicle passes through each preset position in sequence, the induction device needs to send a trigger signal to the roadside unit; that is, the roadside unit can obtain the second signals sent by multiple types of vehicles when passing through multiple preset positions based on the trigger signal. According to the second signals sent by each type of vehicle at each preset position, the pre-stored channel delay parameters of each type of vehicle at each preset position are determined. The installation angles of each type of vehicle relative to the roadside unit at each preset position are respectively determined, which are called the virtual installation angles of the roadside unit. Correspondingly, the binding relationship between the above pre-stored channel delay parameter and the virtual installation angle of the roadside unit can be constructed when each type of vehicle is at each preset position.

[0116] For example, the channel delay parameter of a vehicle of type A at the first preset position is A1, and the corresponding roadside unit installation angle is a1. The channel delay parameter at the second preset position is A2, and the corresponding virtual installation angle of the roadside unit is a2. The channel delay parameter at the third preset position is A3, and the corresponding virtual installation angle of the roadside unit is a3. For a vehicle of type B, the channel delay parameter at the first preset position is B1, and the corresponding roadside unit installation angle is b1. The channel delay parameter at the second preset position is B2, and the corresponding virtual installation angle of the roadside unit is b2. The channel delay parameter at the third preset position is B3, and the corresponding virtual installation angle of the roadside unit is b3. The following relationship chart can be constructed accordingly:

[0117]

[0118] By pre-calculating and determining the pre-stored channel delay parameters and the virtual installation angles of the roadside units for each type of vehicle at each preset position, and establishing the binding relationship between the pre-stored channel delay parameters and the virtual installation angles of the roadside units for each type of vehicle at each preset position, it is possible to quickly determine multiple pre-stored channel delay parameters corresponding to the current type and the corresponding virtual installation angles of the roadside units when detecting the real-time channel delay parameter of the current type, which is convenient for quickly determining the real-time position of the current type of vehicle to improve the calibration efficiency of the current type of vehicle.

[0119] In one embodiment, the step of respectively determining the virtual installation angles of the roadside units corresponding to each type of vehicle at each of the preset positions includes:

[0120] Determine the relative installation height of the on-vehicle unit of each type of vehicle; wherein, the relative installation height is the height difference between the first vertical height of the roadside unit and the second vertical height of the on-vehicle unit of each type of vehicle;

[0121] Determine the horizontal distance between each of the preset positions and the roadside unit;

[0122] According to the relative installation height and the horizontal distance, determine the virtual installation angles of the roadside units corresponding to each type of vehicle at each of the preset positions.

[0123] Specifically, first determine the installation height of the roadside unit on the gantry as the first vertical height, and determine the installation height of the on-vehicle unit on each type of vehicle as the second vertical height. According to the above first vertical height and second vertical height, calculate the relative installation height of the on-vehicle unit on each type of vehicle relative to the roadside unit respectively. Determine the position information of the roadside unit, and determine the horizontal distance between each preset position and the roadside unit according to the position information of the roadside unit. According to the relative installation height of the on-vehicle unit on each type of vehicle relative to the roadside unit and the horizontal distance between the roadside unit and each preset position, calculate the virtual installation angle of each type of vehicle relative to the roadside unit at each preset position.

[0124] Among them, the calculation method of the virtual installation angle of the roadside unit can be expressed by the following formula:

[0125]

[0126] In the formula, D represents the horizontal distance between the preset position and the roadside unit; H represents the relative installation height of the on-vehicle unit of the current type of vehicle relative to the roadside unit.

[0127] Through the relative installation height of the on-vehicle unit of each type of vehicle relative to the roadside unit and the horizontal distance between each preset position and the roadside unit, obtain the virtual installation angle of the roadside unit of each type of vehicle at each preset position, so as to improve the calibration result accuracy of the roadside unit for different types of vehicles located at fixed positions based on the installation heights of on-vehicle units of different types.

[0128] In one embodiment, the determining the target channel delay parameter and the target preset position among the multiple pre-stored channel delay parameters according to the real-time channel delay parameter includes:

[0129] Determine the correlation between the real-time channel delay parameter and each of the pre-stored channel delay parameters respectively;

[0130] According to the correlation, determine the pre-stored channel delay parameter that meets the preset condition as the target channel delay parameter;

[0131] According to the target channel delay parameter, determine the corresponding preset position as the target preset position.

[0132] Specifically, calculate the correlation between each pre-stored channel delay parameter corresponding to the current type of vehicle obtained according to the preset calculation method and the real-time channel delay parameter of the vehicle. Select the pre-stored channel delay parameter that meets the preset condition from the multiple pre-stored channel delay parameters according to the correlation as the target channel delay parameter. Take the preset position where the induction device corresponding to the target channel delay parameter is located as the target preset position.

[0133] Among them, the preset conditions can be specifically set according to the actual situation. For example, the preset condition is set as the pre-stored channel delay parameter with the largest correlation. Correspondingly, after calculating the correlation between the real-time channel delay parameter and each pre-stored channel delay parameter, the correlations are sorted in descending order, and the pre-stored channel delay parameter with the largest correlation (the correlation ranked first in the sequence) with the real-time channel delay parameter is selected as the target channel delay parameter.

[0134] By selecting the pre-stored channel delay parameter with the largest correlation with the vehicle as the target channel delay parameter to determine the corresponding target preset position, the real-time position of the vehicle is detected, the calibration result of the vehicle is determined, the stability of the calibration results of different types of vehicles is improved, and thus the transaction success rate is increased.

[0135] As Figure 4 shown, in one embodiment, the determining the real-time position of the on-vehicle unit according to the target channel delay parameter includes:

[0136] S1041. Calculate the arrival angle of the wave of the on-vehicle unit according to the target channel delay parameter;

[0137] S1042. Determine the target virtual installation angle of the roadside unit corresponding to the target channel delay parameter;

[0138] S1043. Calculate the real-time position of the on-vehicle unit according to the target virtual installation angle of the roadside unit and the arrival angle of the wave.

[0139] Specifically, the arrival angle of the wave of the on-vehicle unit of the current type of vehicle is calculated by the Direction of Arrival (DOA) algorithm for the target channel delay parameter. The virtual angle of the roadside unit corresponding to the target channel delay parameter is determined as the target virtual installation angle of the roadside unit, and the relative installation height of the on-vehicle unit of the current type of vehicle, the target virtual installation angle of the roadside unit, and the arrival angle of the wave are calculated according to the angle conversion coordinate algorithm to obtain the real-time position of the on-vehicle unit of the current type of vehicle.

[0140] Among them, the angle conversion algorithm can be expressed by the following formula:

[0141]

[0142]

[0143] In the formula, (θ x , θ y) represents the incoming wave angle of the on-vehicle unit; (x, y) represents the real-time position of the on-vehicle unit on the vehicle of the current type; H represents the relative installation height of the on-vehicle unit on the vehicle of the current type with respect to the roadside unit; α represents the target virtual installation angle of the roadside unit.

[0144] By calculating the real-time position of the vehicle based on the relative installation height and relative virtual installation angle of the on-vehicle unit on the vehicle of the current type with respect to the roadside unit, the accuracy and stability of the roadside unit in determining the physical positions of different types of vehicles at the same physical location are improved.

[0145] In one embodiment, the determining the calibration result for the vehicle of the type according to the real-time position and the target preset position includes:

[0146] Determine the distance difference between the real-time position and the target preset position;

[0147] When it is detected that the distance difference is within a preset range, it is determined that the calibration of the vehicle of the type is completed.

[0148] Specifically, calculate the distance difference between the real-time position of the on-vehicle unit on the vehicle of the type and the target preset position where the induction device triggered by the vehicle of the type is located. Compare the above distance difference with the preset range. When it is detected that the distance difference is within the preset range, it is determined that the real-time position of the on-vehicle unit on the vehicle of the type calculated is the correct position information, that is, the calibration of the vehicle of the type is completed.

[0149] In one embodiment, the determining the distance difference between the real-time position and the target preset position includes:

[0150] Determine the first distance of the real-time position in the horizontal direction;

[0151] Determine the second distance of the target preset position in the horizontal direction;

[0152] Determine the horizontal distance difference between the first distance and the second distance.

[0153] Specifically, based on the real-time position of the on-vehicle unit on the vehicle of the current type, calculate the first distance between the on-vehicle unit on the vehicle of the type and the roadside unit in the horizontal direction, and determine the second distance between the position of the target preset position where the vehicle of the type is located and the position of the roadside unit in the horizontal direction. Calculate the horizontal distance difference between the real-time position of the on-vehicle unit on the vehicle of the type and the target preset position according to the above first distance and second distance, so as to determine whether the positioning result of the on-vehicle unit on the vehicle of the type is accurate according to the horizontal distance difference.

[0154] Figure 5Provided is an application scenario diagram of an adaptive calibration method for a roadside unit.

[0155] As Figure 5 shown, three corresponding induction devices (G1, G2, G3) are set at three preset positions in front of the roadside unit RSU1. Taking type L1 as an example, when a vehicle C1 of type L1 travels in the driving direction, it first passes through the induction device G1. The induction device G1 sends a trigger signal to the roadside unit RSU1, and the roadside unit RSU1 receives the second signal (i.e., the uplink signal) sent by the on-vehicle unit OBU1 on the vehicle C1, and obtains the first pre-stored channel delay parameter Y1 of the vehicle C1 at the induction device G1 (i.e., at the first preset position). Then, when the vehicle C1 passes through the induction device G2, the induction device G2 sends a trigger signal to the roadside unit RSU1, and the roadside unit RSU1 receives the second signal (i.e., the uplink signal) sent by the on-vehicle unit OBU1 on the vehicle C1, and obtains the second pre-stored channel delay parameter Y2 of the vehicle C1 at the induction device G2 (i.e., at the second preset position). By analogy, the third pre-stored channel delay parameter Y3 of the vehicle C1 at the induction device G3 (i.e., at the third preset position) is obtained. The corresponding relationship between the vehicle of type L1 and the first pre-stored channel delay parameter Y1, the second pre-stored channel delay parameter Y2, and the third pre-stored channel delay parameter Y3 is obtained. The horizontal distance between each preset position and the roadside unit (i.e., the second distance, taking the induction device G3 as an example, the second distance is D) is determined. According to the relative installation height of the on-vehicle unit OBU1 on the vehicle of type L1 with respect to the roadside unit (the relative installation height H = the first vertical height H1 of the roadside unit - the second vertical height H2 of the on-vehicle unit OBU1 on the vehicle C1 of type L1 from the ground) and the horizontal distance between each preset position and the roadside unit, the virtual installation angle of the roadside unit at each preset position for the vehicle of type L1 is calculated (e.g., the virtual installation angle J1 of the roadside unit corresponding to the first preset position, the virtual installation angle J2 of the roadside unit corresponding to the second preset position, the virtual installation angle J3 of the roadside unit corresponding to the third preset position (i.e., α in the figure)). By analogy, the binding relationships between the pre-stored channel delay parameters, each pre-stored channel delay parameter, and the virtual installation angle of the roadside unit at multiple preset positions for multiple types of vehicles such as type L2 and type L3 are obtained.

[0156] Correspondingly, when vehicle C2 passes by a certain induction device, the triggered induction device sends a trigger signal to roadside unit RSU1. When roadside unit RSU1 receives the trigger signal, it determines the type of vehicle C2 (taking type L1 as an example) and the real-time channel delay parameter sent by the on-vehicle unit on vehicle C2; determines multiple pre-stored channel delay parameters corresponding to type L1, calculates the correlation between the real-time channel delay parameter and each pre-stored channel delay parameter, and selects the pre-stored channel delay parameter with the largest correlation with the real-time channel delay parameter as the target channel delay parameter. Calculates the arrival angle (θ x , θ y ) of the on-vehicle unit on vehicle C2 according to the target channel delay parameter; determines the position where the induction device triggered by vehicle C2 is located to obtain the target preset position (for example, the induction device triggered by vehicle C2 is G1, and the corresponding target preset position is the first preset position where induction device G1 is located), and determines that the target virtual installation angle of the roadside unit corresponding to the target preset position is J1. Calculates the real-time position of the on-vehicle unit on vehicle C2 according to the above arrival angle and the target virtual installation angle of the roadside unit. Calculates the first distance between the above real-time position and roadside unit RSU1 in the horizontal direction, determines the second distance between the first preset position where the triggered induction device G1 is located and roadside unit RSU1 in the horizontal direction, and calculates the horizontal distance difference between the real-time position and the target preset position according to the above first distance and second distance. When it is detected that the horizontal distance difference is within the preset range, it is determined that the calibration of the vehicle of type L1 is successful.

[0157] In one embodiment, after determining the distance difference between the real-time position and the target preset position, it further includes:

[0158] When it is detected that the distance difference is outside the preset range, it is determined that the calibration of the vehicle of this type fails;

[0159] Based on the real-time position, updates the pre-stored channel delay parameter of the vehicle of this type at the target preset position, and returns to execute the step of determining the type and real-time channel delay parameter of the vehicle based on the first signal sent by the obtained on-vehicle unit when receiving the trigger signal sent by the induction device and the subsequent steps until it is detected that the distance difference is within the preset range.

[0160] Specifically, compare the horizontal distance difference between the real-time position of the on-vehicle unit of this type of vehicle and the target preset position with a preset range. When it is detected that the above horizontal distance difference is outside the preset range, it is determined that the calculated real-time position of the on-vehicle unit of this type of vehicle is inaccurate, that is, it is determined that the calibration of this type of vehicle fails. According to the real-time channel delay parameter corresponding to the calculated real-time position, update the pre-stored channel delay parameter of this type of vehicle at the target preset position, and return to execute step S101 and subsequent steps, so that when this vehicle triggers the induction device next time, calibrate this type of vehicle at the next preset position based on the trigger signal sent by the induction device, until it is detected that the horizontal distance difference between the real-time position of this type of vehicle and the preset position where the induction device triggered by this type of vehicle is located is within the preset range, then it can be determined that the calculated real-time position of the on-vehicle unit of this type of vehicle is the correct position information, that is, the calibration of this type of vehicle is completed. Among them, the preset range can be specifically set according to the actual situation. For example, set the preset range to [-3m, 3m], corresponding to when the absolute value of the horizontal distance difference between the real-time position of the on-vehicle unit of the current type of vehicle and the target preset position is detected to be less than 3m, it is determined that the calibration of the current type of vehicle is completed.

[0161] For example, as Figure 5 shown, when the horizontal distance difference between the real-time position of vehicle C2 of type L1 and the first distance of the roadside unit RSU in the horizontal direction, and the second distance of the first preset position where the triggered induction device G1 is located and the roadside unit RSU in the horizontal direction is greater than 3m, it is determined that the calibration of vehicle C2 of type L1 fails. Update the target channel delay parameter of vehicle C2 of type L1 at the first preset position to: the real-time channel delay parameter (calculated based on the first signal sent by vehicle C2 of type L1).

[0162] Determine the calibration result of the current type of vehicle by the difference between the real-time position of the current type of vehicle and the target preset position. When the calibration result is a failure, by returning to execute the next adaptive calibration process, the adaptive calibration function of the roadside unit is realized through continuous machine learning to improve and enhance the accuracy and stability of the calibration result for the current type of vehicle.

[0163] In this embodiment, when receiving the induction signal, the vehicle type and the real-time channel delay parameter of the vehicle are determined according to the first signal sent by the vehicle. According to the vehicle type, the pre-stored channel delay parameters at corresponding multiple preset positions are determined, so as to determine the target channel delay parameter and the target preset position. And the real-time position of the vehicle is determined according to the target channel delay parameter, and the calibration result of the vehicle is determined according to the real-time position and the target preset position. That is, based on the relationship between the real-time channel delay parameters of different types of vehicles at different preset positions within the preset area and the pre-stored channel delay parameters, the real-time position of the current type of vehicle and the corresponding target preset position can be determined. According to the comparison between the real-time position and the corresponding target preset position, the result of whether the current type of vehicle has completed adaptive calibration can be obtained, without manual operation, and the accuracy of the adaptive positioning result for different types of vehicles at the same physical position is improved, thereby improving the transaction success rate.

[0164] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0165] Corresponding to the adaptive calibration method of the roadside unit described in the above embodiments, Figure 6 The structural block diagram of the adaptive calibration device of the roadside unit provided by the embodiment of the present application is shown. The above device is applied to the roadside unit, and the roadside unit is communicatively connected with multiple induction devices. The induction device is used to trigger the roadside unit to obtain the signal sent by the on-vehicle unit in the vehicle in real time when detecting that the vehicle arrives at the corresponding preset position. For the convenience of description, only the parts related to the embodiments of the present application are shown.

[0166] Refer to Figure 6 , the adaptive calibration device 100 of the roadside unit includes:

[0167] The first signal recognition module 101 is configured to determine the type and real-time channel delay parameter of the vehicle based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the induction device;

[0168] The parameter determination module 102 is configured to determine the corresponding multiple pre-stored channel delay parameters according to the type of the vehicle;

[0169] The data screening module 103 is configured to determine the target channel delay parameter and the target preset position among the multiple pre-stored channel delay parameters according to the real-time channel delay parameter;

[0170] The information calculation module 104 is configured to determine the real-time position of the on-vehicle unit according to the target channel delay parameter;

[0171] A calibration result determination module 105, configured to determine a calibration result for the type of vehicle according to the real-time position and the target preset position.

[0172] In one embodiment, the apparatus further includes:

[0173] A signal acquisition module, configured to respectively acquire second signals sent when each type of vehicle passes through a plurality of preset positions in sequence;

[0174] A second signal recognition module, configured to respectively determine the pre-stored channel delay parameters of each type of vehicle at each of the preset positions according to the second signals;

[0175] An angle calculation module, configured to respectively determine the virtual installation angles of the roadside units corresponding to each type of vehicle at each of the preset positions;

[0176] A binding module, configured to establish a binding relationship between the pre-stored channel delay parameters and the virtual installation angles of the roadside units when each type of vehicle is at each of the preset positions.

[0177] In one embodiment, the angle calculation module includes:

[0178] A height determination unit, configured to determine the relative installation height of the on-vehicle unit of each type of vehicle; wherein, the relative installation height is the height difference between the first vertical height of the roadside unit and the second vertical height of the on-vehicle unit of each type of vehicle;

[0179] A horizontal distance determination unit, configured to determine the horizontal distance between each of the preset positions and the roadside unit;

[0180] A first angle calculation unit, configured to determine the virtual installation angles of the roadside units corresponding to each type of vehicle at each of the preset positions according to the relative installation height and the horizontal distance.

[0181] In one embodiment, the data screening module includes:

[0182] A correlation calculation unit, configured to respectively determine the correlation between the real-time channel delay parameter and each of the pre-stored channel delay parameters;

[0183] A target parameter determination unit, configured to determine the pre-stored channel delay parameter that meets the preset conditions according to the correlation as the target channel delay parameter;

[0184] A target position determination unit, configured to determine the corresponding preset position as the target preset position according to the target channel delay parameter.

[0185] In one embodiment, the information calculation module includes:

[0186] A second angle calculation unit for calculating the incoming wave angle of the on-vehicle unit according to the target channel delay parameter;

[0187] A target angle determination unit for determining the target virtual installation angle of the roadside unit corresponding to the target channel delay parameter;

[0188] A real-time position determination unit for calculating the real-time position of the on-vehicle unit according to the target virtual installation angle of the roadside unit and the incoming wave angle.

[0189] In one embodiment, the calibration result determination module includes:

[0190] A distance calculation unit for determining the distance difference between the real-time position and the target preset position;

[0191] A first calibration detection unit for determining that the calibration of the type of vehicle is completed when it is detected that the distance difference is within a preset range.

[0192] In one embodiment, the distance calculation unit includes:

[0193] A first distance determination subunit for determining the first distance of the real-time position in the horizontal direction;

[0194] A second distance determination subunit for determining the second distance of the target preset position in the horizontal direction;

[0195] A difference determination subunit for determining the horizontal distance difference between the first distance and the second distance.

[0196] In one embodiment, the calibration result determination module further includes:

[0197] A second calibration detection unit for determining that the calibration of the type of vehicle fails when it is detected that the distance difference is outside the preset range;

[0198] An update unit for updating the pre-stored channel delay parameter of the type of vehicle at the target preset position based on the real-time position, and returning to execute the steps of determining the type and real-time channel delay parameter of the vehicle based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the induction device and subsequent steps until it is detected that the distance difference is within the preset range.

[0199] In this embodiment, when receiving the induction signal, the vehicle type and the real-time channel delay parameter of the vehicle are determined according to the first signal sent by the vehicle. The pre-stored channel delay parameters at multiple corresponding preset positions are determined according to the vehicle type, so as to determine the target channel delay parameter and the target preset position, and the real-time position of the vehicle is determined according to the target channel delay parameter. The calibration result of the vehicle is determined according to the real-time position and the target preset position. That is, based on the relationship between the real-time channel delay parameter and the pre-stored channel delay parameter of different types of vehicles at different preset positions within the preset area, the real-time position of the current type of vehicle and the corresponding target preset position can be determined. According to the comparison between the real-time position and the corresponding target preset position, it can be obtained whether the current type of vehicle has completed the adaptive calibration, without manual operation, and the accuracy of the adaptive positioning result for different types of vehicles at the same physical position is improved, thereby improving the transaction success rate.

[0200] It should be noted that the information interaction, execution process, etc. between the above-mentioned device / units, due to being based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, please refer to the method embodiment part specifically, and will not be elaborated here.

[0201] Figure 7 It is a schematic structural diagram of the terminal device provided in this embodiment. As Figure 7 shown, the terminal device 7 of this embodiment includes: at least one processor 70 ( Figure 7 only one is shown here), a memory 71, and a computer program 72 stored in the memory 71 and operable on the at least one processor 70. When the processor 70 executes the computer program 72, the steps in any of the above-mentioned method embodiments of the adaptive calibration of the roadside unit are implemented.

[0202] The terminal device 7 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art can understand that Figure 7 this is only an example of the terminal device 7, and does not constitute a limitation on the terminal device 7. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0203] The so-called processor 70 may be a Central Processing Unit (CPU), and this processor 70 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0204] In some embodiments, the memory 71 may be an internal storage unit of the terminal device 7, such as the hard disk or memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk equipped on the terminal device 7, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 71 may also include both the internal storage unit and the external storage device of the terminal device 7. The memory 71 is used to store an operating system, application programs, a BootLoader, data, and other programs, such as the program code of the computer program, etc. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0205] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0206] An embodiment of the present application further provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the steps in any of the above method embodiments are implemented.

[0207] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which when executed by a processor can implement the steps in the above method embodiments.

[0208] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, it causes the mobile terminal to implement the steps in the above method embodiments when executed.

[0209] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above embodiment methods of the present application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0210] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0211] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0212] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the device or unit can be in an electrical, mechanical or other form.

[0213] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0214] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit it; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. An adaptive calibration method for a roadside unit, characterized in that The roadside unit is communicatively connected to a plurality of sensing devices, and the sensing devices are configured to trigger the roadside unit to obtain in real time a signal transmitted by an on-vehicle unit in the vehicle when it detects that the vehicle arrives at a corresponding preset position; The adaptive calibration method of the roadside unit includes: When receiving the trigger signal sent by the sensing device, determining the type of the vehicle and the real-time channel delay parameter based on the first signal sent by the on-vehicle unit obtained; Determining a plurality of pre-stored channel delay parameters corresponding to the type of the vehicle according to the type of the vehicle; Determining a target channel delay parameter and a target preset position among the plurality of pre-stored channel delay parameters according to the real-time channel delay parameter; Determining the real-time position of the on-vehicle unit according to the target channel delay parameter; Determining a calibration result for the type of the vehicle according to the real-time position and the target preset position.

2. The adaptive calibration method of the roadside unit according to claim 1, characterized in that Before the step of determining the type of the vehicle and the real-time channel delay parameter based on the first signal sent by the on-vehicle unit obtained when receiving the trigger signal sent by the sensing device, the method further includes: Obtaining second signals sent by each type of vehicle when passing through a plurality of preset positions in sequence; According to the second signals, respectively determining the pre-stored channel delay parameters of each type of vehicle at each of the preset positions; Respectively determining the virtual installation angles of the roadside unit corresponding to each type of vehicle at each of the preset positions; Establishing a binding relationship between the pre-stored channel delay parameter and the virtual installation angle of the roadside unit when each type of vehicle is at each of the preset positions.

3. The adaptive calibration method of the roadside unit according to claim 2, wherein, The step of respectively determining the virtual installation angles of the roadside unit corresponding to each type of vehicle at each of the preset positions includes: Determining the relative installation height of the on-vehicle unit of each type of vehicle; wherein, the relative installation height is the height difference between the first vertical height of the roadside unit and the second vertical height of the on-vehicle unit of each type of vehicle; Determining the horizontal distance between each of the preset positions and the roadside unit; According to the relative installation height and the horizontal distance, determining the virtual installation angle of the roadside unit corresponding to each type of vehicle at each of the preset positions.

4. The adaptive calibration method of the roadside unit according to claim 1, characterized in that, The step of determining a target channel delay parameter and a target preset position among the plurality of pre-stored channel delay parameters according to the real-time channel delay parameter includes: Respectively determining the correlation between the real-time channel delay parameter and each of the pre-stored channel delay parameters; Determining a pre-stored channel delay parameter that meets a preset condition according to the correlation as the target channel delay parameter; Determining the corresponding preset position according to the target channel delay parameter as the target preset position.

5. The adaptive calibration method of the roadside unit according to claim 1, characterized in that The step of determining the real-time position of the on-vehicle unit according to the target channel delay parameter includes: Calculating the arrival wave angle of the on-vehicle unit according to the target channel delay parameter; Determining the target virtual installation angle of the roadside unit corresponding to the target channel delay parameter; Calculating the real-time position of the on-vehicle unit according to the target virtual installation angle of the roadside unit and the arrival wave angle.

6. The adaptive calibration method of the roadside unit according to claim 1, characterized in that Determining the calibration result for the type of vehicle according to the real-time position and the target preset position includes: Determining the distance difference between the real-time position and the target preset position; When it is detected that the distance difference is within the preset range, determining that the calibration of the type of vehicle is completed.

7. The adaptive calibration method of the roadside unit according to claim 6, characterized in that, The determining the distance difference between the real-time position and the target preset position includes: Determining a first distance of the real-time position in the horizontal direction; Determining a second distance of the target preset position in the horizontal direction; Determining the horizontal distance difference between the first distance and the second distance.

8. The adaptive calibration method of the roadside unit according to claim 6, wherein, After determining the distance difference between the real-time position and the target preset position, it further includes: When it is detected that the distance difference is outside the preset range, determining that the calibration of the type of vehicle fails; Updating the pre-stored channel delay parameter of the type of vehicle at the target preset position based on the real-time position, and returning to execute the step of determining the type and real-time channel delay parameter of the vehicle based on the first signal sent by the in-vehicle unit when receiving the trigger signal sent by the sensing device, and subsequent steps until it is detected that the distance difference is within the preset range.

9. An adaptive calibration device for a roadside unit, characterized in that, The roadside unit is communicatively connected to a plurality of sensing devices, and the sensing devices are configured to trigger the roadside unit to acquire the signal sent by the in-vehicle unit in the vehicle in real time when it is detected that the vehicle arrives at the corresponding preset position; The adaptive calibration device of the roadside unit includes: A first signal recognition module, configured to determine the type and real-time channel delay parameter of the vehicle based on the first signal sent by the in-vehicle unit acquired when receiving the trigger signal sent by the sensing device; A parameter determination module, configured to determine a plurality of corresponding pre-stored channel delay parameters according to the type of vehicle; A data screening module, configured to determine a target channel delay parameter and a target preset position among the plurality of pre-stored channel delay parameters according to the real-time channel delay parameter; An information calculation module, configured to determine the real-time position of the in-vehicle unit according to the target channel delay parameter; A calibration result determination module, configured to determine the calibration result for the type of vehicle according to the real-time position and the target preset position.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method described in any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method described in any one of claims 1 to 8 is implemented.

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