Vehicle information determination method, device, and computer-readable storage medium

Abstract

The present application discloses a method for determining vehicle information, comprising: determining lane information of a road section to be identified; determining the distance between target array antennas corresponding to the road section to be identified; and determining driving information of the vehicle to be identified based on the lane information, the distance, parameters of a signal receiver corresponding to the array antenna of the road section to be identified, and parameters of a signal transmitter of the vehicle to be identified on the road section to be identified; wherein the signal transmitter and the signal receiver have a corresponding relationship. The present application also discloses a vehicle information determination device and a computer-readable storage medium.

Description

Technical Field

[0001] The present application relates to vehicle information determination technology in the field of communications, and in particular to a vehicle information determination method, device, and computer-readable storage medium. Background Art

[0002] With economic development and social progress, the number of vehicles on the road continues to increase. To improve operational efficiency and better adapt to the development of industrialization and urbanization, the mileage of national highways is also increasing year by year. Due to the complex terrain and steep slopes in mountainous areas, tunnels are often built during highway construction to ensure transportation safety. According to relevant statistics, the probability of traffic accidents in tunnels is much higher than in other sections of road. Therefore, understanding vehicle location, movement trajectory, speed, and other information within tunnels can not only punish and educate drivers for illegal driving behaviors such as illegal lane changes, illegal parking, and speeding, but also provide timely reminders for safe driving and notify surrounding vehicles to engage in defensive driving when encountering abnormal vehicle or road conditions, thereby reducing the risk of accidents. Currently, ultrasonic radar technology, electromagnetic wave signal strength (Received Signal Strength Indication (RSSI)), or ultra-wideband (UWB) technology are commonly used to determine vehicle information such as vehicle location and speed. However, these measurement methods suffer from limited measurement distances and low positioning accuracy, resulting in the possibility of misjudgment and the inability to share vehicle information. Summary of the Invention

[0003] In order to solve the above technical problems, the embodiments of the present application hope to provide a vehicle information determination method, device and computer-readable storage medium, which solves the problems of limited measurement distance and low positioning accuracy in the vehicle information determination scheme in the related art, avoids misjudgment, and vehicle information can also be shared.

[0004] The technical solution of this application is achieved as follows:

[0005] A method for determining vehicle information, the method comprising:

[0006] Determine lane information of the road section to be identified;

[0007] Determining the distance between target array antennas corresponding to the road section to be identified;

[0008] Based on the lane information, the distance, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified on the road section to be identified, the driving information of the vehicle to be identified is determined; wherein the signal transmitter and the signal receiver have a corresponding relationship.

[0009] In the above solution, the information of determining the lane of the road section to be identified includes:

[0010] When it is determined that the vehicle to be identified is located in the road section to be identified, the width of each lane of the road section to be identified is determined.

[0011] In the above solution, determining the driving information of the vehicle to be identified based on the lane information, the distance, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified on the road section to be identified includes:

[0012] determining the height of the target array antenna;

[0013] Determining location information of a boundary of each lane of the road section to be identified based on the width of each lane, the distance between the first sub-target array antennas, and the height of the target array antenna; wherein the target array antenna includes the first sub-target array antenna, and the first sub-target array antennas are arranged on opposite sides of the lane;

[0014] The driving information of the vehicle to be identified is determined based on the position information of the boundary of each lane of the road section to be identified, the parameters of the signal receiver and the parameters of the signal transmitter.

[0015] In the above solution, determining the driving information of the vehicle to be identified based on the position information of the boundary of each lane of the road section to be identified, the parameters of the signal receiver, and the parameters of the signal transmitter includes:

[0016] Determine the measurement error and the first time error of the signal receiver, and determine the second time error of the signal transmitter; wherein,

[0017] determining a phase difference between the signal receiver and the signal transmitter;

[0018] determining the position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error;

[0019] Based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified, the driving condition and driving speed of the vehicle to be identified are determined; wherein the driving information includes the position information, the driving condition and the driving speed.

[0020] In the above solution, determining the position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error includes:

[0021] Determine a first relationship between the position information of the vehicle to be identified, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error;

[0022] Determine a second relationship between the phase difference, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error;

[0023] Based on the first relationship expression and the second relationship expression, the position information of the vehicle to be identified is determined.

[0024] In the above solution, determining the position information of the vehicle to be identified based on the first relationship and the second relationship includes:

[0025] Performing an operation on the first relational expression and the second relational expression to obtain an operation result;

[0026] The target algorithm is used to process the calculation result to obtain the position information of the vehicle to be identified.

[0027] In the above solution, determining the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified includes:

[0028] Determining a target relationship between the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified;

[0029] Determining the target lane in which the vehicle to be identified is currently located based on the target relationship;

[0030] The driving condition and driving speed of the vehicle to be identified are determined based on the position information of the vehicle to be identified, the width of the vehicle body and the position information of the boundary of the target lane.

[0031] In the above solution, determining the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified, the width of the vehicle to be identified, and the position information of the boundary of the target lane includes:

[0032] Determining a first value and a second value based on the width of the vehicle to be identified and the position information of the vehicle to be identified;

[0033] Determining a third value based on the positioning error and the position information of the first sub-boundary of the target lane, and determining a fourth value based on the positioning error and the position information of the second sub-boundary of the target lane;

[0034] determining a driving condition of the vehicle to be identified based on a relationship between the first value and the third value, and a relationship between the second value and the fourth value;

[0035] The driving speed of the vehicle to be identified is determined based on the distance between the second sub-target array antennas and the measurement interval time for the second sub-target array antennas; wherein the target array antenna also includes the second sub-target array antenna; the second sub-target array antennas are adjacently arranged on the same side of the lane.

[0036] A vehicle information determination device, the device comprising: a processor, a memory, and a communication bus;

[0037] The communication bus is used to realize the communication connection between the processor and the memory;

[0038] The processor is used to execute the vehicle information determination program in the memory to implement the steps of the vehicle information determination method described above.

[0039] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the vehicle information determination method described above.

[0040] The vehicle information determination method, device and computer-readable storage medium provided in the embodiments of the present application determine the lane information of the road section to be identified, determine the distance between the target array antennas corresponding to the road section to be identified, and then determine the driving information of the vehicle to be identified based on the lane information, distance, parameters of the signal receiver corresponding to the array antenna of the road section to be identified and parameters of the signal transmitter of the vehicle to be identified on the road section to be identified. The signal transmitter and the signal receiver have a corresponding relationship. In this way, the driving information of the vehicle can be determined by the lane information, the distance between the target array antennas corresponding to the road section to be identified, parameters of the signal receiver corresponding to the array antenna of the road section to be identified and parameters of the signal transmitter of the vehicle to be identified. There is no need to use ultrasonic radar technology, electromagnetic wave signal strength value or UWB technology, which solves the problems of limited measurement distance and low positioning accuracy in the vehicle information determination scheme in the related technology, avoids misjudgment, and vehicle information can also be shared. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flowchart of a method for determining vehicle information provided in an embodiment of the present application;

[0042] Figure 2 A flowchart of another method for determining vehicle information provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the structure of three lanes and an array antenna in a vehicle information determination method provided in an embodiment of the present application;

[0044] Figure 4 A flowchart of another method for determining vehicle information provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of a vehicle to be identified in a method for determining vehicle information provided in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of the structure of a system corresponding to the vehicle information determination method provided in an embodiment of the present application;

[0047] Figure 7 A schematic structural diagram of two lanes and an array antenna in a vehicle information determination method provided in an embodiment of the present application;

[0048] Figure 8 A schematic structural diagram of a vehicle information determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0050] It should be understood that the “embodiments of the present application” or “the aforementioned embodiments” mentioned throughout the specification mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, “in the embodiments of the present application” or “in the aforementioned embodiments” appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. In the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0051] Unless otherwise specified, when an electronic device performs any step in the embodiments of the present application, the processor of the electronic device may perform the step. It is also worth noting that the embodiments of the present application do not limit the order in which the electronic device performs the following steps. In addition, the methods used to process data in different embodiments may be the same method or different methods. It should also be noted that any step in the embodiments of the present application can be independently executed by the electronic device, that is, when the electronic device performs any step in the following embodiments, it can be independent of the execution of other steps.

[0052] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0053] The embodiment of the present application provides a vehicle information determination method, which can be applied to a vehicle information determination device, referring to Figure 1 As shown, the method includes the following steps:

[0054] Step 101: Determine lane information of a road section to be identified.

[0055] In an embodiment of the present application, the road section to be identified may refer to a road that needs to be determined; in a feasible implementation, the road section to be identified may refer to a tunnel-type road; the lane information may characterize the distribution of the lanes, and in a feasible implementation, the lane information may refer to information such as the width of the lane.

[0056] Step 102: Determine the distance between target array antennas corresponding to the road section to be identified.

[0057] In the embodiments of the present application, the target array antenna may refer to a specific array antenna among the array antennas that is located above the road section to be identified and whose signals can cover the road section to be identified. In one feasible implementation, the target array antenna may refer to two array antennas corresponding to the road section to be identified that are located on opposite sides of the lane, or two array antennas corresponding to the road section to be identified that are located on the same side of the lane. The target array antenna may refer to two array antennas, and of course, the distance between the two array antennas is determined.

[0058] Step 103: Determine the driving information of the vehicle to be identified based on the lane information, the distance between the target array antennas corresponding to the road section to be identified, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified on the road section to be identified.

[0059] Among them, the signal transmitter and the signal receiver have a corresponding relationship.

[0060] In an embodiment of the present application, the signal transmitter and the signal receiver are two signal devices with mutual signal induction, that is, the signal transmitted by the signal transmitter can be received by the signal receiver. The driving information of the vehicle to be identified may refer to the position, driving speed and driving conditions of the vehicle to be identified. It should be noted that the position, driving speed and driving conditions of the vehicle to be identified can be calculated based on the information of the lane, the distance between the target array antennas corresponding to the road section to be identified, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified on the road section to be identified.

[0061] The vehicle information determination method provided in the embodiment of the present application determines the lane information of the road section to be identified, determines the distance between the target array antennas corresponding to the road section to be identified, and then determines the driving information of the vehicle to be identified based on the lane information, distance, parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and parameters of the signal transmitter of the vehicle to be identified on the road section to be identified. The signal transmitter and the signal receiver have a corresponding relationship. In this way, the driving information of the vehicle can be determined by the lane information, the distance between the target array antennas corresponding to the road section to be identified, parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and parameters of the signal transmitter of the vehicle to be identified. There is no need to use ultrasonic radar technology, electromagnetic wave signal strength value or UWB technology, which solves the problems of limited measurement distance and low positioning accuracy in the vehicle information determination scheme in the related technology, avoids misjudgment, and vehicle information can also be shared.

[0062] Based on the above embodiments, the embodiments of the present application provide a method for determining vehicle information, referring to Figure 2 As shown, the method includes the following steps:

[0063] Step 201: When determining that a vehicle to be identified is located on a road section to be identified, the vehicle information determining device determines the width of each lane of the road section to be identified.

[0064] The vehicle information determination method provided in the embodiments of the present application can only be used to determine the location, driving conditions, and driving speed of the vehicle to be identified when the vehicle to be identified is located in the road section to be identified. It should be noted that tunnels in my country are generally two or three lanes in one direction, and the number of lanes does not change before and after entering and exiting the tunnel; and the width of each lane is the same; therefore, the width of each lane can be obtained by measuring the width of one lane in the road section to be identified; of course, the width of each lane can also be measured.

[0065] Step 202: The vehicle information determination device determines the distance between target array antennas corresponding to the road section to be identified.

[0066] Step 203: The vehicle information determination device determines the height of the target array antenna.

[0067] It should be noted that the height of the target array antenna may refer to the distance between the target array antenna and the road surface where the lane is located, that is, the height between the target array antenna and the road surface where the lane is located.

[0068] Step 204: The vehicle information determination device determines the position information of the boundary of each lane of the road section to be identified based on the width of each lane, the distance between the first sub-target array antennas, and the height of the target array antenna.

[0069] The target array antenna includes a first sub-target array antenna, and the first sub-target array antenna is relatively arranged on both sides of the lane.

[0070] In the embodiment of the present application, the target array antenna here may refer to the first sub-target array antenna; wherein the first sub-target array antenna may refer to array antennas arranged on both sides of the entire lane on the same horizontal line and opposite to each other. In a feasible implementation, the lane to be identified includes three one-way lanes as an example. Figure 3 As shown, the lanes to be identified include lane 1, lane 2, and lane 3, and the widths of lane 1, lane 2, and lane 3 are all the same. The first sub-target array antenna may include array antenna 1 and array antenna 2, and the distance between array antenna 1 and array antenna 2 is d. Because in actual applications, all array antennas are set on the same horizontal line, the height of the target array antenna can be the height of array antenna 1 or the height of array antenna 2, as shown in FIG. Figure 3 As shown in , the height of the target array antenna can be h.

[0071] It should be noted that the location information of the boundary of each lane can refer to Figure 3 The positions of the boundaries of lane 1, lane 2, and lane 3 are shown in FIG; the width of the lane is d lane If a coordinate system is established with array antenna 1 as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis, then the position information of each lane boundary can refer to the coordinate information of the boundaries of lane 1, lane 2, and lane 3 in the corresponding coordinate system. Figure 3 In the coordinate system shown in , the coordinates of point A at the boundary of lane 1 are The coordinates of point B on the other boundary of lane 1 are The coordinates of point B on the boundary of lane 2 are The coordinates of the other boundary point D of lane 2 are The coordinates of the boundary point D of lane 3 are The coordinates of the other boundary point E of lane 3 are

[0072] Step 205: The vehicle information determination device determines the driving information of the vehicle to be identified based on the position information of the boundary of each lane of the road section to be identified, the parameters of the signal receiver and the parameters of the signal transmitter.

[0073] In the embodiment of the present application, step 205 can be implemented in the following manner:

[0074] Step 205a: The vehicle information determination device determines the measurement error and the first time error of the signal receiver, and determines the second time error of the signal transmitter.

[0075] The first time error refers to the clock error of the signal receiver, which can be expressed as b i To express; the second time error refers to the clock error of the signal transmitter, the second time error can be expressed as b t The measurement error of the signal receiver can be expressed as w i To express.

[0076] Step 205b: The vehicle information determination device determines the phase difference between the signal receiver and the signal transmitter.

[0077] Among them, the phase difference between the signal receiver and the signal transmitter can be expressed as φ i To express.

[0078] Step 205c: The vehicle information determination device determines the position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error.

[0079] In an embodiment of the present application, the phase difference, the measurement error, the first time error, and the second time error can be used to perform certain operations according to the target formula to calculate the position information of the vehicle to be identified.

[0080] Step 205d: The vehicle information determination device determines the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified.

[0081] The driving information includes location information, driving conditions and driving speed.

[0082] In an embodiment of the present application, the target lane in which the vehicle to be identified is currently located can be determined based on the position information of the vehicle to be identified and the position information of the boundaries of each lane of the road section to be identified. Then, by performing calculations and analysis on the position information of the vehicle to be identified and the position information of the boundaries of the target lane, the driving condition and driving speed of the vehicle to be identified can be determined.

[0083] It should be noted that, for the description of the same steps and contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0084] The vehicle information determination method provided in the embodiments of the present application can determine the vehicle's driving information through lane information, the distance between the target array antennas corresponding to the road section to be identified, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified. It does not require the use of ultrasonic radar technology, electromagnetic wave signal strength value or UWB technology, and solves the problems of limited measurement distance and low positioning accuracy in the vehicle information determination scheme in the related technology, avoids misjudgment, and vehicle information can also be shared.

[0085] Based on the above embodiments, the embodiments of the present application provide a method for determining vehicle information, referring to Figure 4 As shown, the method includes the following steps:

[0086] Step 301: When determining that a vehicle to be identified is located on a road section to be identified, the vehicle information determining device determines the width of each lane of the road section to be identified.

[0087] Step 302: The vehicle information determination device determines the distance between target array antennas corresponding to the road section to be identified.

[0088] Step 303: The vehicle information determination device determines the height of the target array antenna.

[0089] Step 304: The vehicle information determination device determines the position information of the boundary of each lane of the road section to be identified based on the width of each lane, the distance between the first sub-target array antennas, and the height of the target array antenna.

[0090] The target array antenna includes a first sub-target array antenna, and the first sub-target array antenna is relatively arranged on both sides of the lane.

[0091] Step 305: The vehicle information determination device determines the measurement error and the first time error of the signal receiver, and determines the second time error of the signal transmitter.

[0092] Step 306: The vehicle information determination device determines the phase difference between the signal receiver and the signal transmitter.

[0093] Step 307: The vehicle information determination device determines the position information of the vehicle to be identified, and a first relationship between the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error.

[0094] In the embodiment of the present application, the first relational expression may refer to a formula for a TOA measurement value; in a feasible implementation manner, the first relational expression may be: in, is the actual distance to be solved. In actual calculation, the position information of the vehicle to be identified, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error and the second time error can be substituted into the first relational equation.

[0095] Step 308: The vehicle information determination device determines a second relationship between the phase difference, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error.

[0096] The second relational expression may refer to a formula for a phase measurement value; in a feasible implementation, the second relational expression may be: Among them, N i is the integer ambiguity that needs to be resolved; in actual calculations, the phase difference, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error and the second time error can be substituted into the second relationship.

[0097] Step 309: The vehicle information determination device determines the position information of the vehicle to be identified based on the first relationship formula and the second relationship formula.

[0098] Wherein, step 309 determines the position information of the vehicle to be identified based on the first relational expression and the second relational expression, which can be achieved by the following method:

[0099] Step 309a: The vehicle information determination device operates on the first relational expression and the second relational expression to obtain an operation result.

[0100] In the embodiment of the present application, the operation performed on the first relational expression and the second relational expression may be a double difference operation; in a feasible implementation, a double difference operation may be performed on the first relational expression and the second relational expression. Afterwards, we get the system of equations and

[0101] Step 309b: The vehicle information determination device uses a target algorithm to process the calculation result to obtain the position information of the vehicle to be identified.

[0102] In the embodiment of the present application, the target algorithm may refer to the LAMDA algorithm; after performing double differential operation on the first relation and the second relation, the clock error has been eliminated, and after introducing the known quantity, the whole cycle ambiguity N is formed. i N is a one-dimensional linear equation system with unknown quantities. By performing a fast search using the LAMDA algorithm, N can be obtained. i , and then solve the vehicle coordinates to get the vehicle's location information.

[0103] Step 310: The vehicle information determination device determines a target relationship between the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified.

[0104] Among them, the size relationship between the horizontal coordinate in the position information of the vehicle to be identified and the horizontal coordinate of the position information of the boundary of each lane of the road section to be identified can be determined, thereby obtaining the target relationship between the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified.

[0105] Step 311: The vehicle information determination device determines the target lane in which the vehicle to be identified is currently located based on the target relationship.

[0106] In an embodiment of the present application, if the x-axis coordinate position in the position information of the vehicle to be identified is between point A and point B, then it can be determined that the vehicle to be identified is currently located in lane 1; using the same method, the x-axis coordinate in the position information of the vehicle to be identified is compared with the x-axis coordinates of points B, D and E to determine whether the vehicle to be identified is located in lane 2 and lane 3.

[0107] Step 312: The vehicle information determination device determines the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified, the width of the vehicle body to be identified, and the position information of the boundary of the target lane.

[0108] The driving information includes location information, driving conditions and driving speed.

[0109] In an embodiment of the present application, the position information of the vehicle to be identified and the width of the vehicle body to be identified can be calculated, and the positioning error and the position information of the boundary of the target lane can be calculated, and then the driving condition of the vehicle to be identified can be determined based on the calculation results; at the same time, the driving speed of the vehicle to be identified can be determined based on the distance and measurement parameters of the target array antenna.

[0110] It should be noted that step 312 determines the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified, the width of the vehicle to be identified, and the position information of the boundary of the target lane. This can be achieved by:

[0111] Step 312a: The vehicle information determination device determines a first value and a second value based on the width of the vehicle body and the position information of the vehicle to be identified.

[0112] In the embodiment of the present application, half of the width of the vehicle to be identified can be added to the x-axis coordinate value of the vehicle to be identified to obtain a first value. At the same time, half of the width of the vehicle to be identified can be subtracted from the x-axis coordinate value of the vehicle to be identified to obtain a second value. In a feasible implementation, let w be the vehicle length, Δd be the positioning error, the vehicle coordinates are (x0, y0), and the coordinates of the boundary point A of lane 1 are (x A ,y A ), the coordinates of the other boundary point B of lane 1 are (x B ,y B ); the first value can be The second value can be value.

[0113] Step 312b: The vehicle information determination device determines a third value based on the positioning error and the position information of the first sub-boundary of the target lane, and determines a fourth value based on the positioning error and the position information of the second sub-boundary of the target lane.

[0114] In the embodiment of the present application, the positioning error can be added to the x-axis coordinate value of the position information of the first sub-boundary of the target lane to obtain a third value; the positioning error can be subtracted from the x-axis coordinate value of the position information of the second sub-boundary of the target lane to obtain a fourth value; if the first sub-boundary refers to point B and the second sub-boundary refers to point A, then the third value can be x B +Δd value, the fourth value can be x A -Δd value.

[0115] Step 312c: The vehicle information determination device determines the driving condition of the vehicle to be identified based on the relationship between the first value and the third value, and the relationship between the second value and the fourth value.

[0116] In an embodiment of the present application, the first value and the third value may be compared to obtain a first comparison result, and the second value and the fourth value may be compared to obtain a second comparison result. The driving condition of the vehicle to be identified is then determined based on the first comparison result and the second comparison result. In a feasible implementation, if the first value is greater than the third value, it indicates that the vehicle to be identified is driving on the right lane line. Figure 5 As shown, the vehicle to be identified is driving on the boundary line where point B is located; if the second value is less than the fourth value, it means that the vehicle to be identified is driving on the left and right lane dividing lines, such as Figure 5 As shown, the vehicle to be identified is driving along the boundary line where point A is located.

[0117] It should be noted that, assuming that the Z axis is in the direction of the tunnel, the position of the vehicle to be identified on the Z axis can be obtained by the same method as that used to determine the position of the vehicle to be identified on the X axis, that is, the specific position of the vehicle in the tunnel can be obtained.

[0118] Step 312d: The vehicle information determination device determines the driving speed of the vehicle to be identified based on the distance between the second sub-target array antennas and the measurement interval time for the second sub-target array antennas.

[0119] The target array antenna further includes a second sub-target array antenna; the second sub-target array antennas are adjacently arranged on the same side of the lane. Figure 6 As shown in , the second sub-target array antenna may refer to two adjacent array antennas that are arranged on the same side of the lane.

[0120] In the embodiment of the present application, the measurement interval time between two measurements corresponding to the two vehicle information determination schemes is determined, which can be represented by Δt. At the same time, the z-axis coordinate values ​​of the two second sub-target array antennas are subtracted to obtain the distance between the second sub-target array antennas, which can be represented by z2-z1. The speed of the vehicle to be identified can be v rt To express, then,

[0121] It should be noted that according to the national standard for motor vehicle speedometers, the static speed range of the speed measurement unit is ≤200 km / h. Therefore, the measurement error should not exceed 4 km / h. Therefore, the calculated distance error along the tunnel direction should not exceed 1.1 m. Since the X-axis and Z-axis positioning methods are the same, the X-axis positioning accuracy must also be <1.1 m, that is, Δd <1.1 m. Using carrier phase positioning can meet this requirement.

[0122] In the embodiment of the present application, the vehicle information determination method provided in the embodiment of the present application can be applied to Figure 6 The system shown in the figure; the overall system can include an on-board RF signal transmitter and a signal receiver installed on the top of the car or above the windshield; the roadside unit contains an RF transmitter, a receiver and a matching array antenna. The array antenna is installed on both sides above the tunnel to provide full coverage of the entire road section to be identified. The roadside unit is connected to the local server via a feeder. The local server runs positioning solution, vehicle violation and accident behavior reporting, and vehicle position and speed sharing and broadcasting programs. When the vehicle to be identified enters the tunnel, the on-board signal transmitter synchronizes with the roadside unit, and after synchronization, the on-board signal transmitter broadcasts the vehicle information. The roadside unit receives the RF signal through the array antenna and uploads it together with the auxiliary information to the local server for solution. After the local server calculates the position, it sends the positioning data to the vehicle to be identified through the roadside unit transmitter to facilitate navigation of the vehicle to be identified; if it is determined that the vehicle to be identified has violated the rules such as illegal lane changing, crossing the line, illegal parking, speeding, etc., the data will be transmitted to the traffic management department for processing. If multiple vehicles are found to have emergency braking, emergency lane changing, slow driving or an accident has occurred, the following vehicles will be notified in time to slow down or change lanes before entering the tunnel.

[0123] In addition, if Figure 7 As shown, a coordinate system is established with array antenna 1 as the origin, the horizontal direction as the x-axis, and the vertical direction as the center of the earth as the y-axis. The height of the antenna from the ground is h, and the distance between the two array antennas is d. The coordinates of the center point c on the ground of the tunnel can be obtained as follows: The lane width is d lane According to the road bridge tunnel standard, the width is 3.5 to 3.75 m (predictable), so the coordinates of each lane boundary are: the coordinates of the boundary point A of lane 1 are The coordinates of point C on the boundary of lane 1 are The coordinates of the boundary point C of lane 2 are The coordinates of point B on the boundary of lane 2 are Accordingly, the same determination method as for three lanes can be used to determine the exact position of the vehicle to be identified in the lane and tunnel; and the same determination method as for three lanes can be used to determine whether the vehicle to be identified is speeding or crossing the line.

[0124] In the embodiment of the present application, the phase and time information of the radio frequency signal can be used to determine the lane, vehicle position, and driving speed of the vehicle in the tunnel; the traffic department can obtain real-time information on whether there are any violations such as illegal lane changes, speeding, illegal parking, etc.; at the same time, functions such as reminders of accidents ahead and emergency warnings for vehicles behind can be realized.

[0125] It should be noted that, for the description of the same steps and contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0126] The vehicle information determination method provided in the embodiments of the present application can determine the vehicle's driving information through lane information, the distance between the target array antennas corresponding to the road section to be identified, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified. It does not require the use of ultrasonic radar technology, electromagnetic wave signal strength value or UWB technology, and solves the problems of limited measurement distance and low positioning accuracy in the vehicle information determination scheme in the related technology, avoids misjudgment, and vehicle information can also be shared.

[0127] Based on the above embodiments, the embodiments of the present application provide a vehicle information determination device, which can be applied to Figure 1 、 2 In the vehicle information determination method provided in the embodiment corresponding to 4, referring to Figure 8 As shown, the device may include: a processor 41, a memory 42 and a communication bus 43;

[0128] The communication bus 43 is used to realize the communication connection between the processor 41 and the memory 42;

[0129] The processor 41 is used to execute the vehicle information determination program in the memory 42 to implement the following steps:

[0130] Determine lane information of the road section to be identified;

[0131] Determine the distance between target array antennas corresponding to the road section to be identified;

[0132] Determine the driving information of the vehicle to be identified based on the lane information, distance, parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and parameters of the signal transmitter of the vehicle to be identified on the road section to be identified;

[0133] Among them, the signal transmitter and the signal receiver have a corresponding relationship.

[0134] In other embodiments of the present application, the processor is configured to execute the vehicle information determination program in the memory to determine lane information of the road section to be identified, so as to implement the following steps:

[0135] When it is determined that the vehicle to be identified is located in the road section to be identified, the width of each lane of the road section to be identified is determined.

[0136] In other embodiments of the present application, the processor is configured to execute the vehicle information determination program in the memory to determine the driving information of the vehicle to be identified based on the lane information, distance, parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and parameters of the signal transmitter of the vehicle to be identified on the road section to be identified, so as to implement the following steps:

[0137] Determine the height of the target array antenna;

[0138] Determining location information of a boundary of each lane of the road section to be identified based on the width of each lane, the distance between the first sub-target array antennas, and the height of the target array antenna;

[0139] The target array antenna includes a first sub-target array antenna, and the first sub-target array antenna is relatively arranged on both sides of the lane;

[0140] Based on the position information of the boundary of each lane of the road section to be identified, the parameters of the signal receiver and the parameters of the signal transmitter, the driving information of the vehicle to be identified is determined.

[0141] In other embodiments of the present application, the processor is configured to execute the vehicle information determination program in the memory to determine the driving information of the vehicle to be identified based on the lane information, distance, parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and parameters of the signal transmitter of the vehicle to be identified on the road section to be identified, so as to implement the following steps:

[0142] determining a measurement error and a first time error of the signal receiver, and determining a second time error of the signal transmitter;

[0143] Determine the phase difference between the signal receiver and the signal transmitter;

[0144] Determining position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error;

[0145] Determining the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified;

[0146] The driving information includes location information, driving conditions and driving speed.

[0147] In other embodiments of the present application, the processor is configured to execute a vehicle information determination program in the memory to determine the position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error, so as to implement the following steps:

[0148] Determine a first relationship between the position information of the vehicle to be identified, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error;

[0149] Determining a second relationship between the phase difference, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error;

[0150] Based on the first relationship and the second relationship, position information of the vehicle to be identified is determined.

[0151] In other embodiments of the present application, the processor is configured to execute the vehicle information determination program in the memory to determine the location information of the vehicle to be identified based on the first relationship and the second relationship, so as to implement the following steps:

[0152] Performing operations on the first relational expression and the second relational expression to obtain an operation result;

[0153] Based on the calculation results, the target algorithm is used for processing to obtain the position information of the vehicle to be identified.

[0154] In other embodiments of the present application, the processor is configured to execute the vehicle information determination program in the memory to determine the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified, so as to implement the following steps:

[0155] Determining a target relationship between the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified;

[0156] Determine the target lane in which the vehicle to be identified is currently located based on the target relationship;

[0157] Based on the position information of the vehicle to be identified, the width of the vehicle body to be identified and the position information of the boundary of the target lane, the driving condition and driving speed of the vehicle to be identified are determined.

[0158] In other embodiments of the present application, the processor is configured to execute the vehicle information determination program in the memory to determine the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified, the width of the vehicle to be identified, and the position information of the boundary of the target lane, so as to implement the following steps:

[0159] Determining a first value and a second value based on the width of the vehicle to be identified and the position information of the vehicle to be identified;

[0160] Determining a third value based on the positioning error and position information of a first sub-boundary of the target lane, and determining a fourth value based on the positioning error and position information of a second sub-boundary of the target lane;

[0161] determining a driving condition of the vehicle to be identified based on a relationship between the first value and the third value, and a relationship between the second value and the fourth value;

[0162] determining a travel speed of the vehicle to be identified based on a distance between the second sub-target array antennas and a measurement interval time for the second sub-target array antennas;

[0163] The target array antenna further includes a second sub-target array antenna; the second sub-target array antenna is adjacently arranged on the same side of the lane.

[0164] It should be noted that the specific implementation process of the steps executed by the processor in this embodiment can be referred to Figure 1 、 2 The implementation process of the vehicle information determination method provided in the embodiment corresponding to 4 will not be repeated here.

[0165] The vehicle information determination device provided in the embodiments of the present application can determine the vehicle's driving information through lane information, the distance between the target array antennas corresponding to the road section to be identified, the parameters of the signal receiver corresponding to the array antenna of the road section to be identified, and the parameters of the signal transmitter of the vehicle to be identified. It does not require the use of ultrasonic radar technology, electromagnetic wave signal strength value or UWB technology, and solves the problems of limited measurement distance and low positioning accuracy in the vehicle information determination scheme in the related technology, avoids misjudgment, and vehicle information can also be shared.

[0166] Based on the above embodiments, the embodiments of the present application provide a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement Figure 1 、 2 The steps of the vehicle information determination method provided in the embodiment corresponding to 4.

[0167] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0168] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0169] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0170] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0171] The above description is merely a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A vehicle information determination method, characterized in that: The method comprises: Determine lane information of the road section to be identified; Determining the distance between target array antennas corresponding to the road section to be identified; Determining the position information of the boundary of each lane based on the width of each lane of the road section to be identified, the distance between the first sub-target array antennas, and the height of the target array antenna; wherein the target array antenna includes the first sub-target array antenna, and the first sub-target array antennas are arranged on both sides of the lane in an opposite manner; Determining a measurement error and a first time error of a signal receiver corresponding to the array antenna of the road section to be identified, and determining a second time error of a signal transmitter of a vehicle to be identified on the road section to be identified; Determining a phase difference between the signal receiver and the signal transmitter; determining position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error; Based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified, the driving condition and driving speed of the vehicle to be identified are determined.

2. The method according to claim 1, characterized in that The information of determining the lane of the road section to be identified includes: When it is determined that the vehicle to be identified is located in the road section to be identified, the width of each lane of the road section to be identified is determined.

3. The method according to claim 1, characterized in that The determining the position information of the vehicle to be identified based on the phase difference, the measurement error, the first time error, and the second time error includes: Determine a first relationship between the position information of the vehicle to be identified, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error; Determine a second relationship between the phase difference, the distance between the signal transmitter and the signal receiver, the measurement error, the first time error, and the second time error; Based on the first relationship expression and the second relationship expression, the position information of the vehicle to be identified is determined.

4. The method according to claim 3, characterized in that The determining the position information of the vehicle to be identified based on the first relational expression and the second relational expression includes: Performing an operation on the first relational expression and the second relational expression to obtain an operation result; The target algorithm is used to process the calculation result to obtain the position information of the vehicle to be identified.

5. The method according to claim 1, wherein The determining of the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified includes: Determining a target relationship between the position information of the vehicle to be identified and the position information of the boundary of each lane of the road section to be identified; Determining the target lane in which the vehicle to be identified is currently located based on the target relationship; The driving condition and driving speed of the vehicle to be identified are determined based on the position information of the vehicle to be identified, the width of the vehicle body and the position information of the boundary of the target lane.

6. The method according to claim 5, characterized in that The determining of the driving condition and driving speed of the vehicle to be identified based on the position information of the vehicle to be identified, the width of the vehicle body to be identified, and the position information of the boundary of the target lane includes: Determining a first value and a second value based on the width of the vehicle to be identified and the position information of the vehicle to be identified; Determining a third value based on the positioning error and the position information of the first sub-boundary of the target lane, and determining a fourth value based on the positioning error and the position information of the second sub-boundary of the target lane; determining a driving condition of the vehicle to be identified based on a relationship between the first value and the third value, and a relationship between the second value and the fourth value; The driving speed of the vehicle to be identified is determined based on the distance between the second sub-target array antennas and the measurement interval time for the second sub-target array antennas; wherein the target array antenna also includes the second sub-target array antenna; the second sub-target array antennas are adjacently arranged on the same side of the lane.

7. A vehicle information determination device, characterized in that: The device includes: a processor, a memory and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute the vehicle information determination program in the memory to implement the steps of the vehicle information determination method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the vehicle information determination method according to any one of claims 1 to 6.

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