Method, system, medium and device for obtaining absolute coordinates of vehicle positioning in cockpit domain

Abstract

The present invention discloses a method, system, medium and equipment for obtaining the absolute coordinates of vehicle positioning in a cockpit domain. The method comprises the following steps: obtaining high-precision road map data and obtaining lane attribute information of a target vehicle; defining the first point of the center line of the lane where the target vehicle is located as a reference point, and obtaining the offset of the target vehicle based on the reference point; searching for the absolute longitude and latitude coordinates of the reference point in the high-precision road map data according to the lane attribute information of the target vehicle; calculating the absolute longitude and latitude coordinates of the target vehicle according to the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point; solving the problem that, in assisted intelligent driving, the intelligent driving domain and the cockpit domain cannot transmit the absolute coordinates of vehicle positioning through interaction, and the lane-level navigation rendered in the cockpit domain cannot display the real-time position of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of interaction between intelligent driving domain and cockpit domain, and in particular to a method, system, medium and device for obtaining the absolute coordinates of vehicle positioning in the cockpit domain. Background Art

[0002] The cockpit domain is mainly used for rendering lane-level navigation information and human-computer interaction. The intelligent driving domain is mainly used to assist in the specific instructions of intelligent driving to control the vehicle. When the rendering engine of the cockpit domain renders the lane-level navigation, it needs to render the specific position of the vehicle. The rendered lane-level navigation map data is the absolute coordinates of longitude and latitude with deviation. This requires that the vehicle positioning information input by the intelligent driving domain is the absolute coordinates of longitude and latitude, and the positioning information transmitted from the intelligent driving domain to the cockpit domain is used to display the position of the vehicle on the map. Therefore, the positioning information input by the intelligent driving domain needs to be consistent with the coordinate system of the map data. When the intelligent driving domain sends the vehicle's location information, according to the regulations of the National Bureau of Surveying and Mapping, different domains cannot directly send absolute coordinates, which involves information security issues. Directly sending absolute coordinates of longitude and latitude is illegal. This results in the vehicle not being able to display its real-time position on the map if it does not receive the absolute coordinates, but the vehicle's location information can only be transmitted from the intelligent driving domain to the cockpit domain.

[0003] Therefore, a solution needs to be provided to solve the problem that the intelligent driving domain cannot send the absolute coordinates of longitude and latitude to the cockpit domain, resulting in the cockpit domain rendering engine being unable to render the vehicle's position to match the map data. Summary of the Invention

[0004] The present invention provides a method, system, medium and device for obtaining the absolute coordinates of vehicle positioning in the cockpit domain, which solves the problem that in assisted intelligent driving, the interaction between the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of vehicle positioning, and the lane-level navigation rendered in the cockpit domain cannot display the real-time position of the vehicle.

[0005] In a first aspect, a method for obtaining absolute coordinates of vehicle positioning in a cockpit domain is provided, comprising the following steps:

[0006] Obtain high-precision road map data and the lane attribute information of the target vehicle;

[0007] Define the first point of the center line of the lane where the target vehicle is located as the reference point, and obtain the offset of the target vehicle based on the reference point;

[0008] According to the lane attribute information of the target vehicle, searching for the absolute longitude and latitude coordinates of the reference point in the high-precision road map data;

[0009] The absolute longitude and latitude coordinates of the target vehicle are calculated based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point.

[0010] According to the first aspect, in a first possible implementation of the first aspect, the step of “calculating the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point” specifically includes the following steps:

[0011] Calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point;

[0012] The absolute longitude and latitude coordinates of the target vehicle are calculated according to the ECEF coordinates of the target vehicle.

[0013] According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step of “calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point” specifically includes the following steps:

[0014] According to the absolute coordinates of the latitude and longitude of the reference point (longti, lati), and the offset (dx, dy, dz) of the target vehicle based on the reference point;

[0015] Calculate the ECEF coordinates (x, y, z) of the target vehicle as follows:

[0016]

[0017] Where dz=0.

[0018] According to the first possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of “calculating the absolute latitude and longitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle” specifically includes the following steps:

[0019] According to the ECEF coordinates (x, y, z) of the target vehicle;

[0020] Calculate the absolute latitude and longitude coordinates (lon, lat, alt) of the target vehicle as follows:

[0021]

[0022]

[0023] in,

[0024]

[0025] Where alt = 0; e is the eccentricity; N is the radius of curvature of the reference ellipsoid.

[0026] According to the first aspect, in a fourth possible implementation of the first aspect, after the step of “obtaining high-precision road map data”, the following steps are specifically included:

[0027] Converting the high-precision road map data into NDS data, and rendering the NDS data into lane-level navigation map data;

[0028] The absolute latitude and longitude coordinates of the target vehicle are rendered onto the lane-level navigation map data.

[0029] In a second aspect, a cockpit domain absolute coordinate system for obtaining vehicle positioning is provided, including:

[0030] Data acquisition module, used to obtain high-precision road map data and obtain lane attribute information of the target vehicle;

[0031] a vehicle offset module, in communication with the data acquisition module, for defining the first point of the center line of the lane where the target vehicle is located as a reference point, and obtaining an offset of the target vehicle based on the reference point;

[0032] a reference point absolute coordinate module, in communication with the data acquisition module and the vehicle offset module, for searching the absolute longitude and latitude coordinates of the reference point in the high-precision road map data based on the lane attribute information of the target vehicle;

[0033] The vehicle absolute coordinate module is in communication with the vehicle offset module and the reference point absolute coordinate module, and is used to calculate the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point.

[0034] In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the method for obtaining the absolute coordinates of the vehicle positioning in the cockpit domain as described above is implemented.

[0035] In a fourth aspect, an electronic device is provided, comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the method for obtaining the absolute coordinates of the vehicle positioning in the cockpit domain as described above is implemented when the processor runs the computer program.

[0036] Compared with the prior art, the advantages of the present invention are as follows: the cockpit domain and the intelligent driving domain use the same high-precision map data, and the data ID attribute information remains the same. When the target vehicle is driving or stopped, the intelligent driving domain inputs the lane ID attribute information and offset of the vehicle into the cockpit domain. The cockpit domain can then use the lane ID to find the absolute longitude and latitude coordinates of the reference point. This reference point is usually the first point of the data point of the centerline of the lane where the vehicle is currently located. With the reference point, the absolute coordinates of the vehicle's position are calculated by inverse calculation through the offset, so that the vehicle's positioning can be obtained and maintained in the same coordinate system as the map engine data, and matched with the rendering of the high-precision data of the rendering engine. Therefore, the present invention solves the problem that the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of the vehicle's positioning when interacting, and the lane-level navigation rendered by the cockpit domain cannot display the real-time position of the vehicle in assisted intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of an embodiment of a method for obtaining absolute coordinates of vehicle positioning in a cockpit domain according to the present invention;

[0038] Figure 2 Schematic diagram of the ENU coordinates of the target vehicle of the present invention;

[0039] Figure 3 It is a structural diagram of a cockpit domain absolute coordinate system for obtaining vehicle positioning according to the present invention. DETAILED DESCRIPTION

[0040] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that the present invention is not intended to be limited to those embodiments. On the contrary, it is intended to cover variations, modifications, and equivalents within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0041] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Note: The following example is only a specific example and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequence, etc. Those skilled in the art can apply the concepts of the present invention to construct more embodiments not described in this specification by reading this specification.

[0043] See also Figure 1As shown, an embodiment of the present invention provides a method for obtaining absolute coordinates of vehicle positioning in a cockpit domain, comprising the following steps:

[0044] S100: Acquire high-precision road map data and the lane attribute information of the target vehicle; obtain Class A surveying and mapping qualifications and collect high-precision map data of roads across the country through map data collection vehicles.

[0045] S200, defining the first point of the center line of the lane where the target vehicle is located as a reference point, and obtaining an offset of the target vehicle based on the reference point;

[0046] S300, searching for the absolute longitude and latitude coordinates of the reference point in the high-precision road map data according to the lane attribute information of the target vehicle;

[0047] S400 , calculating the absolute longitude and latitude coordinates of the target vehicle according to the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point.

[0048] Specifically, in this embodiment, the cockpit domain and the intelligent driving domain use the same high-precision map data, and the data ID attribute information remains the same. When the target vehicle is in motion or stopped, the intelligent driving domain inputs the vehicle's lane ID attribute information and offset into the cockpit domain. The cockpit domain can then use the lane ID to find the absolute latitude and longitude coordinates of the reference point. This reference point is usually the first point of the data point of the centerline of the vehicle's current lane. With the reference point, the absolute coordinates of the vehicle's position are calculated by reverse calculation using the offset. This allows the vehicle's positioning to be maintained in the same coordinate system as the map engine data and matched with the rendering of the high-precision data by the rendering engine.

[0049] Therefore, the present invention solves the problem that, during assisted intelligent driving, the interaction between the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of the vehicle's positioning, and the lane-level navigation rendered in the cockpit domain cannot display the vehicle's real-time position.

[0050] Preferably, in another embodiment of the present application, the step of “S400, calculating the absolute longitude and latitude coordinates of the target vehicle according to the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point” specifically includes the following steps:

[0051] S410, calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point;

[0052] S420: Calculate the absolute longitude and latitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle.

[0053] Preferably, in another embodiment of the present application, the step of “S410, calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point” specifically includes the following steps:

[0054] According to the absolute coordinates of the latitude and longitude of the reference point (longti, lati), and the offset (dx, dy, dz) of the target vehicle based on the reference point;

[0055] Calculate the ECEF coordinates (x, y, z) of the target vehicle as follows:

[0056]

[0057] Where dz=0.

[0058] Specifically, in this embodiment, the Northeast Celestial Coordinate System (ENU) is defined as follows: the X-axis points to the east, the Y-axis points to the north, and the Z-axis points to the zenith. The ECEF coordinate system is also called the Earth-centered Earth-fixed rectangular coordinate system. Its origin is the Earth's center of mass, and the x-axis extends through the intersection of the prime meridian (0 degrees longitude) and the equator (0 degrees longitude). The z-axis extends through the North Pole (i.e., coincides with the Earth's rotation axis). The y-axis completes the right-handed coordinate system, passing through the equator and 90 degrees longitude.

[0059] See also Figure 2 As shown, the offset (dx, dy, dz) of the target vehicle based on the reference point is expressed as follows: x_east is the offset dx, y_north is the offset dy, dz = 0; lati is the latitude of the reference point, and longti is the longitude of the reference point; therefore, the ENU coordinates of the target vehicle are converted to ECEF coordinates, and the ECEF coordinates of the target vehicle are calculated. For details, see formula (1).

[0060] Preferably, in another embodiment of the present application, the step of “S420, calculating the absolute longitude and latitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle” specifically includes the following steps:

[0061] According to the ECEF coordinates (x, y, z) of the target vehicle;

[0062] Calculate the absolute latitude and longitude coordinates (lon, lat, alt) of the target vehicle as follows:

[0063]

[0064]

[0065] in,

[0066]

[0067] Where alt = 0; e is the eccentricity; N is the radius of curvature of the reference ellipsoid.

[0068] Specifically, in this embodiment, the longitude and latitude coordinate system (LLA) specifically refers to longitude, latitude, and altitude. Equations (2), (3), and (4) represent the conversion of the target vehicle's ECEF coordinates (x, y, z) to ECEF coordinates (lon, lat, 0) to calculate the target vehicle's ECEF coordinates.

[0069] Preferably, in another embodiment of the present application, after the step of “S100, obtaining high-precision road map data”, the following steps are specifically included:

[0070] S500, converting the high-precision road map data into NDS data, and rendering the NDS data into lane-level navigation map data;

[0071] S600: Rendering the absolute latitude and longitude coordinates of the target vehicle onto lane-level navigation map data.

[0072] Specifically, in this embodiment, NDS (Navigation Data Standard) is a navigation electronic map data storage standard based on an embedded database.

[0073] After acquiring high-precision road map data, the high-precision map data is output as NDS data. The cockpit domain compiles and produces the NDS data to render lane-level navigation of the high-precision map. The absolute latitude and longitude coordinates of the target vehicle are then calculated to render the vehicle position onto the lane-level navigation map data of the rendering engine.

[0074] See also Figure 3 As shown, an embodiment of the present invention provides a cockpit domain acquisition vehicle positioning absolute coordinate system, including:

[0075] Data acquisition module, used to obtain high-precision road map data and obtain lane attribute information of the target vehicle;

[0076] a vehicle offset module, in communication with the data acquisition module, for defining the first point of the center line of the lane where the target vehicle is located as a reference point, and obtaining an offset of the target vehicle based on the reference point;

[0077] a reference point absolute coordinate module, in communication with the data acquisition module and the vehicle offset module, for searching the absolute longitude and latitude coordinates of the reference point in the high-precision road map data based on the lane attribute information of the target vehicle;

[0078] The vehicle absolute coordinate module is in communication with the vehicle offset module and the reference point absolute coordinate module, and is used to calculate the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point.

[0079] Because the cockpit domain and the intelligent driving domain use the same high-precision map data, the data ID attribute information remains the same. When the target vehicle is driving or stopped, the intelligent driving domain inputs the vehicle's lane ID attribute information and offset into the cockpit domain. The cockpit domain can then use the lane ID to find the absolute latitude and longitude coordinates of the reference point. This reference point is usually the first point of the centerline data point of the vehicle's current lane. With the reference point, the absolute coordinates of the vehicle's position are calculated by reverse calculation using the offset. This allows the vehicle's positioning to be maintained in the same coordinate system as the map engine data and matched with the rendering of the high-precision data by the rendering engine.

[0080] Therefore, the present invention solves the problem that, during assisted intelligent driving, the interaction between the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of the vehicle's positioning, and the lane-level navigation rendered in the cockpit domain cannot display the vehicle's real-time position.

[0081] Specifically, this embodiment corresponds one-to-one to the above method embodiment, and the functions of each module have been described in detail in the corresponding method embodiment, so they will not be repeated here.

[0082] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0083] The present invention implements all or part of the process in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0084] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0085] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of a computer device, connecting all parts of the entire computer device using various interfaces and lines.

[0086] The memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0087] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, servers, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take 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) containing computer-usable program code.

[0088] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 processes in the flowcharts and / or block diagrams. 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.

[0089] 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.

[0090] 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 A step that specifies a function in one or more boxes.

[0091] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for obtaining absolute coordinates of vehicle positioning in the cockpit domain, characterized in that: The following steps are involved: Obtain high-precision road map data and the lane attribute information of the target vehicle; Define the first point of the center line of the lane where the target vehicle is located as the reference point, and obtain the offset of the target vehicle based on the reference point; According to the lane attribute information of the target vehicle, searching for the absolute longitude and latitude coordinates of the reference point in the high-precision road map data; Calculate the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point; The step of calculating the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point specifically includes the following steps: Calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point; Calculate the absolute latitude and longitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle; The step of calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point specifically includes the following steps: According to the absolute coordinates of the latitude and longitude of the reference point (longti, lati), and the offset of the target vehicle based on the reference point (dx, dy, dz); Calculate the ECEF coordinates of the target vehicle as follows: Formula (1); Where dz=0.

2. The method for obtaining vehicle positioning absolute coordinates in the cockpit domain according to claim 1, characterized in that: The step of calculating the absolute longitude and latitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle specifically comprises the following steps: According to the ECEF coordinates of the target vehicle ; Calculate the absolute latitude and longitude coordinates of the target vehicle as follows: Formula (2); Formula (3); in, Formula (IV); Where alt = 0; e is the eccentricity; N is the radius of curvature of the reference ellipsoid.

3. The method for obtaining absolute coordinates of vehicle positioning in the cockpit domain according to claim 1, characterized in that: After the step of obtaining high-precision road map data, the following steps are specifically included: Converting the high-precision road map data into NDS data, and rendering the NDS data into lane-level navigation map data; The absolute latitude and longitude coordinates of the target vehicle are rendered onto the lane-level navigation map data.

4. A cockpit domain vehicle positioning absolute coordinate system, characterized in that: include: Data acquisition module, used to obtain high-precision road map data and obtain lane attribute information of the target vehicle; a vehicle offset module, in communication with the data acquisition module, for defining the first point of the center line of the lane where the target vehicle is located as a reference point, and obtaining an offset of the target vehicle based on the reference point; a reference point absolute coordinate module, in communication with the data acquisition module and the vehicle offset module, for searching the absolute longitude and latitude coordinates of the reference point in the high-precision road map data based on the lane attribute information of the target vehicle; A vehicle absolute coordinate module, communicating with the vehicle offset module and the reference point absolute coordinate module, for calculating the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point; The step of calculating the absolute longitude and latitude coordinates of the target vehicle based on the absolute longitude and latitude coordinates of the reference point and the offset of the target vehicle based on the reference point specifically includes the following steps: Calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point; Calculate the absolute latitude and longitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle; The step of calculating the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point specifically includes the following steps: According to the absolute coordinates of the latitude and longitude of the reference point (longti, lati), and the offset of the target vehicle based on the reference point (dx, dy, dz); Calculate the ECEF coordinates of the target vehicle as follows: Formula (1); Where dz=0.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain according to any one of claims 1 to 3 is implemented.

6. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and running on the processor, characterized in that: When the processor runs the computer program, the method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain according to any one of claims 1 to 3 is implemented.

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