A vehicle positioning method and system based on in-vehicle T-BOX positioning

Abstract

This invention discloses a vehicle positioning method and system based on an in-vehicle T-BOX. The in-vehicle T-BOX includes a GNSS module, the output of which is sequentially connected to a time synchronization module and a GPTP module. The method includes: receiving GPS data packets and the transmission time of GPTP messages corresponding to the GPS data packets; wherein the GPS data packets include GPS positioning data and its acquisition time; calculating the time difference between the GPS positioning data acquisition time and the message transmission time, denoted as the delay time; receiving GPS data packets in real time, determining the real time corresponding to the GPS positioning data based on the acquisition time of the GPS positioning data and the delay time; acquiring vehicle trajectory data between the real time and the current time based on an inertial measurement unit; and correcting the current GPS positioning data based on the vehicle trajectory data. This invention can achieve high-precision fusion positioning by utilizing the positioning function of the in-vehicle T-BOX itself and the inertial measurement unit.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, and in particular relates to a vehicle positioning method and system based on in-vehicle T-BOX positioning. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] As a key feature of advanced autonomous driving systems, Navigation Assignment (NOA) effectively reduces driver fatigue on highways, increases safety, and improves traffic efficiency. For OEMs, developing NOA relies heavily on high-precision positioning. Current solutions for achieving high-precision positioning for NOA require either a built-in GNSS module or an external positioning system (P-BOX), along with real-time motion tracking (RTK) to ensure accuracy. This significantly increases the hardware and software costs of NOA development and complicates cost control when integrating advanced autonomous driving systems into vehicles. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this invention provides a vehicle positioning method and system based on in-vehicle T-BOX positioning. It can achieve high-precision fusion positioning by utilizing the positioning function of the in-vehicle T-BOX itself and with the aid of an inertial measurement unit.

[0005] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0006] A vehicle positioning method based on an in-vehicle T-BOX, wherein the in-vehicle T-BOX includes a GNSS module, and the output of the GNSS module is sequentially connected to a time synchronization module and a GPTP module. The method includes the following steps:

[0007] Receive GPS data packets and the GPTP message transmission time corresponding to the GPS data packets; wherein, the GPS data packets include GPS positioning data and its acquisition time;

[0008] Calculate the time difference between the GPS positioning data acquisition time and the message transmission time, and record it as the delay time;

[0009] The system receives GPS data packets in real time and determines the actual time corresponding to the GPS positioning data based on the acquisition time of the GPS positioning data and the delay time.

[0010] Based on the inertial measurement unit, the vehicle trajectory data between the real time and the current time is obtained;

[0011] Based on the vehicle's driving trajectory data, the current GPS positioning data is corrected.

[0012] In some embodiments, the delay time is recalculated at predetermined time intervals.

[0013] In some embodiments, after receiving GPS data packets in real time, the position offset is calculated based on the GPS positioning data therein and the GPS positioning data acquired at the previous moment. If the position offset exceeds a set range, the GPS positioning data is recorded as invalid data. Based on the inertial measurement unit, the vehicle driving trajectory data between the previous moment and the current moment is acquired.

[0014] In some embodiments, GPS data packets are received in real time. If no data is received for a set period of time, it is assumed that the vehicle has entered an area without signal coverage. The last time a GPS data packet was successfully acquired is determined, and the vehicle's trajectory data between that time and the current time is obtained based on the inertial measurement unit.

[0015] In some embodiments, the method further includes:

[0016] Based on the corrected GPS positioning data, obtain the corresponding map data to determine the lane information of the current road segment;

[0017] Acquire image data of the front of the vehicle, and determine the current lane of the vehicle based on the image data;

[0018] The vehicle's current lane is matched to the map data, and the current GPS positioning data is further corrected based on the lane's position in the map data.

[0019] In some embodiments, the current driving direction of the vehicle is determined based on GPS data from a period of time prior to the current moment, and the current driving direction is combined with the current lane of the vehicle to match the map data.

[0020] A second aspect of the present invention provides a vehicle positioning system based on in-vehicle T-BOX positioning, comprising:

[0021] A vehicle-mounted T-BOX is configured to include a GNSS module, the output of which is sequentially connected to a time synchronization module and a GPTP module. The method includes the following steps:

[0022] The intelligent driving domain controller is configured to perform the following steps:

[0023] Receive GPS data packets and the GPTP message transmission time corresponding to the GPS data packets; wherein, the GPS data packets include GPS positioning data and its acquisition time;

[0024] Calculate the time difference between the GPS positioning data acquisition time and the message transmission time, and record it as the delay time;

[0025] The system receives GPS data packets in real time and determines the actual time corresponding to the GPS positioning data based on the acquisition time of the GPS positioning data and the delay time.

[0026] Based on the inertial measurement unit, the vehicle trajectory data between the real time and the current time is obtained;

[0027] Based on the vehicle's driving trajectory data, the current GPS positioning data is corrected.

[0028] In some embodiments, after the intelligent driving domain controller receives GPS data packets in real time, it also calculates the position offset based on the GPS positioning data therein and the GPS positioning data acquired at the previous moment. If the position offset exceeds a set range, the GPS positioning data is recorded as invalid data. Based on the inertial measurement unit, the vehicle driving trajectory data between the previous moment and the current moment is acquired.

[0029] In some embodiments, the intelligent driving domain controller receives GPS data packets in real time. If it fails to receive them for a set period of time, it assumes that the vehicle has entered an area without signal coverage. It then determines the last time it successfully acquired GPS data packets and, based on the inertial measurement unit, acquires the vehicle's driving trajectory data between that time and the current time.

[0030] In some embodiments, the intelligent driving domain controller is further configured to perform the following steps:

[0031] Based on the corrected GPS positioning data, obtain the corresponding map data to determine the lane information of the current road segment;

[0032] Acquire image data of the front of the vehicle, and determine the current lane of the vehicle based on the image data;

[0033] The vehicle's current lane is matched to the map data, and the current GPS positioning data is further corrected based on the lane's position in the map data.

[0034] The above one or more technical solutions have the following beneficial effects:

[0035] By synchronizing the TBOX's time synchronization system using the GPTP protocol, the latency of the GPS information acquired by the TBOX being transmitted to the intelligent driving domain controller via SOMEIP can be calculated. This latency is then used to compensate for the vehicle's positioning data based on the vehicle's trajectory within that latency. This enables high-precision vehicle positioning without relying on the intelligent driving domain controller's built-in GNSS module or an external combined positioning system (P-BOX), and without relying on a real-time motion positioning system (RTK), thereby reducing the configuration cost of intelligent navigation functions. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1 This is a flowchart of a vehicle positioning method based on on-board T-BOX positioning applied in an intelligent driving domain controller according to an embodiment of the present invention;

[0038] Figure 2 This is a flowchart of a vehicle lane-level positioning method based on on-board T-BOX positioning applied in an intelligent driving domain controller according to an embodiment of the present invention;

[0039] Figure 3 This is a diagram of the internal functional modules of the vehicle-mounted T-BOX in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram illustrating the overall principle of fusion positioning in the intelligent driving domain controller in an embodiment of the present invention. Detailed Implementation

[0041] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0042] In the description of the embodiments of this application, the term "comprising" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on".

[0043] Real-Time Kinematic (RTK) is a real-time dynamic positioning technology based on carrier phase observations. It can provide the three-dimensional positioning results of the measuring station in a specified coordinate system in real time and achieve a positioning accuracy of centimeter level (1-10cm).

[0044] Integrated positioning systems typically consist of GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit), and a computing chip. GNSS receives satellite signals to achieve global positioning, while the IMU performs calibration and maintains a certain level of positioning accuracy even when GNSS signals are lost.

[0045] The in-vehicle T-BOX (Telematics BOX) is a vehicle networking system comprising four parts: the main unit, the in-vehicle T-BOX, a mobile app, and a backend system. The main unit is primarily used for in-vehicle audio-visual entertainment and vehicle information display; the in-vehicle T-BOX is mainly used to communicate with the backend system / mobile app, enabling the mobile app to display and control vehicle information.

[0046] As described in the background section, currently, to achieve high-precision positioning for intelligent driving navigation functions, it is typically necessary to have a built-in GNSS module or an external combined positioning system (P-BOX), while also using a real-time motion positioning system (RTK). This significantly increases the hardware and software costs of developing intelligent driving navigation functions and makes cost control more difficult when integrating advanced intelligent driving technologies into vehicles. With the development of vehicle intelligence and the continuous improvement of vehicle network technology, the application of in-vehicle T-BOXs is becoming increasingly widespread, and GNSS positioning is a common function of in-vehicle T-BOXs. This means that by utilizing the GNSS module equipped in the vehicle's own in-vehicle T-BOX, it is possible to achieve high-precision positioning for intelligent driving navigation functions, without necessarily requiring a separate dedicated GNSS module or a combined positioning system, thus effectively reducing the development cost of this function.

[0047] The implementation process of the vehicle-mounted TBOX positioning function is as follows: The GNSS module in the vehicle-mounted TBOX sends the received satellite positioning data to the data parsing module and the time synchronization module. The data parsing module obtains GPS data by parsing the data transmitted by the GNSS module, packages the GPS data using the Ethernet protocol, and sends it to the SOMEIP module. The GPS data packet is then transmitted to the intelligent driving domain controller via the SOMEIP protocol.

[0048] Understandably, the time recorded for this GPS data is the UTC time parsed from the GNSS NMEA message by the data parsing module. The GPS data then undergoes a series of Ethernet packet processing steps before being sent to the intelligent driving domain controller via the SOMEIP module. Therefore, this time is delayed compared to the actual time the intelligent driving domain controller acquires the GPS data. Consequently, the positioning data obtained by the GNSS module in the vehicle's TBOX cannot be considered valid positioning data usable by the intelligent driving domain controller.

[0049] In one or more embodiments of the present invention, a time synchronization module and a GPTP module are introduced into the vehicle-mounted TBOX. Specifically, as shown... Figure 3 As shown, the vehicle-mounted TBOX includes a GNSS module with two output terminals, connected to a data parsing module and a time synchronization module, respectively. The output terminal of the data parsing module is connected to a SOMEIP module, and the output terminal of the time synchronization module is connected to a GPTP module. Both the SOMEIP and GPTP modules are connected to the intelligent driving domain controller. The time synchronization module in the TBOX receives GNSS satellite timing information, synchronizes the system time with world time, and transmits the synchronized time to the GPTP module. After obtaining the synchronized system time, the GPTP module sends the system time out in the form of a GPTP message. The GPTP message time originates from the system time of the sending TBOX module. Since the GPTP protocol requires hardware support, the hardware records the system time at the moment the message is sent and reflects it in the message. Therefore, there is almost no delay between the time in the GPTP message and the system time; according to the GPTP protocol, this delay is almost at the nanosecond level. Based on this, the time delay when the intelligent driving domain controller acquires GPS data can be calculated, and the position can be corrected to obtain high-precision positioning data.

[0050] As an example, the vehicle fusion positioning method based on onboard T-BOX positioning according to one or more embodiments of the present invention is applied to a vehicle. The vehicle is equipped with an onboard T-BOX, which is configured with a GNSS module. The vehicle is also equipped with an Inertial Measurement Unit (IMU) including, for example, a three-axis gyroscope, a three-axis accelerometer, and a velocity sensor, etc., without specific limitations. The IMU can be used to measure the vehicle's real-time speed, acceleration, and angular velocity. Furthermore, the vehicle is equipped with a vision system, such as a camera, which can be mounted at the front of the vehicle and acquires information about the environment ahead of the vehicle at a set frequency. The onboard T-BOX, the IMU, and the vision system are all connected to an intelligent driving domain controller.

[0051] Specifically, one or more embodiments of the present invention provide a vehicle positioning method based on in-vehicle T-BOX positioning, applied to an intelligent driving domain controller, such as... Figure 1 As shown, it includes the following steps:

[0052] Step 1: Receive GPS data packets and the GPTP message transmission time corresponding to the GPS data packets; wherein, the GPS data packets include GPS positioning data and its acquisition time;

[0053] Step 2: Calculate the time difference between the GPS positioning data acquisition time and the message sending time, and record it as the delay time.

[0054] It is worth noting that the vehicle-mounted T-BOX contains a clock module, which deviates from the frequency of the timing atomic clock. The longer the time interval, the greater the deviation between the internal time of the vehicle-mounted T-BOX and the theoretical time of the timing. Therefore, in some embodiments, the delay time is recalculated according to steps 1-2 at set time intervals. As an example, the timing cycle of the vehicle-mounted T-BOX is 8 hours, that is, every 8 hours, the timing information is re-acquired and synchronized based on the time synchronization module, and then sent to the GPTP module to generate a GPTP message and send it to the intelligent driving domain controller. The intelligent driving domain controller system time is synchronized with the system time of the TBOX that has been timed through the GPTP protocol. The synchronized intelligent driving domain controller system time (GPTP message sending time) is compared with the time information contained in the TBOX GPS data received by the intelligent driving domain controller through the SOMEP protocol to obtain the time delay of the domain controller receiving the GPS data through SOMEIP.

[0055] After obtaining the delay time, the actual acquisition time of the GPS positioning data can be inferred based on this delay time. Then, the vehicle trajectory can be obtained based on the time difference, thereby performing positioning compensation. Specifically, this includes steps 3 and 4.

[0056] Step 3: Receive GPS data packets in real time, and determine the real time corresponding to the GPS positioning data based on the acquisition time of the GPS positioning data and the delay time.

[0057] Step 4: Based on the inertial measurement unit, acquire the vehicle trajectory data between the real time and the current time;

[0058] Step 5: Correct the current GPS positioning data based on the vehicle's driving trajectory data.

[0059] In step 4, based on the inertial measurement unit, the velocity, acceleration and angular velocity between the real time and the current time can be obtained, thereby enabling the calculation of the lateral and longitudinal displacement of the vehicle at the current time relative to the real time.

[0060] In step 5, the current GPS positioning data is corrected based on the lateral and longitudinal displacements.

[0061] Because TBOX does not use RTK services, its GPS positioning accuracy is below sub-meter level, potentially exhibiting a lateral deviation of 3-4 meters. This prevents lane-level positioning and fails to meet the positioning requirements of intelligent driving navigation systems. In some embodiments, such as... Figure 2 As shown, the method further includes:

[0062] Step 6: Obtain the corresponding map data based on the corrected GPS positioning data to determine the lane information of the current road segment;

[0063] Step 7: Acquire image data of the front of the vehicle, and determine the current lane of the vehicle based on the image data;

[0064] Step 8: Match the vehicle's current lane to the map data, and further correct the current GPS positioning data based on the lane's position in the map data.

[0065] In step 7, lane line recognition can be performed based on the image data to determine which lane the vehicle is currently in. Specifically, to improve recognition accuracy, lane boundary obstacles, such as guardrails, are also identified.

[0066] It's worth noting that, assuming the vehicle is traveling in the leftmost lane, the front camera can identify the yellow lane line to the left front of the vehicle. However, due to lateral offset in the previous positioning, it might mistakenly identify the vehicle as being in the oncoming leftmost lane. Therefore, to improve positioning accuracy, the vehicle's current direction of travel is determined based on GPS data from a period prior to the current moment, and the actual lane the vehicle is in is determined by combining this current direction of travel.

[0067] Understandably, the above positioning method is also applicable in areas with poor or unstable signals, such as tunnels. In step 3, after receiving the GPS data packet in real time, the position offset is calculated based on the GPS positioning data in the packet and the GPS positioning data acquired at the previous moment. If the position offset exceeds the set range, the GPS positioning data is recorded as invalid data. Based on the inertial measurement unit, the vehicle trajectory data between the previous moment and the current moment is acquired, and steps 5 to 8 are further executed.

[0068] In particular, there may be a situation where GPS data packets fail to be received. In this case, in step 3, GPS data packets are received in real time. If they are not received successfully for a set period of time, it is assumed that the vehicle has entered an area without signal coverage. The time when the GPS data packets were last successfully acquired is determined. Based on the inertial measurement unit, the vehicle's driving trajectory data between that time and the current time is obtained, and steps 5 to 8 are further executed.

[0069] Based on the above method, one or more embodiments of the present invention also provide a vehicle positioning system based on in-vehicle T-BOX positioning, including an in-vehicle T-BOX and an intelligent driving domain controller, wherein:

[0070] A vehicle-mounted T-BOX is configured to include a GNSS module, the output of which is sequentially connected to a time synchronization module and a GPTP module. The method includes the following steps:

[0071] The intelligent driving domain controller is configured to perform the following steps:

[0072] Receive GPS data packets and the GPTP message transmission time corresponding to the GPS data packets; wherein, the GPS data packets include GPS positioning data and its acquisition time;

[0073] Calculate the time difference between the GPS positioning data acquisition time and the message transmission time, and record it as the delay time;

[0074] The system receives GPS data packets in real time and determines the actual time corresponding to the GPS positioning data based on the acquisition time of the GPS positioning data and the delay time.

[0075] Based on the inertial measurement unit, the vehicle trajectory data between the real time and the current time is obtained;

[0076] Based on the vehicle's driving trajectory data, the current GPS positioning data is corrected.

[0077] To achieve high-precision positioning even in areas with poor signal, the intelligent driving domain controller receives GPS data packets in real time and calculates the position offset based on the GPS positioning data in the packets and the GPS positioning data acquired at the previous moment. If the position offset exceeds a set range, the GPS positioning data is recorded as invalid data. Based on the inertial measurement unit, the vehicle's driving trajectory data between the previous moment and the current moment is acquired.

[0078] To achieve high-precision positioning even in areas without signal coverage, the intelligent driving domain controller receives GPS data packets in real time. If it fails to receive data for a set period of time, it assumes that the vehicle has entered an area without signal coverage. It then determines the last time it successfully acquired a GPS data packet and, based on the inertial measurement unit, acquires the vehicle's driving trajectory data between that time and the current time.

[0079] To achieve lane-level positioning, the intelligent driving domain controller is also configured to perform the following steps:

[0080] Based on the corrected GPS positioning data, obtain the corresponding map data to determine the lane information of the current road segment;

[0081] Acquire image data of the front of the vehicle, and determine the current lane of the vehicle based on the image data;

[0082] The vehicle's current lane is matched to the map data, and the current GPS positioning data is further corrected based on the lane's position in the map data. Those skilled in the art will understand that the method executed in the above-described intelligent driving domain controller can be integrated into an electronic device, which includes one or more processors, one or more memories coupled to the processors, and a communication module coupled to the processors.

[0083] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, hard disk, compact disc (CD), digital video disc (DVD), or other magnetic and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: random access memory (RAM), or other volatile memories that do not persist during the duration of a power outage. The computer program may be stored in the ROM. When the processor executes the computer program, it implements the method executed in the intelligent driving domain controller described above.

[0084] In some embodiments, the program may be tangibly contained in a computer-readable medium, which may include a device (such as in memory) or other storage device accessible by the device. The program may be loaded from the computer-readable medium into RAM for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, where a computer program is stored that, when executed by a processor, implements the methods performed in the intelligent driving domain controller described above.

[0085] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a server or terminal, they generate all or part of the processes or functions described in the embodiments of this application. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic cable, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to the server or terminal, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, and magnetic tape), an optical medium (e.g., digital video disk (DVD), etc.), or a semiconductor medium (e.g., solid-state drive).

[0086] Furthermore, although the operations are described in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this application. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0087] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A vehicle positioning method based on vehicle T-BOX positioning, characterized in that, The vehicle-mounted T-BOX comprises a GNSS module, an output end of the GNSS module is connected with a time synchronization module and a GPTP module in sequence, and the method comprises the following steps: receiving a GPS data packet and a GPTP message sending time corresponding to the GPS data packet; wherein the GPS data packet comprises GPS positioning data and an acquisition time thereof; calculating a time difference between the GPS positioning data acquisition time and the message sending time, and recording the time difference as a delay time; real-time receiving of the GPS data packet, determination of a real time corresponding to the GPS positioning data according to the acquisition time of the GPS positioning data and the delay time; after real-time receiving of the GPS data packet, calculation of a position offset based on the GPS positioning data and GPS positioning data acquired at a previous time, recording of the GPS positioning data as invalid data if the position offset exceeds a set range, and acquisition of vehicle travel trajectory data between the previous time and the current time based on an inertial measurement unit; acquisition of corresponding map data based on the corrected GPS positioning data, determination of lane information of a current road section, acquisition of image data in front of the vehicle, determination of a current lane in which the vehicle is located based on the image data, matching of the current lane of the vehicle to the map data, and further correction of the current GPS positioning data based on a position of the lane in the map data; determination of a current travel direction of the vehicle based on GPS data of a period of time before the current time, and matching of the current lane of the vehicle to the map data in combination with the current travel direction; acquisition of vehicle travel trajectory data between the real time and the current time based on the inertial measurement unit; correction of the current GPS positioning data according to the vehicle travel trajectory data. 2.The vehicle positioning method based on the T-BOX positioning of claim 1, wherein, re-calculation of the delay time at every set time interval. 3.The vehicle positioning method based on the T-BOX positioning of claim 1 or 2, wherein, real-time receiving of the GPS data packet, determination that the vehicle enters a signal non-coverage area if successful receiving is not achieved for a continuous set time, determination of a time at which GPS data packet acquisition is last successfully achieved, and acquisition of vehicle travel trajectory data between the time and the current time based on the inertial measurement unit.

4. A vehicle positioning system based on positioning of a T-BOX mounted on a vehicle, characterized by, comprise: a vehicle-mounted T-BOX configured to comprise a GNSS module, an output end of the GNSS module being connected with a time synchronization module and a GPTP module in sequence; an intelligent driving domain controller configured to perform the following steps: receiving a GPS data packet and a GPTP message sending time corresponding to the GPS data packet; wherein the GPS data packet comprises GPS positioning data and an acquisition time thereof; calculating a time difference between the GPS positioning data acquisition time and the message sending time, and recording the time difference as a delay time; real-time receiving of the GPS data packet, determination of a real time corresponding to the GPS positioning data according to the acquisition time of the GPS positioning data and the delay time; After receiving the GPS data packet in real time, the GPS positioning data in the GPS data packet and the GPS positioning data obtained at the previous time are used to calculate a position offset. If the position offset exceeds a set range, the GPS positioning data is recorded as invalid data. Vehicle trajectory data between the previous time and the current time is obtained based on an inertial measurement unit. Corresponding map data is obtained based on the corrected GPS positioning data, lane information of a current road section is determined, image data in front of the vehicle is obtained, the lane in which the vehicle is currently located is determined based on the image data, the lane in which the vehicle is currently located is matched to the map data, and the current GPS positioning data is further corrected based on a position of the lane in the map data. A current driving direction of the vehicle is determined based on GPS data in a period of time before the current time, and the lane in which the vehicle is currently located is matched to the map data in combination with the current driving direction. Vehicle trajectory data between the real time and the current time is obtained based on the inertial measurement unit. The current GPS positioning data is corrected based on the vehicle trajectory data. 5.The vehicle positioning system based on T-BOX positioning according to claim 4, wherein, The intelligent driving domain controller receives a GPS data packet in real time. If the GPS data packet is not successfully received for a set time, it is considered that the vehicle enters a signal-uncovered area. A time at which the GPS data packet is last successfully obtained is determined, and vehicle trajectory data between the time and the current time is obtained based on an inertial measurement unit.

Images