Vehicle positioning and navigation method and system

Abstract

The invention discloses a vehicle positioning system and method.The system comprises a roadside system and a vehicle, and the roadside system is arranged on the roadside of a target road and comprises a vehicle detection module, an image acquisition module, a processing module and a first communication module; and the processing module determines a first target vehicle on a target road according to the first vehicle information received in the first time period and the second vehicle information received in the second time period, and sends the stored road information of the target road to the first target vehicle for determining the position of the first target vehicle. The first vehicle information is vehicle information sent by a vehicle which establishes communication connection with the roadside system through the first communication module, and the second vehicle information is vehicle information obtained by shooting the vehicle by the image acquisition module under the condition that the vehicle detection module detects that the vehicle passes through the roadside system. Therefore, the vehicle can determine the position more accurately based on the road information of the target road sent by the roadside system. The invention further discloses a vehicle navigation method.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to a vehicle positioning and navigation method and system. Background Art

[0002] When a vehicle is driving, it generally receives data from a satellite navigation system such as the Global Positioning System (GPS) in real time through the vehicle navigation system, matches it with the road network information, and finally confirms the vehicle's position on the road. Under normal circumstances, the positioning accuracy of ordinary GPS can basically meet basic navigation needs, but for special sections, such as main and auxiliary roads, elevated roads on / off, bridges, and other sections with complex road conditions, ordinary GPS cannot accurately match the vehicle's position due to the influence of positioning accuracy, affecting positioning accuracy.

[0003] In the existing technology, the accuracy of vehicle positioning is usually improved by configuring high-precision GPS to achieve positioning, combining GPS and road image data collected by the vehicle to achieve positioning, etc. However, in some special sections with complex road conditions, these methods cannot accurately match the vehicle's position in special sections, and there is also the problem of inaccurate positioning.

[0004] In summary, the existing vehicle positioning methods have the problem of inaccurate positioning, which affects the navigation accuracy and further affects the user experience. Summary of the invention

[0005] The present application provides a vehicle positioning and navigation method and system, which are used to solve the problem of inaccurate positioning in existing vehicle positioning methods, which affects navigation accuracy and thus affects user experience.

[0006] To solve the above technical problems, in a first aspect, an implementation of the present application discloses a vehicle positioning method, which is applied to a vehicle positioning system, wherein the vehicle positioning system includes a roadside system and a vehicle, the roadside system is arranged on the roadside of a target road, the roadside system includes a vehicle detection module, a processing module and a first communication module, communication connections are established between the image acquisition module and the vehicle detection module and the processing module respectively, the processing module and the first communication module are established with a communication connection, and the processing module stores road information of the target road. The method includes: the processing module determines a first target vehicle located on the target road according to first vehicle information received in a first time period and second vehicle information received in a second time period, and sends the road information of the target road to the first target vehicle, the first vehicle information is vehicle information sent by a vehicle that establishes a communication connection with the roadside system through the first communication module, and the vehicle establishes a communication connection with the first communication module when it is located within the communication range of the first communication module, and the second vehicle information is vehicle information sent by the image acquisition module, which is obtained by photographing the vehicle when the vehicle detection module detects that the vehicle passes through the roadside system; the first target vehicle determines the location of the first target vehicle according to the road information of the target road sent by the processing module.

[0007] By adopting the above technical solution, when the vehicle enters the communication range corresponding to the first communication module included in the roadside system during driving, it can establish a communication connection with the roadside system through the first communication module to send its vehicle information to the processing module in the roadside system. In addition, when the vehicle detection module detects that the vehicle passes through the vehicle detection module (that is, passes through the roadside system), it notifies the image acquisition module to shoot the vehicle to acquire the corresponding vehicle information and send it to the processing module. Subsequently, the processing module determines the vehicle actually on the target road (that is, determines the first target vehicle) through the vehicle information acquired from the vehicle in the first time period and the vehicle information acquired from the image acquisition module in the second time period, and sends the stored road information of the target road to the vehicle actually on the target road, so that the vehicle can determine its location. As a result, the vehicle can obtain accurate road information of the road it is on, and can more accurately determine its location based on the road information of the target road, thereby improving positioning accuracy, thereby improving navigation accuracy and user experience.

[0008] Furthermore, the above-mentioned vehicle detection module may include, for example, infrared sensors and other units to detect passing vehicles and determine whether there are vehicles passing. The image acquisition module may include, for example, cameras, video cameras and other units to obtain vehicle images. The first communication module may include, for example, antennas and other units to establish a communication connection with the vehicle. The processing module may include, for example, processors and other units to store road information of the target road, and to perform corresponding vehicle information processing to determine the corresponding first target vehicle and other related processing. The structure and implementation of the vehicle detection module, image acquisition module, processing module and first communication module may be set as needed.

[0009] Furthermore, the road information of the target road may be, for example, road information of a main road or a secondary road in an expressway, or road information of an elevated road or an upper or lower road of a bridge.

[0010] In a possible implementation of the first aspect above, the roadside system also includes a control module and a second communication module, a communication connection is established between the control module and the vehicle detection module, the image acquisition module and the second communication module, and a communication connection is established between the second communication module and the processing module. The method also includes: the vehicle detection module sends a notification message to the control module when a vehicle is detected passing through the vehicle detection module; the control module generates an image acquisition instruction according to the notification information and sends it to the image acquisition module; the image acquisition module photographs the vehicle according to the image acquisition instruction to obtain corresponding vehicle information and sends it to the control module; the control module sends the vehicle information collected by the image acquisition module to the processing module through the second communication module.

[0011] In this way, based on the settings of the control module and the second communication module, communication and interactive processing between the vehicle detection module, the image acquisition module and the control module can be easily realized.

[0012] In a possible implementation of the first aspect above, the processing module determines the first target vehicle based on the first vehicle information received within the first time period and the second vehicle information received within the second time period, including: the processing module obtains vehicle identification information from the first vehicle information received within the first time period and the second vehicle information received within the second time period, and regards the vehicle whose vehicle identification information exists in both the first vehicle information and the second vehicle information received within the first time period as the first target vehicle on the target road.

[0013] Therefore, if the vehicle identification information of a certain vehicle exists both in the vehicle information sent by the vehicle within a certain time period and in the vehicle information sent by the image acquisition unit within a certain time period, it means that the vehicle is on the target road. Therefore, the road information of the target road is sent to the vehicle so that the vehicle can accurately know its location.

[0014] In a possible implementation of the first aspect above, the first time period and the second time period can be determined based on the vehicle speed information corresponding to the target road (such as speed limit), the speed of the vehicle on the target road based on big data statistics, the coordination influencing factors between the image acquisition unit and the vehicle detection unit (such as the setting position and distance between the image acquisition unit and the vehicle detection unit, the transmission time of the notification message between the image acquisition unit and the vehicle detection unit, etc.), etc., to ensure that the first target vehicle determined by the processing module is a vehicle that has passed through the roadside system and is within the communication range of the roadside system, and still has a communication connection with the roadside system. In this way, when the vehicle passes through the roadside system, it can obtain the road information of the target road corresponding to the roadside system for vehicle positioning.

[0015] In a possible implementation of the first aspect above, the method also includes: a processing module determines a second target vehicle that is not on the target road, the second target vehicle being a vehicle whose vehicle identification information exists in the first vehicle information received within the first time period and does not exist in the second vehicle information received within the second time period; the processing module sends information that the second target vehicle is not on the target road to the second target vehicle, so that the second target vehicle determines the location of the second target vehicle; or, the processing module determines the road where the second target vehicle is located based on the road information of the target road, and sends the road information of the corresponding road to the second target vehicle, so that the second target vehicle determines the location of the second target vehicle.

[0016] In this way, the processing module can send information that the vehicle is not on the target road, or road information of the road it is on, to the vehicle that is not on the target road, so that the vehicle can determine its location, and can also effectively improve the positioning accuracy of the vehicle.

[0017] In a possible implementation of the first aspect, the processing module determines the road where the second target vehicle is located according to the road information of the target road, and other non-target roads other than the target road may be used as the road where the second target vehicle is located. For example, if the target road is a main road among main and auxiliary roads, the road where the second target vehicle is located is an auxiliary road, and if the target road is an elevated road among elevated bridges, the road where the second target vehicle is located is a low-bridge, and the determination method can be set as needed.

[0018] In a possible implementation of the first aspect above, the first vehicle information includes vehicle identification information of the vehicle, and the second vehicle information is vehicle image information, and the vehicle image information includes vehicle identification information of the vehicle.

[0019] In a possible implementation of the first aspect above, the vehicle identification information includes license plate information.

[0020] Of course, the vehicle identification information in the vehicle information sent by the vehicle may also include identification information such as the vehicle ID, and the vehicle information sent by the vehicle may also include information such as the vehicle positioning information.

[0021] In a possible implementation of the first aspect above, the vehicle includes an on-board unit, and the first communication module establishes a communication connection with the on-board unit of a vehicle entering a communication range of the first communication module to obtain vehicle information of the corresponding vehicle.

[0022] In a possible implementation of the first aspect, the road information includes any one of the following: position information of the vehicle corresponding to the main and auxiliary roads, upper and lower position information of the vehicle corresponding to the viaduct, and upper and lower position information of the vehicle corresponding to the bridge. Of course, the road information may also be other information.

[0023] In a second aspect, the present application provides a vehicle navigation method, which is applied to a vehicle, and the method includes: determining the location of the vehicle, which location is obtained according to the aforementioned vehicle positioning method; and navigating the vehicle according to the location and the on-board navigation.

[0024] In a third aspect, the present application provides a vehicle positioning system, which includes a roadside system and a vehicle. The roadside system is arranged on the side of a target road. The roadside system includes a vehicle detection module, an image acquisition module, a processing module and a first communication module. Communication connections are established between the image acquisition module and the vehicle detection module and the processing module respectively. The processing module establishes a communication connection with the first communication module. The processing module stores road information of the target road, wherein the processing module is used to determine a first target vehicle located on the target road based on first vehicle information received within a first time period and second vehicle information received within a second time period, and send the road information of the target road to the first target vehicle. The first vehicle information is vehicle information sent by a vehicle that establishes a communication connection with the roadside system through the first communication module. The vehicle establishes a communication connection with the first communication module when it is located within the communication range of the first communication module. The second vehicle information is vehicle information sent by the image acquisition module, which is obtained by photographing the vehicle when the vehicle detection module detects that the vehicle has passed through the roadside system. The first target vehicle is used to determine the location of the first target vehicle based on the road information of the target road sent by the processing module.

[0025] In a possible implementation of the third aspect above, the roadside system also includes a control module and a second communication module, and a communication connection is established between the control module and the vehicle detection module, the image acquisition module and the second communication module, and a communication connection is established between the second communication module and the processing module, wherein the vehicle detection module is used to detect a vehicle passing through the vehicle detection module, and send a notification message to the control module when a vehicle is detected passing through the roadside system; the control module is used to generate an image acquisition instruction according to the notification information and send it to the image acquisition module; the image acquisition module is used to photograph the vehicle according to the image acquisition instruction to obtain corresponding vehicle information and send it to the control module; the control module is used to send the vehicle information collected by the image acquisition module to the processing module through the second communication module.

[0026] In a possible implementation of the third aspect above, the processing module is also used to determine a second target vehicle that is not on the target road, and send information that the second target vehicle is not on the target road to the second target vehicle so that the second target vehicle can determine the location of the second target vehicle; or determine the road where the second target vehicle is located based on the road information of the target road, and send the road information of the corresponding road to the second target vehicle so that the second target vehicle can determine the location of the second target vehicle, the second target vehicle being a vehicle that is not on the target road and whose vehicle identification information exists in the first vehicle information received within the first time period and does not exist in the second vehicle information received within the second time period.

[0027] Of course, the processing module is also used to implement other processing implemented by the processing module.

[0028] It can be understood that the beneficial effects of the second to third aspects mentioned above can also be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a vehicle positioning system provided in an embodiment of the present application;

[0030] Figure 2 This is a schematic diagram of an application scenario of the vehicle positioning system and method provided in an embodiment of the present application;

[0031] Figure 3 is another structural schematic diagram of the vehicle positioning system provided in an embodiment of the present application;

[0032] Figure 4 is another structural schematic diagram of the vehicle positioning system provided in an embodiment of the present application;

[0033] Figure 5 is another structural schematic diagram of the vehicle positioning system provided in an embodiment of the present application;

[0034] Figure 6 It is a flow chart of a vehicle positioning method provided by an embodiment of the present application;

[0035] Figure 7 It is a flow chart of a vehicle navigation method provided by an embodiment of the present application;

[0036] Figure 8 is a schematic diagram of another application scenario of the vehicle positioning system and method provided in the embodiments of the present application;

[0037] Fig. 9 is another flow chart of the vehicle positioning and navigation method provided in the embodiment of the present application;

[0038] Fig.10 is another application schematic diagram of the vehicle positioning system and method provided in the embodiments of the present application;

[0039] Fig.11 This is another application diagram of the vehicle positioning system and method provided in the embodiments of the present application.

[0040] Specific implementation method

[0041] The technical solution provided by the present application will be further described in detail below in conjunction with the accompanying drawings.

[0042] As mentioned above, based on common GPS positioning technology, due to the influence of positioning accuracy (usually 5-10 meters), common GPS cannot accurately match the location of vehicles on special roads such as main and auxiliary roads, affecting the accuracy of positioning and navigation. For example, the user is driving on the main road, but the navigation matches the auxiliary road, which eventually leads to route planning errors and affects the user's travel.

[0043] In the prior art, the methods for road identification are mainly divided into two directions: the first is to completely rely on, for example, high-precision GPS positioning to complete road matching. Based on this method, since the distance between the main road and the auxiliary road is often only a few meters or even less than 1 meter, relying on positioning information with an error of meter-level accuracy is very unreliable; at the same time, the positioning information has lower accuracy in the vertical direction, and the identification of elevated roads / underpasses and bridges / underpasses is even more unreliable. Therefore, the positioning technology that relies solely on positioning information has a high misrecognition rate. The second is to rely on the on-board vision solution, that is, to install a camera in the car, and to judge, for example, whether the current vehicle belongs to the main road or the auxiliary road based on the real-time picture information. This solution is closer to the human eye recognition solution and has a certain degree of reliability. However, this solution is very dependent on the road environment and image processing results. If the road is an irregular road or the vehicle is in an environment with low visibility, the recognition accuracy will be greatly reduced.

[0044] In general, there is currently no solution on the market that can accurately identify main and secondary roads, elevated roads on / off, and bridges on / off. Therefore, some navigation companies use the solution of users choosing the road they are on to correct misidentification. For example, when passing through a section where both main and secondary roads exist, buttons for switching to the main road and secondary road will be displayed on the navigation map, allowing users to identify and choose which section they are currently on. However, this method of letting users choose the road they are on has the problem of cumbersome user operations on the one hand, and the problem of affecting driving safety on the other.

[0045] To solve the above problems, some implementations of the present application provide a vehicle positioning system and a vehicle positioning method corresponding to the vehicle positioning system. The vehicle positioning system can be used, for example, to position a vehicle in the aforementioned main and auxiliary roads, elevated roads, bridges and other driving scenarios.

[0046] In one implementation of the present application, Figure 1 The vehicle positioning system includes a roadside system 100 and a vehicle 200, and the roadside system 100 is arranged on the roadside of the target road.

[0047] For example, Figure 2 As shown, the target road may be, for example, a main road A of a highway, and the highway may also include a secondary road B. The roadside system 100 is disposed on the roadside of the main road A, and may detect and locate vehicles located on the main road A. Of course, the target road may also be an elevated road, a bridge, or other roads.

[0048] Furthermore, if Figure 3 As shown, in one implementation of the present application, the roadside system 100 includes a vehicle detection module 110, an image acquisition module 120, a processing module 130 and a first communication module 140. The image acquisition module 120 is connected to the vehicle detection module 110 and the processing module 130 respectively, and the processing module 130 is connected to the first communication module 140. The processing module 130 stores the road information of the target road. For example, the processing module 130 stores the road information of the aforementioned main road A. The road information may be, for example, the main road A and other road identification information for identifying the road. Of course, the road information may include, for example, other information such as the position information of the vehicle corresponding to the main and auxiliary roads, the upper and lower position information of the vehicle corresponding to the viaduct, and the upper and lower position information of the vehicle corresponding to the bridge.

[0049] Furthermore, if Figure 3As shown, in one implementation of the present application, the vehicle detection module 110 may include, for example, an infrared sensor for detecting vehicles passing through the infrared sensor, thereby realizing the detection of vehicles passing through the roadside system 100. The image acquisition module 120 may include, for example, a camera for taking pictures of the passing vehicles to obtain corresponding image information, so as to realize the acquisition of vehicle information of the vehicles passing through the roadside system 100. The first communication module 140 may include, for example, an antenna and other units for establishing a communication connection with vehicles within its communication range through radio frequency technology, so as to realize the communication connection between the roadside system 100 and the vehicles entering the communication range of the roadside system 100 (i.e., the first communication module 140). The processing module 130 may include, for example, a processor and other units, which are responsible for the storage and processing of data, for example, for storing the road information of the target road, and realizing the corresponding vehicle information processing to determine the corresponding first target vehicle and other related processing. In addition, the processing module 130 may also include a processor and a memory and other units, the memory is used to store the road information of the target road, and the processor is used to realize the corresponding vehicle information processing to determine the corresponding first target vehicle and other related processing.

[0050] Furthermore, if Figure 4 As shown, in one implementation of the present application, the roadside system 100 further includes a control module 150 and a second communication module 160. A communication connection is established between the control module 150 and the vehicle detection module 110, the image acquisition module 120 and the second communication module 160. A communication connection is established between the second communication module 160 and the processing module 130. The vehicle detection module 110 is used to send a notification message to the control module 150 when a vehicle is detected passing through the vehicle detection module 110. The control module 150 is used to generate an image acquisition instruction according to the notification information and send it to the image acquisition module 120. The image acquisition module 120 is used to photograph the vehicle according to the image acquisition instruction to obtain corresponding vehicle information and send it to the control module 150. The control module 150 is used to send the vehicle information collected by the image acquisition module to the processing module 130 through the second communication module 160.

[0051] Furthermore, the control module 150 includes a controller and other units for implementing corresponding control processing. The second communication module 160 may include, for example, a WiFi module, a Bluetooth module, a CAN communication module, a 4G module and other communication units for implementing communication between the processing module 130 and the control module 150 .

[0052] Furthermore, the image acquisition module 120, the vehicle detection module 130 and other modules included in the roadside system 100 can be integrated as a whole device and set together on a pile above the road, and the setting position of the image acquisition module 120 can be calibrated as needed, so that its shooting range is just the width of the main and auxiliary roads, etc., so that the vehicles passing through the target road can be captured. The vehicle detection module 130 can detect the passing of the vehicle and notify the image acquisition module 120 to take a photo. The taken photos are sent back to the control module 150 and transmitted to the processing module 130 through the second communication module 160.

[0053] Furthermore, if Figure 5 As shown, the vehicle 200 includes an on-board unit (OBU), and the first communication module 140 establishes a communication connection with the on-board unit of the vehicle 200 that enters the communication range of the first communication module 140 to obtain vehicle information of the corresponding vehicle and perform corresponding communication, interaction and other processing.

[0054] like Figure 6 As shown, in one implementation of the present application, the vehicle positioning method includes the following steps.

[0055] S11, the processing module determines the first target vehicle on the target road according to the first vehicle information received in the first time period and the second vehicle information received in the second time period, and sends the road information of the target road to the first target vehicle, the first vehicle information is vehicle information sent from a vehicle that establishes a communication connection with the roadside system through the first communication module, and the vehicle establishes a communication connection with the first communication module when it is located within the communication range of the first communication module, and the second vehicle information is vehicle information sent by the image acquisition module and obtained by the image acquisition module when the vehicle detection module detects that the vehicle passes through the roadside system.

[0056] The first vehicle information includes the vehicle identification information of the vehicle, and the second vehicle information is the vehicle image information, and the vehicle image information includes the vehicle identification information of the vehicle. The vehicle identification information includes the license plate information. Of course, the vehicle identification information in the vehicle information sent by the vehicle may also include identification information such as the vehicle ID, and the vehicle information sent by the vehicle may also include information such as the vehicle positioning information.

[0057] The processing module determines the first target vehicle based on the first vehicle information received in the first time period and the second vehicle information received in the second time period, including: the processing module obtains vehicle identification information from the first vehicle information received in the first time period and the second vehicle information received in the second time period, and regards the vehicle whose vehicle identification information exists in both the first vehicle information and the second vehicle information received in the first time period as the first target vehicle on the target road.

[0058] Therefore, if the vehicle identification information of a certain vehicle exists both in the vehicle information sent by the vehicle within a certain time period and in the vehicle information sent by the image acquisition unit within a certain time period, it means that the vehicle is on the target road. Therefore, the road information of the target road is sent to the vehicle so that the vehicle can accurately know its location.

[0059] The first time period and the second time period can be set according to the need of relevant influencing information, and the influencing information may include, for example, the setting location of the roadside system, the detection, acquisition, and communication range of the vehicle detection unit, the image acquisition unit, and the first communication module included in the roadside system, and the vehicle speed. The first time period and the second time period can be the same or different. By setting the first time period and the second time period, it is used to filter out vehicles passing through the roadside system at a certain moment to determine the vehicles located on the target road section.

[0060] For example, the first time period and the second time period can be determined based on the vehicle speed information corresponding to the target road (such as speed limit), the speed of the vehicle on the target road based on big data statistics, the factors affecting the coordination between the image acquisition unit and the vehicle detection unit (such as the setting position and distance between the image acquisition unit and the vehicle detection unit, the transmission time of the notification message between the image acquisition unit and the vehicle detection unit, etc.), etc., to ensure that the first target vehicle determined by the processing module is a vehicle that has passed through the roadside system and is within the communication range of the roadside system, and still has a communication connection with the roadside system. In this way, when the vehicle passes through the roadside system, it can obtain the road information of the target road corresponding to the roadside system for vehicle positioning.

[0061] Furthermore, the road information includes, for example, the position information of the aforementioned vehicle corresponding to the main and auxiliary roads, the upper and lower position information of the vehicle corresponding to the elevated road, the upper and lower position information of the vehicle corresponding to the bridge, etc.

[0062] S12, the first target vehicle determines the location of the first target vehicle according to the road information of the target road sent by the processing module.

[0063] Thus, when the vehicle is driving, after entering the communication range corresponding to the first communication module included in the roadside system, it can establish a communication connection with the roadside system through the first communication module to send its vehicle information to the processing module in the roadside system. In addition, when the vehicle detection module detects that the vehicle has passed through the roadside system, it notifies the image acquisition module to shoot the vehicle to acquire the corresponding vehicle information and send it to the processing module. Subsequently, the processing module determines the vehicle (i.e., the first target vehicle) actually on the target road through the vehicle information acquired from the vehicle in the first time period and the vehicle information acquired from the image acquisition module in the second time period, and sends the stored road information of the target road to the vehicle actually on the target road, so that the vehicle can determine its location. Thus, the vehicle can obtain accurate road information of the road it is on, and can more accurately determine its location based on the road information of the target road, thereby improving positioning accuracy, thereby improving navigation accuracy and user experience.

[0064] Furthermore, in one implementation of the present application, the processing module obtains the vehicle information collected by the image acquisition module, which may be: the vehicle detection module sends a notification message to the control module when detecting that the vehicle passes through the vehicle detection module, the control module generates an image acquisition instruction according to the notification information and sends it to the image acquisition module, the image acquisition module photographs the vehicle according to the image acquisition instruction to obtain the corresponding vehicle information and sends it to the control module, and the control module sends the vehicle information collected by the image acquisition module to the processing module through the second communication module. In this way, when the vehicle passes through the vehicle detection module, the image information of the vehicle can be obtained as the vehicle information.

[0065] Furthermore, in one implementation of the present application, the method also includes: a processing module determines a second target vehicle that is not on the target road, the second target vehicle being a vehicle whose vehicle identification information exists in the first vehicle information received within the first time period and does not exist in the second vehicle information received within the second time period; the processing module sends information that the second target vehicle is not on the target road to the second target vehicle, so that the second target vehicle determines the location of the second target vehicle; or, the processing module determines the road where the second target vehicle is located based on the road information of the target road, and sends the road information of the corresponding road to the second target vehicle, so that the second target vehicle determines the location of the second target vehicle.

[0066] In this way, the processing module can send information that the vehicle is not on the target road, or road information of the road it is on, to the vehicle that is not on the target road, so that the vehicle can determine its location, and can also effectively improve the positioning accuracy of the vehicle.

[0067] Furthermore, in one implementation of the present application, the processing module determines the road where the second target vehicle is located based on the road information of the target road, and other non-target roads other than the target road may be used as the road where the second target vehicle is located. For example, if the target road is a main road among main and auxiliary roads, the road where the second target vehicle is located is an auxiliary road, and if the target road is an elevated road among elevated bridges, the road where the second target vehicle is located is a low-bridge, and the determination method can be set as needed.

[0068] Furthermore, in one implementation of the present application, the present application provides a vehicle navigation method, which is applied to a vehicle, such as Figure 7 As shown, the method includes:

[0069] S21, determining the location of the vehicle, which is obtained according to the above-mentioned vehicle positioning method.

[0070] S22, performing vehicle navigation according to the current location and the vehicle navigation.

[0071] In this way, based on a more accurate vehicle location, navigation can be performed more accurately, improving the user experience.

[0072] Furthermore, the vehicle positioning, navigation method and system provided in the present application can be implemented based on V2X communication technology. V2X is the abbreviation of Vehicle to Everything. 2 is a homophone of the English word to, and X refers to anything, that is, everything. When translated into Chinese, it can be called Vehicle to Everything. V2X is essentially a vehicle communication system that supports the transmission of information from vehicles to traffic systems that may affect vehicle movement. V2X mainly includes four major application scenarios, namely V2V (vehicle to vehicle interconnection), V2N (vehicle to network interconnection), V2I (vehicle to road test technology facilities interconnection), and V2P (vehicle to pedestrian interconnection).

[0073] The main application scenario of the solution provided in this application is V2I (Vehicle-to-Infrastructure), that is, the communication between vehicles and roadside systems. The communication method can be as follows: Figure 8As shown, the vehicle is equipped with an OBU, and a roadside system is installed on the roadside. The roadside system can also be called a roadside unit (Road Side Unit, RSU). The RSU device provided in this application can be understood as an RSU device that adds corresponding modules such as the aforementioned camera, wifi module, controller and infrared detector on the basis of the existing RSU device including a processor and a communication module. Therefore, the aforementioned roadside system 100 can also be referred to as an RSU device. The OBU communicates with nearby RSU devices through a wireless channel. The communication can be bidirectional, allowing the vehicle to send data to the RSU device, and also allowing the RSU device to send data and instructions to the vehicle. When the vehicle enters the communication range of the RSU device, real-time communication can be established with the vehicle.

[0074] The following will take the main and auxiliary road driving scenarios as an example to further illustrate the vehicle positioning, navigation system and method provided by this application.

[0075] See also Fig. 9 In one implementation of the present application, a vehicle positioning and navigation system (also referred to as a vehicle communication system) includes an RSU device (i.e., the aforementioned roadside system 100) and multiple vehicles (i.e., the aforementioned vehicle 200), and the process of implementing vehicle positioning and navigation includes the following steps.

[0076] S101, the processing module 130 in the RSU device pre-embeds the road information of the location of the RSU device in the processing module 130 as the road information of the corresponding target road according to the installation location of the RSU.

[0077] Specifically, according to the installation location of the RSU device, the road information to which the device belongs is recorded in the RSU device in advance. For example, Fig.10 As shown, for example, if the RSU device is installed on the main road, the road information of the main road is recorded in the RSU device; if the RSU device is installed on the auxiliary road, the road information of the auxiliary road is recorded in the RSU device. Other scenarios such as (on / off the bridge, on / off the elevated road) are similar and will not be described here.

[0078] S102, after the vehicle enters the communication range of the RSU device, based on the V2I communication protocol, a communication connection is established between the OBU in the vehicle and the first communication module 140 in the RSU device to establish instant communication between the vehicle and the RSU device.

[0079] S103, the vehicle sends its vehicle information such as vehicle ID, license plate information, and positioning information to the first communication module 140 in the RSU device in real time through the OBU.

[0080] S104, the first communication module 140 sends the received vehicle information to the processing module 130 in the RSU device, and the processing module 130 stores it locally.

[0081] S105, the vehicle detection module 130 (ie, infrared detection module) in the RSU device detects whether a vehicle passes through the vehicle detection module 130 based on infrared detection technology, that is, detects whether a vehicle passes through the RSU device.

[0082] S106: If the vehicle detection module 130 detects that a vehicle passes through the RSU device, it sends notification information to the control module 150 in the RSU device.

[0083] S107, the control module 150 generates a photo taking instruction (ie, an image acquisition instruction) according to the notification information and sends it to the second communication module 160 in the RSU device.

[0084] S108, the second communication module 160 sends the photo taking instruction to the image acquisition module 120 in the RSU device.

[0085] S109, the image acquisition module 120 triggers a photo taking function in response to the photo taking instruction, and takes an image to obtain a photo of the vehicle as the collected vehicle information.

[0086] Specifically, if the vehicle is in a section where the RSU device is installed, for example, the RSU device is installed on a main road and the vehicle is traveling on the main road, the RSU device can take a photo of the vehicle passing by through the image acquisition module 120 .

[0087] S110 , the image acquisition module 120 sends the captured photos to the second communication module 160 .

[0088] S111 , the second communication module 160 sends the photo to the control module 150 .

[0089] S112, the control module 150 sends the photo to the processing module 130.

[0090] S113, the processing module 130 processes the received photo and obtains the license plate information of the passing vehicle by using an image processing algorithm such as a license plate recognition algorithm.

[0091] S114, the processing module 130 compares the obtained license plate information with the license plate information in the vehicle information sent by the aforementioned vehicle to obtain the vehicle ID of the corresponding vehicle.

[0092] Specifically, the processing module 130 compares the obtained license plate information with the license plate information in the vehicle information sent by the aforementioned vehicle, obtains the license plate information from the first vehicle information received in the first time period and the second vehicle information received in the second time period, compares the photographed license plate information with the license plate information uploaded by the vehicle in real time, finds out the ID of the photographed vehicle, and regards the vehicle whose license plate information exists in both the first vehicle information received in the first time period and the second vehicle information as the first target vehicle on the target road. In this way, it is convenient to determine the vehicle that actually passes the RSU device.

[0093] S115, the processing module 130 finds the communication connection corresponding to the vehicle ID, and sends the primary and secondary road information pre-buried locally in the RSU device to the first communication module 140.

[0094] That is, if it is a pre-buried main road, the main road information is sent to the first communication module 140 , and if it is a pre-buried auxiliary road, the auxiliary road information is sent to the first communication module 140 .

[0095] S116, the first communication module 140 sends the main and auxiliary road information pre-buried locally in the RSU device to the corresponding vehicle.

[0096] S117, the vehicle transmits the received road information to the navigation system to correct the navigation route.

[0097] That is, the vehicle receives the road (main and auxiliary roads, etc.) information transmitted by the RSU device, confirms the vehicle's location and sends it to the navigation system to complete the positioning confirmation and automatic correction.

[0098] Furthermore, if the vehicle is not in the RSU installation section, for example, the RSU device is installed on the main road and the vehicle is traveling on the auxiliary road, the RSU device cannot take a photo of the vehicle passing by. Therefore, in another implementation of the present application, the method further includes the following steps.

[0099] S201, the processing module 130 detects that a vehicle has moved away from the RSU device, but does not detect a photo of the vehicle, that is, does not trigger the passing photo of the vehicle.

[0100] S202, the processing module 130 finds the communication connection corresponding to the vehicle ID, and sends the road information opposite to the road information locally embedded in the RSU device to the first communication module 140.

[0101] For example, if the locally embedded road information is the main road information, the auxiliary road information is sent to the first communication module 140 .

[0102] S203, the first communication module 140 sends the opposite road information pre-buried locally in the RSU device to the corresponding vehicle.

[0103] S204, the vehicle transmits the received road information to the navigation system to correct the navigation route.

[0104] In this way, if it is finally identified that the vehicle that is in communication with the RUS device has not passed the RSU device (the vehicle is identified to be moving away gradually based on the positioning information, and no photos of the vehicle passing are collected), the opposite information pre-stored locally (such as the main road pre-stored by the RSU, then the auxiliary road is sent) is sent to the vehicle. After the vehicle obtains the road information, it passes it to the navigation system, and finally completes the route correction. In other words, even if the vehicle is not on the section where the RSU device is installed, it can obtain the corresponding road information to achieve more accurate positioning and navigation.

[0105] In summary, the vehicle positioning system and method provided by the present application, compared with the traditional RSU device which only plays the role of communicating with vehicles and pedestrians, such as Fig.11 As shown, the present application solution adds an image acquisition module (i.e., camera) and a vehicle detection module (i.e., infrared sensor) on the basis of the traditional RSU device. The vehicle detection module is used to detect whether there is a vehicle passing by, and the image acquisition module is used to collect vehicle photos when the vehicle passes by. After the photos are collected, the image information can be transmitted to the processing module based on wired and wireless communications to determine the vehicle actually in the corresponding detection section of the RSU device, and the corresponding road information is sent to the vehicle, so that the vehicle can obtain accurate road information. Therefore, the present application provides a V2X communication device (or it can also be called a roadside unit device) and a positioning and correction method that can better identify main / auxiliary roads, up / down elevated roads, and up / down bridges, and can complete positioning and correction of parallel sections such as left and right or up and down sections.

[0106] First, the existing solutions for special sections such as main and auxiliary roads are all dynamic identification, while the solution of this application adopts a solution that pre-sets the main and auxiliary road information, that is, static setting. Since it is pre-written information, the judgment of special sections such as main and auxiliary roads is 100% correct and is not affected by the recognition rate. It solves the problem that the existing methods cannot accurately detect main / auxiliary roads, up / down elevated roads, and up / down bridges, and combined with the navigation system, it can greatly improve the positioning accuracy of navigation and reduce traffic accidents caused by misidentification or distraction caused by manual clicking to select main / auxiliary roads during driving.

[0107] Secondly, the existing technology mainly adopts the solution of active vehicle identification, that is, combining the vehicle's GPS or image data to actively determine whether it is currently on the main road or the secondary road, while in the present application, the vehicle does not need to actively identify, but only needs to passively receive the signal that it is currently on the main or secondary road. Compared with many existing methods, it is necessary to install a special identification camera on each vehicle, which is costly and complex to implement. This method only needs to add cameras to the road facilities to meet the infrastructure construction, and it is once and for all, and it is not difficult to implement. Compared with installing cameras on hundreds of millions of vehicles, this solution is much cheaper.

[0108] Thirdly, this application scheme is combined with the V2X technology that is being vigorously promoted today, combining license plate recognition technology with V2X communication technology to achieve accurate identification of main and auxiliary roads and other information.

[0109] Fourthly, the present application scheme has better applicability. Many existing recognition methods are greatly affected by roads, road conditions, weather, and recognition algorithms, resulting in poor recognition effects. This method has very low requirements for vehicle chip positioning accuracy, is little affected by external influences such as the environment, has an accurate recognition rate, and can be applied on most roads and environments.

[0110] Fifthly, the present application scheme has better scalability. The existing scheme is to push main and auxiliary road information to vehicles on the corresponding road sections. In the future, road condition information can be accurately pushed to vehicles based on the main and auxiliary road information of the vehicles. For example, if the vehicle is on the main road, accidents occurring on the main road will be pushed. If the vehicle is on the auxiliary road, warning information occurring on the auxiliary road will be pushed. Based on this signal, V2X push can be made more accurate.

[0111] Furthermore, in some other implementations of the present application, the modules included in the roadside system 100 can be integrated together as a whole device, or one or more modules can be independently provided as independent devices, and the location of each module can be designed as needed. That is, the specific structure and location of the roadside system 100 can be specifically designed as needed.

[0112] It should be noted that, in addition to the implementation of the present application described in the above-mentioned specific embodiments, those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application is introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to the implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present application. In order to provide an in-depth understanding of the present application, the above description contains many specific details, and the present application may also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0113] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0114] Although the present application has been illustrated and described by referring to certain preferred implementations of the present application, it should be understood by those skilled in the art that the above contents are further detailed descriptions of the present application in combination with specific implementations, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present application.

Claims

1. A vehicle positioning method, characterized in that: Applied to a vehicle positioning system, the vehicle positioning system includes a roadside system and a vehicle, the roadside system is arranged on the roadside of a target road, the roadside system includes a vehicle detection module, an image acquisition module, a processing module and a first communication module, the image acquisition module is respectively connected to the vehicle detection module and the processing module, the processing module is connected to the first communication module, the processing module stores the road information of the target road, and the method includes: The processing module determines a first target vehicle located on the target road according to first vehicle information received within a first time period and second vehicle information received within a second time period, and sends the road information of the target road to the first target vehicle, wherein the first vehicle information is vehicle information sent by a vehicle that establishes a communication connection with the roadside system through the first communication module, and the vehicle establishes a communication connection with the first communication module when it is located within the communication range of the first communication module, and the second vehicle information is vehicle information sent by the image acquisition module and obtained by the image acquisition module when the vehicle detection module detects that the vehicle passes through the roadside system; The first target vehicle determines the location of the first target vehicle according to the road information of the target road sent by the processing module.

2. The vehicle positioning method according to claim 1, characterized in that: The roadside system further includes a control module and a second communication module, wherein a communication connection is established between the control module and the vehicle detection module, the image acquisition module and the second communication module, and the second communication module and the processing module. The method further includes: The vehicle detection module sends a notification message to the control module when a vehicle is detected passing through the vehicle detection module; The control module generates an image acquisition instruction according to the notification information and sends it to the image acquisition module; The image acquisition module captures the vehicle according to the image acquisition instruction to obtain corresponding vehicle information and sends it to the control module; The control module sends the vehicle information acquired by the image acquisition module to the processing module through the second communication module.

3. The vehicle positioning method according to claim 1 or 2, characterized in that: The processing module determines a first target vehicle located on the target road according to first vehicle information received in a first time period and second vehicle information received in a second time period, including: The processing module obtains vehicle identification information from the first vehicle information received within the first time period and the second vehicle information received within the second time period, and regards the vehicle whose vehicle identification information exists in both the first vehicle information received within the first time period and the second vehicle information received within the second time period as the first target vehicle on the target road.

4. The vehicle positioning method according to claim 3, characterized in that: The method further comprises: The processing module determines a second target vehicle that is not on the target road, the second target vehicle being a vehicle whose vehicle identification information exists in the first vehicle information received within the first time period and does not exist in the second vehicle information received within the second time period; The processing module sends information that the second target vehicle is not on the target road to the second target vehicle, so that the second target vehicle can determine the location of the second target vehicle; or, The processing module determines the road where the second target vehicle is located according to the road information of the target road, and sends the road information of the corresponding road to the second target vehicle so that the second target vehicle can determine the location of the second target vehicle.

5. The vehicle positioning method according to claim 3, characterized in that: The first vehicle information includes vehicle identification information of the vehicle, and the second vehicle information is vehicle image information, and the vehicle image information includes vehicle identification information of the vehicle.

6. The vehicle positioning method according to claim 3, characterized in that: The vehicle identification information includes license plate information.

7. The vehicle positioning method according to claim 1, characterized in that: The vehicle includes an on-board unit, and the first communication module establishes a communication connection with the on-board unit of a vehicle that enters a communication range of the first communication module to obtain vehicle information of the corresponding vehicle.

8. The vehicle positioning method according to claim 1, characterized in that: The road information includes any one of the following information: The vehicle's position information relative to the main and auxiliary roads; The vehicle's up and down position information relative to the elevated road; The vehicle's up and down position information corresponding to the bridge.

9. A vehicle navigation method, characterized in that: Applied to a vehicle, the method comprises: Determine the location of the vehicle, wherein the location is obtained according to the vehicle positioning method according to any one of claims 1 to 8; Vehicle navigation is performed according to the location and the vehicle navigation.

10. A vehicle positioning system, characterized in that: The vehicle positioning system includes a roadside system and a vehicle. The roadside system is arranged on the roadside of a target road. The roadside system includes a vehicle detection module, an image acquisition module, a processing module and a first communication module. The image acquisition module is respectively connected to the vehicle detection module and the processing module. The processing module is connected to the first communication module. The processing module stores the road information of the target road. The processing module is used to determine a first target vehicle located on the target road according to first vehicle information received within a first time period and second vehicle information received within a second time period, and send the road information of the target road to the first target vehicle, wherein the first vehicle information is vehicle information sent by a vehicle that establishes a communication connection with the roadside system through the first communication module, and the vehicle establishes a communication connection with the first communication module when it is located within the communication range of the first communication module, and the second vehicle information is vehicle information sent by the image acquisition module and obtained by the image acquisition module when the vehicle detection module detects that the vehicle passes through the roadside system; The first target vehicle is used to determine the location of the first target vehicle according to the road information of the target road sent by the processing module.

11. The vehicle positioning system according to claim 10, characterized in that: The roadside system further includes a control module and a second communication module, wherein a communication connection is established between the control module and the vehicle detection module, the image acquisition module and the second communication module, and a communication connection is established between the second communication module and the processing module, wherein: The vehicle detection module is used to detect a vehicle passing through the vehicle detection module, and send the notification message to the control module when a vehicle is detected passing through the roadside system; The control module is used to generate an image acquisition instruction according to the notification information and send it to the image acquisition module; The image acquisition module is used to capture the vehicle according to the image acquisition instruction to obtain corresponding vehicle information and send it to the control module; The control module is used to send the vehicle information collected by the image collection module to the processing module through the second communication module.

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