Vehicle positioning method, device and equipment and storage medium

Abstract

The invention belongs to the technical field of vehicle positioning, and discloses a vehicle positioning method, device and equipment and a storage medium. The method comprises the following steps: accessing a wireless network provided by a signal auxiliary unit, and reading differential correction data from a positioning reference base station through the wireless network; detecting the number of signal auxiliary units which can be connected with the vehicle at the same time, and detecting whether a global positioning system of the vehicle is available or not; and if a plurality of signal auxiliary units which can be connected at the same time are available and the global positioning system is available, performing positioning correction according to the positioning data of the global positioning system and the differential correction data, and generating the positioning information of the vehicle. The signal auxiliary unit is used for accessing the positioning reference base station to obtain the differential correction data of the positioning reference base station to calibrate the positioning data of the global positioning system in the vehicle, so that the vehicle does not need to be connected with the positioning reference base station, and the positioning data of the global positioning system in the vehicle can be calibrated even if the signal connection between the vehicle and the positioning reference base station cannot be ensured. And accurate positioning of the vehicle can also be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle positioning, and in particular to a vehicle positioning method, device, equipment and storage medium. Background Art

[0002] At present, with the development of positioning technology, it is possible to accurately locate the position of the vehicle. However, the necessary conditions for achieving this precise positioning are: the Global Navigation Satellite System (GNSS) signal installed in the vehicle is good, the system positioning is available, and the vehicle's communication network can communicate normally with the positioning reference base station.

[0003] However, in some areas with weak signals (referred to as signal weakening areas, such as inside tunnels), the vehicle's signal will be poor, the global positioning system may not be available, and there may be data loss or even signal disconnection between the vehicle and the positioning reference base station, making it difficult to accurately locate the vehicle in such areas. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle positioning method, device, equipment and storage medium, aiming to solve the technical problem that the prior art is difficult to achieve accurate vehicle positioning in areas with weak signals.

[0005] To achieve the above object, the present invention provides a vehicle positioning method, the method comprising the following steps:

[0006] Accessing a wireless network provided by a signal auxiliary unit, and reading differential correction data from a positioning reference base station through the wireless network, wherein a base station access client is provided in the signal auxiliary unit, and the positioning reference base station is accessed through the base station access client;

[0007] Detecting the number of signal aiding units to which the vehicle can be connected simultaneously and detecting whether the vehicle's global positioning system is available;

[0008] If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is available, positioning correction is performed according to the positioning data of the global positioning system and the differential correction data to generate the positioning information of the vehicle.

[0009] Optionally, after detecting the number of signal auxiliary units to which the vehicle can be connected simultaneously and detecting whether the global positioning system of the vehicle is available, the method further includes:

[0010] If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, selecting a positioning auxiliary unit from the signal auxiliary units that can be connected simultaneously;

[0011] Perform triangulation positioning according to the positioning auxiliary unit to obtain vehicle triangulation positioning data;

[0012] Positioning correction is performed based on the vehicle triangulation positioning data and the differential correction data to generate positioning information of the vehicle.

[0013] Optionally, if there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, selecting a positioning auxiliary unit from the signal auxiliary units that can be connected simultaneously includes:

[0014] If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, obtaining the position information, distance information and message set signal information of each signal auxiliary unit that can be connected simultaneously relative to the vehicle;

[0015] generating a location evaluation score according to the location information, generating a distance evaluation score according to the distance information, and generating a signal evaluation score according to the message set signal information;

[0016] Constructing a unit election score corresponding to each simultaneously connectable signal auxiliary unit based on the position evaluation score, the distance evaluation score, and the signal evaluation score according to a preset weight coefficient;

[0017] A positioning auxiliary unit is selected from the signal auxiliary units that can be connected simultaneously according to the unit election score.

[0018] Optionally, performing positioning correction according to the vehicle triangulation positioning data and the differential correction data to generate positioning information of the vehicle includes:

[0019] Acquiring positioning data of an inertial navigation system in the vehicle;

[0020] A positioning correction is performed based on the vehicle triangulation positioning data, the positioning data of the inertial navigation system and the differential correction data to generate the positioning information of the vehicle.

[0021] Optionally, after detecting the number of signal auxiliary units to which the vehicle can be connected simultaneously and detecting whether the global positioning system of the vehicle is available, the method further includes:

[0022] If the number of the units is one and the global positioning system is unavailable, obtaining positioning data of an inertial navigation system in the vehicle;

[0023] A positioning correction is performed according to the positioning data of the inertial navigation system and the differential correction data to generate the positioning information of the vehicle.

[0024] Optionally, the accessing a wireless network provided by the signal auxiliary unit and reading differential correction data from a positioning reference base station through the wireless network includes:

[0025] Real-time monitoring of broadcast data around the vehicle;

[0026] If broadcast data is detected, extracting broadcast initiator information from the broadcast data;

[0027] Determining whether there is a signal auxiliary unit around the vehicle according to the broadcast initiator information;

[0028] If so, the wireless network provided by the signal auxiliary unit is accessed, and the differential correction data is read from the positioning reference base station through the wireless network.

[0029] Optionally, the real-time monitoring of broadcast data around the vehicle includes:

[0030] Obtain vehicle navigation information of the vehicle;

[0031] determining whether the vehicle is about to enter a signal weakening area according to the vehicle navigation information;

[0032] If you are about to enter an area with weak signals, the broadcast data around the vehicle will be monitored in real time.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle positioning device, the vehicle positioning device comprising:

[0034] An access module, used to access a wireless network provided by a signal auxiliary unit, and read differential correction data from a positioning reference base station through the wireless network. A base station access client is provided in the signal auxiliary unit, and the positioning reference base station is accessed through the base station access client;

[0035] A detection module, used to detect the number of signal auxiliary units to which the vehicle can be connected at the same time, and to detect whether the global positioning system of the vehicle is available;

[0036] The positioning module is used to make positioning corrections according to the positioning data of the global positioning system and the differential correction data to generate the positioning information of the vehicle if there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is available.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle positioning device, which includes: a processor, a memory, and a vehicle positioning program stored in the memory and executable on the processor, and the vehicle positioning program implements the steps of the vehicle positioning method described above when executed by the processor.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium, on which a vehicle positioning program is stored, and when the vehicle positioning program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0039] The present invention accesses a wireless network provided by a signal auxiliary unit, and reads differential correction data from a positioning reference base station through the wireless network; detects the number of signal auxiliary units that a vehicle can connect to at the same time, and detects whether the vehicle's global positioning system is available; if there are multiple signal auxiliary units that can be connected at the same time, and the global positioning system is available, positioning correction is performed based on the positioning data of the global positioning system and the differential correction data, and the vehicle's positioning information is generated. Since the signal auxiliary unit is used to access the positioning reference base station, the differential correction data of the positioning reference base station is obtained to calibrate the positioning data of the global positioning system in the vehicle, and the vehicle does not need to connect to the positioning reference base station by itself, even when the signal connection between the vehicle and the positioning reference base station cannot be guaranteed, the vehicle can be accurately positioned. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of an electronic device in a hardware operating environment involved in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a flow chart of a first embodiment of a vehicle positioning method of the present invention;

[0042] Figure 3 It is a flow chart of the second embodiment of the vehicle positioning method of the present invention;

[0043] Figure 4 A schematic diagram of a flow chart of a third embodiment of a vehicle positioning method of the present invention;

[0044] Figure 5 A schematic diagram of the distribution of signal auxiliary units in a tunnel scenario according to an embodiment of the present invention;

[0045] Figure 6 A flow chart showing the overall execution of a vehicle positioning method according to an embodiment of the present invention;

[0046] Figure 7 This is a structural block diagram of the first embodiment of the vehicle positioning device of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] Reference Figure 1 , Figure 1 The present invention is a schematic diagram of the structure of a vehicle positioning device in the hardware operating environment involved in the embodiment of the present invention.

[0050] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0052] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle positioning program.

[0053] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in a vehicle positioning device, and the electronic device calls the vehicle positioning program stored in the memory 1005 through the processor 1001, and executes the vehicle positioning method provided in an embodiment of the present invention.

[0054] The embodiment of the present invention provides a vehicle positioning method, referring to Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a vehicle positioning method according to the present invention.

[0055] In this embodiment, the vehicle positioning method includes the following steps:

[0056] Step S10: Accessing a wireless network provided by the signal auxiliary unit, and reading differential correction data from the positioning reference base station through the wireless network.

[0057] It should be noted that the execution subject of this embodiment can be the vehicle itself or a vehicle positioning device arranged in the vehicle. The vehicle positioning device can be a controller arranged in the vehicle, such as an ECU controller, or other devices that can achieve the same or similar functions. This embodiment is not limited to this. In this embodiment and the following embodiments, the vehicle positioning method of the present invention is described by taking the vehicle positioning device as an example.

[0058] It should be noted that the signal auxiliary unit can be a device installed in an area with weak signals or around an area with weak signals to assist the vehicle in connecting to a positioning reference base station. The signal auxiliary unit can be an additional device or an improved existing device. For example, taking areas with weak signals such as tunnels as an example, the signal auxiliary unit can be an additional device installed in or around the tunnel; or the road side unit (RSU) originally installed in the tunnel can be improved accordingly and the improved road side unit can be used as a signal auxiliary unit.

[0059] In actual use, a base station access client is set in the signal auxiliary unit, and the positioning reference base station is accessed through the base station access client. For example, the signal auxiliary unit can be configured with an RTK receiver and equipped with a base station access client (NTRIP client). The positioning reference base station is connected through the NTRIP client, and the RTCM data fed back by the positioning reference base station is received. The default port of the NTRIP client is 2101. When accessing, you can log in to the corresponding NTRIP account to obtain the RTCM data stream from the positioning reference base station in real time.

[0060] It should be noted that the positioning reference base station may be a GNSS receiver with a known precise position, which is usually located at a fixed location.

[0061] Among them, static positioning is used when locating the positioning reference base station. After the positioning reference base station is installed, a long period of static observation will be carried out. Through this method, a large amount of satellite signals and data can be received by using the Global Navigation Satellite System (GNSS) receiver, and precise post-processing and calculation can be performed to obtain the high-precision position of the positioning reference base station;

[0062] In addition, you can also use locations that have been surveyed and have precise locations. If the positioning reference base station is installed on a known point whose location has been determined in advance through precise measurement, in this case, the positioning data of the positioning reference base station can directly use the coordinates of the known point. These known points are usually high-precision reference points provided by relevant surveying and mapping departments.

[0063] Afterwards, the positioning reference base station will receive signals from multiple satellites and calculate its own position based on these signals. Since the position of the reference station is highly precise and known, the difference between its observed value (i.e., the position calculated based on the signal) and the theoretical value (i.e., the high-precision and known position of the reference station) can be calculated at this time, i.e., the pseudorange correction number. This pseudorange correction number can be used as positioning reference data for the vehicle to calibrate the positioning data, and can also be called differential correction data.

[0064] In a specific implementation, the signal auxiliary unit will establish a wireless network (such as a LAN component and provide a WIFI connection). After the vehicle positioning device accesses the wireless network of the signal auxiliary unit component, it can communicate with the signal auxiliary unit through the wireless network. At this time, the vehicle positioning device can access the signal auxiliary unit through the wireless network, and use the signal auxiliary unit to communicate with the positioning reference base station, thereby ensuring that differential correction data can be obtained from the positioning reference base station.

[0065] Step S20: Detect the number of signal auxiliary units to which the vehicle can be connected simultaneously, and detect whether the global positioning system of the vehicle is available.

[0066] It should be noted that the signal auxiliary units that the vehicle can connect to simultaneously may be the current moment, and the signal coverage may cover all signal auxiliary units of the vehicle. Detecting whether the global positioning system of the vehicle is available may be detecting whether the signal strength of the global positioning system in the vehicle is higher than a preset signal threshold. If it is higher than the preset signal threshold, it can be determined that the global positioning system in the vehicle is available.

[0067] The preset signal threshold can be pre-calibrated by the manager of the vehicle positioning device. If the signal strength of the global positioning system is higher than the preset signal threshold, it means that the global positioning system can be used normally without data packet loss or disconnection. At the same time, if the global positioning system is not installed in the vehicle, it can be directly determined that the global positioning system is unavailable.

[0068] In actual use, in order to facilitate the vehicle to determine whether the signal auxiliary unit can be connected, the signal auxiliary unit can periodically send broadcast data within its signal coverage area. The vehicle can determine the number of signal auxiliary units that can be connected simultaneously based on the number of broadcast data received from different signal auxiliary units.

[0069] For example, if a vehicle receives broadcast data sent by three different signal auxiliary units at the same time, the number of signal auxiliary units that can be connected at the same time is 3.

[0070] Step S30: If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is available, a positioning correction is performed according to the positioning data of the global positioning system and the differential correction data to generate the positioning information of the vehicle.

[0071] It should be noted that if there are multiple signal auxiliary units that can be connected at the same time and the global positioning system in the vehicle is available, the positioning data and differential correction data of the global positioning system can be differentially processed at this time. Through differential processing, the differential correction data can be used to correct the positioning data of the global positioning system in the vehicle (which can also be called correction or correction), thereby generating accurate vehicle positioning information.

[0072] Among them, when making positioning corrections, RTK (Real Time Kinematic) carrier phase differential technology can be used to perform differential processing on the positioning data and differential correction data. Through the differential processing algorithm, the differential correction data is used to perform positioning correction on the positioning data of the global positioning system to improve the accuracy of the positioning data. Of course, other differential technologies with the same or similar functions can also be used for differential processing, and this embodiment does not limit this.

[0073] It can be understood that since the wireless network provided by the signal auxiliary unit is used to access the signal auxiliary unit, the signal auxiliary unit is used to access the positioning reference base station, and the differential correction data of the positioning reference base station is used to calibrate the positioning data of the global positioning system in the vehicle, during this process, there is no need for the vehicle to connect to the positioning reference base station by itself. Even when the signal connection between the vehicle and the positioning reference base station cannot be guaranteed, accurate positioning of the vehicle can be achieved.

[0074] In actual use, as the vehicle travels, the road section ahead may change, and the number of signal auxiliary units that can be connected simultaneously may also change. After step S30 in this embodiment, the vehicle can continue to detect that the road section ahead may change, as well as the number of signal auxiliary units that can be connected simultaneously, and return to execute step S10 when necessary.

[0075] In a specific implementation, in order to quickly determine whether there is an accessible signal auxiliary unit, step S10 in this embodiment may include:

[0076] Real-time monitoring of broadcast data around the vehicle;

[0077] If broadcast data is detected, extracting broadcast initiator information from the broadcast data;

[0078] Determining whether there is a signal auxiliary unit around the vehicle according to the broadcast initiator information;

[0079] If so, the wireless network provided by the signal auxiliary unit is accessed, and the differential correction data is read from the positioning reference base station through the wireless network.

[0080] It should be noted that in order to facilitate vehicles to discover the signal auxiliary unit, the signal auxiliary unit will periodically send broadcast data within its signal coverage area. The broadcast data may include the originator information of the broadcast data. The originator information may include the unit information of the signal auxiliary unit that sends the broadcast data, such as the unit name, unit type, unit connection method, etc.

[0081] In order to quickly determine whether there is an accessible signal auxiliary unit, the vehicle can monitor the broadcast data around the vehicle in real time, and when the broadcast data is detected, the broadcast data can be analyzed to extract the broadcast initiator information. Afterwards, the broadcast initiator information can be detected to determine whether the broadcast data is sent by the signal auxiliary unit, thereby quickly determining whether there is a signal auxiliary unit around the vehicle.

[0082] In actual use, if there is a signal auxiliary unit around the vehicle, the vehicle can access the wireless network provided by the signal auxiliary unit and read the differential correction data from the positioning reference base station through the wireless network.

[0083] In a specific implementation, in order to avoid unnecessary resource consumption, the step of real-time monitoring of broadcast data around the vehicle in this embodiment may include:

[0084] Obtain vehicle navigation information of the vehicle;

[0085] determining whether the vehicle is about to enter a signal weakening area according to the vehicle navigation information;

[0086] If you are about to enter an area with weak signals, the broadcast data around the vehicle will be monitored in real time.

[0087] It should be noted that the vehicle navigation information can be obtained from the navigation software in the vehicle, and the vehicle navigation information may include the driving route information, the starting point, the destination, and the vehicle's current location information in the navigation. The signal weakening area may be an area that causes the signal in the vehicle to weaken, such as a tunnel, a valley, etc.

[0088] In actual use, based on the driving route information in the vehicle navigation information, it can be determined whether there is a signal weakened area in the vehicle's driving route, and based on the vehicle's current position information in the navigation in the vehicle navigation information, the relative distance between the vehicle and the signal weakened area in the vehicle's driving route can be determined. If the relative distance is less than the preset interval distance threshold, it can be determined that the vehicle is about to enter the signal weakened area.

[0089] Among them, the preset interval distance threshold can be set in advance by the manager of the vehicle positioning equipment. For example, if the preset interval distance threshold is set to 500 meters, when it is determined according to the vehicle navigation information that there is a signal weakening area in front of the vehicle, when the distance between the vehicle and the signal weakening area is less than or equal to 500 meters, it can be determined that the vehicle is about to enter the signal weakening area.

[0090] It is understandable that if a vehicle is about to enter a signal weakening area, it means that the vehicle may experience signal weakening for a certain period of time thereafter, which may make it difficult to locate the vehicle. Therefore, the broadcast data around the vehicle can be monitored in real time to detect whether there are signal auxiliary units in the surrounding area.

[0091] This embodiment accesses the wireless network provided by the signal auxiliary unit, reads the differential correction data from the positioning reference base station through the wireless network; detects the number of signal auxiliary units that the vehicle can connect to at the same time, and detects whether the vehicle's global positioning system is available; if there are multiple signal auxiliary units that can be connected at the same time, and the global positioning system is available, then the positioning correction is made according to the positioning data of the global positioning system and the differential correction data to generate the vehicle's positioning information. Since the signal auxiliary unit is used to access the positioning reference base station, the differential correction data of the positioning reference base station is obtained to calibrate the positioning data of the global positioning system in the vehicle, and the vehicle does not need to connect to the positioning reference base station by itself, even when the signal connection between the vehicle and the positioning reference base station cannot be guaranteed, the vehicle can be accurately positioned.

[0092] refer to Figure 3 , Figure 3 The figure is a flow chart of a second embodiment of a vehicle positioning method according to the present invention.

[0093] Based on the first embodiment, the vehicle positioning method of this embodiment further includes, after step S20:

[0094] Step S30': if there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, a positioning auxiliary unit is selected from the signal auxiliary units that can be connected simultaneously.

[0095] It should be noted that if the global positioning system is unavailable, it means that it is difficult to locate the vehicle through the global positioning system. However, since the setting position of the signal auxiliary unit is actually fixed, and there are multiple signal auxiliary units that can be connected at the same time, the relative position between the signal auxiliary unit and the vehicle can be used to locate the vehicle using triangulation positioning. At this time, in order to facilitate positioning, a positioning auxiliary unit can be selected from the signal auxiliary units that can be connected at the same time.

[0096] Since triangulation positioning requires at least two devices in different positions to be implemented, at least two positioning auxiliary units may be selected.

[0097] It can be understood that if there are only two signal auxiliary units that can be connected simultaneously, they can be directly used as positioning auxiliary units, and if there are more than two, further selection can be made.

[0098] In a specific implementation, in order to select a suitable signal auxiliary unit as the positioning auxiliary unit, step S30' in this embodiment may include:

[0099] If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, obtaining the position information, distance information and message set signal information of each signal auxiliary unit that can be connected simultaneously relative to the vehicle;

[0100] generating a location evaluation score according to the location information, generating a distance evaluation score according to the distance information, and generating a signal evaluation score according to the message set signal information;

[0101] Constructing a unit election score corresponding to each simultaneously connectable signal auxiliary unit based on the position evaluation score, the distance evaluation score, and the signal evaluation score according to a preset weight coefficient;

[0102] A positioning auxiliary unit is selected from the signal auxiliary units that can be connected simultaneously according to the unit election score.

[0103] It should be noted that the location information may be the direction of the signal assistance unit relative to the vehicle, for example: the signal assistance unit is located directly in front of the vehicle, in front of the left, etc.; the distance information may be the interval distance between the signal assistance unit and the vehicle; the message set signal information may be the MAP message set received by the vehicle from the signal assistance unit; the key of the key-value pair in the MAP message set may be the unit identifier of the signal assistance unit (such as name, number, etc.), and the value in the key-value pair may be the signal strength.

[0104] In actual use, since the vehicle is in motion, the more the position information corresponding to the signal auxiliary unit matches the vehicle's driving direction, the stronger its reference function is, and the longer the relative reference time is, the better its effect as a positioning auxiliary unit is. Therefore, when generating a position evaluation score based on the position information, the position evaluation score can be set according to the degree of match between the position information and the vehicle's driving direction. The higher the degree of match, the greater the position evaluation score.

[0105] In practical applications, the closer the signal auxiliary unit is to the vehicle, the less likely its signal is to be interfered with and the stronger its reference effect is. Therefore, the corresponding distance evaluation score can be set according to the distance information. The larger the distance value in the distance information, the smaller the distance evaluation score.

[0106] However, if the distance is too close, the interval distance obtained during triangulation may be inaccurate. Therefore, when generating a distance assessment score based on the distance information, a preset distance threshold can be set. When the distance value in the distance information is equal to the preset distance threshold, the distance assessment score is the largest. If it is greater than or less than the preset distance threshold, the distance assessment score is reduced. The preset distance threshold and the extent of the distance assessment score reduction can be set in advance by the manager of the vehicle positioning equipment.

[0107] In actual application, the stronger the signal when the signal auxiliary unit communicates with the vehicle, the higher the credibility of the signal auxiliary unit when used for positioning. Therefore, when setting the signal evaluation score based on the signal information, the greater the signal strength in the signal information, the greater the signal evaluation score.

[0108] The value ranges of the location evaluation score, distance evaluation score, and signal evaluation score can all be [0, 100].

[0109] It should be noted that when evaluating whether a signal auxiliary unit is suitable as a positioning auxiliary unit in terms of position, distance, signal, etc., the importance of each aspect is different. For this reason, the vehicle positioning device can pre-set corresponding weights for the position, distance, and signal, that is, generate a preset weight coefficient. At this time, in order to facilitate the selection of the positioning auxiliary unit, after obtaining the position evaluation score, distance evaluation score and signal evaluation score, the position evaluation score, distance evaluation score and signal evaluation score are weighted and summed according to the preset weight coefficient, thereby generating a unit election score corresponding to each signal auxiliary unit that can be connected simultaneously.

[0110] For example: assuming that the position evaluation score corresponding to the signal auxiliary unit is A, the distance evaluation score is B, and the signal evaluation score is C, and the position weight coefficient in the preset weight coefficients is a, the distance weight coefficient is b, and the signal weight coefficient is c, then the unit election score corresponding to the signal auxiliary unit is S = a*A+b*B+c*C.

[0111] Among them, the preset weight coefficients can be pre-set by the administrator of the vehicle positioning device, for example: the position weight coefficient in the preset weight coefficients is set to 0.3, the distance weight coefficient is set to 0.3, and the signal weight coefficient is set to 0.4.

[0112] In actual use, selecting a positioning auxiliary unit from the simultaneously connectable signal auxiliary units according to the unit election score can be to sort the simultaneously connectable signal auxiliary units from large to small according to the corresponding unit election score, and select the top N signal auxiliary units in the sorting result as the positioning auxiliary unit, where N is the number of pre-set positioning auxiliary units.

[0113] Step S40': performing triangulation positioning according to the positioning auxiliary unit to obtain vehicle triangulation positioning data.

[0114] It should be noted that when performing triangulation positioning, the direction of the positioning auxiliary unit relative to the vehicle and the distance between the positioning auxiliary unit and the vehicle can be obtained, and then triangulation positioning is performed based on the direction and distance to determine the vehicle's location information, thereby obtaining the vehicle's triangulation positioning data.

[0115] The distance between the positioning auxiliary unit and the vehicle can be determined by the time difference between the data sent by the positioning auxiliary unit and the arrival of the data at the vehicle and the data transmission speed.

[0116] For example, the current speed of the vehicle, the time difference between the timestamp sent by the positioning auxiliary unit and the timestamp received by the vehicle can be combined to calculate the distance between the positioning auxiliary unit and the vehicle and the distance traveled by the vehicle from the time difference, thereby achieving triangulation of the vehicle.

[0117] Step S50 ′: performing positioning correction according to the vehicle triangulation positioning data and the differential correction data to generate positioning information of the vehicle.

[0118] It should be noted that although the global positioning system in the vehicle is currently unavailable due to signal and other reasons, multiple positioning auxiliary units can be used to achieve triangulated positioning, thereby obtaining vehicle triangulated positioning data with relatively accurate positioning. Afterwards, positioning correction is performed on the vehicle triangulated positioning data and differential correction data. Through positioning correction, the vehicle triangulated positioning data is corrected using the differential correction data (also known as correction or correction) to generate vehicle positioning information that is more accurate than the vehicle triangulated positioning data.

[0119] Among them, when performing positioning correction on the vehicle triangulation positioning data and differential correction data, the method adopted can be any one of the processing methods such as Kalman filtering, data fusion interpolation, weighted averaging, maximum likelihood, etc., or a combination of multiple methods. Of course, it can also be other processing methods with the same or similar functions, and this embodiment does not limit this.

[0120] In a specific implementation, the reliability of the vehicle positioning data may be further improved by combining the vehicle's inertial navigation. In this case, step S50 in this embodiment may include:

[0121] Acquiring positioning data of an inertial navigation system in the vehicle;

[0122] A positioning correction is performed based on the vehicle triangulation positioning data, the positioning data of the inertial navigation system and the differential correction data to generate the positioning information of the vehicle.

[0123] It should be noted that the dead reckoning (DR) system may be a system that is set in a vehicle and estimates the current position based on a known initial position and subsequent motion parameters (such as speed, acceleration, and direction change).

[0124] In actual use, the positioning data of the inertial navigation system can also be combined with the vehicle's triangulation positioning data and differential correction data to make positioning corrections. By combining the positioning data generated by the inertial navigation system, the reliability of the final generated positioning information can be further improved.

[0125] Among them, when performing positioning correction on the positioning data of the inertial navigation system, the vehicle triangulation positioning data and the differential correction data, the method adopted can be any one of the processing methods such as Kalman filtering, data fusion interpolation, weighted averaging, maximum likelihood, etc., or a combination of multiple methods. Of course, it can also be other processing methods with the same or similar functions, and this embodiment does not limit this.

[0126] In this embodiment, when there are multiple signal auxiliary units that can be connected to the vehicle at the same time and the global positioning system of the vehicle is unavailable, the signal auxiliary units are used to triangulate the vehicle to generate vehicle triangulation positioning data, and the triangulation positioning data is corrected with the differential correction data to generate the vehicle's positioning information, thereby ensuring that the vehicle can still be accurately positioned even if the global positioning system is unavailable.

[0127] refer to Figure 4 , Figure 4 The figure is a flow chart of a third embodiment of a vehicle positioning method according to the present invention.

[0128] Based on the first embodiment, the vehicle positioning method of this embodiment further includes, after step S20:

[0129] Step S30": if the number of the unit is one and the global positioning system is unavailable, then obtaining positioning data of the inertial navigation system in the vehicle.

[0130] It should be noted that the dead reckoning (DR) system may be a system that is set in a vehicle and estimates the current position based on a known initial position and subsequent motion parameters (such as speed, acceleration, and direction change).

[0131] It is understandable that if there is only one signal auxiliary unit that can be connected at the same time, then the signal auxiliary unit cannot be used for triangulation positioning. In order to ensure that the vehicle can also be positioned, the positioning data of the inertial navigation system in the vehicle can be obtained.

[0132] In specific applications, if there is only one signal auxiliary unit that can be connected at the same time, but the global positioning system is available, the differential correction data can still be obtained from the positioning reference base station through the connectable signal auxiliary unit. After that, the positioning data of the global positioning system and the differential correction data are differentially processed to generate the vehicle's positioning information.

[0133] If there is no signal auxiliary unit that can be connected at the same time and the global positioning system is not available, the vehicle positioning method provided by the present application cannot be applied at this time. At this time, the vehicle positioning information can only be generated by relying on the positioning data of the inertial navigation system in the vehicle.

[0134] Step S40": performing positioning correction according to the positioning data of the inertial navigation system and the differential correction data to generate positioning information of the vehicle.

[0135] It is understandable that the positioning data of a single inertial navigation system is actually relatively low in accuracy. In order to improve the positioning accuracy as much as possible, positioning correction can be made based on the positioning data and differential correction data of the inertial navigation system. Through positioning correction, the positioning data of the inertial navigation system is corrected using the differential correction data, in an attempt to improve the accuracy of vehicle positioning and generate vehicle positioning information.

[0136] Among them, when making positioning correction based on the positioning data and differential correction data of the inertial navigation system, a corresponding differential processing algorithm can be used. Of course, other methods can also be used, such as Kalman filtering, data fusion interpolation, weighted averaging, maximum likelihood, etc. This embodiment does not limit this.

[0137] For ease of understanding, now combined Figure 5 and 6 This is for illustration only, but not for limitation. Figure 5 This is a schematic diagram of the distribution of signal auxiliary units in a tunnel scenario in this embodiment. Figure 6This is an overall execution flow chart of the vehicle positioning method of this embodiment.

[0138] like Figure 5 As shown, taking the tunnel as an example, the original roadside unit RSU in the tunnel can be transformed and used as a signal auxiliary unit. Each RSU can be combined to build a wireless network. At this time, when the vehicle is driving during navigation (ANT), it enters the tunnel and connects to the network of the RSU in the tunnel. Through the positioning of the RSU and the base station, the differential correction data required for RTK positioning is obtained. After that, the positioning data of the global positioning system in the vehicle and the differential correction data are differentially processed through the differential correction data to generate the vehicle's positioning information. There are multiple RSUs in the tunnel. During the driving process, the vehicle can continuously switch the connected RSU and access the wireless network through the connected RSU, thereby realizing the positioning of the vehicle.

[0139] Taking tunnel as an example, the overall execution process of the vehicle positioning method can be as follows: Figure 6 As shown, during the driving process of the vehicle, if a connectable RSU is detected (i.e., the broadcast data sent by the RSU is received), the connection with the RSU can be established at this time, and further detection can be made as to whether there is a tunnel ahead (i.e., whether the vehicle is about to enter a signal weakening area). If not, the current round of operation can be ended and monitoring can be continued; if the vehicle is about to enter a signal weakening area, the number of connectable RSUs (i.e., the number of signal auxiliary units that the vehicle can connect to at the same time) can be further detected;

[0140] If the number of RSUs is 1, it is possible to further detect whether the global positioning system (GNSS) is available. If the GNSS is available, the positioning data of the GNSS and the differential correction data (RTK data) are used for positioning, and the positioning information of the vehicle is generated and output. After that, it is possible to continue to detect whether there is a tunnel ahead and detect the number of RSUs that can be connected.

[0141] If GNSS is unavailable, the positioning data of the inertial navigation system (DR) and the differential correction data (RTK data) can be differentially processed to generate and output the vehicle's positioning information. After that, it can continue to detect whether there is a tunnel ahead and the number of RSUs that can be connected.

[0142] If the number of RSUs is 2 or more, it is possible to further detect whether GNSS is available. If GNSS is available, the positioning data of GNSS and differential correction data (RTK data) are used for positioning, and the positioning information of the vehicle is generated and output. After that, it is possible to continue to detect whether there is a tunnel ahead and the number of RSUs that can be connected.

[0143] If GNSS is not available, the positioning auxiliary unit can be selected for triangulation positioning. Based on the vehicle triangulation positioning data, the positioning data of the inertial navigation system (DR) and the differential correction data (RTK data) are combined for differential processing to generate and output the vehicle's positioning information. After that, it can continue to detect whether there is a tunnel ahead and detect the number of RSUs that can be connected.

[0144] If the number of RSUs is 0, it means that the signal auxiliary unit cannot be used for positioning. At this time, you can continue to detect whether there is a tunnel ahead and detect the number of connectable RSUs.

[0145] In this embodiment, when the vehicle can connect to only one signal auxiliary unit at the same time and the global positioning system of the vehicle is unavailable, positioning correction is performed based on the differential correction data and the positioning data of the inertial navigation system to generate the vehicle's positioning information, thereby ensuring that even if the global positioning system is unavailable and triangulation positioning cannot be used, the vehicle can still be positioned more accurately.

[0146] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle positioning program is stored. When the vehicle positioning program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0147] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the vehicle positioning device of the present invention.

[0148] like Figure 7 As shown, the vehicle positioning device proposed in the embodiment of the present invention includes:

[0149] The access module 10 is used to access the wireless network provided by the signal auxiliary unit, and read the differential correction data from the positioning reference base station through the wireless network. The signal auxiliary unit is provided with a base station access client, and the positioning reference base station is accessed through the base station access client;

[0150] A detection module 20, used to detect the number of signal auxiliary units that the vehicle can connect to at the same time, and to detect whether the global positioning system of the vehicle is available;

[0151] The positioning module 30 is used to make positioning correction according to the positioning data of the global positioning system and the differential correction data to generate the positioning information of the vehicle if there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is available.

[0152] This embodiment accesses the wireless network provided by the signal auxiliary unit, reads the differential correction data from the positioning reference base station through the wireless network; detects the number of signal auxiliary units that the vehicle can connect to at the same time, and detects whether the vehicle's global positioning system is available; if there are multiple signal auxiliary units that can be connected at the same time, and the global positioning system is available, then the positioning correction is made according to the positioning data of the global positioning system and the differential correction data to generate the vehicle's positioning information. Since the signal auxiliary unit is used to access the positioning reference base station, the differential correction data of the positioning reference base station is obtained to calibrate the positioning data of the global positioning system in the vehicle, and the vehicle does not need to connect to the positioning reference base station by itself, even when the signal connection between the vehicle and the positioning reference base station cannot be guaranteed, the vehicle can be accurately positioned.

[0153] Furthermore, the positioning module 30 is also used to select a positioning assistance unit from the signal assistance units that can be connected simultaneously if there are multiple signal assistance units that can be connected simultaneously and the global positioning system is unavailable; perform triangulation positioning according to the positioning assistance unit to obtain vehicle triangulation positioning data; perform positioning correction according to the vehicle triangulation positioning data and the differential correction data to generate the positioning information of the vehicle.

[0154] Furthermore, the positioning module 30 is also used to obtain the position information, distance information and message set signal information of each simultaneously connectable signal auxiliary unit relative to the vehicle if there are multiple simultaneously connectable signal auxiliary units and the global positioning system is unavailable; generate a position evaluation score according to the position information, generate a distance evaluation score according to the distance information, and generate a signal evaluation score according to the message set signal information; construct a unit election score corresponding to each simultaneously connectable signal auxiliary unit based on the position evaluation score, the distance evaluation score and the signal evaluation score according to a preset weight coefficient; and select a positioning auxiliary unit from the simultaneously connectable signal auxiliary units according to the unit election score.

[0155] Furthermore, the positioning module 30 is also used to obtain positioning data of the inertial navigation system in the vehicle; perform positioning correction according to the vehicle triangulation positioning data, the positioning data of the inertial navigation system and the differential correction data to generate the positioning information of the vehicle.

[0156] Furthermore, the positioning module 30 is also used to obtain positioning data of the inertial navigation system in the vehicle if the number of the units is one and the global positioning system is unavailable; perform positioning correction according to the positioning data of the inertial navigation system and the differential correction data to generate positioning information of the vehicle.

[0157] Furthermore, the access module 10 is also used to monitor the broadcast data around the vehicle in real time; if the broadcast data is monitored, the broadcast initiator information is extracted from the broadcast data; based on the broadcast initiator information, it is determined whether there is a signal auxiliary unit around the vehicle; if so, the wireless network provided by the signal auxiliary unit is accessed, and the differential correction data is read from the positioning reference base station through the wireless network.

[0158] Furthermore, the access module 10 is also used to obtain vehicle navigation information of the vehicle; determine whether the vehicle is about to enter a signal weakening area based on the vehicle navigation information; if the vehicle is about to enter a signal weakening area, monitor the broadcast data around the vehicle in real time.

[0159] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0160] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0161] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle positioning method provided in any embodiment of the present invention, and will not be repeated here.

[0162] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0163] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0164] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0165] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle positioning method, characterized in that: The vehicle positioning method comprises: Accessing a wireless network provided by a signal auxiliary unit, and reading differential correction data from a positioning reference base station through the wireless network, wherein a base station access client is provided in the signal auxiliary unit, and the positioning reference base station is accessed through the base station access client; Detecting the number of signal aiding units to which the vehicle can be connected simultaneously and detecting whether the vehicle's global positioning system is available; If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is available, positioning correction is performed according to the positioning data of the global positioning system and the differential correction data to generate the positioning information of the vehicle.

2. The vehicle positioning method according to claim 1, characterized in that: After detecting the number of signal auxiliary units to which the vehicle can be connected simultaneously and detecting whether the global positioning system of the vehicle is available, the method further includes: If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, selecting a positioning auxiliary unit from the signal auxiliary units that can be connected simultaneously; Perform triangulation positioning according to the positioning auxiliary unit to obtain vehicle triangulation positioning data; Positioning correction is performed based on the vehicle triangulation positioning data and the differential correction data to generate positioning information of the vehicle.

3. The vehicle positioning method according to claim 2, characterized in that: If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, selecting a positioning auxiliary unit from the signal auxiliary units that can be connected simultaneously includes: If there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is unavailable, obtaining the position information, distance information and message set signal information of each signal auxiliary unit that can be connected simultaneously relative to the vehicle; generating a location evaluation score according to the location information, generating a distance evaluation score according to the distance information, and generating a signal evaluation score according to the message set signal information; Constructing a unit election score corresponding to each simultaneously connectable signal auxiliary unit based on the position evaluation score, the distance evaluation score, and the signal evaluation score according to a preset weight coefficient; A positioning auxiliary unit is selected from the signal auxiliary units that can be connected simultaneously according to the unit election score.

4. The vehicle positioning method according to claim 2, characterized in that: The performing positioning correction according to the vehicle triangulation positioning data and the differential correction data to generate the positioning information of the vehicle includes: Acquiring positioning data of an inertial navigation system in the vehicle; A positioning correction is performed based on the vehicle triangulation positioning data, the positioning data of the inertial navigation system and the differential correction data to generate the positioning information of the vehicle.

5. The vehicle positioning method according to claim 1, characterized in that: After detecting the number of signal auxiliary units to which the vehicle can be connected simultaneously and detecting whether the global positioning system of the vehicle is available, the method further includes: If the number of the units is one and the global positioning system is unavailable, obtaining positioning data of an inertial navigation system in the vehicle; A positioning correction is performed according to the positioning data of the inertial navigation system and the differential correction data to generate the positioning information of the vehicle.

6. The vehicle positioning method according to any one of claims 1 to 5, characterized in that: The access signal auxiliary unit provides a wireless network, and reads differential correction data from a positioning reference base station through the wireless network, including: Real-time monitoring of broadcast data around the vehicle; If broadcast data is detected, extracting broadcast initiator information from the broadcast data; Determining whether there is a signal auxiliary unit around the vehicle according to the broadcast initiator information; If so, the wireless network provided by the signal auxiliary unit is accessed, and the differential correction data is read from the positioning reference base station through the wireless network.

7. The vehicle positioning method according to claim 6, characterized in that: The real-time monitoring of broadcast data around the vehicle includes: Obtain vehicle navigation information of the vehicle; determining whether the vehicle is about to enter a signal weakening area according to the vehicle navigation information; If you are about to enter an area with weak signals, the broadcast data around the vehicle will be monitored in real time.

8. A vehicle positioning device, characterized in that: The vehicle positioning device comprises: An access module, used to access a wireless network provided by a signal auxiliary unit, and read differential correction data from a positioning reference base station through the wireless network. A base station access client is provided in the signal auxiliary unit, and the positioning reference base station is accessed through the base station access client; A detection module, used to detect the number of signal auxiliary units to which the vehicle can be connected at the same time, and to detect whether the global positioning system of the vehicle is available; The positioning module is used to make positioning corrections according to the positioning data of the global positioning system and the differential correction data to generate the positioning information of the vehicle if there are multiple signal auxiliary units that can be connected simultaneously and the global positioning system is available.

9. A vehicle positioning device, characterized in that: The vehicle positioning device comprises: a processor, a memory, and a vehicle positioning program stored in the memory and executable on the processor, wherein the vehicle positioning program implements the steps of the vehicle positioning method according to any one of claims 1 to 7 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle positioning program, and when the vehicle positioning program is executed by the processor, the steps of the vehicle positioning method according to any one of claims 1 to 7 are implemented.

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