Unit and method for positioning motor vehicles in tunnel based on roadside monitoring camera

Abstract

The invention discloses a method and a unit for positioning a motor vehicle in a tunnel based on a roadside monitoring camera, the unit comprises a central processor module (520) and an antenna module (510), the antenna module (510) is configured to receive information from a roadside base station (200), the information comprises a coordinate position in the tunnel of a monitoring camera (700) shooting a motor vehicle located in the tunnel (600), and the central processor module (520) is configured to determine the coordinate position of the motor vehicle in the tunnel based on the received coordinate position of the monitoring camera (700); factors considered in the determination include but are not limited to a shooting range and a shooting angle of the monitoring camera (700).

Description

Technical Field

[0001] The present application generally relates to a unit and method for locating a motor vehicle traveling in a tunnel using a roadside video monitoring device (particularly a surveillance camera). Background Art

[0002] Navigation devices are increasingly being used in motor vehicles to provide drivers with necessary services such as map positioning and driving route planning. For example, such navigation devices may include, but are not limited to, mobile phones, tablet computers, and in-vehicle navigation instruments, which use their respective screens to display a map of the area where the motor vehicle is located to the driver, and at the same time mark the real-time updated current location of the motor vehicle on the displayed map.

[0003] Usually, the navigation device can determine the current position of the motor vehicle using a specific algorithm after establishing wireless communication with a global navigation satellite system (GNSS) such as GPS, Beidou navigation system, etc., or with a base station of a system using RTK (real-time kinematic) carrier phase differential technology combined with GNSS. However, after the motor vehicle enters a mountain tunnel or an undersea tunnel, the signal is blocked by mountains, undersea rocks or seawater, so the navigation device cannot establish communication with the base station of the global navigation satellite system or RTK system, and thus cannot accurately determine the current position of the motor vehicle in real time. Although the navigation device can use some offline algorithms to calculate the position of the motor vehicle in the tunnel by the position, speed, and heading angle before the loss of contact with the global navigation satellite system, if the tunnel is long, the position error determined by this offline calculation algorithm will be so large that it cannot provide sufficiently accurate navigation services to the driver.

[0004] In addition, although ultra-wideband wireless communication (UWB) technology is currently available that can provide navigation and positioning information when global navigation satellites or RTK systems are not available, in order to achieve UWB positioning, it is necessary not only to equip the navigation device with expensive equipment but also to deploy special equipment in the tunnel in advance, which leads to high construction costs and is difficult to apply in practice. Summary of the invention

[0005] In response to these problems, the present application aims to propose a novel unit and method for positioning a motor vehicle traveling in a tunnel. The proposed unit and method can achieve positioning using only the equipment currently available on the road, thereby minimizing the reliance on global navigation satellites or RTK technology in the tunnel, while providing accurate positioning of the motor vehicle.

[0006] According to one aspect of the present application, a unit for locating a motor vehicle in a tunnel based on a roadside surveillance camera is provided, comprising: a central processing unit module and an antenna module, wherein the antenna module is configured to receive information from a roadside base station, wherein the information includes the coordinate position in the tunnel of a surveillance camera that is currently or has been shooting a motor vehicle in the tunnel, and wherein the central processing unit module is configured to determine the coordinate position of the motor vehicle in the tunnel based on the received coordinate position of the surveillance camera, wherein the factors considered in the determination include but are not limited to the shooting range and shooting angle of the surveillance camera.

[0007] Optionally, the information further includes a license plate number of the motor vehicle, and the central processing unit module uses the license plate number to determine whether the coordinate position of the surveillance camera is the coordinate position of a camera that takes a photo of the vehicle.

[0008] Optionally, the central processing unit module is configured to transform the coordinate position of the motor vehicle in the tunnel into the coordinate position of the motor vehicle in the map coordinate system adopted by the unit using a transformation matrix for the path map of the tunnel.

[0009] Optionally, the unit further comprises a display module for displaying a map used by the unit and displaying the position of the motor vehicle on the map.

[0010] Optionally, before the motor vehicle in the tunnel enters the shooting range of the next surveillance camera, the central processing unit module (520) uses the coordinate position of the motor vehicle determined by the previous surveillance camera, the speed of the motor vehicle and the heading angle of the motor vehicle to determine the coordinate position of the motor vehicle in the tunnel.

[0011] Optionally, the unit is a mobile phone, a tablet computer or a car navigation device.

[0012] According to another aspect of the present application, a method for positioning a motor vehicle in a tunnel based on a roadside surveillance camera is also provided, comprising:

[0013] When the motor vehicle is in the tunnel, receiving information from a roadside base station of the tunnel, the information including the coordinate position in the tunnel of a surveillance camera that is currently photographing or has photographed the motor vehicle in the tunnel; and

[0014] The coordinate position of the motor vehicle in the tunnel is determined based on the received coordinate position of the surveillance camera, and factors considered in the determination include but are not limited to the shooting range and shooting angle of the surveillance camera.

[0015] Optionally, the information received from the roadside base station of the tunnel also includes the license plate number of the motor vehicle, and the license plate number is used to determine whether the coordinate position of the surveillance camera is the coordinate position of the camera taking pictures of the vehicle.

[0016] Optionally, the method further comprises: using a transformation matrix for a path map of the tunnel to transform the coordinate position of the motor vehicle in the tunnel into a coordinate position in a map coordinate system used by the motor vehicle.

[0017] Optionally, before a motor vehicle in the tunnel enters the shooting range of the next surveillance camera, the coordinate position of the motor vehicle in the tunnel is determined by the coordinate position of the motor vehicle determined by the previous surveillance camera, the speed of the motor vehicle and the heading angle of the motor vehicle.

[0018] By adopting the above-mentioned technical means of the present application, it is possible to use the information provided by the existing roadside surveillance cameras in the tunnel to accurately locate the motor vehicle in real time in the tunnel, avoiding the problem of being unable to locate in real time due to the poor signal of the base station of the global navigation satellite system or RTK system, and at the same time, there is no need to configure complex and expensive additional equipment for the motor vehicle. In addition, the positioning unit, system and method of the present application are particularly suitable for real-time positioning of motor vehicles traveling in long-distance tunnels, because in this case the number of roadside surveillance cameras arranged in the tunnel will be greater, thereby being able to provide more position data references for the real-time positioning of the motor vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The principles and various aspects of the present disclosure can be more fully understood from the following detailed description in conjunction with the following drawings. It should be noted that the scales of the drawings may be different for the purpose of clear description, but this will not affect the understanding of the disclosure of the present application. In the drawings:

[0020] Figure 1 A block diagram of a system for positioning a motor vehicle in a tunnel, especially a moving motor vehicle, based on a roadside monitoring device according to an embodiment of the present application is schematically shown;

[0021] Figure 2 A block diagram of a positioning unit used in a system according to an embodiment of the present application is schematically shown;

[0022] Figure 3A The application principle of the system according to the embodiment of the present application is schematically shown, wherein the roadside monitoring device of the system includes a plurality of cameras arranged in a tunnel, and a motor vehicle is about to enter the tunnel;

[0023] Figure 3BThe application principle of the system according to an embodiment of the present application is schematically shown, wherein the roadside monitoring device of the system includes a plurality of cameras arranged in a tunnel, a motor vehicle has entered the tunnel and is being photographed by a first camera;

[0024] Figure 3C The application principle of the system according to an embodiment of the present application is schematically shown, wherein the roadside monitoring device of the system includes a plurality of cameras arranged in a tunnel, a motor vehicle has entered the tunnel and is being photographed by a second camera;

[0025] Figure 3D The application principle of the system according to an embodiment of the present application is schematically shown, wherein the roadside monitoring device of the system includes a plurality of cameras arranged in a tunnel, a motor vehicle has entered the tunnel and is being photographed by the last camera;

[0026] Figure 3E The application principle of the system according to an embodiment of the present application is schematically shown, wherein the roadside monitoring device of the system includes a plurality of cameras arranged in a tunnel, and a motor vehicle has exited the tunnel;

[0027] Figure 4 The flowchart of a method for locating a motor vehicle in a tunnel, especially a moving motor vehicle, based on a roadside video surveillance device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0028] In the various drawings of the present disclosure, features with identical structures or similar functions are indicated by identical reference numerals.

[0029] Figure 1 A schematic diagram of a system for locating a motor vehicle in a tunnel, especially a moving motor vehicle, based on a roadside video surveillance device according to an embodiment of the present application is shown, wherein the system is used to locate a motor vehicle in a tunnel ( Figure 1 The system generally includes a roadside base station 200, an edge computing unit 300, a roadside monitoring device 400, and a unit 500 for positioning the motor vehicle 100 based on the roadside monitoring device 400.

[0030] According to an embodiment of the present application, the roadside base station 200, the edge computing unit 300, and the roadside monitoring device 400 may adopt those devices or facilities that have been adopted in highway construction in the prior art. For example, the roadside base station 200 may be a device that meets the technical specifications of the cellular vehicle-to-everything (C-V2X) network, and its communication interface has a Uu interface and / or a PC5 interface. The roadside base station 200, the edge computing unit 300, and the roadside monitoring device 400 are data-connected to each other, for example, they are configured to be connected to each other by wire and / or wireless means, so that data can be transmitted between them as needed.

[0031] The edge computing unit 300 includes a computer capable of performing edge computing based on data obtained from the roadside monitoring device 400. The roadside monitoring device 400 may be, for example, a roadside video monitoring device 410, or other suitable monitoring devices such as a roadside monitoring radar (not shown). In the following content of the present application, only the roadside video monitoring device 410 is used as an example to illustrate the roadside monitoring device 400.

[0032] Usually, due to the requirements of road safety monitoring and traffic violation law enforcement inspection, in tunnels (such as Figure 3A A plurality of surveillance cameras (such as those indicated by reference numeral 600 in FIG. Figure 3A These surveillance cameras 700 generally constitute the roadside video surveillance device 410 mentioned in the embodiment of the present application. Figure 3A As shown, these surveillance cameras 700 are arranged at the top of the tunnel 600 so as not to interfere with the passage of the motor vehicle 100 in the tunnel 700. The surveillance camera 700 is configured to take a picture of the motor vehicle 100 when the motor vehicle 100 is about to pass through it, and can also identify the license plate number of the motor vehicle 100.

[0033] According to one embodiment, a pre-buried magnetic coil can be implemented in the road in the tunnel 600. When the motor vehicle 100 passes through the magnetic coil, an induced current is generated to stimulate the monitoring camera 700 working in pair with the magnetic coil to start working, thereby identifying the license plate number of the motor vehicle 100. Therefore, this pre-buried magnetic coil limits the shooting range of the relevant monitoring camera 700. According to another embodiment, the license plate number of the motor vehicle 100 can also be determined and identified only by the monitoring camera 700 capturing images or videos of the motor vehicle 100 entering its clear imaging range in real time. Therefore, the focusing range of the lens of the monitoring camera 700 limits the shooting range of the monitoring camera.

[0034] The positions of these surveillance cameras 700 in the tunnel 600 are all determined in advance. For example, for each tunnel, it has a path map in the tunnel, and the positions of the surveillance cameras arranged in the tunnel in the path map are also determined. In the traffic violation law enforcement inspection, each surveillance camera 700 transmits the captured image data carrying the motor vehicle license plate to the edge computing unit 300, and its computer recognizes the image through a predetermined recognition algorithm to determine the license plate number of the motor vehicle and whether the motor vehicle has violated the law. For example, the memory of the computer of the edge computing unit 300 can store the path map in the tunnel and the position of each surveillance camera on the path map in advance. For the image data captured by a surveillance camera, if the license plate number of the motor vehicle has been identified, the edge computing unit 300 determines whether the motor vehicle has violated the law according to the position of the surveillance camera and the captured image based on the pre-written image recognition program. If the motor vehicle has committed a traffic violation, the location information of the surveillance camera 700 carrying the captured image (for example, its location in the tunnel) together with the captured image can be transmitted to a cloud server (not shown) via the roadside base station 200 to serve as a basis for traffic enforcement penalties.

[0035] Therefore, the roadside base station 200 can wirelessly transmit data information containing the location information of the surveillance camera, the license plate number of the motor vehicle, and the captured image as needed.

[0036] The inventors of the present application discovered that, because surveillance cameras are arranged at predetermined intervals in the tunnel and the position information of each surveillance camera is known, if the position information of each surveillance camera photographing the same motor vehicle can be continuously obtained, then by associating the position information of these surveillance cameras with the data information of the motor vehicle used to determine its position, the position of the motor vehicle in the tunnel can be accurately determined without the assistance of global navigation satellites or RTK technology.

[0037] Mainly based on the above idea, the unit 500 is designed to include a central processing unit module 520, an antenna module 510, and a display module 530. For example, the unit 500 can be in the form of a mobile phone, a tablet computer, a vehicle-mounted navigation device, etc. In the case of a vehicle-mounted navigation device, the unit 500 can also include a vehicle-machine interface 540 for obtaining relevant operating parameters of the motor vehicle itself, such as a heading angle, a vehicle speed, etc. For example, the antenna module 510 of the unit 500 can be configured to receive data from the roadside base station 200 as needed. For example, the central processing unit module 520 can be configured to convert the data received from the roadside base station 200 into the position data of the motor vehicle according to calling and executing a pre-stored program. For example, the display module 530 includes a display screen, so that the map information of the tunnel where the motor vehicle is located is displayed on the display screen under the control of the central processing unit module 520, and the position of the motor vehicle is also marked and displayed on the map information.

[0038] like Figures 3A to 3E As shown, N surveillance cameras 700 may be arranged in the tunnel 600, where N may be an integer greater than or equal to 2. Along the traveling direction of the motor vehicle 100, the coordinate position of the i-th surveillance camera 700 in the path map of the tunnel 600 itself may be, for example, represented by C i (x, y) represents, where i = 1, 2, ..., N, x and y represent the horizontal and vertical coordinates in the path map, respectively. For example, in the path map, the x-axis may be approximately transverse to the centerline of the road, and the y-axis may be approximately parallel to the centerline of the road.

[0039] For example, there may be multiple roadside base stations 200, and they may also be arranged in the tunnel 600 to facilitate the transmission of data captured by the surveillance camera 700. It should be clear that the surveillance camera 700 may be integrated with the computer of the edge computing module 300 or provided as an independent module (e.g., Figures 3A to 3E shown).

[0040] In an alternative embodiment, data transmission from each surveillance camera 700 to the computer of the edge computing module 300 may also be achieved in a wired manner, and the roadside base station 200 may in this case be simply arranged outside the tunnel 600 .

[0041] like Figure 3B As shown, when the motor vehicle 100 enters the tunnel 600 and reaches the shooting range of the first surveillance camera 700, the surveillance camera 700 captures the image of the motor vehicle 100 and the edge computing module 300 recognizes the image according to a predetermined recognition algorithm, thereby determining the license plate number V of the motor vehicle 100. num After that, the car carrying the license plate number V num And the coordinate position C of the first surveillance camera 1(x,y) information Data[V num ,C 1 (x, y)] can be transmitted to the unit 500 in a wireless manner via the roadside base station 200, and the latter receives the information Data[V num ,C 1 (x, y)], and then processed by its central processing unit module 520.

[0042] As just one example, there is a transformation matrix T for the path map of the tunnel 600 so that the coordinates in the path map of the tunnel 600 can be transformed into the map coordinate system used in the display module 530 of the unit 500. For example, C 1 (x, y)·T can be expressed as the coordinate position of the first surveillance camera 700 in the map coordinate system used by the unit 500. Therefore, in the central processing module 520, the received information Data[V num ,C 1 (x,y)] is processed into Data[V num ,C 1 (x, y)·T] to reflect that the motor vehicle 100 is currently at the coordinate position C in the map coordinate system used by the unit 500 1 The first surveillance camera 700 at (x, y)·T takes a picture.

[0043] In the coordinate system of the route map of the tunnel 600, at the coordinate position C of the first surveillance camera 700 that is clearly photographing the vehicle 100, 1 (x, y), it is easy to determine the current coordinate position P(x, y) of the motor vehicle 100 in the coordinate system of the path map of the tunnel 600 based on the shooting range of the first monitoring camera 700. For example, when the monitoring camera 700 is set at the top of the tunnel 600, the length L of the line between the license plate position of the motor vehicle 100 within its shooting range and the monitoring camera 700 is at a specific angle α relative to the horizontal plane (this angle can be determined in advance), and the current coordinate position P of the motor vehicle 100 in the tunnel 600 can be easily calculated based on this angle and the coordinate position of the monitoring camera 700. 1 (x,y)=C 1 (x, yL·cosα). For example, this calculation process can be completed in the CPU module 520 of the unit 500. In one embodiment, the coordinate position of the shooting range of the monitoring camera 700 can also be directly regarded as the coordinate position of the motor vehicle 100.

[0044] In addition, the current coordinate position P of motor vehicle 100 1The factors to be considered in determining (x, y) may include the speed V and heading angle θ of the motor vehicle 100 (for example, when the unit 500 is a mobile phone, the speed V and heading angle may be inferred using an acceleration sensor in the mobile phone, or when the unit 500 is a vehicle navigation device, the vehicle computer information of the motor vehicle 100 may be directly read to determine the speed V and heading angle θ). Then, the current coordinate position P of the motor vehicle 100 in the tunnel 600 is 1 (x,y) is processed into P through the transformation matrix T 1 (x, y)·T, to reflect the current coordinate position of the motor vehicle 100 in the map coordinate system used by the unit 500 .

[0045] In the embodiment described above, it is assumed that the monitoring camera 700 is arranged at the top of the tunnel 600 and directly above the vehicle lane. Therefore, the length L of the line between the monitoring camera 700 and the license plate position of the vehicle 100 and its angle α relative to the horizontal plane are considered to only infer the change in the position in the y-axis direction. However, those skilled in the art should be aware that when the monitoring camera 700 deviates from the center line of the vehicle lane or is arranged on the side of the lane, the relevant inference can also consider the influence of the deviation factor on the calculation in terms of perspective, which belongs to the content of solid geometry calculation and will not be described in detail in this article.

[0046] In addition, when the vehicle 100 reaches the shooting range of the second surveillance camera 700 in the tunnel 600, the information Data[V num ,C 2 (x, y)·T] to reflect that the motor vehicle 100 is currently at the coordinate position C in the map coordinate system used by the unit 500 2 (x, y)·T, the second surveillance camera 700 takes a picture. At the same time, in the same manner as described above, using C 2 (x, y) to determine the current coordinate position P of the vehicle 100 in the tunnel 600 2 (x, y), and then processed by the transformation matrix T to P 2 (x, y)·T, to reflect the current coordinate position of the motor vehicle 100 in the map coordinate system used by the unit 500 .

[0047] Similarly, when the motor vehicle 100 reaches the shooting range of the i-th surveillance camera 700 in the tunnel 600, the information Data[V num ,C i (x, y)·T] to reflect that the motor vehicle 100 is currently at the coordinate position C in the map coordinate system used by the unit 500 i(x, y)·T is captured by the i-th surveillance camera 700, where i=1, 2, ..., N. At the same time, the coordinate position P of the current motor vehicle 100 in the map coordinate system used by the unit 500 is obtained. i (x,y)·T.

[0048] Because the vehicle 100 is traveling in the tunnel 600, when passing through the shooting range of each surveillance camera 700, the unit 500 will receive a video containing the license plate number V num And the coordinate position information of the monitoring camera, so by comparing the license plate number of the vehicle with the received license plate number V num By making a comparison, it is possible to confirm whether the vehicle is passing through the shooting range of the surveillance camera corresponding to the coordinate position, so as to accurately determine the position of the motor vehicle 100 in the tunnel 600. For example, the coordinate position can be directly regarded as the current position of the motor vehicle 100 in the tunnel 600, or the coordinate position is further regarded as the current position of the motor vehicle 100 in the tunnel 600 after passing through a predetermined conversion function (the conversion function takes into account other factors such as vehicle speed, heading angle, and shooting range). In the context of this application, the vehicle refers to the motor vehicle where the unit 500 is located or targeted.

[0049] After the vehicle 100 passes through the shooting range of one surveillance camera 700 and before it reaches the shooting range of another surveillance camera 700, the position of the vehicle 100 can be estimated using the vehicle speed V and the heading angle θ of the vehicle 100. The result of this estimated position is necessarily more accurate than the accuracy of the vehicle position in the tunnel estimated purely by an offline algorithm (as mentioned in the background technology section) because the position of the vehicle 100 in the tunnel can be accurately determined by the data provided by the previous surveillance camera 700.

[0050] Those skilled in the art should be aware that the calculation of converting the coordinates in the path map in the tunnel into the coordinates in the map coordinate system used by the display module using the transformation matrix T and the calculation of the position of the motor vehicle in the tunnel using the predetermined transformation function and the coordinate position of the surveillance camera can be implemented in any suitable manner known in the art.

[0051] The main advantage of the technical solution of this application is that it utilizes the motor vehicle information captured by existing surveillance cameras in existing highway construction, processes it through the edge computing module, and then uses the relevant data information sent by the roadside base station to provide a basis for the real-time positioning of motor vehicles in the tunnel without relying on the global navigation satellite system or RTK technology.

[0052] Figure 4A flowchart of a method for locating a motor vehicle in a tunnel, especially a moving motor vehicle, based on a roadside video surveillance device, especially a surveillance camera, according to an embodiment of the present application is schematically shown. It should be clear to those skilled in the art that the method can be compiled into a computer program and called and executed by the unit 500 or other suitable computers such as the edge computing unit 300 when necessary.

[0053] First, in step S10, when the motor vehicle 100 is about to enter the tunnel or has entered the tunnel, the unit 500 establishes a reliable connection with the roadside base station 200. For example, the establishment of the connection can be achieved through any suitable authentication process between the edge computing unit 300 or the roadside base station 200 and the unit 500 to ensure that the antenna module 510 of the unit 500 is authorized to receive data from the roadside base station 200. For example, this step S10 can refer to Figure 3A The situation shown is executed.

[0054] In step S20, the unit 500 receives, via its antenna module 510, a transformation matrix T for the path map of the tunnel in which the motor vehicle 100 is located. The transformation matrix T is used to transform the coordinate position in the tunnel into the coordinate position of the coordinate system in which the motor vehicle 100 itself is located. For example, the transmission or reception of the transformation matrix T may be completed before the motor vehicle enters the tunnel.

[0055] According to an embodiment of the present application, the N surveillance cameras 700 set in the tunnel 600 are configured so that whenever a motor vehicle enters the shooting range of the i-th surveillance camera 700 (i=1, 2, ..., N), the i-th surveillance camera 700 takes a picture of the motor vehicle and transmits the data to the edge computing unit 300 to identify the license plate number V of the motor vehicle. num , and at the same time will carry the license plate number V num And the coordinate position C of the i-th surveillance camera i (x,y) information Data[V num ,C i (x, y)] is broadcast via the roadside base station 200.

[0056] In step S30, the unit 500 receives the information Data[V] broadcasted by the roadside base station 200 via its antenna module 510. num ,C i (x,y)].

[0057] In step S40, for example, the CPU module 520 of the unit 500 receives the received information Data[V num ,C i (x,y)] in the license plate number V numThe information is extracted and compared with the license plate number of the motor vehicle 100 (the vehicle). If the comparison result matches, it is considered that the received information Data[V num ,C i (x, y)] is information for the vehicle, and the process goes to step S50; if the comparison result does not match, the received information is deemed not to be information for the vehicle, and the process goes to step S30 to continue receiving information.

[0058] In step S50, in the CPU module 520 of the unit 500, the received information Data[V num ,C i (x,y)], the coordinate position C of the i-th surveillance camera i (x, y) is extracted, and the position and angle relationship between the shooting range of the i-th surveillance camera and the position of the motor vehicle that is usually photographed is used to determine the coordinate position P of the motor vehicle 100 in the coordinate system of the path map of the tunnel 600 i (x,y).

[0059] In step S60, in the CPU module 520 of the unit 500, the coordinate position P is converted into i (x, y) is converted into the coordinate position P of the coordinate system of the motor vehicle 100 itself (or the map coordinate system used by the display module 530 of the unit 500) i (x,y)·T.

[0060] In step S70, the coordinate position P i (x, y)·T is displayed on a map displayed on the display screen of the display module 530 to indicate the current position of the vehicle 100 .

[0061] In an additional embodiment, when the unit 500 is still traveling in the tunnel but has received the information Data[V num ,C i (x, y)] but before receiving the information provided by the next surveillance camera, the CPU module 520 of the unit 500 can be configured to use the coordinate position P of the motor vehicle i The position of the vehicle before it reaches the shooting range of the next surveillance camera is estimated using (x, y)·T, the vehicle speed V, and the heading angle θ.

[0062] Although the specific embodiments of the present application are described in detail herein, they are provided only for the purpose of explanation and should not be considered to limit the scope of the present application. In addition, it should be clear to those skilled in the art that the various embodiments described in this specification can be used in combination with each other. Various replacements, changes and modifications can be conceived without departing from the spirit and scope of the present application.

Claims

1. A unit (500) for positioning a motor vehicle in a tunnel based on a roadside surveillance camera, include: A central processing unit module (520) and an antenna module (510), wherein the antenna module (510) is configured to receive information from a roadside base station (200), wherein the information includes the coordinate position of a monitoring camera (700) in a tunnel that is currently or has been photographing a motor vehicle in a tunnel (600), and the central processing unit module (520) is configured to determine the coordinate position of the motor vehicle in the tunnel based on the received coordinate position of the monitoring camera (700), wherein factors considered in the determination include but are not limited to the photographing range and photographing angle of the monitoring camera (700).

2. The unit (500) according to claim 1, It is characterized in that The information also includes the license plate number of the motor vehicle, and the central processing unit module (520) uses the license plate number to determine whether the coordinate position of the surveillance camera (700) is the coordinate position of the camera that takes a photo of the vehicle.

3. The unit (500) according to claim 2, It is characterized in that The central processing unit module (520) is configured to transform the coordinate position of the vehicle in the tunnel into the coordinate position of the vehicle in the map coordinate system used by the unit (500) using a transformation matrix for the path map of the tunnel.

4. The unit (500) according to claim 3, It is characterized in that A display module (530) is also included to display the map used by the unit (500) and to display the position of the motor vehicle on the map.

5. The unit (500) according to claim 4, It is characterized in that Before a motor vehicle in the tunnel enters the shooting range of a next monitoring camera (700), the central processing unit module (520) determines the coordinate position of the motor vehicle in the tunnel using the coordinate position of the motor vehicle determined by the previous monitoring camera (700), the speed of the motor vehicle, and the heading angle of the motor vehicle.

6. The unit (500) according to claim 5, It is characterized in that The unit (500) is a mobile phone, a tablet computer or a car navigation device.

7. A method for positioning a motor vehicle in a tunnel based on a roadside surveillance camera. include: When the motor vehicle is in the tunnel, receiving information from a roadside base station (200) of the tunnel, the information including the coordinate position in the tunnel of a surveillance camera (700) that is photographing or has photographed the motor vehicle in the tunnel (600); as well as The coordinate position of the motor vehicle in the tunnel is determined based on the received coordinate position of the monitoring camera (700), and the factors considered in the determination include but are not limited to the shooting range and shooting angle of the monitoring camera (700).

8. The method according to claim 7, It is characterized in that The information received from the roadside base station (200) of the tunnel also includes the license plate number of the motor vehicle, and the license plate number is used to determine whether the coordinate position of the monitoring camera (700) is the coordinate position of the camera that takes a photo of the vehicle.

9. The method according to claim 8, It is characterized in that Also includes: The coordinate position of the motor vehicle in the tunnel is converted into a coordinate position in the map coordinate system used by the motor vehicle using a transformation matrix for the path map of the tunnel.

10. The method according to claim 9, It is characterized in that Before a motor vehicle in the tunnel enters the shooting range of a next monitoring camera (700), the coordinate position of the motor vehicle in the tunnel is determined by the coordinate position of the motor vehicle determined by the previous monitoring camera (700), the speed of the motor vehicle and the heading angle of the motor vehicle.

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