Wireless positioning method and 5G terminal equipment

Abstract

The invention discloses a wireless positioning method and 5G terminal equipment, the 5G terminal equipment comprises a data acquisition unit, a data storage unit, a data processing unit, a display unit, a central control unit and a 5G communication module, the data acquisition unit is in communication connection with the data storage unit, the data storage unit is in communication connection with the data processing unit, and the data processing unit is in communication connection with the display unit. The data acquisition unit, the data storage unit, the data processing unit and the display unit are respectively in communication connection with the central control unit, and the central control unit is in communication connection with the cloud server through the 5G communication module. According to the invention, redundancy processing is carried out on the obstacle positioning point cloud picture, a hidden redundancy is provided for safe driving of the vehicle, and the probability of rubbing or collision during limit operation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless positioning. Specifically, it is a wireless positioning method and a 5G terminal device. Background Art

[0002] With the development of technology, providing obstacle warning for vehicles during driving has become a common function of current vehicles. To provide obstacle warning, it is necessary to monitor obstacles (including living bodies and non-living entities) that appear around the vehicle and may pose a threat to the driving safety of the vehicle. The specific contents of the monitoring include the positional relationship between the obstacle and the vehicle, the relative driving direction and speed between the obstacle and the vehicle.

[0003] When using millimeter-wave radar, lidar, and ultrasonic radar for obstacle warning, usually due to the fact that the electromagnetic wave or the speed of sound is much faster than the vehicle speed, the influence of the vehicle speed on obstacle warning is ignored, and at the same time, the effect of road conditions on obstacle warning is also ignored. Summary of the Invention

[0004] For this reason, the technical problem to be solved by the present invention is to provide a wireless positioning method and a 5G terminal device, which perform redundant processing on the obstacle positioning point cloud map to provide a hidden redundancy amount for the safe driving of the vehicle and reduce the probability of scratching or collision during extreme operations.

[0005] To solve the above technical problem, the present invention provides the following technical solutions: A wireless positioning method, comprising the following steps: Step (1): Collect positioning data, where the positioning data includes the traveling speed and direction of the vehicle itself, the time when the vehicle-mounted radar emits a positioning signal and the time when the positioning signal is received, and the time when the vehicle-mounted radar receives the positioning signal where the positioning signal is the positioning signal emitted by the vehicle-mounted radar, where i and j are different natural numbers and are both greater than or equal to 1 and less than or equal to n, and n is a natural number greater than or equal to 2, and the vehicle-mounted radar is a millimeter-wave radar or an ultrasonic radar; Step (2): Use the positioning data collected in step (1) to locate the obstacles within the monitoring range of the vehicle-mounted radar and obtain preliminary obstacle positioning data, and the preliminary obstacle positioning data includes a cluster of coordinate points; Step (3): Use the preliminary obstacle positioning data obtained in step (2) to generate an obstacle positioning point cloud map; where i and j are different natural numbers and are both greater than or equal to 1 and less than or equal to n, and n is a natural number greater than or equal to 2, and the vehicle-mounted radar is a millimeter-wave radar or an ultrasonic radar; Step (2): Use the positioning data collected in step (1) to locate the obstacles within the monitoring range of the vehicle-mounted radar and obtain preliminary obstacle positioning data, and the preliminary obstacle positioning data includes a cluster of coordinate points; Step (3): Use the preliminary obstacle positioning data obtained in step (2) to generate an obstacle positioning point cloud map; Step (4): Perform redundancy processing on the obstacle positioning point cloud map to obtain a corrected obstacle positioning point cloud map; Step (5): Determine the positional relationship between the obstacle and the vehicle using the corrected obstacle positioning point cloud map to complete the positioning of the obstacle.

[0006] For the above wireless positioning method, when performing redundancy processing on the obstacle positioning point cloud map in step (4), the following rules are followed: When the obstacle is in the vehicle's traveling direction and in front of the vehicle, extend the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle towards the vehicle, with the extension amplitude being 0.1 - 0.5 m.

[0007] For the above wireless positioning method, the specific operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle towards the vehicle is as follows: Take the coordinate point closest to the vehicle in the coordinate point cluster in the preliminary obstacle positioning data obtained in step (2) as the center of a circle and draw a circle parallel to the horizontal plane with a radius of r, and then fuse based on the obstacle positioning point cloud map and the circle to complete the operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle towards the vehicle.

[0008] For the above wireless positioning method, in step (4), before performing redundancy processing on the obstacle positioning point cloud map, first perform filtering processing on the obstacle positioning point cloud map to remove the noise points in the obstacle positioning point cloud map.

[0009] For the above wireless positioning method, in step (4), the filtering method used for filtering the obstacle positioning point cloud map is the median average filtering method.

[0010] For the above wireless positioning method, in step (2), when using the vehicle-mounted radar to transmit a positioning signal at a certain time and the vehicle-mounted radar receives the positioning signal at a certain time to calculate the preliminary obstacle positioning data, the following formula is used to correct : In the formula, γ is a correction parameter and is calculated through the following formula: In the formula, is the ideal time for the vehicle-mounted radar to receive the positioning signal when the vehicle is in a stationary state; is the vehicle-mounted radar when the vehicle is in a stationary state Receive positioning signals The actual time; c is the speed of light; is the vehicle-mounted radar Receive positioning signals The time; is the vehicle-mounted radar Between the vehicle-mounted radar The distance between; θ is the line connecting the obstacle and the vehicle-mounted radar And the line connecting the vehicle-mounted radar Between the vehicle-mounted radar The included angle between the connecting lines.

[0011] For the above wireless positioning method, the value range of γ is limited to [0.96, 1).

[0012] For the above wireless positioning method, in step (4), when the vertical distance between the vehicle's side obstacle and the vehicle increases, the redundancy used for redundant processing of the obstacle positioning point cloud map decreases, and vice versa, the redundancy used for redundant processing of the obstacle positioning point cloud map increases.

[0013] A 5G terminal device using the above wireless positioning method for wireless positioning, including: A data acquisition unit for acquiring positioning data; the data acquisition unit includes a vehicle-mounted radar and a vehicle speed sensor; A data storage unit for storing the data acquired by the data acquisition unit; A data processing unit for processing the data acquired by the data acquisition unit; the data processing unit includes a first data processing module for generating an obstacle positioning point cloud map using the positioning data, a second data processing module for performing redundant processing on the obstacle positioning point cloud map and obtaining an obstacle positioning point cloud corrected map, and a third data processing module for determining the positional relationship between the obstacle and the vehicle using the obstacle positioning point cloud corrected map; A display unit for displaying the positional relationship between the obstacle and the vehicle processed by the data processing unit; A central control unit for controlling the data acquisition unit, the data storage unit, the data processing unit, and the display unit; A 5G communication module for communicating and connecting the 5G terminal device with a cloud server; The data acquisition unit is communicatively connected to the data storage unit, the data storage unit is communicatively connected to the data processing unit, the data acquisition unit, the data storage unit, the data processing unit, and the display unit are respectively communicatively connected to the central control unit, and the central control unit is communicatively connected to the cloud server through the 5G communication module.

[0014] For the above 5G terminal device, a filtering module for filtering out noise points in the obstacle positioning point cloud map is also provided in the data processing unit.

[0015] The technical solution of the present invention has achieved the following beneficial technical effects: 1. The present invention uses multiple vehicle-mounted radars to perform compound positioning on obstacles, improving the positioning accuracy of obstacles and also being able to improve the prediction of the moving direction of obstacles during movement.

[0016] 2. The present invention performs redundancy processing on the obstacle positioning point cloud map, which can not only accurately estimate the actual occupied space (related to positioning) of obstacles with irregular surfaces, but also provide a certain degree of redundancy for extreme operations that may occur during vehicle driving. The provision of this redundancy can reduce the probability of scraping or collision when the vehicle evades obstacles. For example, without this redundancy, the in-vehicle system or the driver will perform extreme operations to achieve avoidance when evading obstacles. The basis for achieving avoidance is that the in-vehicle system or the driver needs to continuously and quickly perform operations. Once delayed by dozens or hundreds of milliseconds, scraping or collision will occur. With this redundancy, it gives the in-vehicle system or the driver a margin for safe operation, which can reduce the risk of scraping or collision and also reduce the risk of vehicle rollover and other risks when the operation exceeds the limit.

[0017] 3. By using the ideal time and actual time when the vehicle-mounted radar receives the positioning signals emitted by other vehicle-mounted radars when the vehicle is stationary to correct the time when the vehicle-mounted radar receives the positioning signals emitted by other vehicle-mounted radars during vehicle driving, the positioning accuracy of obstacles can be improved. Description of the Drawings

[0018] Figure 1 Schematic diagram of the working principle of a 5G terminal device capable of wireless positioning; Figure 2 Flow chart of wireless positioning of a 5G terminal device. Detailed Embodiments

[0019] When driving a vehicle, in the absence of existing assisted driving functions, for safety reasons, the driver needs to maintain a high level of concentration at all times to cope with potential dangers that may arise at any time. With the application of in-vehicle radar and the increasing improvement of the obstacle positioning algorithm near the vehicle by in-vehicle radar, the assisted driving function can already significantly reduce the risks brought about by the driver's lack of concentration for a short period of time. However, there are still many defects in the assisted driving function. For example, the risk assessment of the vehicle's driving speed and the degree of road surface slipperiness is insufficient, and the in-vehicle radar has insufficient anticipation of the space that abnormal obstacles may occupy. Insufficient risk assessment of the vehicle's driving speed and the degree of road surface slipperiness requires analyzing the vehicle's driving speed and the degree of road surface slipperiness by comparison, and achieving tight correlation control between the vehicle's driving speed and the degree of road surface slipperiness through continuous learning and iteration of a large model, that is, taking different driving operations (such as braking methods, braking times, turning radii, acceleration methods, etc.) on road surfaces with different degrees of slipperiness. Regarding the insufficient anticipation of the space that abnormal obstacles may occupy by the in-vehicle radar, the in-vehicle radar needs to be iterated and the algorithm optimized. However, the current in-vehicle radar still cannot meet the requirement of anticipating the space that abnormal obstacles may occupy, so it is necessary to solve this problem from the algorithm or other perspectives.

[0020] The present invention provides a solution for anticipating the space that an obstacle may occupy by using redundancy, specifically using a 5G terminal device capable of wireless positioning to locate the obstacles near the vehicle.

[0021] Among them, as Figure 1 shown, the 5G terminal device includes a data acquisition unit for collecting data for positioning, a data storage unit for storing the data collected by the data acquisition unit, a data processing unit for processing the data collected by the data acquisition unit, a display unit for displaying the positional relationship between the obstacle and the vehicle obtained by processing the data processing unit, a central control unit for controlling the data acquisition unit, the data storage unit, the data processing unit, and the display unit, and a 5G communication module for communicating the terminal device with the cloud server. The data acquisition unit is communicatively connected to the data storage unit, the data storage unit is communicatively connected to the data processing unit, the data acquisition unit, the data storage unit, the data processing unit, and the display unit are respectively communicatively connected to the central control unit, and the central control unit is communicatively connected to the cloud server through the 5G communication module. In the present invention, the data acquisition unit includes an in-vehicle radar and a vehicle speed sensor, and the data processing unit includes a first data processing module for generating an obstacle positioning point cloud map using the positioning data, a second data processing module for performing redundancy processing on the obstacle positioning point cloud map and obtaining a corrected obstacle positioning point cloud map, a third data processing module for determining the positional relationship between the obstacle and the vehicle using the corrected obstacle positioning point cloud map, and a filtering module for filtering out noise points in the obstacle positioning point cloud map.

[0022] like Figure 2 When the 5G terminal device in the present invention is used to locate obstacles near the vehicle, the following steps are performed: Step (1) collects positioning data, wherein the positioning data includes the vehicle's speed and direction, vehicle-mounted radar Transmitting positioning signals Time and receive positioning signals Time And vehicle radar Receive positioning signal Time , positioning signal For vehicle radar The transmitted positioning signal, wherein i and j are different natural numbers and are both greater than or equal to 1 and less than or equal to n, n is a natural number greater than or equal to 2, and the vehicle-mounted radar is a millimeter wave radar or an ultrasonic radar; Step (2) using the positioning data collected in step (1) to locate obstacles within the monitoring range of the vehicle-mounted radar and obtain preliminary obstacle positioning data, the preliminary obstacle positioning data containing a coordinate point cluster; Step (3) generating an obstacle positioning point cloud map using the obstacle preliminary positioning data obtained in step (2); Step (4) performing redundant processing on the obstacle positioning point cloud image to obtain a corrected obstacle positioning point cloud image; Step (5) uses the obstacle positioning point cloud correction map to determine the positional relationship between the obstacle and the vehicle, and completes the obstacle positioning.

[0023] Compared with the difficulty of locating moving objects, radar can easily locate static objects or slow-moving objects. Therefore, in order to improve the accuracy of locating moving objects or relatively moving objects, it is necessary to correct the data generated when locating moving objects. The timing of data correction varies in different application fields and application scenarios. In the present invention, the timing of data correction is selected before calculating and obtaining the preliminary positioning data of the obstacle.

[0024] Specifically, in step (2), the vehicle-mounted radar is used Transmit positioning signal Time and vehicle-mounted radar Receive positioning signal Time When calculating the obstacle data, use the following formula: To make corrections: In the formula, γ is a correction parameter and is calculated by the following formula: In the formula, is the ideal time for the vehicle-mounted radar to receive the positioning signal when the vehicle is in a stationary state receive the positioning signal ; is the actual time for the vehicle-mounted radar to receive the positioning signal when the vehicle is in a stationary state receive the positioning signal ; c is the speed of light; is the time for the vehicle-mounted radar to receive the positioning signal ; is the distance between the vehicle-mounted radar and the vehicle-mounted radar ; θ is the angle between the line connecting the obstacle and the vehicle-mounted radar and the line connecting the vehicle-mounted radar and the vehicle-mounted radar ;

[0025] Among them, The calculation basis is: regarding the obstacle as a point that can reflect and scatter electromagnetic waves, laser or ultrasonic waves, and then using , θ and the distance between the vehicle-mounted radar and the obstacle are calculated based on the cosine theorem. Since the obstacle is not a point, when reflecting and scattering electromagnetic waves, laser or ultrasonic waves, the reflected and scattered electromagnetic waves, laser or ultrasonic waves will be received by other vehicle-mounted radars that may receive the reflected and scattered electromagnetic waves, laser or ultrasonic waves earlier than in the ideal state. For example, when vehicle-mounted radar A emits a positioning signal a to an obstacle, vehicle-mounted radar B receives the positioning signal a reflected or scattered by the obstacle earlier than the time point calculated in the ideal state.

[0026] When the vehicle is traveling at a speed higher than 30 km / h, although the speed of electromagnetic waves, laser or ultrasonic waves is much higher than the vehicle speed, there will be a certain difference between the signal emission angle of the vehicle-mounted radar and the incident angle of the reflected signal. Sometimes it will change with the lateral movement of the vehicle. Therefore, it is necessary to consider the influence of vehicle speed on the positioning accuracy of obstacles near the vehicle, especially in the case where redundancy needs to be provided for safe driving.

[0027] When the calculated γ is less than 0.96, 0.96 is selected as the value of γ. When the calculated γ is greater than or equal to 1, a value can be selected from 0.985 to 0.995 as the value of γ according to specific circumstances.

[0028] When performing redundancy processing on the obstacle positioning point cloud map, the redundancy processing strategy can be set according to a preset purpose. For example, the redundancy processing principle of the obstacle positioning point cloud map can be set according to the relative speed and relative movement direction between the obstacle and the vehicle itself, as long as it meets the threshold for improving vehicle driving safety as much as possible. In the present invention, in order to reduce the amount of computation and at the same time reduce the computational complexity, only the following redundancy processing strategy is adopted. Specifically, when performing redundancy processing on the obstacle positioning point cloud map in step (4), it is carried out based on the following rules: When the obstacle is located in the traveling direction of the vehicle itself and in front of the vehicle itself, the edge of the obstacle positioning point cloud map on the side of the obstacle adjacent to the vehicle itself is extended in the direction close to the vehicle itself, and the extension amplitude is 0.1 - 0.5 m.

[0029] The specific operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle adjacent to the vehicle itself in the direction close to the vehicle itself is as follows: taking the coordinate point closest to the vehicle itself in the coordinate point cluster in the preliminary obstacle positioning data obtained in step (2) as the center of the circle and drawing a circle parallel to the horizontal plane with a radius r, and then fusing based on the obstacle positioning point cloud map and the circle to complete the operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle adjacent to the vehicle itself in the direction close to the vehicle itself.

[0030] In practical applications, the extension amplitude is associated with the vehicle driving speed or / and weather conditions. Specifically, when the vehicle speed exceeds a certain preset value, the extension amplitude can be increased, otherwise it is decreased. At the same time, when it rains or there is fog, the extension amplitude can also be increased. For example, the extension amplitude is associated with the vehicle driving speed. Let the relationship between the extension amplitude ΔL and the vehicle speed v be as follows: In the formula, is the basic extension amplitude, which can be preset according to specific circumstances. Generally, the preset value range is 0.1 - 0.15 m; the value range of ΔL is 0.1 - 0.5 m.

[0031] After confirming the extension amplitude ΔL, in the specific operation of extension, taking the coordinate point closest to the vehicle itself in the coordinate point cluster in the preliminary obstacle positioning data obtained in step (2) as the center of the circle and drawing a circle parallel to the horizontal plane with a radius r, and the size of the radius r is equal to ΔL.

[0032] In order to avoid the influence of noise points in the obstacle positioning point cloud map on the accuracy of redundancy processing and thus avoid misjudgment by the vehicle-mounted system, before performing redundancy processing on the obstacle positioning point cloud map, the obstacle positioning point cloud map is first filtered to remove the noise points in the obstacle positioning point cloud map. Among them, the filtering method used for filtering the obstacle positioning point cloud map is the median average filtering method.

[0033] Since the impact of an obstacle on the driving safety of the vehicle decreases when the obstacle is far from the vehicle, and increases when the obstacle approaches the vehicle, therefore, when performing redundancy processing on the obstacle positioning point cloud map, the following further settings are made: when the vertical distance between the lateral obstacle of the vehicle and the vehicle increases, the redundancy used for redundancy processing of the obstacle positioning point cloud map decreases; conversely, the redundancy used for redundancy processing of the obstacle positioning point cloud map increases.

[0034] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the claims of this patent application.

Claims

1. A wireless positioning method, characterized in that, It includes the following steps: Step (1) Collect positioning data, where the positioning data includes the traveling speed and direction of the vehicle itself, and on-vehicle radar Transmit a positioning signal at a time and receive the positioning signal at a time as well as the on-vehicle radar receives the positioning signal at a time , the positioning signal is the positioning signal transmitted by the on-vehicle radar , where i and j are different natural numbers and are both greater than or equal to 1 and less than or equal to n, n is a natural number greater than or equal to 2, and the on-vehicle radar is a millimeter-wave radar or an ultrasonic radar; Step (2): Use the positioning data collected in step (1) to locate the obstacles within the monitoring range of the vehicle-mounted radar and obtain the preliminary obstacle positioning data, where the preliminary obstacle positioning data includes a cluster of coordinate points; Step (3): Generate an obstacle positioning point cloud map using the preliminary obstacle positioning data obtained in step (2); Step (4): Perform redundancy processing on the obstacle positioning point cloud map to obtain a corrected obstacle positioning point cloud map; Step (5): Determine the positional relationship between the obstacle and the vehicle using the corrected obstacle positioning point cloud map to complete the positioning of the obstacle.

2. The wireless positioning method according to claim 1, characterized in that In step (4), when performing redundancy processing on the obstacle positioning point cloud map, it is carried out based on the following rules: When the obstacle is in the driving direction of the vehicle and in front of the vehicle, extend the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle towards the vehicle, and the extension amplitude is 0.1 - 0.5 m.

3. The wireless positioning method according to claim 2, wherein The specific operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle towards the vehicle is as follows: Take the coordinate point closest to the vehicle in the cluster of coordinate points in the preliminary obstacle positioning data obtained in step (2) as the center of a circle and draw a circle parallel to the horizontal plane with a radius r, and then perform fusion based on the obstacle positioning point cloud map and the circle to complete the operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle towards the vehicle.

4. The wireless positioning method according to claim 1, wherein, In step (4), before performing redundancy processing on the obstacle positioning point cloud map, first perform filtering processing on the obstacle positioning point cloud map to remove the noise points in the obstacle positioning point cloud map.

5. The wireless positioning method according to claim 4, characterized in that In step (4), the filtering method used for filtering the obstacle positioning point cloud map is the median average filtering method.

6. The wireless positioning method according to claim 1, wherein In step (2), using the vehicle-mounted radar to emit a positioning signal at the time of and the vehicle-mounted radar to receive the positioning signal at the time of When calculating the preliminary positioning data of the obstacle, the following formula is used to correct as follows: In the formula, γ is a correction parameter and is calculated by the following formula: In the formula, is the ideal time for the vehicle-mounted radar to receive the positioning signal when the vehicle is in a stationary state; receive the positioning signal the ideal time; is the actual time for the vehicle-mounted radar to receive the positioning signal when the vehicle is in a stationary state; c is the speed of light; receive the positioning signal the actual time; c is the speed of light; is the vehicle-mounted radar receive the positioning signal the time; is the vehicle-mounted radar and the vehicle-mounted radar the distance between; θ is the angle between the line connecting the obstacle and the vehicle-mounted radar and the vehicle-mounted radar and the vehicle-mounted radar and the line connecting them.

7. The wireless positioning method according to claim 6, wherein The value range of γ is limited to [0.96, 1).

8. The wireless positioning method according to any one of claims 1 to 7, characterized in that, In step (4), when the vertical distance between the vehicle's lateral obstacle and the vehicle increases, the redundancy used for redundancy processing of the obstacle positioning point cloud map decreases; conversely, when the vertical distance decreases, the redundancy used for redundancy processing of the obstacle positioning point cloud map increases.

9. A 5G terminal device that performs wireless positioning using the wireless positioning method according to claim 1, characterized in that, It includes: A data acquisition unit for collecting positioning data; The data acquisition unit includes a vehicle-mounted radar and a vehicle speed sensor; A data storage unit for storing the data collected by the data acquisition unit; A data processing unit for processing the data collected by the data acquisition unit; The data processing unit includes a first data processing module for generating an obstacle positioning point cloud map using the positioning data, a second data processing module for performing redundancy processing on the obstacle positioning point cloud map and obtaining a corrected obstacle positioning point cloud map, and a third data processing module for determining the positional relationship between the obstacle and the vehicle using the corrected obstacle positioning point cloud map; A display unit for displaying the positional relationship between the obstacle and the vehicle processed by the data processing unit; A central control unit for controlling the data acquisition unit, the data storage unit, the data processing unit, and the display unit; A 5G communication module for communicating and connecting the 5G terminal device with the cloud server; The data acquisition unit is communicatively connected to the data storage unit, the data storage unit is communicatively connected to the data processing unit, the data acquisition unit, the data storage unit, the data processing unit, and the display unit are respectively communicatively connected to the central control unit, and the central control unit is communicatively connected to the cloud server through a 5G communication module.

10. The 5G terminal device according to claim 9, characterized in that, A filtering module for filtering out noise points in the obstacle positioning point cloud map is also provided in the data processing unit.

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