A wireless positioning method and 5G terminal equipment

Abstract

The present invention discloses a wireless positioning method and a 5G terminal device, wherein the 5G terminal device includes 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 communicatively connected to the data storage unit, which 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 each communicatively connected to the central control unit. The central control unit is communicatively connected to a cloud server via the 5G communication module. The present invention provides an implicit redundancy for safe vehicle driving by performing redundant processing on the obstacle positioning point cloud map, thereby reducing the probability of scratches or collisions during extreme operations.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and more specifically to a wireless positioning method and a 5G terminal device. Background Art

[0002] With the advancement of technology, providing obstacle warnings during driving has become a common feature in vehicles. Providing obstacle warnings requires monitoring obstacles (both living and non-living entities) that may pose a threat to vehicle safety. Specific monitoring details include the positional relationship between the obstacle and the vehicle, as well as the relative direction and speed of the obstacle and the vehicle.

[0003] When using millimeter-wave radar, lidar, and ultrasonic radar for obstacle warning, the impact of vehicle speed on obstacle warning is usually ignored because the speed of electromagnetic waves or sound is far greater than the vehicle speed. The role of road conditions in obstacle warning is also ignored. Summary of the Invention

[0004] To this end, the technical problem to be solved by the present invention is to provide a wireless positioning method and a 5G terminal device, which provides an implicit redundancy for vehicle safe driving by performing redundant processing on the obstacle positioning point cloud map, thereby reducing the probability of scratches or collisions during extreme operations.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A wireless positioning method comprises the following steps:

[0007] 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-mounted radar Receive positioning signals Time , positioning signal For vehicle-mounted radar The transmitted positioning signal, 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-board radar is a millimeter wave radar or an ultrasonic radar;

[0008] 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;

[0009] Step (3) generating an obstacle positioning point cloud map using the preliminary obstacle positioning data obtained in step (2);

[0010] Step (4) performing redundant processing on the obstacle positioning point cloud map to obtain a corrected obstacle positioning point cloud map;

[0011] Step (5) uses the obstacle positioning point cloud correction map to determine the positional relationship between the obstacle and the vehicle, completing the obstacle positioning.

[0012] In the wireless positioning method described above, the redundant processing of the obstacle positioning point cloud map in step (4) is performed based on the following rules:

[0013] When the obstacle is located in the direction of travel of the vehicle and in front of the vehicle, the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle is extended towards the vehicle, with an extension range of 0.1 to 0.5 meters.

[0014] In 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 toward the direction close to the vehicle is as follows: using the coordinate point close to the vehicle in the coordinate point cluster in the preliminary obstacle positioning data obtained in step (2) as the center and drawing a circle parallel to the horizontal plane with a radius r, and then fusing 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 toward the direction close to the vehicle.

[0015] In the above wireless positioning method, in step (4), before performing redundant processing on the obstacle positioning point cloud map, the obstacle positioning point cloud map is first filtered to remove noise points in the obstacle positioning point cloud map.

[0016] In the above wireless positioning method, in step (4), the filtering method used when filtering the obstacle positioning point cloud image is the median average filtering method.

[0017] In the above wireless positioning method, in step (2), the vehicle-mounted radar is used Transmitting positioning signals Time and vehicle-mounted radar Receive positioning signals Time When calculating the obstacle data, use the following formula: Make corrections:

[0018]

[0019] Where γ is the correction parameter and is calculated by the following formula:

[0020]

[0021]

[0022] Where, Positioning signal for the vehicle when it is stationary Sent from obstacles to vehicle radar The ideal time difference; Positioning signal for the vehicle when it is stationary Sent from obstacles to vehicle radar The actual time difference; c is the speed of light; For vehicle-mounted radar Receive positioning signals time; For vehicle-mounted radar With vehicle-mounted radar The distance between the obstacle and the vehicle radar Connection line and vehicle radar With vehicle-mounted radar The angle between the lines.

[0023] In the above wireless positioning method, the value of γ is limited to the range of [0.96, 1).

[0024] In the wireless positioning method described above, in step (4), when the vertical distance between the lateral obstacle of the vehicle and the vehicle increases, the redundancy used in redundant processing of the obstacle positioning point cloud map decreases; conversely, the redundancy used in redundant processing of the obstacle positioning point cloud map increases.

[0025] 5G terminal devices that use the above-mentioned wireless positioning method for wireless positioning include:

[0026] A data acquisition unit, used to collect positioning data; the data acquisition unit includes a vehicle-mounted radar and a vehicle speed sensor;

[0027] A data storage unit, used for storing data collected by the data collection unit;

[0028] a data processing unit for processing the data collected by the data collection 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 a positional relationship between the obstacle and the vehicle using the corrected obstacle positioning point cloud map;

[0029] A display unit, configured to display the positional relationship between the obstacle and the vehicle obtained by the data processing unit;

[0030] Central control unit, used to control the data acquisition unit, data storage unit, data processing unit and display unit;

[0031] 5G communication module, used for communication connection between the 5G terminal device and the cloud server;

[0032] 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 communicatively connected to the central control unit respectively, and the central control unit is communicatively connected to the cloud server through the 5G communication module.

[0033] The above-mentioned 5G terminal device also has a data processing unit provided with a filtering module for filtering out noise points in the obstacle positioning point cloud map.

[0034] The technical solution of the present invention achieves the following beneficial technical effects:

[0035] 1. The present invention utilizes multiple vehicle-mounted radars to perform composite positioning of obstacles, thereby improving the positioning accuracy of obstacles and also improving the prediction of the movement direction of obstacles during movement.

[0036] 2. The present invention uses redundant processing of obstacle positioning point clouds, which can not only provide a relatively accurate estimate of the actual space occupied by obstacles with irregular surfaces (related to positioning), 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 scratches or collisions when the vehicle avoids obstacles. For example, when there is no such redundancy, the vehicle system or the driver will perform extreme operations to achieve avoidance when avoiding obstacles. The basis for achieving avoidance is that the vehicle system or the driver needs to operate continuously and quickly. Once there is a delay of tens or hundreds of milliseconds, scratches or collisions will occur. With this redundancy, the vehicle system or the driver is given room to operate safely, which can reduce the risk of scratches or collisions, and can also reduce the risk of vehicle rollover caused by exceeding the limit operation.

[0037] 3. The ideal time and actual time when the on-board radar receives the positioning signal transmitted by other on-board radars in a static state are used to correct the time when the on-board radar receives the positioning signal transmitted by other on-board radars when the vehicle is moving, which can improve the positioning accuracy of obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the working principle of a 5G terminal device capable of wireless positioning;

[0039] Figure 2 Flowchart for wireless positioning of 5G terminal devices. DETAILED DESCRIPTION

[0040] When driving a vehicle, before existing assisted driving features, drivers must maintain constant focus for safety, preparing for potential dangers. With the application of on-board radar and the increasingly sophisticated algorithms for locating obstacles near the vehicle, assisted driving features have significantly reduced the risks associated with brief periods of driver inattention. However, these features still have many flaws. For example, they inadequately assess the risks posed by vehicle speed and road slipperiness, and inadequately predict the space occupied by irregular obstacles. This inadequate risk assessment requires comparative analysis of vehicle speed and road slipperiness, and continuous learning and iteration of large models to achieve tight correlation between vehicle speed and road slipperiness. This means adapting driving strategies (such as braking method, braking time, turning radius, and acceleration) to different road slipperiness levels. Furthermore, inadequate prediction of the space occupied by irregular obstacles requires further radar iteration and algorithm optimization. However, the current on-board radar cannot meet the requirements of predicting the space that may be occupied by irregular obstacles, so it is necessary to solve it from an algorithm or other perspective.

[0041] The present invention provides a solution for using redundancy to predict the space that obstacles may occupy, specifically using 5G terminal equipment that can perform wireless positioning to locate obstacles near the vehicle.

[0042] Among them, such as Figure 1 As shown, the 5G terminal device includes a data acquisition unit for collecting positioning data, a data storage unit for storing 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 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 connecting the terminal device to 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 a vehicle-mounted 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 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.

[0043] like Figure 2 When using the 5G terminal device of the present invention to locate obstacles near the vehicle, the following steps are performed:

[0044] 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-mounted radar Receive positioning signals Time , positioning signal For vehicle-mounted radar The transmitted positioning signal, 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-board radar is a millimeter wave radar or an ultrasonic radar;

[0045] 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;

[0046] Step (3) generating an obstacle positioning point cloud map using the preliminary obstacle positioning data obtained in step (2);

[0047] Step (4) performing redundant processing on the obstacle positioning point cloud map to obtain a corrected obstacle positioning point cloud map;

[0048] Step (5) uses the obstacle positioning point cloud correction map to determine the positional relationship between the obstacle and the vehicle, completing the obstacle positioning.

[0049] Compared to the difficulty of locating moving objects, radar can easily locate static or slow-moving objects. Therefore, 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 depending on the application field and application scenario. In the present invention, the timing of data correction is selected before calculating and obtaining the preliminary obstacle positioning data.

[0050] Specifically, in step (2), the vehicle-mounted radar is used Transmitting positioning signals Time and vehicle-mounted radar Receive positioning signals Time When calculating the preliminary obstacle positioning data, use the following formula Make corrections:

[0051]

[0052] Where γ is the correction parameter and is calculated by the following formula:

[0053]

[0054]

[0055] Where, Positioning signal for the vehicle when it is stationary Sent from obstacles to vehicle radar The ideal time difference; Positioning signal for the vehicle when it is stationary Sent from obstacles to vehicle radar The actual time difference; c is the speed of light; For vehicle-mounted radar Receive positioning signals time; For vehicle-mounted radar With vehicle-mounted radar The distance between the obstacle and the vehicle radar Connection line and vehicle radar With vehicle-mounted radar The angle between the lines.

[0056] in, The calculation basis is to regard the obstacle as a point that can reflect and scatter electromagnetic waves, lasers or ultrasonic waves, and then use , θ and vehicle-mounted radar The distance to an obstacle is calculated based on the law of cosines. Because an obstacle isn't a point, when it reflects or scatters electromagnetic waves, lasers, or ultrasonic waves, the reflected or scattered waves, lasers, or ultrasonic waves are received by other onboard radars that might otherwise receive them more quickly than would be ideal. For example, when onboard radar A transmits a positioning signal a toward an obstacle, onboard radar B receives the reflected or scattered positioning signal a earlier than would be ideally calculated.

[0057] When a vehicle is traveling at a speed exceeding 30 km / h, although the speed of electromagnetic waves, lasers, or ultrasonic waves is much higher than the vehicle's speed, there will be a certain difference between the transmission angle of the on-board radar signal and the incident angle of the reflected signal, which sometimes changes as the vehicle moves laterally. Therefore, it is necessary to consider the impact of vehicle speed on the accuracy of obstacle positioning near the vehicle, especially when redundancy is required for safe driving.

[0058] 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 between 0.985 and 0.995 can be selected as the value of γ according to the specific situation.

[0059] When performing redundant processing on the obstacle positioning point cloud map, a redundant processing strategy can be set according to a preset purpose. For example, the redundant 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, and it is only necessary to meet the threshold that maximizes the vehicle's driving safety. In the present invention, in order to reduce the amount of calculation and reduce the computational complexity, only the following redundant processing strategy is adopted. Specifically, in step (4), the redundant processing of the obstacle positioning point cloud map is based on the following rules:

[0060] When the obstacle is located in the direction of travel of the vehicle and in front of the vehicle, the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle is extended towards the vehicle, with an extension range of 0.1 to 0.5 meters.

[0061] The specific operation of extending the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle toward the vehicle is as follows: using the coordinate point close to the vehicle in the coordinate point cluster in the preliminary obstacle positioning data obtained in step (2) as the center and drawing a circle parallel to the horizontal plane with a radius r, and then fusing 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 toward the vehicle.

[0062] In practical applications, the extension range is associated with the vehicle speed and / or weather conditions. Specifically, when the vehicle speed exceeds a certain preset value, the extension range can be increased, and vice versa. Furthermore, when rain or fog occurs, the extension range can also be increased. For example, the extension range is associated with the vehicle speed, and the relationship between the extension range ΔL and the vehicle speed v is as follows:

[0063]

[0064] Where, The basic extension range can be preset according to the specific situation. The general setting range is 0.1~0.15m; the value range of ΔL is 0.1~0.5m.

[0065] After confirming the extension amplitude ΔL, the specific operation of the extension is carried out. The coordinate point close to the vehicle in the coordinate point cluster in the obstacle preliminary positioning data obtained in step (2) is used as the center of the circle and a circle with a radius r parallel to the horizontal plane is drawn. The radius r is equal to ΔL.

[0066] To prevent noise in the obstacle location point cloud from affecting the accuracy of redundant processing and thus preventing misjudgments by the vehicle computer system, the obstacle location point cloud is filtered before redundant processing to remove noise. The filtering method used for filtering the obstacle location point cloud is the median average filtering method.

[0067] Since the impact of an obstacle on the vehicle's driving safety decreases when the obstacle is far away from the vehicle, and increases when the obstacle is close to the vehicle, the following further settings are made when performing redundant processing on the obstacle positioning point cloud map: when the vertical distance between the lateral obstacle and the vehicle increases, the redundancy used in the redundant processing of the obstacle positioning point cloud map decreases; conversely, the redundancy used in the redundant processing of the obstacle positioning point cloud map increases.

[0068] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the claims of this patent application.

Claims

1. A wireless positioning method, characterized in that: The steps include: 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-mounted radar Receive positioning signals Time , positioning signal For vehicle-mounted radar The transmitted positioning signal, 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-board radar is a millimeter wave radar or an ultrasonic radar; Step (2) uses the positioning data collected in step (1) to locate obstacles within the monitoring range of the vehicle-mounted radar and obtains preliminary obstacle positioning data, which contains a cluster of coordinate points; using the vehicle-mounted radar Transmitting positioning signals Time and vehicle-mounted radar Receive positioning signals Time When calculating the preliminary obstacle positioning data, use the following formula Make corrections: Where γ is the correction parameter and is calculated by the following formula: Where, Positioning signal for the vehicle when it is stationary Sent from obstacles to vehicle radar The ideal time difference; Positioning signal for the vehicle when it is stationary Sent from obstacles to vehicle radar The actual time difference; c is the speed of light; For vehicle-mounted radar Receive positioning signals time; For vehicle-mounted radar With vehicle-mounted radar The distance between the obstacle and the vehicle radar Connection line and vehicle radar With vehicle-mounted radar The angle between the lines; Step (3) generating an obstacle positioning point cloud map using the preliminary obstacle positioning data obtained in step (2); Step (4) performing redundant processing on the obstacle positioning point cloud map to obtain a corrected obstacle positioning point cloud map; Step (5) uses the obstacle positioning point cloud correction map to determine the positional relationship between the obstacle and the vehicle, completing the obstacle positioning.

2. The wireless positioning method according to claim 1, wherein: The redundant processing of the obstacle positioning point cloud map in step (4) is based on the following rules: When the obstacle is located in the direction of travel of the vehicle and in front of the vehicle, the edge of the obstacle positioning point cloud map on the side of the obstacle close to the vehicle is extended towards the vehicle, with an extension range of 0.1 to 0.5 meters.

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 toward the vehicle is as follows: using the coordinate point close to the vehicle in the coordinate point cluster in the preliminary obstacle positioning data obtained in step (2) as the center and drawing a circle parallel to the horizontal plane with a radius r, and then fusing 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 toward the vehicle.

4. The wireless positioning method according to claim 1, wherein: In step (4), before performing redundant processing on the obstacle positioning point cloud map, the obstacle positioning point cloud map is first filtered to remove 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 when filtering the obstacle positioning point cloud image is the median average filtering method.

6. The wireless positioning method according to claim 5, wherein: The value of γ is limited to the range of [0.96, 1).

7. The wireless positioning method according to any one of claims 1 to 6, characterized in that: In step (4), when the vertical distance between the lateral obstacle and the vehicle increases, the redundancy used in redundant processing of the obstacle positioning point cloud map decreases, and conversely, the redundancy used in redundant processing of the obstacle positioning point cloud map increases.

8. A 5G terminal device that performs wireless positioning using the wireless positioning method according to any one of claims 1 to 7, characterized in that: include: A data acquisition unit, used for collecting positioning data; The data acquisition unit includes vehicle-mounted radar and vehicle speed sensor; A data storage unit, used for storing data collected by the data collection unit; A data processing unit, used for processing the data collected by the data collection unit; The data processing unit includes a first data processing module for generating an obstacle positioning point cloud map using 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 a positional relationship between the obstacle and the vehicle using the corrected obstacle positioning point cloud map. A display unit, configured to display the positional relationship between the obstacle and the vehicle obtained by the data processing unit; Central control unit, used to control the data acquisition unit, data storage unit, data processing unit and display unit; 5G communication module, used for communication connection between the 5G terminal device and 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 communicatively connected to the central control unit respectively, and the central control unit is communicatively connected to the cloud server through the 5G communication module.

9. The 5G terminal device according to claim 8, characterized in that The data processing unit is also provided with a filtering module for filtering out noise points in the obstacle positioning point cloud image.

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