Vehicle-mounted chip with integrated communication and navigation, vehicle positioning system and positioning method

Abstract

The embodiment of the application provides a kind of communication navigation integration's vehicle chip, vehicle positioning system and positioning method, vehicle chip includes: FLASH core particle;Communication radio frequency core particle;Satellite navigation core particle, for generating effective satellite navigation observation value;Communication baseband core particle is connected with satellite navigation core particle, integrated with application processor, application processor is used to receive the acceleration meter measurement value and gyroscopic measurement angular velocity that inertial measurement unit of vehicle sends;Determine dead reckoning data according to acceleration meter measurement value and angular velocity;Receive the cooperative positioning data that road side unit where vehicle is located sends;Detect whether effective satellite navigation observation value sent by satellite navigation core particle is received, to detect whether satellite navigation signal loss occurs;In the case where satellite navigation signal loss occurs, vehicle is positioned according to dead reckoning data and cooperative positioning data, reduce vehicle positioning processing delay, improve the processing efficiency of high-precision positioning, reduce positioning error.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle communication navigation, in particular to a communication navigation integrated vehicle chip, a vehicle positioning system, a vehicle communication navigation positioning method and a storage medium. BACKGROUND

[0002] With the development of cloud integration of vehicles and roads, 5G, C-V2X and GNSS navigation positioning are applied on a large scale in the intelligent networked automobile industry. Traditional intelligent networked automobile electronic and electrical architecture often adopts independent communication modules (T-BOX), V-BOX modules (V2X boxes) and positioning modules (P-BOX). This separated design not only increases the complexity of the system, but also increases the cost, has a large processing delay and low high-precision positioning efficiency. In addition, single satellite navigation is affected by satellite shielding and multipath interference in complex environments such as urban canyons and tunnel areas, and has a large positioning error, which is difficult to support lane-level navigation. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a communication navigation integrated vehicle chip, a vehicle positioning system, a vehicle communication navigation positioning method and a storage medium, to solve the problems of high cost and low positioning efficiency caused by the separation of the vehicle communication module (T-BOX), the V-BOX module (V2X box) and the positioning module (P-BOX) in the prior art, and to solve the technical problem of large positioning error of single satellite navigation in complex environments such as urban canyons and tunnel areas.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a communication navigation integrated vehicle chip, comprising:

[0005] a FLASH chip particle;

[0006] a communication radio frequency chip particle;

[0007] a satellite navigation chip particle, configured to generate effective satellite navigation observation values;

[0008] a communication baseband chip particle, connected with the satellite navigation chip particle, integrated with an application processor, the application processor being configured to receive an accelerometer measurement value and an angular velocity measured by a gyroscope sent by an inertial measurement unit of a vehicle; determine dead reckoning data according to the accelerometer measurement value and the angular velocity; receive cooperative positioning data sent by a road side unit where the vehicle is located; detect whether the effective satellite navigation observation values sent by the satellite navigation chip particle are received, to detect whether the satellite navigation signal is lost; and in the case where the satellite navigation signal is lost, position the vehicle according to the dead reckoning data and the cooperative positioning data.

[0009] In the embodiment of the present application, the application processor is configured to locate the vehicle according to the dead reckoning data and the cooperative positioning data in the case that the satellite navigation signal is lost, including: in the case that the satellite navigation signal is lost, performing a prediction update on the dead reckoning data through a state equation of a Kalman filter to obtain a predicted state and a predicted covariance of the vehicle at a current time; and updating the predicted state and the predicted covariance according to the cooperative positioning data to obtain the positioning data of the vehicle.

[0010] In the embodiment of the present application, the application processor is further configured to locate the vehicle according to the effective satellite navigation observation value in the case that the satellite navigation signal is not lost, or locate the vehicle according to the effective satellite navigation observation value and the dead reckoning data.

[0011] In the embodiment of the present application, the communication baseband chip is reserved with a serial communication interface, and the communication baseband chip is configured to receive the effective satellite navigation observation value sent by the satellite navigation chip through the serial communication interface.

[0012] In the embodiment of the present application, the communication baseband chip is reserved with a vehicle-mounted Ethernet interface, and the communication baseband chip is configured to transmit the positioning data of the vehicle to a domain controller of the vehicle through the vehicle-mounted Ethernet interface.

[0013] In the embodiment of the present application, the communication baseband chip is reserved with a serial peripheral interface, and the communication baseband chip is configured to receive the accelerometer measurement value and the angular velocity measured by the gyroscope sent by the inertial measurement unit through the serial peripheral interface.

[0014] In the embodiment of the present application, the satellite navigation chip is a baseband radio frequency integrated chip.

[0015] The second aspect of the present application provides a vehicle positioning system, including:

[0016] The domain controller of the vehicle is configured to receive the positioning data of the vehicle.

[0017] The inertial measurement unit is configured to provide the accelerometer measurement value and the angular velocity measured by the gyroscope.

[0018] The above-mentioned communication navigation integrated vehicle chip.

[0019] The third aspect of the present application provides a vehicle communication navigation positioning method, applied to the application processor of the above-mentioned communication navigation integrated vehicle chip, and the positioning method includes:

[0020] Receiving the accelerometer measurement value and the angular velocity measured by the gyroscope sent by the inertial measurement unit of the vehicle.

[0021] Determining the dead reckoning data according to the accelerometer measurement value and the angular velocity.

[0022] Receive cooperative positioning data sent by the roadside unit where the vehicle is located;

[0023] It detects whether valid satellite navigation observations of the vehicle transmitted by the satellite navigation chip are received, in order to detect whether the satellite navigation signal has been lost;

[0024] In the event of loss of satellite navigation signals, the vehicle can be located based on cooperative positioning data and dead reckoning data.

[0025] If the satellite navigation signal is not lost, the vehicle can be located based on valid satellite navigation observations, or based on valid satellite navigation observations and dead reckoning data.

[0026] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned vehicle communication navigation and positioning method.

[0027] The above technical solution integrates an application processor onto the communication baseband chip. The application processor receives accelerometer measurements and angular velocities from the vehicle's inertial measurement unit and gyroscope measurements; determines dead reckoning data based on the accelerometer measurements and angular velocities; receives cooperative positioning data from the roadside unit where the vehicle is located; detects whether valid satellite navigation observations have been received from the satellite navigation chip to detect if satellite navigation signals have been lost; and, in the event of satellite navigation signal loss, locates the vehicle based on dead reckoning data and cooperative positioning data, reducing vehicle positioning processing latency, improving the processing efficiency of high-precision positioning, and reducing positioning errors.

[0028] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0030] Figure 1 A schematic diagram of an integrated communication and navigation vehicle chip according to an embodiment of this application is shown.

[0031] Figure 2 A schematic diagram of a vehicle positioning system according to an embodiment of this application is shown.

[0032] Figure 3 A schematic flowchart of a vehicle communication navigation and positioning method according to an embodiment of this application is shown.

[0033] Figure 4The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0037] Figure 1 A schematic diagram of an integrated communication and navigation vehicle chip according to an embodiment of this application is shown. Figure 1 As shown, in one embodiment of this application, a vehicle-mounted chip integrating communication and navigation is provided, comprising:

[0038] FLASH chip;

[0039] Communication radio frequency chips;

[0040] Satellite navigation kernels are used to generate valid satellite navigation observations.

[0041] The communication baseband chip, connected to the satellite navigation chip, integrates an application processor. The application processor receives accelerometer measurements and angular velocities measured by gyroscopes from the vehicle's inertial measurement unit; determines dead reckoning data based on the accelerometer measurements and angular velocities; receives cooperative positioning data from the roadside unit where the vehicle is located; detects whether valid satellite navigation observations have been received from the satellite navigation chip to detect whether the satellite navigation signal has been lost; and, in the event of satellite navigation signal loss, locates the vehicle based on the dead reckoning data and cooperative positioning data.

[0042] The integrated communication and navigation automotive chip includes FLASH chips, communication RF chips, satellite navigation chips, and communication baseband chips. This automotive chip is configured based on individual chips, each of which can utilize different manufacturing processes. For example, the communication baseband chip can use 5nm, and the GNSS chip can use 22nm. This avoids the yield risks associated with single-process chips, allows for modular design, reuses proven IP cores, shortens development cycles, reduces design complexity, improves yield and wafer utilization, and lowers costs.

[0043] The satellite navigation chip refers to the GNSS chip, which is used to generate valid satellite navigation observations and is connected to the communication baseband chip. In this embodiment, the satellite navigation chip is an integrated baseband and radio frequency chip.

[0044] In this embodiment, the communication baseband chip has a reserved serial communication interface, which is used to receive valid satellite navigation observations sent by the satellite navigation chip through the serial communication interface.

[0045] The communication baseband chip has a reserved serial communication interface, which refers to the UART interface. After the satellite navigation chip generates valid satellite navigation observations, it can send them to the communication baseband chip through the serial communication interface. The communication baseband chip can receive these valid satellite navigation observations through the serial communication interface.

[0046] The communication baseband chip integrates an application processor (AP). During vehicle communication, navigation, and positioning, the accelerometer in the vehicle's inertial measurement unit (IMU) detects the vehicle's accelerometer readings, and the gyroscope in the IMU detects the vehicle's angular velocity. The IMU can then send the acquired accelerometer readings and angular velocity to the application processor in the communication baseband chip.

[0047] In this embodiment of the application, the communication baseband chip has a reserved serial peripheral interface, which is used to receive accelerometer measurement values ​​and angular velocities measured by the gyroscope sent by the inertial measurement unit through the serial peripheral interface.

[0048] The communication baseband chip has a reserved serial peripheral interface. This serial peripheral interface refers to the SPI interface. After the inertial measurement unit acquires the accelerometer measurements and angular velocity, it can send them to the application processor of the communication baseband chip via the serial peripheral interface. The application processor of the communication baseband chip can then receive the accelerometer measurements and angular velocity through the serial peripheral interface.

[0049] The application processor can receive accelerometer measurements and angular velocities, and determine dead reckoning data based on these measurements. The dead reckoning data may include the vehicle's speed and position. The vehicle's speed can be determined using the following formula:

[0050]

[0051] in, This refers to the vehicle in the k The speed of time, This refers to the accelerometer at the 1st... k The measured value at time, This refers to the sampling time interval. This refers to the gyroscope in the first... k Angular velocity measured at any time This refers to the vehicle in the k Position at time -1.

[0052] The vehicle's position can be determined using the following formula:

[0053]

[0054] in, This refers to the vehicle in the k Location at any given moment The vehicle is in the k The position at time -1 This refers to the vehicle in the k The velocity at time -1 It is the sampling time interval. For the accelerometer at the 1st k The measured value at time.

[0055] The roadside unit (RSU) where the vehicle is located can provide cooperative positioning data to the application processor of the communication baseband chip via V2X. The application processor can receive the cooperative positioning data sent by the roadside unit via V2X. This cooperative positioning data may include the distance between the vehicle and the roadside unit, as well as the vehicle's position. The distance between the vehicle and the roadside unit can be determined based on the signal transmission time difference between the roadside unit and the vehicle, and the speed of light. Specifically, it can be determined using the following formula:

[0056]

[0057] in, This refers to the vehicle arriving at the... i The distance between RSUs, where c refers to the speed of light. It refers to the first i The signal transmission time difference between the RSU broadcast signal and the vehicle.

[0058] The vehicle's position can be determined by first constructing a polygonal positioning equation based on the vehicle's coordinates and the coordinates of the roadside units, and then linearly solving this equation, for example, iteratively using Taylor expansion. Specifically, the polygonal positioning equation is defined by the following formula:

[0059]

[0060] in,( , , ) refers to the coordinates of the roadside unit, ( x , y , z () refers to the vehicle's coordinates. This refers to the vehicle arriving at the... i The distance of one RSU, This refers to measurement error.

[0061] The communication baseband chip is connected to the satellite navigation chip. After generating valid satellite navigation observations, the satellite navigation chip can send these observations to the application processor of the communication baseband chip. However, the driving environment of vehicles is complex and variable. For example, vehicles may travel through urban canyons or tunnels, in which case satellite navigation signals may be lost, resulting in significant positioning errors. Therefore, the application processor can detect whether valid satellite navigation observations have been received from the satellite navigation chip to determine if satellite navigation signals have been lost.

[0062] In one embodiment, if the application processor detects that it has received valid satellite navigation observations from the satellite navigation chip, it can determine that the satellite navigation signal has not been lost. If the application processor detects that it has not received valid satellite navigation observations from the satellite navigation chip, it can determine that the satellite navigation signal has been lost.

[0063] In the event of satellite navigation signal loss, the application processor can locate the vehicle based on dead reckoning data and cooperative positioning data. Specifically, in this embodiment, the application processor is used to locate the vehicle based on dead reckoning data and cooperative positioning data in the event of satellite navigation signal loss by: updating the prediction based on the dead reckoning data and the state equation of a Kalman filter to obtain the predicted state and prediction covariance of the vehicle at the current moment; and updating the predicted state and prediction covariance based on the cooperative positioning data to obtain the vehicle's positioning data.

[0064] In the event of satellite navigation signal loss, the application processor can update the prediction based on dead reckoning data and the state equation of a Kalman filter to obtain the vehicle's predicted state and prediction covariance at the current moment. Specifically, a state vector can be constructed first based on the dead reckoning data, defined by the following formula:

[0065]

[0066] in,( ) refers to location, ( () refers to speed. This refers to the deviation of the IMU accelerometer along the x-axis. This refers to the deviation of the IMU accelerometer along the y-axis. This refers to the deviation of the IMU accelerometer along the z-axis. This refers to the deviation of the IMU gyroscope's angular velocity in the x-axis direction. This refers to the deviation of the IMU gyroscope's angular velocity in the y-axis direction. This refers to the deviation of the IMU gyroscope's angular velocity in the z-axis direction.

[0067] The predicted state can be defined by the following formula:

[0068]

[0069] in, This refers to the state estimate at time k. This refers to the state estimate at time k-1. This refers to the accelerometer at the 1st... k The measured value at time, This refers to the gyroscope in the first... k Angular velocity measured at any given time.

[0070] The predicted covariance can be defined by the following formula:

[0071]

[0072] in, This refers to the covariance estimate at time k. It is the Jacobian matrix of the state transition matrix at time k. This refers to the covariance estimate at time k-1. It refers to the Jacobian transpose of the state transition matrix at time k. It is the process noise covariance.

[0073] The application processor can update the predicted state and predicted covariance based on the cooperative localization data to obtain the vehicle's localization data. Specifically, the Kalman gain can be calculated using the following formula:

[0074]

[0075] in, This refers to the Kalman gain at time k. This refers to the covariance estimate at time k. This refers to the Jacobian transpose of the observation matrix. It is the Jacobian matrix of the observation matrix. It is the observation noise covariance.

[0076] The updated predicted state can be defined by the following formula:

[0077]

[0078] in, This refers to the updated state estimate at time k. This refers to the state estimate at time k. This refers to the Kalman gain at time k. It refers to the observation model. , It is about The observation function (such as distance calculation or direct location mapping, i.e., obtained through collaborative positioning data mapping). It measures noise. It refers to... The function.

[0079] The updated predicted covariance can be defined by the following formula:

[0080]

[0081] in, This refers to the updated covariance estimate at time k. This refers to the Kalman gain at time k. It is the Jacobian matrix of the observation matrix. It refers to the covariance estimate at time k.

[0082] In this embodiment of the application, the application processor is further configured to: locate the vehicle based on valid satellite navigation observations, or locate the vehicle based on valid satellite navigation observations and dead reckoning data, provided that the satellite navigation signal has not been lost.

[0083] If the satellite navigation signal is not lost, the application processor can locate the vehicle based on valid satellite navigation observations, or based on valid satellite navigation observations and dead reckoning data. That is, when the satellite navigation signal is not lost, the vehicle's position can be located by performing PVT calculations using satellite navigation observations, or by using a combination of satellite navigation and inertial measurement unit (INS) data to achieve vehicle positioning.

[0084] In this embodiment of the application, the communication baseband chip has a reserved vehicle Ethernet interface. The communication baseband chip is used to transmit the vehicle's positioning data to the vehicle's domain controller through the vehicle Ethernet interface.

[0085] The communication baseband chip has a reserved automotive Ethernet interface. The automotive Ethernet interface refers to an Ethernet interface. After the application processor in the communication baseband chip locates the vehicle, it can transmit the vehicle's location data to the vehicle's domain controller via the automotive Ethernet interface.

[0086] In one embodiment, the communication baseband chip and the FLASH chip are connected via a QSPI interface.

[0087] The above technical solution integrates an application processor onto the communication baseband chip. The application processor receives accelerometer measurements and angular velocities from the vehicle's inertial measurement unit and gyroscope measurements; determines dead reckoning data based on the accelerometer measurements and angular velocities; receives cooperative positioning data from the roadside unit where the vehicle is located; detects whether valid satellite navigation observations have been received from the satellite navigation chip to detect if satellite navigation signals have been lost; and, in the event of satellite navigation signal loss, locates the vehicle based on dead reckoning data and cooperative positioning data, reducing vehicle positioning processing latency, improving the processing efficiency of high-precision positioning, and reducing positioning errors.

[0088] like Figure 2 As shown, a schematic diagram of a vehicle positioning system is provided. The vehicle positioning system includes:

[0089] The vehicle's domain controller is used to receive the vehicle's location data;

[0090] An inertial measurement unit (IMU in the diagram) is used to provide accelerometer measurements and angular velocities measured by a gyroscope.

[0091] An integrated vehicle chip for communication and navigation.

[0092] The integrated communication and navigation vehicle chip includes a communication RF chip, a communication baseband chip, a GNSS chip, and a FLASH chip. The communication baseband chip communicates with the GNSS chip via a UART interface, and with the FLASH chip via a QSPI interface. The communication baseband chip communicates with the domain controller via an Ethernet interface. The communication baseband chip communicates with the inertial measurement unit (IMU in the diagram) via an SPI interface.

[0093] like Figure 3 The diagram illustrates a flowchart of a vehicle communication, navigation, and positioning method, applied to an application processor on the aforementioned integrated communication and navigation vehicle chip. The positioning method includes:

[0094] Step 301: Receive the accelerometer measurement value and the angular velocity measured by the gyroscope sent by the vehicle's inertial measurement unit.

[0095] During vehicle communication, navigation, and positioning, the accelerometer included in the vehicle's inertial measurement unit (IMU) detects the vehicle's accelerometer readings, and the gyroscope included in the IMU detects the vehicle's angular velocity. The IMU can then transmit the acquired accelerometer readings and angular velocity to the application processor in the communication baseband chip.

[0096] Step 302: Determine dead reckoning data based on accelerometer measurements and angular velocity.

[0097] The application processor can receive accelerometer measurements and angular velocities, and determine dead reckoning data based on these measurements. The dead reckoning data may include the vehicle's speed and position. The vehicle's speed can be determined using the following formula:

[0098]

[0099] in, This refers to the vehicle in the k The speed of time, This refers to the accelerometer at the 1st... k The measured value at time, This refers to the sampling time interval. This refers to the gyroscope in the first... k Angular velocity measured at any time This refers to the vehicle in the k Position at time -1.

[0100] The vehicle's position can be determined using the following formula:

[0101]

[0102] in, This refers to the vehicle in the k Location at any given moment The vehicle is in the k The position at time -1 This refers to the vehicle in the k The velocity at time -1 It is the sampling time interval. For the accelerometer at the 1st k The measured value at time.

[0103] Step 303: Receive cooperative positioning data sent by the roadside unit where the vehicle is located.

[0104] The roadside unit where the vehicle is located can provide cooperative positioning data to the application processor of the communication baseband chip. This cooperative positioning data may include the distance between the vehicle and the roadside unit, as well as the vehicle's position. The distance between the vehicle and the roadside unit can be determined based on the time difference between the transmission of light between the roadside unit and the vehicle, and the speed of light. Specifically, it can be determined using the following formula:

[0105]

[0106] in, This refers to the vehicle arriving at the... i The distance between RSUs, where c refers to the speed of light. It refers to the first i The signal transmission time difference between the RSU broadcast signal and the vehicle.

[0107] The vehicle's position can be determined by first constructing a polygonal positioning equation based on the vehicle's coordinates and the coordinates of the roadside units, and then linearly solving this equation, for example, iteratively using Taylor expansion. Specifically, the polygonal positioning equation is defined by the following formula:

[0108]

[0109] in,( , , ) refers to the coordinates of the roadside unit, ( x , y , z () refers to the vehicle's coordinates. This refers to the vehicle arriving at the... i The distance of one RSU, This refers to measurement error.

[0110] Step 304: Detect whether valid satellite navigation observations of the vehicle transmitted by the satellite navigation chip are received, in order to detect whether the satellite navigation signal has been lost.

[0111] After generating valid satellite navigation observations, the satellite navigation chip can send these observations to the application processor in the communication baseband chip. However, the driving environment of vehicles is complex and varied. For example, vehicles may travel through urban canyons or tunnels, where satellite navigation signals may be lost, resulting in significant positioning errors. Therefore, the application processor can detect whether valid satellite navigation observations have been received from the satellite navigation chip to identify signal loss and improve vehicle positioning accuracy.

[0112] If the application processor detects that it has received valid satellite navigation observations from the satellite navigation chip, it can determine that the satellite navigation signal has not been lost. If the application processor detects that it has not received valid satellite navigation observations from the satellite navigation chip, it can determine that the satellite navigation signal has been lost.

[0113] Step 305: In the event of loss of satellite navigation signal, locate the vehicle based on cooperative positioning data and dead reckoning data.

[0114] Step 306: If the satellite navigation signal has not been lost, locate the vehicle based on valid satellite navigation observations, or locate the vehicle based on valid satellite navigation observations and dead reckoning data.

[0115] In the event of satellite navigation signal loss, the application processor can locate the vehicle based on dead reckoning data and cooperative positioning data. If satellite navigation signal is not lost, the application processor can locate the vehicle based on valid satellite navigation observations and dead reckoning data. That is, when satellite navigation signal is not lost, the vehicle's position can be located by performing PVT calculations using satellite navigation observations, or by using a combined satellite-inertial measurement unit (SIMU) approach to locate the vehicle.

[0116] Figure 3 This is a flowchart illustrating a vehicle communication, navigation, and positioning method in one embodiment. It should be understood that, although... Figure 3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0117] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the vehicle communication navigation and positioning method described above.

[0118] In one embodiment, a processor is provided for running a program, wherein the program executes the vehicle communication navigation and positioning method described above.

[0119] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores vehicle positioning data. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a vehicle communication navigation and positioning method.

[0120] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0121] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: receiving accelerometer measurements and angular velocities measured by a gyroscope from the vehicle's inertial measurement unit; determining dead reckoning data based on the accelerometer measurements and angular velocities; receiving cooperative positioning data from the roadside unit where the vehicle is located; detecting whether valid satellite navigation observations of the vehicle are received from the satellite navigation chip to detect whether the satellite navigation signal has been lost; locating the vehicle based on the cooperative positioning data and dead reckoning data if the satellite navigation signal has been lost; and locating the vehicle based on valid satellite navigation observations or valid satellite navigation observations and dead reckoning data if the satellite navigation signal has not been lost.

[0122] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes the above-described vehicle communication, navigation, and positioning method steps.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0131] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle-mounted chip integrating communication and navigation, characterized in that, The vehicle-mounted chip includes: FLASH chip; Communication radio frequency chips; Satellite navigation kernels are used to generate valid satellite navigation observations. A communication baseband chip, connected to the satellite navigation chip, integrates an application processor. The application processor receives accelerometer measurements and angular velocities measured by a gyroscope from the vehicle's inertial measurement unit; determines dead reckoning data based on the accelerometer measurements and angular velocities; receives cooperative positioning data from the roadside unit where the vehicle is located; detects whether valid satellite navigation observations from the satellite navigation chip have been received, to detect whether the satellite navigation signal has been lost; and, in the event of satellite navigation signal loss, locates the vehicle based on the dead reckoning data and the cooperative positioning data. The satellite navigation chip is an integrated baseband and radio frequency module.

2. The vehicle-mounted chip integrating communication and navigation according to claim 1, characterized in that, The application processor is used to locate the vehicle based on the dead reckoning data and the cooperative positioning data in the event of loss of the satellite navigation signal, including: In the event of loss of the satellite navigation signal, the predicted state and prediction covariance of the vehicle at the current moment are obtained by updating the prediction based on the dead reckoning data and the state equation of the Kalman filter. The predicted state and the predicted covariance are updated based on the cooperative positioning data to obtain the vehicle's positioning data.

3. The vehicle-mounted chip integrating communication and navigation according to claim 1, characterized in that, The application processor is also used for: If the satellite navigation signal is not lost, the vehicle can be located based on the valid satellite navigation observations, or based on the valid satellite navigation observations and the dead reckoning data.

4. The vehicle-mounted chip integrating communication and navigation according to claim 1, characterized in that, The communication baseband chip has a reserved serial communication interface, and the communication baseband chip is used for: The valid satellite navigation observations transmitted by the satellite navigation chip are received through the serial communication interface.

5. The vehicle-mounted chip integrating communication and navigation according to claim 1, characterized in that, The communication baseband chip has a reserved vehicle Ethernet interface, and the communication baseband chip is used for: The vehicle's location data is transmitted to the vehicle's domain controller via the vehicle's Ethernet interface.

6. The vehicle-mounted chip integrating communication and navigation according to claim 1, characterized in that, The communication baseband chip has a reserved serial peripheral interface, and the communication baseband chip is used for: The serial peripheral interface receives the accelerometer readings and the angular velocity measured by the gyroscope from the inertial measurement unit.

7. A vehicle positioning system, characterized in that, include: The vehicle's domain controller is used to receive the vehicle's location data; An inertial measurement unit (IMU) is used to provide angular velocities measured by accelerometers and gyroscopes. The vehicle-mounted chip integrating communication and navigation according to any one of claims 1 to 6.

8. A vehicle communication, navigation, and positioning method, characterized in that, The positioning method, applied to an application processor on a vehicle-mounted chip integrating communication and navigation according to any one of claims 1 to 6, comprises: It receives accelerometer measurements and angular velocity measurements from the gyroscope sent by the vehicle's inertial measurement unit; Determine dead reckoning data based on the accelerometer measurements and the angular velocity; Receive cooperative positioning data sent by the roadside unit where the vehicle is located; It detects whether valid satellite navigation observations of the vehicle transmitted by the satellite navigation chip are received, in order to detect whether the satellite navigation signal has been lost; In the event of loss of the satellite navigation signal, the vehicle is located based on the cooperative positioning data and the dead reckoning data. If the satellite navigation signal is not lost, the vehicle can be located based on the valid satellite navigation observations, or based on the valid satellite navigation observations and the dead reckoning data.

9. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the vehicle communication navigation and positioning method according to claim 8.

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