Positioning method and device, equipment and storage medium

Abstract

The invention discloses a positioning method and device, equipment and a storage medium, and relates to the technical field of vehicle navigation, and the method comprises the steps: responding to an infrared signal transmitted by at least one infrared beacon, and determining the distance information of a target vehicle and the at least one infrared beacon based on the infrared signal; and acquiring sensor positioning data of the target vehicle, and determining position information of the target vehicle based on the sensor positioning data in combination with the distance information. The target vehicle is positioned according to the infrared signals emitted by the infrared beacons, the infrared beacons can still work normally in special scenes such as no satellite signals, light reflection / low light interference, dynamic obstacle burst and single environmental characteristics, sensor data are calibrated, high-precision positioning is realized, and the positioning accuracy is improved. The technical problem that automatic driving is low in positioning precision in special scenes without satellite signals and the like is solved, the anti-interference performance is high, the response delay is low, and the reliability and safety of automatic driving in the special scenes are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle navigation, and particularly relates to a positioning method and device, equipment and a storage medium. BACKGROUND

[0002] In the field of automatic driving, in underground parking lots, tunnels, thick fog, sand and rain and snow, etc. under adverse weather conditions, the existing technology relies on vision or laser radar SLAM (Simultaneous Localization and Mapping) for positioning, but due to low light environment, epoxy floor reflection interference, sudden dynamic obstacles and repeated structural features (such as pillars, walls, parking lines, etc.), the positioning accuracy is low, the obstacle detection delay is high, and the SLAM algorithm is prone to positioning drift due to single environmental features. In addition, the traditional evaluation method relies on a true value device, and the true value device relies on satellite signals, but satellite signals cannot be obtained in underground scenes, resulting in the inability to collect effective data in underground scenes. The vision / laser radar has high false detection rate in the reflection scene and high transparent obstacle missing rate, and lacks reliable calibration benchmarks, which seriously restricts the reliability and safety of the automatic driving system in special scenes such as no satellite signal, reflection / low light interference, dynamic obstacle burst and single environmental features.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a positioning method, device, equipment and storage medium, which aims to solve the technical problem of low positioning accuracy of automatic driving in special scenes such as no satellite signal.

[0005] To achieve the above purpose, the present application provides a positioning method, which comprises:

[0006] In response to receiving an infrared signal emitted by at least one infrared beacon, determining distance information of the target vehicle and the at least one infrared beacon based on the infrared signal;

[0007] Obtaining sensor positioning data of the target vehicle, and determining position information of the target vehicle based on the sensor positioning data in combination with the distance information.

[0008] In an embodiment, the step of determining the distance information of the target vehicle and the at least one infrared beacon based on the infrared signal comprises:

[0009] Determining at least one of the beacon identifier corresponding to the infrared signal, the time difference of signal transmission and reception, and the phase offset;

[0010] According to the time difference between the signal emission and the signal reception, the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle is calculated; and / or, according to the phase offset, the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle is calculated.

[0011] In an embodiment, the step of obtaining the sensor positioning data of the target vehicle comprises:

[0012] Identifying the timestamp of the infrared signal;

[0013] Obtaining the data corresponding to at least one sensor of the target vehicle at the timestamp, to obtain the sensor positioning data.

[0014] In an embodiment, the step of determining the position information of the target vehicle based on the sensor positioning data and the distance information comprises:

[0015] Determining the simultaneous localization and mapping result according to the sensor positioning data, and determining the infrared true value position according to the distance information;

[0016] Determining the position information of the target vehicle according to the infrared true value position, and / or determining the position information of the target vehicle according to the simultaneous localization and mapping result and the infrared true value position.

[0017] In an embodiment, the step of determining the infrared true value position according to the distance information comprises:

[0018] Determining the beacon identifier corresponding to the infrared signal, and obtaining the coordinates of the infrared beacon corresponding to the beacon identifier;

[0019] Based on the coordinates of the infrared beacon and the distance information between the infrared beacon and the target vehicle, a positioning equation set of the infrared true value position is established;

[0020] The positioning equation set is solved by the least square method to determine the infrared true value position.

[0021] In an embodiment, the step of determining the distance information between the target vehicle and the at least one infrared beacon based on the infrared signal in response to receiving the infrared signal emitted by the at least one infrared beacon further comprises:

[0022] Sending a positioning request in a target area, so that the at least one infrared beacon sends the infrared signal to the target vehicle according to the positioning request.

[0023] In an embodiment, the step of sending a positioning request in a target area further comprises:

[0024] Identifying the number of infrared beacons receiving the positioning request;

[0025] If the number of infrared beacons is less than 1, mark the target area as a low-precision area, and trigger control of the target vehicle to slow down to a safety threshold;

[0026] If the number of infrared beacons is 1 or 2, mark the target area as a medium-precision area, and set the weight corresponding to the true value position of the infrared beacon to a first weight;

[0027] If the number of infrared beacons is not less than 3, mark the target area as a high-precision area, and set the weight corresponding to the true value position of the infrared beacon to a second weight;

[0028] Wherein, the first weight is less than the second weight.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a positioning device, the positioning device comprises:

[0030] A response module, in response to receiving an infrared signal emitted by at least one infrared beacon, determines distance information between the target vehicle and the at least one infrared beacon based on the infrared signal;

[0031] A determination module, acquires sensor positioning data of the target vehicle, and determines position information of the target vehicle based on the sensor positioning data in combination with the distance information.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a positioning device, the device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program is configured to realize the steps of the positioning method as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, the storage medium is a computer readable storage medium, the storage medium has a computer program, the computer program is executed by the processor to realize the steps of the positioning method as described above.

[0034] The one or more technical solutions proposed in the present application have at least the following technical effects:

[0035] The application determines distance information of the target vehicle and the at least one infrared beacon based on an infrared signal emitted in response to receiving at least one infrared beacon emission; obtains sensor positioning data of the target vehicle, and determines position information of the target vehicle based on the sensor positioning data in combination with the distance information. The application realizes positioning of the target vehicle according to the infrared signal emitted by the infrared beacon. The infrared beacon can still work normally in special scenarios such as no satellite signal, reflection / low light interference, dynamic obstacle burst, and single environmental feature. The sensor data is calibrated to realize high-precision positioning, solve the technical problem of low positioning accuracy of automatic driving in special scenarios such as no satellite signal, have strong anti-interference performance, low response delay, and improve the reliability and safety of automatic driving in special scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application together with the specification.

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0038] Figure 1 The flowchart provided for the positioning method embodiment one of the application;

[0039] Figure 2 The flowchart provided for the positioning method embodiment two of the application;

[0040] Figure 3 The flowchart provided for the positioning method embodiment three of the application;

[0041] Figure 4 The flowchart provided for the positioning method embodiment four of the application;

[0042] Figure 5 The flowchart provided for the positioning method embodiment five of the application;

[0043] Figure 6 The flowchart provided for the positioning method embodiment seven of the application;

[0044] Figure 7 The module structure diagram of the positioning device in the embodiment of the application;

[0045] Figure 8 The device structure diagram of the hardware running environment involved in the positioning method in the embodiment of the application.

[0046] The purposes, functional features and advantages of the present application will be further illustrated in conjunction with the embodiments, with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0048] In order to better understand the technical solutions of the present application, the following will be described in detail in conjunction with the drawings and specific embodiments.

[0049] The main solution of the embodiments of the present application is:

[0050] By responding to the infrared signal emitted by at least one infrared beacon, the distance information between the target vehicle and the at least one infrared beacon is determined based on the infrared signal; the sensor positioning data of the target vehicle is obtained, and the position information of the target vehicle is determined based on the sensor positioning data and in combination with the distance information. According to the time difference and / or phase offset of the emission and reception of the infrared signal emitted by the infrared beacon, the distance information between the infrared beacon and the target vehicle is calculated, the position information of the target vehicle is determined based on the sensor positioning data and in combination with the distance information between the infrared beacon and the target vehicle, the technical problem of low positioning accuracy of automatic driving in special scenarios without satellite signals is solved, the anti-interference performance is strong, the response delay is low, and the reliability and safety of automatic driving in special scenarios such as no satellite signals, reflection / low light interference, dynamic obstacle burst and single environmental feature are improved.

[0051] In the field of automatic driving, although the technology of standardized road scene is becoming mature, in some special scenarios (such as underground parking lot, tunnel, thick fog, sand and rainstorm snow and other bad weather conditions), the reliability and adaptability of self-driving system still have limitations. Although such special scenarios occur less frequently in real road conditions, their importance cannot be ignored. Automatic driving in special scenarios highly depends on accurate data collection and model construction, however, the complexity of the environment in special scenarios and the lack of satellite signals (such as underground scenarios) and other factors cause great difficulties in data collection and model construction.

[0052] For example, in the underground parking lot scenario, the underground space completely blocks or significantly attenuates satellite navigation signals such as GPS / Beidou, making it impossible for vehicles to rely on satellite navigation positioning systems. The repeated arrangement of column arrays and the high similarity of wall textures inside the parking lot weaken the characteristics, causing visual SLAM or laser radar SLAM to easily produce cumulative errors and lead to positioning drift. The sudden appearance of pedestrians, trolleys, or open doors, which exceed the coverage range of the sensor field of view angle, the ground epoxy floor paint reflection, the car window mirror reflection, and the low illumination of less than 50 lux in some areas, all of which cause the signal-to-noise ratio of ordinary cameras to drop sharply, resulting in a decline in the performance of the perception system. In the existing technical solutions, traditional positioning evaluation methods require ground-based stations and vehicle-mounted GPS true value devices for data collection. This technical path conflicts with the physical conditions of underground scenarios, making it difficult to obtain reference data and lacking reliable calibration benchmarks, which severely restricts the reliability and safety of autonomous driving systems in underground closed scenarios.

[0053] For example, in the underground parking lot scenario, the existing technology mainly has the following technical problems:

[0054] (1) The problem of satellite signal loss in the positioning scenario of the underground parking lot of autonomous driving: pure visual / laser radar SLAM in the absence of GNSS (Global Navigation Satellite System) environment, the cumulative error is 1-3 m / hour.

[0055] (2) The problem of reflection / low light interference in the positioning scenario of the underground parking lot of autonomous driving: the dynamic range of the camera is insufficient in darkness or strong light, resulting in a parking line miss detection rate of >30%, and the recognition accuracy of traffic signs under glare decreases to 60%; laser radar point cloud in the mirror or floor paint scene is prone to misidentify "ghost obstacles" (such as mistaking reflections as suspended objects), and real obstacles are missed (such as transparent glass doors).

[0056] (3) The problem of sudden dynamic obstacles in the positioning scenario of the underground parking lot of autonomous driving: vision relies on inter-frame difference to detect moving targets, with an average delay of 200-500 ms, which cannot cope with sudden pedestrians or vehicles.

[0057] (4) The problem of single environmental characteristics in the positioning scenario of the underground parking lot of autonomous driving: in the underground parking lot environment, single environmental characteristics (such as repeated columns, similar walls, and parking lines) can cause feature matching confusion and positioning drift in SLAM algorithms based on vision or laser radar.

[0058] To solve the above problems, the application provides a positioning method. The scheme deploys active infrared beacons at key positions such as pillars and corner points of parking spaces in a parking lot, and installs an infrared receiving device on the top of a vehicle, thereby constructing a high-precision and low-delay positioning and evaluation system. The system measures the distance between the vehicle and the surrounding infrared beacons in real time based on the time of flight (ToF) or phase difference ranging principle of the infrared signal, uses the distance as a true value reference for positioning, calibrates the error of other sensors (such as laser radar and visual SLAM), and supports real-time performance evaluation.

[0059] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, or an electronic device or a positioning device capable of realizing the above functions. The embodiment and the following embodiments are described below by taking the positioning device as an example.

[0060] Based on this, the application provides a positioning method, which is described below with reference to Figure 1 , Figure 1 FIG. 1 is a flowchart of a first embodiment of the positioning method of the application.

[0061] In the embodiment, the positioning method includes steps S10-S20.

[0062] In step S10, distance information between the target vehicle and at least one infrared beacon is determined based on an infrared signal emitted by the at least one infrared beacon in response to receiving the infrared signal.

[0063] Specifically, the positioning method in the embodiment of the application can be applied to various special scenarios. For example, the special scenarios can be underground parking lots, tunnels, container terminals, dense fog, sandstorms, heavy rain, and snow, and other adverse weather conditions. The underground parking lot scenario is taken as an example for description in the embodiment of the application.

[0064] For example, the underground parking lot positioning system needs to complete infrastructure deployment before implementation, including infrared beacons and vehicle end receiving devices, etc. For example, directional infrared transmitters (wavelength 850nm-940nm) are deployed at key positions such as the side of the column, the corner of the parking space, and complex areas (such as entrances and exits, curves, slopes, etc.) in the underground parking lot. In the embodiments of the present application, the standard spacing is 5-8 meters, which can be adjusted according to actual conditions in other embodiments, and is not limited here. The spacing in complex areas should be reduced (for example, encrypted to not more than 5 meters), and the installation height should be able to ensure that the infrared beacon is flush with the vehicle-mounted infrared receiver to avoid signal shielding (for example, 1.5-2 meters). The infrared beacon adopts a mixed working mode. For example, the basic infrared beacon continuously emits a low-frequency heartbeat signal (such as 1Hz) for static environment monitoring, and the enhanced infrared beacon switches to a high-frequency positioning signal (such as 100Hz) after responding to the vehicle trigger to realize dynamic target tracking. For example, after the installation of the infrared beacon is completed, a unique beacon identifier is configured for each infrared beacon, and the coordinates of each infrared beacon in the global coordinate system are preset. The target vehicle can obtain the spatial position of the infrared beacon by decoding the beacon identifier. For example, the infrared beacon can be powered by Ethernet or battery, and the working state of the infrared beacon is transmitted in real time to the field server through a low-power local area network wireless standard (such as LoRa).

[0065] For example, a plurality of (for example, 4-6) high-sensitivity infrared receivers are symmetrically installed around the roof of the target vehicle. The receivers are installed around the roof, and each receiver has a field of view angle of not less than 120°. For example, a synchronization module is integrated in the main control unit of the target vehicle. The synchronization module is used to realize time synchronization between the vehicle and the infrared beacon, and provides a unified clock reference for ToF ranging and multi-sensor data fusion. For example, the synchronization module can realize time synchronization with the infrared beacon through UWB (Ultra-Wideband) or 5G.

[0066] For example, when the target vehicle enters the underground parking lot, the infrared beacons deployed at the entrance, the side of the column, the corner of the parking space, and other positions are triggered to emit signals carrying unique beacon identifiers and time stamps in pulse modulation (ToF mode, frequency 5MHz) or continuous wave modulation (phase difference mode, frequency 1-10MHz). After the infrared receiver array of the target vehicle receives the infrared signal emitted by the infrared beacon, the beacon identifier of the infrared beacon, the emission time and reception time of the infrared signal, and the coordinates are obtained by analyzing the infrared signal. At the same time, time synchronization is realized through UWB or 5G, and the ranging mode is dynamically selected, including ToF ranging and phase difference ranging.

[0067] For example, the distance calculated by ToF ranging or phase difference ranging is taken as the distance information between the target vehicle and the infrared beacon.

[0068] Step S20, obtaining sensor positioning data of the target vehicle, and determining position information of the target vehicle based on the sensor positioning data and in combination with the distance information;

[0069] Specifically, based on the sensor positioning data of the target vehicle and the distance information between the infrared beacon and the target vehicle, the infrared true value position is time-aligned with the sensor data, and high-precision position information of the target vehicle is obtained through a weighted fusion algorithm.

[0070] Specifically, laser radar SLAM realizes vehicle positioning and map construction by collecting and processing point cloud data in real time. Specifically, the laser radar emits laser beams and receives reflected signals to collect three-dimensional point cloud data of the environment in real time, then processes the original point cloud data, removes noise points, compensates for point cloud deformation caused by vehicle movement, and extracts structured features (such as wall edges and column edges), calculates the position information of the vehicle through an algorithm (such as normal distribution transformation algorithm), and constructs a high-resolution environment map to obtain laser radar SLAM data.

[0071] Specifically, visual SLAM obtains positioning and map information by collecting environmental image data through a vehicle-mounted camera. Specifically, the vehicle-mounted camera captures image sequences at a fixed frequency, performs distortion correction and denoising preprocessing, then identifies key points (such as corners and parking lines) in the image through a feature extraction algorithm and generates descriptors, tracks the corresponding relationship between feature points in adjacent frames through feature matching technology, solves the relative motion of the camera, and then optimizes the motion trajectory through a graph optimization or filtering algorithm and constructs a point cloud map to correct cumulative errors and output an environment map to obtain visual SLAM data.

[0072] Specifically, when the target vehicle enters an underground parking lot, the infrared receiving array of the target vehicle receives the infrared signal emitted by the infrared beacon, and through analysis of the infrared signal, the beacon identifier and coordinates of the infrared beacon are obtained, and the distance information between the target vehicle and the infrared beacon is calculated based on ToF ranging or phase difference ranging. According to the coordinates of the infrared beacon and the distance information between the target vehicle and the infrared beacon, a positioning equation set about the infrared true value position is established, and the least squares method is used to solve the positioning equation set to obtain the infrared true value position.

[0073] Specifically, the weight of the infrared beacon is dynamically adjusted according to the beacon visibility, and the position of the target vehicle is determined through fusion calculation.

[0074] For example, when the target vehicle can stably receive three or more infrared beacon signals, it indicates that the infrared data is reliable, and the weight of the infrared true value should be increased. For example, in the embodiment, the weight of the infrared true value is set to 100%, that is, the position of the infrared true value is directly taken as the position of the target vehicle.

[0075] For example, when the target vehicle can identify one or two infrared beacon signals, the weight of the infrared true value is appropriately reduced. For example, in the embodiment, the weight of the infrared true value is set to 30%, the weight of the SLAM data is set to 60%, and the weight of other data (such as inertial sensors, IMU) is set to 10%. The position of the target vehicle is obtained through fusion calculation.

[0076] For example, when the target vehicle cannot identify valid infrared beacon signals, the area is marked as a low-precision area, the weight of the infrared true value is set to 0%, and the position of the target vehicle is determined according to the SLAM or IMU data. Meanwhile, the target vehicle is controlled to reduce the speed to a safety threshold to ensure driving safety.

[0077] Through the above scheme, the distance information between the target vehicle and the at least one infrared beacon is determined based on the infrared signal emitted by the at least one infrared beacon in response to receiving the infrared signal. The sensor positioning data of the target vehicle is obtained, and the position information of the target vehicle is determined based on the sensor positioning data and in combination with the distance information. According to the infrared signal emitted by the infrared beacon, the positioning of the target vehicle is realized. The infrared beacon can still work normally in special scenes such as no satellite signal, reflection / low light interference, dynamic obstacle burst, and single environmental feature. The sensor data is calibrated to realize high-precision positioning, solve the technical problem of low positioning accuracy of automatic driving in special scenes such as no satellite signal, have strong anti-interference performance, low response delay, and improve the reliability and safety of automatic driving in special scenes.

[0078] Based on the first embodiment of the present application, the second embodiment of the present application is proposed. In the second embodiment of the present application, the same or similar contents as the above embodiment one can be referred to the above introduction, and the following will not be repeated. On this basis, please refer to Figure 2 In a possible implementation, step S10 in the above embodiment one can include steps S11-S12:

[0079] In step S11, at least one of the beacon identifier corresponding to the infrared signal, the time difference between signal transmission and reception, and the phase offset is determined.

[0080] Specifically, the beacon identifier is a unique code pre-stored in the infrared signal, which is used to distinguish different infrared beacons and associate the pre-stored coordinates thereof, and the time difference between signal transmission and reception and the phase offset are used to calculate the distance between the target vehicle and the infrared beacon.

[0081] For example, when the target vehicle enters the underground parking lot, the infrared beacon deployed at the entrance, the side of the column, the corner of the parking space, etc. is triggered to transmit a signal carrying a unique beacon identifier and a timestamp in pulse modulation (ToF mode, frequency 5MHz) or continuous wave modulation (phase difference mode, frequency 1-10MHz). After the infrared receiving array of the target vehicle receives the infrared signal transmitted by the infrared beacon, the beacon identifier of the infrared beacon, the transmission time and the receiving time of the infrared signal, and the phase difference are obtained by analyzing the infrared signal. At the same time, time synchronization is realized through UWB or 5G.

[0082] For example, the analysis of a certain infrared signal obtains the beacon identifier of the infrared beacon as D4E5F6, the transmission time as t1=86.5ns, and the receiving time as t2=153.2ns. Then the time difference Δt between the transmission and reception of the infrared signal can be calculated as Δt=t2-t1=153.2-86.5=66.7ns. For example, the measured phase shift is π / 3.

[0083] Step S12, according to the time difference between the signal transmission and reception, the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle is calculated; and / or, according to the phase shift, the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle is calculated.

[0084] Specifically, ToF ranging calculates the time difference (Δt) between the transmission and reception of the infrared signal by analyzing the transmission time (t1) and the receiving time (t2) of the infrared signal, and calculates the distance between the target vehicle and the infrared beacon according to the formula d=cΔt / 2, wherein the speed of light c=3×10 8 m / s.

[0085] For example, the transmission time t1=86.5ns, the receiving time t2=153.2ns, the time difference Δt=t2-t1=153.2-86.5=66.7ns, and the distance d between the target vehicle and the infrared beacon is obtained by substituting the formula d=cΔt / 2, d=3×10 8 ×66.7×10 -9 / 2=10.005m.

[0086] Specifically, phase difference ranging measures the phase shift (Δφ) between the transmission and reception of the infrared signal, combines the modulation frequency (f), and calculates the propagation distance between the target vehicle and the infrared beacon according to the formula d=cΔφ / (4πf), wherein the speed of light c=3×10 8 m / s.

[0087] For example, the phase shift of the modulated signal is measured as Δφ = π / 3, and the modulation frequency f = 5 MHz is substituted into the formula d = cΔφ / (4πf) to obtain the distance d = 3 x 10 8 ×(π / 3) / (4π x 5 x 10 6 ) = 5 m between the target vehicle and the infrared beacon.

[0088] For example, the distance calculated by the ToF ranging or phase difference ranging is taken as the distance information between the target vehicle and the infrared beacon.

[0089] In the above scheme, at least one of the beacon identifier corresponding to the infrared signal, the time difference between signal transmission and reception, and the phase shift is determined; the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle is calculated according to the time difference between signal transmission and reception; and / or the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle is calculated according to the phase shift. The distance information between the infrared beacon and the target vehicle is obtained by the time difference between transmission and reception or the phase shift of the infrared signal transmitted by the infrared beacon. The sensor positioning data is calibrated based on the distance information, and high-precision positioning of the target vehicle in a special scenario without satellite signals is realized.

[0090] Based on any of the preceding embodiments of the present application, the third embodiment of the present application is proposed. In the third embodiment of the present application, the same or similar contents as any of the preceding embodiments can be referred to in the foregoing description, and will not be described again. On this basis, please refer to Figure 3 In a possible implementation, step S20 in the first embodiment can include steps S21-S22:

[0091] Step S21, identifying the timestamp of the infrared signal;

[0092] Specifically, the timestamp is a standardized format of numerical value or string, which is used to uniquely identify a specific time (such as date and time), and ensures that events or data can be accurately traced, sorted and synchronized in different systems.

[0093] For example, by analyzing the infrared signal transmitted by the infrared beacon, the timestamp of the infrared beacon is obtained, which records the time of transmission and reception of the infrared signal.

[0094] Step S22, obtaining data corresponding to at least one sensor of the target vehicle under the timestamp, to obtain the sensor positioning data.

[0095] Specifically, based on the timestamp of the infrared beacon, time synchronization is realized through UWB or 5G, sensor positioning data of the target vehicle at the timestamp is obtained, and the sensor positioning data of the target vehicle includes, for example, laser radar SLAM data, visual SLAM data, etc.

[0096] For example, laser radar SLAM realizes vehicle positioning and map construction by collecting and processing point cloud data in real time. For example, the laser radar emits a laser beam and receives a reflected signal, collects three-dimensional point cloud data of the environment in real time, then processes the original point cloud data, removes noise points and compensates for point cloud deformation caused by vehicle movement, and extracts structured features (such as wall edges and column edges), calculates the position information of the vehicle through an algorithm (such as normal distribution transformation algorithm), and constructs a high-resolution environment map to obtain laser radar SLAM data.

[0097] For example, visual SLAM obtains positioning and map information by collecting environmental image data through a vehicle-mounted camera. For example, the vehicle-mounted camera captures image sequences at a fixed frequency, performs distortion correction and denoising preprocessing, then identifies key points (such as corners and parking lines) in the image through a feature extraction algorithm and generates descriptors, tracks the corresponding relationship of feature points between adjacent frames through feature matching technology, solves the relative motion of the camera, and then optimizes the motion trajectory through a graph optimization or filtering algorithm and constructs a point cloud map to correct cumulative errors and output an environment map to obtain visual SLAM data.

[0098] For example, the obtained laser radar SLAM data or visual SLAM data is used as sensor positioning data.

[0099] The above scheme is used to obtain the sensor positioning data of the target vehicle at the timestamp. Time synchronization with the infrared beacon is realized through UWB or 5G to obtain sensor positioning data at the same timestamp, ensuring the reliability and accuracy of the data. Based on the infrared beacon data, the sensor positioning data is calibrated, and high-precision positioning of the target vehicle in special scenarios without satellite signals is realized.

[0100] Based on any of the preceding embodiments of the present application, the fourth embodiment of the present application is proposed. In the fourth embodiment of the present application, the same or similar contents as any of the preceding embodiments can be referred to in the foregoing description, and will not be described again. On this basis, please refer to Figure 4 In a feasible implementation manner, step S20 in the first embodiment can include steps S23-S24:

[0101] Step S23, determining the synchronization positioning and mapping result according to the sensor positioning data, and determining the infrared true value position according to the distance information;

[0102] Specifically, time synchronization is realized by UWB or 5G, fusion correction is performed based on the laser radar SLAM data or visual SLAM data, and the synchronization positioning and mapping result of the target vehicle is obtained.

[0103] Specifically, according to the coordinates of the infrared beacon and the distance information between the target vehicle and the infrared beacon, a positioning equation set about the infrared true value position is established, and the least square method is used to solve the positioning equation set to obtain the infrared true value position.

[0104] Step S24, determining the position information of the target vehicle according to the infrared true value position, and / or determining the position information of the target vehicle according to the synchronization positioning and mapping result and the infrared true value position.

[0105] Specifically, the weight of the infrared beacon is dynamically adjusted according to the beacon visibility, and the position of the target vehicle is determined by fusion calculation.

[0106] Specifically, when the target vehicle can stably receive 3 or more infrared beacon signals, it means that the infrared data is reliable, and the weight of the infrared true value is set to 100%, that is, the infrared true value position is directly used as the position of the target vehicle.

[0107] Specifically, when the number of infrared beacon signals that the target vehicle can identify is 1 or 2, the weight of the infrared true value is set to 30%, the weight of the synchronization positioning and mapping result is set to 60%, and the weight of other data (such as inertial sensor, IMU) is set to 10%, and the position of the target vehicle is obtained by fusion calculation.

[0108] Specifically, when the target vehicle cannot identify effective infrared beacon signals, the area is marked as a low-precision area, the weight of the infrared true value is set to 0%, and the position of the target vehicle is determined according to the synchronization positioning and mapping result, and the target vehicle is controlled to reduce speed to a safety threshold to ensure driving safety.

[0109] The embodiment determines the synchronization positioning and mapping result according to the sensor positioning data, and determines the infrared true value position according to the distance information; the position information of the target vehicle is determined according to the infrared true value position, and / or the position information of the target vehicle is determined according to the synchronization positioning and mapping result and the infrared true value position. Based on the infrared true value position and / or the synchronization positioning and mapping result, the weight of the infrared beacon is dynamically adjusted according to the number of infrared beacons, the synchronization positioning and mapping result is calibrated, the position information of the target vehicle is determined, and then the high-precision positioning of the target vehicle in a special scene without satellite signals and the like is realized, the positioning precision is improved, the anti-interference performance is strong, the response delay is low, and the reliability and safety of automatic driving in a special scene without satellite signals and the like are improved.

[0110] Based on any one of the preceding embodiments of the present application, the fifth embodiment of the present application is proposed. In the fifth embodiment of the present application, the same or similar contents as any one of the preceding embodiments can be referred to the foregoing description, and will not be described hereinafter. On this basis, please refer to Figure 5 In a possible implementation, step S23 in the fourth embodiment can include steps S231-S233:

[0111] Step S231, determining the beacon identifier corresponding to the infrared signal, and obtaining the coordinates of the infrared beacon corresponding to the beacon identifier;

[0112] For example, when the infrared receiving array of the target vehicle receives the infrared signal emitted by the infrared beacon, the beacon identifier of the infrared beacon is obtained by analyzing the infrared signal, and the corresponding coordinates are obtained by algorithm matching the preset database.

[0113] For example, the target vehicle receives the infrared signals of three infrared beacons in a certain underground parking lot, and the beacon identifiers and coordinates of the three infrared beacons are as follows:

[0114] Infrared beacon A: beacon identifier D4E5F6, coordinates (0, 0);

[0115] Infrared beacon B: beacon identifier E5F6G7, coordinates (6, 0);

[0116] Infrared beacon C: beacon identifier F7G8H9, coordinates (3, 5).

[0117] Step S232, based on the coordinates of the infrared beacon and the distance information between the infrared beacon and the target vehicle, a positioning equation set of the infrared true value position is established;

[0118] Specifically, the distance information between the target vehicle and the infrared beacons is calculated by ToF ranging or phase difference ranging, and a positioning equation set based on the coordinates of the infrared beacons and the distance information is constructed to solve the high-precision true position of the target vehicle.

[0119] For example, in the embodiment of step S231, the distance between the target vehicle and infrared beacon A is 5.1 m, the distance between the target vehicle and infrared beacon B is 5.0 m, and the distance between the target vehicle and infrared beacon C is 3.2 m, which are obtained by ToF ranging or phase difference ranging, and the following equation set is constructed according to the coordinates of the infrared beacons:

[0120] (x-0) 2 +(y-0) 2 =5.1 2 ;

[0121] (x-6) 2 +(y-0) 2 =5.0 2 ;

[0122] (x-3) 2 +(y-5) 2 =3.2 2 .

[0123] Where (x, y) is the coordinate of the target vehicle to be solved.

[0124] Step S233, the positioning equation set is solved by the least square method to determine the infrared true position.

[0125] Specifically, the high-precision true position of the target vehicle is determined by solving the multilateration equation set by the least square method.

[0126] For example, in the embodiment of steps S231-S232, the multilateration equation set is solved by the least square method as follows:

[0127] The matrix equation Ax=b is constructed, where A=[120;610], b=[34.99;18.23];

[0128] Then x=(A T A) -1 A T b=[3.05;3.96];

[0129] Therefore, the x coordinate is x=3.05, and the y coordinate is y=3.96, i.e., the coordinate of the target vehicle is (3.05, 3.96).

[0130] The embodiment determines the beacon identifier corresponding to the infrared signal, acquires the coordinates of the infrared beacon corresponding to the beacon identifier, establishes a positioning equation group of the infrared true value position based on the coordinates of the infrared beacon and distance information between the infrared beacon and the target vehicle, and solves the positioning equation group by the least square method to determine the infrared true value position.

[0131] The least square method is used to solve the positioning equation group to determine the infrared true value position. The least square method is used to solve the infrared true value position, which reduces the error and improves the reliability and accuracy of the data. The sensor positioning data is calibrated according to the infrared true value position to determine the position information of the target vehicle, which realizes high-precision positioning of the target vehicle in a special scene without satellite signals, and further improves the reliability and safety of automatic driving in the special scene.

[0132] Based on any one of the preceding embodiments of the application, the sixth embodiment of the application is proposed. In the sixth embodiment of the application, the same or similar contents as any one of the preceding embodiments can be referred to the foregoing description, and will not be described hereinafter. On this basis, in a feasible implementation manner, before step S10 in the first embodiment, the positioning method further includes step S01:

[0133] Step S01: sending a positioning request in the target area, so that the at least one infrared beacon sends the infrared signal to the target vehicle according to the positioning request.

[0134] Specifically, the target vehicle actively sends a positioning request to trigger the infrared beacon in the target area to emit high-frequency infrared signals.

[0135] For example, when the target vehicle enters an underground parking lot, the target vehicle sends a positioning request signal to trigger the infrared beacon deployed at the position of a column, a parking space corner, etc. to switch from a low-power standby mode (such as a 1Hz low-frequency heartbeat signal) to an enhanced working mode (such as a 100Hz high-frequency pulse signal). The infrared beacon emits the infrared signal carrying a unique beacon identifier, a timestamp and a preset coordinate to the target vehicle in a directional manner.

[0136] The embodiment determines the beacon identifier corresponding to the infrared signal, acquires the coordinates of the infrared beacon corresponding to the beacon identifier, establishes a positioning equation group of the infrared true value position based on the coordinates of the infrared beacon and distance information between the infrared beacon and the target vehicle, and solves the positioning equation group by the least square method to determine the infrared true value position. The least square method is used to solve the infrared true value position, which reduces the error and improves the reliability and accuracy of the data. The sensor positioning data is calibrated according to the infrared true value position to determine the position information of the target vehicle, which realizes high-precision positioning of the target vehicle in a special scene without satellite signals, and further improves the reliability and safety of automatic driving in the special scene.

[0137] Based on any one of the preceding embodiments of the present application, the seventh embodiment of the present application is proposed. In the seventh embodiment of the present application, the same or similar contents as any one of the preceding embodiments can be referred to the foregoing description, and will not be described hereinafter. On this basis, please refer to Figure 6 In a feasible implementation, after step S01 in the above-mentioned embodiment six, the positioning method further includes steps S011-S015:

[0138] Step S011, identify the number of infrared beacons received by the positioning request;

[0139] Specifically, the target counts the number of valid infrared beacons by analyzing the beacon identifier in the received infrared signal. For example, the valid infrared beacon needs to meet the following conditions: signal strength ≥-60 dBm, timestamp synchronization deviation ≤10 ns, etc. If it does not meet the conditions, it is considered as an invalid infrared beacon.

[0140] Step S012, if the number of infrared beacons is less than 1, mark the target area as a low-precision area, and trigger the control of the target vehicle to reduce the speed to a safety threshold;

[0141] Specifically, when the target vehicle cannot identify the valid infrared beacon signal, the area is marked as a low-precision area, and the position of the target vehicle is determined according to the SLAM or IMU data, and the target vehicle is controlled to reduce the speed to a safety threshold to ensure driving safety.

[0142] For example, when the target vehicle detects no infrared beacon response or only invalid infrared beacon response after the positioning request, the red line beacon data is not used, the position of the target vehicle is determined by the SLAM or IMU data, and the target vehicle is controlled to reduce the speed to a safety threshold, for example, the speed is reduced to below 5 km / h.

[0143] Step S013, if the number of infrared beacons is 1 or 2, mark the target area as a medium-precision area, and set the weight corresponding to the infrared true value position to a first weight;

[0144] For example, when the target vehicle can identify 1 or 2 valid infrared beacon signals, the target area is marked as a medium-precision area, and the weight of the infrared true value is set to a first weight, for example, the weight of the infrared true value is set to 30%.

[0145] Step S014, if the number of infrared beacons is not less than 3, mark the target area as a high-precision area, and set the weight corresponding to the infrared true value position to a second weight, wherein the first weight is less than the second weight.

[0146] Specifically, when the target vehicle can stably receive 3 or more effective infrared beacon signals, the target area is marked as a high-precision area, and the weight corresponding to the infrared true value position is set to a second weight. For example, the weight of the infrared true value is set to 100%, that is, the infrared true value position is directly taken as the position of the target vehicle.

[0147] Specifically, when the number of effective infrared beacons is not less than 3, it indicates that the reliability of the infrared beacon data is high, so the weight corresponding to the infrared true value position should be increased; when the number of effective infrared beacons is 1 or 2, the reliability of the infrared beacon data is reduced, so the weight corresponding to the infrared true value position should be reduced, so the first weight is set to be less than the second weight, which conforms to the actual situation.

[0148] The embodiment sets the first weight to be less than the second weight. Based on the number of effective infrared beacons, the weight corresponding to the infrared true value position is dynamically adjusted, the sensor positioning data is calibrated, the position information of the target vehicle is determined, the anti-interference performance is strong, the balance between positioning accuracy and safety is ensured, and the reliability and safety of automatic driving in special scenarios such as no satellite signal are improved.

[0149] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the positioning method of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0150] The present application also provides a positioning device, please refer to Figure 7 The positioning device comprises:

[0151] The response module 10 is configured to determine distance information between the target vehicle and at least one infrared beacon based on the infrared signal emitted by the at least one infrared beacon in response to receiving the infrared signal.

[0152] The determination module 20 is configured to obtain sensor positioning data of the target vehicle, and determine position information of the target vehicle based on the sensor positioning data and in combination with the distance information.

[0153] The positioning device provided in the application improves the reliability and safety of the automatic driving system in special scenarios such as no satellite signal, reflection / low light interference, dynamic obstacle burst and single environmental feature, and the specific effects are as follows:

[0154] (1) High precision: high-precision positioning can be performed using infrared equipment, and the infrared ToF ranging accuracy can reach ±1-3cm, far exceeding pure vision (±10-20cm) or laser radar SLAM (±5-10cm).

[0155] (2) Strong anti-interference: infrared signals are not affected by visible light and electromagnetic noise (no conflict with Wi-Fi / Bluetooth frequency bands). Infrared equipment can be used in complete darkness, and infrared does not depend on ambient light and can still work under 0 lux illumination (completely no light), while a camera fails when the illumination is less than 50 lux; it is not affected by epoxy floor reflection, direct vehicle light, etc., and the laser radar has a high false detection rate of up to 40% in such scenarios, while the infrared beacon signal is stable. The occluded area is inferred by the geometric relationship of multiple infrared beacons, the infrared beacon visibility map is updated in real time, and the positioning strategy is dynamically switched to solve the dynamic occlusion and blind area sensing problem.

[0156] (3) Low delay: the whole process from signal transmission to coordinate calculation is less than 10ms, meeting the real-time control requirement, and at the same time, the infrared beacon can be used to directly mark moving obstacles (such as pedestrians and trolleys), and the ToF is combined to achieve a 10ms-level response.

[0157] (4) Multi-lateral positioning: using infrared equipment, through infrared beacon deployment and physical ranging, even if all the pillars have the same appearance, the vehicle can still determine the unique self-position through the distance geometric relationship (such as the ranging values of infrared beacons A, B and C).

[0158] The positioning device provided in the application adopts the positioning method in the above-mentioned embodiments, and can solve the technical problem of low positioning accuracy of automatic driving in special scenarios such as no satellite signal. Compared with the prior art, the positioning device provided in the application has the same beneficial effects as the positioning method provided in the above-mentioned embodiments, and other technical features in the positioning device are the same as the features disclosed in the above-mentioned embodiments, which will not be repeated here.

[0159] The application provides a positioning device, which comprises at least one processor and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the positioning method in the above-mentioned embodiment one.

[0160] The following refers to Figure 8The diagram illustrates a structural schematic of a positioning device suitable for implementing embodiments of this application. The positioning device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), target vehicles (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The positioning device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0161] like Figure 8 As shown, the positioning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the positioning device to communicate wirelessly or wiredly with other devices to exchange data. Although positioning devices with various systems are shown in the figures, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0162] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program codes for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0163] The positioning device provided by the present application adopts the positioning method in the above-mentioned embodiments, and can solve the technical problem of low positioning accuracy of automatic driving in special scenarios without satellite signals. Compared with the prior art, the positioning device provided by the present application has the same beneficial effects as the positioning method provided by the above-mentioned embodiments, and other technical features in the positioning device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0164] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above-mentioned embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0165] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0166] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the positioning method in the above-mentioned embodiments.

[0167] The computer readable storage medium provided in the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination thereof.

[0168] The above computer readable storage medium can be contained in the positioning device or exist separately without being assembled into the positioning device.

[0169] The above computer readable storage medium carries one or more programs, when the one or more programs are executed by the positioning device, the positioning device determines distance information of the target vehicle from at least one infrared beacon based on an infrared signal emitted by the at least one infrared beacon in response to receiving the infrared signal; acquires sensor positioning data of the target vehicle, and determines position information of the target vehicle based on the sensor positioning data and in combination with the distance information.

[0170] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0171] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0172] The modules involved in the embodiments of the present application can be implemented in the form of software or hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0173] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer program) for executing the positioning method described above, and can solve the technical problem of low positioning accuracy of automatic driving in special scenarios without satellite signals. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the positioning method provided by the above-mentioned embodiments, and will not be described here.

[0174] The above merely describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, which is made based on the technical concept of the present application and the content of the specification and drawings, is included in the patent protection scope of the present application.

Claims

1. A positioning method, characterized in that, The positioning method is applied to the target vehicle and includes: In response to receiving an infrared signal emitted by at least one infrared beacon, the distance information between the target vehicle and the at least one infrared beacon is determined based on the infrared signal; The sensor positioning data of the target vehicle is acquired, and the location information of the target vehicle is determined based on the sensor positioning data and the distance information.

2. The positioning method as described in claim 1, characterized in that, The step of determining the distance information between the target vehicle and the at least one infrared beacon based on the infrared signal includes: Determine at least one of the following: the beacon identifier corresponding to the infrared signal, the time difference between signal transmission and reception, and the phase offset; Based on the time difference between signal transmission and reception, calculate the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle; and / or, based on the phase offset, calculate the distance information between the infrared beacon corresponding to the beacon identifier and the target vehicle.

3. The positioning method as described in claim 1, characterized in that, The step of acquiring the sensor positioning data of the target vehicle includes: The timestamp of the infrared signal was identified; Data corresponding to at least one sensor of the target vehicle at the given timestamp is obtained to obtain the sensor positioning data.

4. The positioning method as described in claim 1, characterized in that, The step of determining the location information of the target vehicle based on the sensor positioning data and the distance information includes: Based on the sensor positioning data, determine the synchronous positioning and mapping results, and based on the distance information, determine the infrared true position; The location information of the target vehicle is determined based on the infrared true value location, and / or the location information of the target vehicle is determined based on the synchronous positioning and mapping results and the infrared true value location.

5. The positioning method as described in claim 4, characterized in that, The step of determining the infrared true position based on the distance information includes: Determine the beacon identifier corresponding to the infrared signal, and obtain the coordinates of the infrared beacon corresponding to the beacon identifier; Based on the coordinates of the infrared beacon and the distance information between the infrared beacon and the target vehicle, a set of positioning equations for the true infrared position is established; The infrared true location is determined by solving the positioning equations using the least squares method.

6. The positioning method as described in claim 4, characterized in that, The step of determining the distance information between the target vehicle and the at least one infrared beacon based on the infrared signal received in response to receiving an infrared signal emitted by at least one infrared beacon further includes: A location request is sent within the target area so that the at least one infrared beacon sends the infrared signal to the target vehicle in accordance with the location request.

7. The positioning method as described in claim 6, characterized in that, The step of sending a location request within the target area is followed by: Identify the number of infrared beacons that received the location request; If the number of infrared beacons is less than 1, the target area is marked as a low-precision area, and the target vehicle is controlled to slow down to a safe threshold. If the number of infrared beacons is 1 or 2, the target area is marked as a medium-precision area, and the weight corresponding to the infrared true value position is set as the first weight; If the number of infrared beacons is not less than 3, the target area is marked as a high-precision area, and the weight corresponding to the infrared true value position is set as the second weight. Wherein, the first weight is less than the second weight.

8. A positioning device, characterized in that, The positioning device includes: A response module, in response to receiving an infrared signal emitted by at least one infrared beacon, determines the distance information between the target vehicle and the at least one infrared beacon based on the infrared signal; The determination module acquires the sensor positioning data of the target vehicle, and determines the location information of the target vehicle based on the sensor positioning data and the distance information.

9. A positioning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the positioning method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the positioning method as described in any one of claims 1 to 7.

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