Positioning management system of unmanned vehicle

Abstract

The embodiment of the invention relates to a positioning management system of an unmanned vehicle. The system comprises vehicle-mounted equipment and a management platform, the vehicle-mounted devices are in one-to-one correspondence with the unmanned vehicles and are mounted on the corresponding unmanned vehicles; the vehicle-mounted equipment comprises a vehicle end acquisition module and a vehicle end communication module; the vehicle end acquisition module is connected with the data receiving module of the management platform through the vehicle end communication module; the data transmission mode of the vehicle end communication module comprises a mobile data transmission mode and a short message transmission mode; the management platform comprises a data receiving module, a data caching module, a data analysis module, a track processing module, a track storage module, an event processing module and an event storage module. According to the invention, the transmission stability can be improved, the data security can be improved, the track distortion risk can be reduced, and the emergency handling capability can be improved.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a positioning management system for unmanned vehicles. Background Technology

[0002] With the widespread application of autonomous driving technology, driverless logistics delivery vehicles (hereinafter referred to as driverless vehicles) have been put into operation in some cities. Accurate and reliable location management of these driverless vehicles can not only improve vehicle dispatching efficiency but also enhance the ability to handle emergencies.

[0003] However, conventional positioning management solutions are technical implementations provided for manned vehicles. These conventional solutions still have some problems in accurately and reliably managing unmanned vehicles.

[0004] 1) Transmission stability issues: Conventional solutions often rely on a single mobile data transmission method (such as GPRS transmission method, TCP / IP protocol stack transmission method, etc.), which are prone to data packet loss in areas with weak signals or network congestion, thus affecting the stability of data transmission.

[0005] 2) Transmission security issues: Conventional solutions do not adequately encrypt location data, and may even transmit it in plaintext, which could lead to the risk of data theft or tampering during transmission.

[0006] 3) Trajectory distortion problem: Under certain circumstances, the positioning data collected by the vehicle may have some deviation. For example, when the vehicle is in a closed or semi-closed space such as a tunnel or underground parking lot, the loss of satellite signal will cause positioning distortion. The back-end server of conventional solutions generally does not perform targeted filtering after receiving positioning data, which may lead to vehicle trajectory distortion.

[0007] 4) Lack of event location: If an autonomous vehicle malfunctions, is involved in an accident, or is maliciously damaged by the outside world, it will not only cause traffic congestion but also cause significant property losses to the vehicle operator. However, conventional solutions only focus on vehicle trajectory location and do not provide event location functions. Summary of the Invention

[0008] The purpose of this invention is to address the shortcomings of existing technologies by providing a positioning management system for autonomous vehicles. This system includes: onboard equipment and a management platform. The onboard equipment includes a vehicle-side data acquisition module and a vehicle-side communication module. The vehicle-side data acquisition module is used to periodically collect vehicle positioning information through the vehicle control system at a preset positioning acquisition frequency, generate corresponding positioning data, and encrypt the positioning data according to a vehicle-side key. It is also used to encrypt vehicle event data released by the vehicle control system according to the vehicle-side key. The vehicle-side communication module is used to monitor the network signal strength of the mobile communication network in real time and dynamically update the network transmission mode (mobile data transmission mode, SMS transmission mode) based on the monitoring results. Upon receiving encrypted positioning data or encrypted event data, it encapsulates the current encrypted data into a corresponding data / SMS message according to the network transmission mode and sends the current message to the management platform. The management platform includes a data receiving module, a data caching module, a data parsing module, a trajectory processing module, a trajectory storage module, an event processing module, and an event storage module. The data receiving module stores each received data / SMS message into the corresponding vehicle data / SMS message queue in the data caching module. The data caching module periodically clears processed data from each queue and periodically clears expired SMS messages from the vehicle SMS message queue. The data parsing module parses the data / SMS messages from each vehicle data / message message queue and updates the corresponding vehicle location / event data queue based on the parsing results. The trajectory processing module updates the trajectory records of the corresponding vehicle trajectory list in the trajectory storage module based on each vehicle location data queue and optimizes the trajectory based on Kalman filtering during the update process. The event processing module generates event alarms based on each vehicle event data queue, updates the event records of the corresponding vehicle event list in the event storage module, and updates the corresponding vehicle event list based on the processing feedback information of each event. This invention improves transmission stability through a dynamic allocation mechanism combining mobile data transmission and SMS transmission; enhances transmission security through data encryption; reduces the risk of trajectory distortion through Kalman filtering; and compensates for the deficiencies of conventional solutions by adding a real-time reporting, alarm, and feedback update mechanism for event data. This improves the ability to handle emergencies and helps reduce the risk of traffic congestion and property damage.

[0009] To achieve the above objectives, embodiments of the present invention provide a positioning management system for unmanned vehicles, the system comprising: on-board equipment and a management platform;

[0010] The vehicle-mounted equipment corresponds one-to-one with the autonomous vehicle and is installed on the corresponding autonomous vehicle; the vehicle-mounted equipment includes a vehicle-side data acquisition module and a vehicle-side communication module; the vehicle-side data acquisition module is connected to the data receiving module of the management platform through the vehicle-side communication module; the vehicle-side communication module is a 4G / 5G communication module, and the data transmission methods of the vehicle-side communication module include mobile data transmission and SMS transmission.

[0011] The management platform includes a data receiving module, a data caching module, a data parsing module, a trajectory processing module, a trajectory storage module, an event processing module, and an event storage module; the data caching module is connected to the data receiving module, the data parsing module, the trajectory processing module, and the event processing module respectively; the trajectory processing module is connected to the trajectory storage module; the event processing module is connected to the event storage module.

[0012] The vehicle-mounted data acquisition module is also connected to the vehicle control system of the unmanned vehicle;

[0013] The vehicle-side data acquisition module is used to periodically collect vehicle positioning information through the vehicle control system at a preset positioning acquisition frequency to generate corresponding positioning data; and to encrypt the positioning data according to the first vehicle-side key preset locally on the device to obtain corresponding positioning encrypted data and send it to the vehicle-side communication module; the positioning data includes a first timestamp, a first longitude, and a first latitude.

[0014] The vehicle-side data acquisition module is also used to receive vehicle event data released by the vehicle control system; and to encrypt the vehicle event data according to the first vehicle-side key to obtain corresponding event ciphertext data and send it to the vehicle-side communication module; the vehicle event data includes a second timestamp, vehicle event type, second longitude, and second latitude; the vehicle event type includes multiple types of traffic accidents, multiple types of vehicle malfunctions, and multiple types of external damage.

[0015] The vehicle-mounted communication module is used to monitor the network signal strength of the mobile communication network in real time and dynamically update the network transmission mode preset locally on the device based on the monitoring results; the network transmission mode includes mobile data transmission mode and SMS transmission mode.

[0016] The vehicle-side communication module is also used to encapsulate the current encrypted data into a corresponding data packet or SMS packet according to the network transmission mode and send the current packet to the data receiving module when it receives the location encrypted data or the event encrypted data.

[0017] The data receiving module is used to store each received data packet into the corresponding vehicle data packet queue in the data cache module; and to store each received SMS packet into the corresponding vehicle SMS packet queue in the data cache module.

[0018] The data caching module is used to store a corresponding set of vehicle data message queues, vehicle SMS message queues, vehicle positioning data queues, and vehicle event data queues for each of the vehicle-mounted devices; and to periodically clear processed data from each queue; and to periodically clear expired SMS messages from the vehicle SMS message queue.

[0019] The data parsing module is used to parse the data packets of each vehicle data packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results; and to parse the SMS packets of each vehicle SMS packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results.

[0020] The trajectory processing module is used to update the trajectory record of the corresponding vehicle trajectory list in the trajectory storage module according to each vehicle positioning data queue, and optimize the trajectory based on Kalman filtering during the update process;

[0021] The trajectory storage module is used to store multiple lists of vehicle trajectories;

[0022] The event processing module is used to issue event alarms based on each of the vehicle event data queues and update the event records in the corresponding vehicle event list in the event storage module; and to update the corresponding vehicle event list based on the processing feedback information of each event.

[0023] The event storage module is used to store multiple lists of vehicle events.

[0024] Preferably, the mobile data transmission method includes GPRS transmission method and TCP / IP protocol stack transmission method;

[0025] The vehicle data packet queue includes multiple data packet cache records; each data packet cache record includes a vehicle identifier, a packet timestamp, packet protocol data, and a packet processing status; the packet processing status includes two states: unprocessed and processed; each vehicle data packet queue corresponds one-to-one with the on-board device, and all vehicle identifiers in the queue are identical;

[0026] The vehicle SMS message queue includes multiple SMS message cache records; each SMS message cache record includes the vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, SMS message segment, and SMS processing status; 1 ≤ SMS segment index ≤ total number of SMS segments; the message processing status includes two states: unprocessed and processed; the vehicle SMS message queue corresponds one-to-one with the vehicle-mounted device, and all vehicle identifiers in the queue are identical;

[0027] The vehicle positioning data queue includes multiple positioning cache records; the positioning cache records include the vehicle identifier, positioning timestamp, positioning data, and positioning processing status; the positioning data includes longitude and latitude; the positioning processing status includes two states: unprocessed and processed; the vehicle positioning data queue corresponds one-to-one with the on-board device, and all vehicle identifiers in the queue are identical;

[0028] The vehicle event data queue includes multiple event cache records; each event cache record includes the vehicle identifier, event timestamp, event data, and event processing status; the event data includes event type and event location; the event type includes multiple types of traffic accidents, multiple types of vehicle malfunctions, and multiple types of external force damage; the event location includes longitude and latitude; the event processing status includes two states: unprocessed and processed; the vehicle event data queue corresponds one-to-one with the on-board device, and all vehicle identifiers in the queue are identical;

[0029] The vehicle trajectory list includes multiple trajectory point records; each trajectory point record includes the vehicle identifier, trajectory point timestamp, and trajectory point latitude and longitude; the vehicle trajectory list corresponds one-to-one with the in-vehicle device, and all vehicle identifiers in the list are identical;

[0030] The vehicle event list includes multiple historical event records; each historical event record includes the vehicle identifier, the event timestamp, the event type, the event location, and event processing feedback; the vehicle event list corresponds one-to-one with the in-vehicle device, and all vehicle identifiers in the list are identical; the event processing feedback includes alarms and multiple processing feedback types; the multiple processing feedback types include at least the following: the event vehicle has been found, the event vehicle is lost, and the event vehicle has been recalled;

[0031] The first vehicle-side key is unique to each vehicle, and the first vehicle-side keys of different vehicle-mounted devices are all different; the management platform stores a first platform key that corresponds one-to-one with each of the first vehicle-side keys; each first vehicle-side key is used for data encryption, and the corresponding first platform key is used for data decryption; if the data encryption and decryption algorithm is a symmetric algorithm, then each first vehicle-side key is the same as its corresponding first platform key, and the symmetric algorithm includes AES algorithm, SM1 algorithm, and SM4 algorithm; if the data encryption and decryption algorithm is an asymmetric algorithm, then each first vehicle-side key and its corresponding first platform key are a matching public-private key pair, and the asymmetric algorithm includes RSA algorithm and SM2 algorithm.

[0032] Preferably, the vehicle-side communication module is specifically used when the network signal strength of the mobile communication network is monitored in real time and the network transmission mode preset locally on the device is dynamically updated based on the monitoring results:

[0033] The network signal strength of the mobile communication network at the current moment is periodically determined according to a preset signal lookup frequency. The current signal strength is then checked to see if it is greater than a preset signal strength threshold. If the current signal strength is greater than the threshold, a preset signal counter is cleared and the network transmission mode is set to mobile data transmission mode. If the current signal strength is less than or equal to the threshold, the signal counter is incremented by 1, and after incrementing, the signal counter is checked to see if it is greater than a preset counter threshold. If it is, the signal counter is cleared and the network transmission mode is set to SMS transmission mode.

[0034] Preferably, the vehicle-side communication module is specifically used when the current encrypted data is encapsulated into a corresponding data packet or SMS packet according to the network transmission mode and the current packet is sent to the data receiving module:

[0035] The current ciphertext data is used as the corresponding first ciphertext data; and the ciphertext type of the current ciphertext data is identified. If the current ciphertext data is the location ciphertext data, the corresponding first ciphertext type is set to location ciphertext. If the current ciphertext data is the event ciphertext data, the corresponding first ciphertext type is set to event ciphertext. The first ciphertext type and the first ciphertext data are combined to form the corresponding first original message.

[0036] And the network transmission mode is identified;

[0037] If the network transmission mode is a mobile data transmission mode, the first original message is encapsulated according to a preset data packet encapsulation mechanism to obtain a corresponding first data packet, and the first data packet is sent to the data receiving module through the mobile data transmission method; the first data packet carries a first vehicle identifier, a first sending time, and the first original message; the first vehicle identifier is the unique identifier of the unmanned vehicle where the on-board equipment is located; the first sending time is the sending time of the current message;

[0038] If the network transmission mode is SMS transmission mode, a unique batch number is assigned to the first original message as the corresponding first batch number; the message length of the first original message is statistically analyzed to obtain the corresponding first message length; and it is identified whether the first message length is greater than a preset single SMS data length threshold; if yes, the corresponding first SMS total number is calculated as int(first message length / single SMS data length threshold), where int() is a round-up function; if no, the corresponding first SMS total number is set to 1; and the first SMS total number is identified; if the first SMS total number is greater than 1, the first original message is sequentially divided into multiple corresponding first message segments p, limited by the single message length threshold. i 1 ≤ fragment index i ≤ total number of first SMS messages; if the total number of first SMS messages is equal to 1, then the first original message is taken as the corresponding first message fragment p. i＝1 ; and according to the preset data SMS encapsulation mechanism, each of the first message segments p i The SMS message is encapsulated to obtain the corresponding first SMS message, and each first SMS message is sent to the data receiving module via SMS transmission. Each first SMS message carries a second vehicle identifier, a second sending time, a first batch number, a total number of first SMS messages, and a corresponding first SMS segment index and a first message segment p. i The second vehicle identifier is the unique identifier of the unmanned vehicle where the on-board equipment is located; the second sending time is the sending time of the current message; the first SMS fragment index is the corresponding fragment index i.

[0039] Preferably, the data receiving module is specifically used when storing each received data packet into the corresponding vehicle data packet queue in the data cache module:

[0040] Each received first data packet is taken as the current data packet; the corresponding first vehicle identifier, first sending time, and first original packet are extracted from the current data packet to form a set of corresponding vehicle identifier, message timestamp, and message protocol data; a corresponding message processing status is set to unprocessed; and a new data packet cache record is formed by the vehicle identifier, message timestamp, message protocol data, and message processing status corresponding to the current data packet and stored in the vehicle data packet queue.

[0041] Preferably, the data receiving module is specifically used when storing each received SMS message into the corresponding vehicle SMS message queue in the data cache module:

[0042] Each received first SMS message is taken as the current SMS message; and the corresponding second vehicle identifier, second sending time, first batch number, first total number of SMS messages, first SMS segment index, and first message segment are extracted from the current SMS message to form a corresponding set of vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, and SMS message segment; and a corresponding SMS processing status is set to unprocessed; and a new SMS message cache record is formed by the vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, SMS message segment, and SMS processing status corresponding to the current SMS message and stored in the vehicle SMS message queue.

[0043] Preferably, the data caching module is specifically used during the periodic clearing of processed data from each queue:

[0044] At a preset first clearing frequency, the cached records of data packets whose message processing status is "processed" in each of the vehicle data packet queues are cleared periodically, as are the cached records of SMS messages whose message processing status is "processed" in each of the vehicle SMS packet queues, the cached records of location messages whose location processing status is "processed" in each of the vehicle location data queues, and the cached records of event messages whose event processing status is "processed" in each of the vehicle event data queues.

[0045] Preferably, the data caching module is specifically used when periodically clearing expired SMS messages from the vehicle SMS message queue:

[0046] The system periodically clears the SMS messages from each vehicle at a preset second clearing frequency, using each queue as the current message queue. A current record set is formed from the cached SMS messages in the current message queue whose processing status is "unprocessed." The cached SMS messages in the current record set are clustered according to their batch numbers, forming a single-batch record subset from one or more cached SMS messages with the same batch number. The earliest SMS timestamp in each single-batch record subset is used as the corresponding single-batch start time. A first interval is calculated between each single-batch start time and the current time. Single-batch record subsets with first intervals exceeding a preset threshold are recorded as expired record subsets. All expired record subsets in the current message queue are then deleted.

[0047] Preferably, the data parsing module is specifically used when parsing the data packets of each of the vehicle data packet queues and updating the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results:

[0048] Each of the vehicle data packet queues is designated as the current packet queue; the first platform key corresponding to the current packet queue is designated as the current key; and all data packet cache records in the current packet queue whose packet processing status is unprocessed are recorded as unprocessed records.

[0049] When the total number of unprocessed records in the current message queue is not 0, the earliest unprocessed record in the current message queue is taken as the current record; the message protocol data of the current record is taken as the corresponding first original message; the corresponding vehicle positioning data queue or vehicle event data queue is updated according to the current key and the first original message; and the message processing status of the current record is updated to processed.

[0050] Preferably, the data parsing module is specifically used when parsing SMS messages in each of the vehicle SMS message queues and updating the corresponding vehicle location data queue or vehicle event data queue based on the parsing results:

[0051] Each of the vehicle SMS message queues is designated as the current message queue; the first platform key corresponding to the current message queue is designated as the current key; and all SMS message cache records in the current message queue whose SMS processing status is unprocessed are recorded as unprocessed records.

[0052] The unprocessed records in the current message queue are clustered according to the SMS batch number, forming a corresponding unprocessed record subset by forming one or more unprocessed records with the same SMS batch number; the total number of SMS segments corresponding to each unprocessed record subset is recorded as the corresponding subset segment total number, and the total number of records in each unprocessed record subset is statistically analyzed to obtain the corresponding subset record total number; the unprocessed record subsets whose total subset segment total number is equal to the total subset record total number are recorded as the corresponding unprocessed subsets; and the earliest SMS timestamp in each unprocessed subset is used as the corresponding subset start time.

[0053] When the total number of subsets in the pending subset is not 0, the pending subset with the earliest start time is taken as the current subset; all SMS message fragments in the current subset are sequentially concatenated according to the index order of the SMS fragment index, and the resulting concatenated message is taken as the corresponding first original message; the corresponding vehicle positioning data queue or vehicle event data queue is updated according to the current key and the first original message; and the SMS processing status of all unprocessed records corresponding to the current subset is updated to processed.

[0054] Furthermore, the data parsing module is specifically used when updating the corresponding vehicle location data queue or vehicle event data queue according to the current key and the first original message:

[0055] Extract the corresponding first ciphertext type and first ciphertext data from the first original message;

[0056] And identify the first ciphertext type;

[0057] If the first ciphertext type is location ciphertext, then the first ciphertext data is decrypted based on the current key, and the resulting decrypted plaintext is used as the corresponding location acquisition data; the first timestamp of the location acquisition data is used as the corresponding location timestamp; the first longitude and the first latitude of the location acquisition data are used to form the corresponding location data; the corresponding location processing status is set to unprocessed; and a new location cache record is formed by the vehicle identifier, the location timestamp, the location data, and the location processing status corresponding to the current record and stored in the vehicle location data queue corresponding to the current message queue.

[0058] If the first ciphertext type is event ciphertext, then the first ciphertext data is decrypted based on the current key, and the resulting decrypted plaintext is used as the corresponding vehicle event data; the second timestamp and the vehicle event type of the vehicle event data are used as the corresponding event timestamp and event type; the second longitude and the second latitude of the vehicle event data form the corresponding event location; the obtained event type and event location form the corresponding event data; the corresponding event processing status is set to unprocessed; and a new event cache record is formed by the vehicle identifier, the event timestamp, the event data, and the event processing status corresponding to the current record and stored in the vehicle event data queue corresponding to the current message queue.

[0059] Preferably, the trajectory processing module is specifically used when updating the trajectory record of the corresponding vehicle trajectory list in the trajectory storage module according to each of the vehicle positioning data queues, and optimizing the trajectory based on Kalman filtering during the update process:

[0060] Each of the vehicle positioning data queues is designated as the current positioning queue; the vehicle trajectory list corresponding to the current positioning queue is designated as the current list; and all data packet cache records in the current positioning queue whose positioning processing status is unprocessed are recorded as unprocessed records.

[0061] When the total number of unprocessed records in the current location queue is not 0, the earliest unprocessed record in the current location queue is taken as the current record; and the location timestamp and location data of the current record are taken as the corresponding current time point and current latitude and longitude.

[0062] The current time point is taken as the current end time, and the time point obtained by subtracting a preset first duration from the current time point is taken as the current start time. The current start time and the current end time form the corresponding current time period. The timestamps of the trajectory points in the current list that satisfy the current time period and the latitude and longitude of the trajectory points form a corresponding historical trajectory point. All the obtained historical trajectory points form the corresponding current historical trajectory.

[0063] And it identifies whether the current historical trajectory is empty;

[0064] If the current historical trajectory is empty, the current latitude and longitude are identified by querying a preset high-precision road map to determine whether the current latitude and longitude are in a non-driving area. If so, the timestamp and latitude and longitude of the trajectory point corresponding to the current record are set to empty. Otherwise, the current time point and the current latitude and longitude are used as the timestamp and latitude and longitude of the trajectory point corresponding to the current record.

[0065] If the current historical trajectory is not empty, then the total number of trajectory points in the current historical trajectory is recorded as K; and the latitude and longitude of all the historical trajectory points in the current historical trajectory are converted into road coordinates in the road SL coordinate system (l j ,s j ), 1≤indexj≤K; and according to the uniform acceleration motion mode, the vehicle speed v of all the trajectory points corresponding to the current historical trajectory points is adjusted. j acceleration a at the trajectory point j Estimate; and use the road coordinates (l) corresponding to the last historical trajectory point. j＝K ,s j＝K ), trajectory point vehicle speed v j＝K acceleration a at the trajectory point j＝K The corresponding state variables x K ; and convert the current latitude and longitude into road coordinates in the road SL coordinate system (l K+1 ,s K+1 ), and by the road coordinates (l K+1 ,s K+1 ) form the corresponding observation y K+1 And the time difference Δt between the timestamp of the last historical trajectory point and the current time point. k+1 The calculations are performed; and a Kalman filter equation is constructed using a uniformly accelerated motion model, and the state variable x is... K Observation y K+1 Time difference △t k+1 Substituting the state variable x into the Kalman filter equation K+1 Solve the problem; and for the state variable x K+1 Road coordinates Perform latitude and longitude conversion and use the conversion result as the new current latitude and longitude; and use the current time point and the new current latitude and longitude as the timestamp of the trajectory point corresponding to the current record and the latitude and longitude of the trajectory point;

[0066] Wherein, the state variable x K+1 From the road coordinates Vehicle speed at trajectory point trajectory point acceleration composition;

[0067] The system identifies the timestamp and latitude / longitude of the trajectory point corresponding to the current record. If neither the timestamp nor the latitude / longitude of the trajectory point corresponding to the current record is empty, a new trajectory point record is created by combining the vehicle identifier, the timestamp, and the latitude / longitude of the trajectory point and stored in the current list. The positioning processing status of the current record is then reset to "processed". If both the timestamp and the latitude / longitude of the trajectory point corresponding to the current record are empty, only the positioning processing status of the current record is reset to "processed".

[0068] Preferably, the event processing module is specifically used when, during the process of issuing event alarms based on each of the vehicle event data queues and updating the event records in the corresponding vehicle event list in the event storage module:

[0069] Each of the vehicle event data queues is designated as the current event queue; the vehicle event list corresponding to the current event queue is designated as the current list; and all event cache records in the current event queue whose event processing status is unprocessed are recorded as unprocessed records.

[0070] When the total number of unprocessed records in the current event queue is not zero, the earliest unprocessed record in the current event queue is taken as the current unprocessed record; and the vehicle identifier, event timestamp, event type, and event location of the current unprocessed record are used to form a corresponding current alarm message, which is sent to a preset alarm processing interface; and a new historical event record is added to the current list as the current new record, and the vehicle identifier, event timestamp, event type, and event location in the current new record are set based on the vehicle identifier, event timestamp, event type, and event location of the current unprocessed record, and the event processing feedback of the current new record is set to alarmed; and the event processing status of the current unprocessed record is reset to processed.

[0071] Preferably, the event processing module is specifically used when updating the corresponding vehicle event list based on the processing feedback information of each event:

[0072] The system receives processing feedback information for each event through a preset event feedback interface; wherein, the processing feedback information includes the vehicle identifier of the alarm event, the timestamp of the alarm event, the type of the alarm event, the location of the alarm event, and the feedback of the alarm event; the feedback of the alarm event includes whether the event vehicle has been found, whether the event vehicle is lost, and whether the event vehicle has been recalled.

[0073] Each received processing feedback information is taken as the current feedback information; the alarm event vehicle identifier, alarm event timestamp, alarm event type, alarm event location, and alarm event feedback of the current feedback information are taken as the corresponding current vehicle identifier, current event timestamp, current event type, current event location, and current event feedback; the vehicle event list corresponding to the current vehicle identifier is taken as the current list; the historical event records in the current list whose vehicle identifier, event timestamp, event type, and event location match the corresponding current vehicle identifier, current event timestamp, current event type, and current event location are taken as the current records; and the event processing feedback of the current record is reset to the corresponding current event feedback.

[0074] This invention provides a positioning management system for autonomous vehicles. As described above, the system includes: an onboard device and a management platform. The onboard device includes a vehicle-side data acquisition module and a vehicle-side communication module. The vehicle-side data acquisition module is used to periodically collect vehicle positioning information through the vehicle control system at a preset positioning acquisition frequency, generate corresponding positioning acquisition data, and encrypt the positioning acquisition data according to a vehicle-side key. It is also used to encrypt vehicle event data released by the vehicle control system according to the vehicle-side key. The vehicle-side communication module is used to monitor the network signal strength of the mobile communication network in real time and dynamically update the network transmission mode (mobile data transmission mode, SMS transmission mode) based on the monitoring results. Upon receiving encrypted positioning data or encrypted event data, it encapsulates the current encrypted data into a corresponding data / SMS message according to the network transmission mode and sends the current message to the management platform. The management platform includes a data receiving module, a data caching module, a data parsing module, a trajectory processing module, a trajectory storage module, an event processing module, and an event storage module. The data receiving module stores each received data / SMS message into the corresponding vehicle data / SMS message queue in the data caching module. The data caching module periodically clears processed data from each queue and periodically clears expired SMS messages from the vehicle SMS message queue. The data parsing module parses the data / SMS messages from each vehicle data / message message queue and updates the corresponding vehicle location / event data queue based on the parsing results. The trajectory processing module updates the trajectory records of the corresponding vehicle trajectory list in the trajectory storage module according to each vehicle location data queue and optimizes the trajectory based on Kalman filtering during the update process. The event processing module generates event alarms according to each vehicle event data queue, updates the event records of the corresponding vehicle event list in the event storage module, and updates the corresponding vehicle event list based on the processing feedback information of each event. This embodiment of the invention improves transmission stability through a dynamic allocation mechanism of mobile data transmission mode + SMS transmission mode; improves transmission security through a data encryption mechanism; reduces the risk of trajectory distortion by combining historical trajectory Kalman filtering mechanism; and compensates for the deficiencies of conventional solutions through the newly added real-time event data reporting, alarm, and feedback update mechanism, thereby improving the ability to handle emergencies and helping to reduce the risk of traffic congestion and property damage. Attached Figure Description

[0075] Figure 1 A modular structure diagram of a positioning management system for an unmanned vehicle provided in an embodiment of the present invention;

[0076] Figure 2 A schematic diagram of four types of queues provided in the embodiments of the present invention for a data caching module;

[0077] Figure 3 This is a schematic diagram of a vehicle trajectory list provided in an embodiment of the present invention;

[0078] Figure 4 This is a schematic diagram of a vehicle event list provided in an embodiment of the present invention. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0080] This invention provides a positioning and management system for unmanned vehicles, such as... Figure 1 The module structure diagram of a positioning management system for an unmanned vehicle provided in an embodiment of the present invention is shown, which mainly includes: vehicle-mounted equipment 1 and management platform 2.

[0081] In this embodiment of the invention, the vehicle-mounted device 1 corresponds one-to-one with an autonomous vehicle and is installed on the corresponding autonomous vehicle. The vehicle-mounted device 1 includes a vehicle-side data acquisition module 11 and a vehicle-side communication module 12. The vehicle-side data acquisition module 11 is connected to the data receiving module 21 of the management platform 2 via the vehicle-side communication module 12. Additionally, the vehicle-side data acquisition module 11 is also connected to the vehicle control system of the autonomous vehicle. In this embodiment of the invention, the vehicle-side communication module 12 is a 4G / 5G communication module. The data transmission methods of the vehicle-side communication module 12 include mobile data transmission and SMS transmission; wherein, the mobile data transmission methods include at least GPRS transmission and TCP / IP protocol stack transmission.

[0082] It should be noted that the vehicle control system of an autonomous vehicle includes the autonomous driving system itself, as well as a vehicle monitoring system for monitoring and analyzing the health, damage status, and causes of various components of the vehicle. The vehicle control system obtains the vehicle's real-time location information (latitude and longitude) through the autonomous driving system's positioning module. Through the autonomous driving system and the vehicle monitoring system, it can obtain the latest traffic accident events, vehicle malfunction events, and external damage events caused by external forces damaging vehicle components. Upon receiving any type of event, the vehicle control system will send the current vehicle event data to the onboard device 1 in real time.

[0083] The management platform 2 includes a data receiving module 21, a data caching module 22, a data parsing module 23, a trajectory processing module 24, a trajectory storage module 25, an event processing module 26, and an event storage module 27. The data caching module 22 is connected to the data receiving module 21, the data parsing module 23, the trajectory processing module 24, and the event processing module 26, respectively; the trajectory processing module 24 is connected to the trajectory storage module 25; and the event processing module 26 is connected to the event storage module 27.

[0084] (I) Vehicle-side data acquisition module 11:

[0085] The vehicle-side acquisition module 11 of this embodiment of the invention is used to periodically collect vehicle positioning information through the vehicle control system at a preset positioning acquisition frequency to generate corresponding positioning acquisition data; and to encrypt the positioning acquisition data according to the first vehicle-side key preset locally on the device to obtain the corresponding positioning encrypted data and send it to the vehicle-side communication module 12.

[0086] Here, the positioning acquisition frequency in this embodiment of the invention is a pre-set time frequency parameter. The positioning acquisition data in this embodiment of the invention includes a first timestamp, a first longitude, and a first latitude.

[0087] The vehicle-side acquisition module 11 is also used to receive vehicle event data released by the vehicle control system; and to encrypt the vehicle event data according to the first vehicle-side key to obtain the corresponding event ciphertext data and send it to the vehicle-side communication module 12.

[0088] Here, the vehicle event data in this embodiment of the invention includes a second timestamp, vehicle event type, second longitude, and second latitude; the vehicle event types include multiple types of traffic accidents, multiple types of vehicle malfunctions, and multiple types of external damage. The traffic accident types, vehicle malfunction types, and external damage types in this embodiment of the invention can be customized based on application requirements and the output type details of the vehicle control system. Common traffic accident types include: rear-end collisions, vehicle collisions, pedestrian collisions, vehicle rollovers, vehicle parking, etc. Common vehicle malfunction types include: sensor malfunctions, perception module malfunctions, planning module malfunctions, navigation module malfunctions, positioning module malfunctions, map module malfunctions, control module malfunctions, communication module malfunctions, CAN bus malfunctions, insufficient battery power, internal cargo compartment malfunctions, cargo compartment door lock opening / closing malfunctions, etc. Common external damage types include: sensor obstruction, sensor displacement, sensor loss, abnormal ambient temperature and humidity, vehicle body deformation under stress, module deformation under stress, etc.

[0089] It should be noted that the first vehicle-side key in this embodiment of the invention is unique to each vehicle, and the first vehicle-side keys of different vehicle-mounted devices 1 are different. The management platform 2 stores a first platform key corresponding to each first vehicle-side key. Each first vehicle-side key in this embodiment of the invention is used for data encryption, and its corresponding first platform key is used for data decryption. The data encryption and decryption algorithm used in this embodiment of the invention can be a symmetric algorithm or an asymmetric algorithm, specifically customized based on actual application needs. If the data encryption and decryption algorithm is a symmetric algorithm, then each first vehicle-side key is the same as its corresponding first platform key. The symmetric algorithms in this embodiment of the invention include at least AES, SM1, and SM4 algorithms. If the data encryption and decryption algorithm is an asymmetric algorithm, then each first vehicle-side key and its corresponding first platform key are a matching public-private key pair. The asymmetric algorithms in this embodiment of the invention include at least RSA and SM2 algorithms.

[0090] (II) Vehicle-side communication module 12:

[0091] The vehicle-side communication module 12 in this embodiment of the invention is used to monitor the network signal strength of the mobile communication network in real time and dynamically update the network transmission mode preset locally on the device based on the monitoring results.

[0092] Among them, network transmission modes include mobile data transmission mode and SMS transmission mode.

[0093] The vehicle-side communication module 12 is also used to encapsulate the current encrypted data into a corresponding data packet or SMS packet according to the network transmission mode when receiving location encrypted data or event encrypted data, and send the current packet to the data receiving module 21.

[0094] In one specific implementation of this invention, the vehicle-side communication module 12 is specifically used to monitor the network signal strength of the mobile communication network in real time and dynamically update the locally preset network transmission mode based on the monitoring results:

[0095] The network signal strength of the mobile communication network at the current moment is periodically used as the corresponding current signal strength according to the preset signal search frequency; and it is identified whether the current signal strength is greater than the preset signal strength threshold. If the current signal strength is greater than the signal strength threshold, the preset signal counter is cleared to zero and the network transmission mode is set to mobile data transmission mode; if the current signal strength is less than or equal to the signal strength threshold, the signal counter is incremented by 1, and after incrementing by 1, it is identified whether the signal counter is greater than the preset counter threshold. If it is, the signal counter is cleared to zero and the network transmission mode is set to SMS transmission mode.

[0096] Here, the signal novelty search frequency in this embodiment of the invention is a preset time frequency parameter; the signal strength threshold is a preset signal strength parameter, for example -90dBm; and the counter threshold is a preset positive integer, for example 3.

[0097] In another specific implementation of this invention, the vehicle-side communication module 12 is specifically used to encapsulate the current encrypted data into a corresponding data packet or SMS packet according to the network transmission mode and send the current packet to the data receiving module 21:

[0098] Step A1: Use the current ciphertext data as the corresponding first ciphertext data; identify the ciphertext type of the current ciphertext data; if the current ciphertext data is location ciphertext data, set the corresponding first ciphertext type to location ciphertext; if the current ciphertext data is event ciphertext data, set the corresponding first ciphertext type to event ciphertext; and compose the corresponding first original message from the first ciphertext type and the first ciphertext data.

[0099] Step A2, and identify the network transmission mode;

[0100] Step A3: If the network transmission mode is mobile data transmission mode, the first original message is encapsulated according to the preset data packet encapsulation mechanism to obtain the corresponding first data packet, and the first data packet is sent to the data receiving module 21 through the mobile data transmission mode.

[0101] The first data message carries the first vehicle identifier, the first sending time, and the first original message; the first vehicle identifier is the unique identifier of the unmanned vehicle to which the on-board device 1 is located; the first sending time is the sending time of the current message;

[0102] Here, the data packet encapsulation mechanism of this invention is the standard GPRS packet encapsulation rule in the 4G / 5G communication protocol, or the standard TCP / IP protocol stack packet encapsulation rule in the 4G / 5G communication protocol, or a customized packet encapsulation rule that the user extends on the standard rules of the 4G / 5G communication protocol due to application requirements.

[0103] Step A4: If the network transmission mode is SMS transmission mode, assign a unique batch number to the first original message as the corresponding first batch number; calculate the length of the first original message to obtain the corresponding first message length; and identify whether the length of the first message is greater than the preset threshold for the length of a single SMS message; if yes, calculate the corresponding total number of first SMS messages = int(first message length / threshold for the length of a single SMS message), where int() is the rounding up function; if no, set the corresponding total number of first SMS messages to 1; and identify the total number of first SMS messages; if the total number of first SMS messages is greater than 1, sequentially divide the first original message into multiple corresponding first message segments p, limited by the threshold for the length of a single message. i 1 ≤ fragment index i ≤ total number of first SMS messages; if the total number of first SMS messages is equal to 1, then the first original message is taken as the corresponding first message fragment p. i＝1 ; and according to the preset data SMS encapsulation mechanism, each first message segment p i The SMS message is encapsulated to obtain the corresponding first SMS message, and each first SMS message is sent to the data receiving module 21 via SMS transmission.

[0104] Each of the first SMS messages carries the second vehicle identifier, the second sending time, the first batch number, the total number of first SMS messages, and the corresponding first SMS segment index and first message segment p. i The second vehicle identifier is the unique identifier of the unmanned vehicle where the current onboard device 1 is located; the second sending time is the sending time of the current message; the first SMS fragment index is the corresponding fragment index i.

[0105] Here, the single SMS data length threshold in this embodiment of the invention is a pre-set positive integer, such as 140; each first message segment p in this embodiment of the invention i The length of each segment is less than or equal to the threshold for the length of a single SMS message; the data SMS encapsulation mechanism of this embodiment is the standard data SMS message encapsulation rule in the 4G / 5G communication protocol, or a customized message encapsulation rule that the user extends on the standard rules of the 4G / 5G communication protocol based on application requirements.

[0106] (III) Data Receiving Module 21:

[0107] The data receiving module 21 of this embodiment of the invention is used to store each received data packet into the corresponding vehicle data packet queue in the data cache module 22; and to store each received SMS packet into the corresponding vehicle SMS packet queue in the data cache module 22.

[0108] In another specific implementation of this invention, the data receiving module 21 is specifically used to store each received data packet into the corresponding vehicle data packet queue in the data cache module 22:

[0109] Each received first data packet is taken as the current data packet; the corresponding first vehicle identifier, first sending time and first original packet are extracted from the current data packet as a set of corresponding vehicle identifier, message timestamp and message protocol data; a corresponding message processing status is set to unprocessed; and a new data packet cache record is formed by the vehicle identifier, message timestamp, message protocol data and message processing status corresponding to the current data packet and stored in the vehicle data packet queue.

[0110] In another specific implementation of this invention, the data receiving module 21 is specifically used to store each received SMS message into the corresponding vehicle SMS message queue in the data cache module 22:

[0111] Each received first SMS message is taken as the current SMS message; the corresponding second vehicle identifier, second sending time, first batch number, first total number of SMS messages, first SMS segment index, and first message segment are extracted from the current SMS message to form a corresponding vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, and SMS message segment; a corresponding SMS processing status is set to unprocessed; and a new SMS message cache record is formed by the vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, SMS message segment, and SMS processing status corresponding to the current SMS message and stored in the vehicle SMS message queue.

[0112] (iv) Data caching module 22:

[0113] The data caching module 22 of this embodiment of the invention is used to store a set of corresponding vehicle data message queues, vehicle SMS message queues, vehicle positioning data queues and vehicle event data queues for each vehicle device 1; and periodically clears the processed data in each queue; and periodically clears expired SMS messages in the vehicle SMS message queue.

[0114] like Figure 2 The diagram illustrates four types of queues for the data caching module provided in this embodiment of the invention. The vehicle data packet queue in this embodiment includes multiple data packet cache records. Each data packet cache record includes a vehicle identifier, a packet timestamp, packet protocol data, and a packet processing status. The packet processing status includes two states: unprocessed and processed. It should be noted that each vehicle data packet queue corresponds one-to-one with the onboard device 1, that is, one-to-one with the autonomous vehicle, and all vehicle identifiers in the queue are identical.

[0115] like Figure 2As shown, the vehicle SMS message queue in this embodiment of the invention includes multiple SMS message cache records. Each SMS message cache record includes a vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, SMS message segment, and SMS processing status; 1 ≤ SMS segment index ≤ total number of SMS segments; the message processing status includes two states: unprocessed and processed. It should be noted that the vehicle SMS message queue corresponds one-to-one with the onboard device 1, that is, one-to-one with the autonomous vehicle, and all vehicle identifiers in the queue are identical.

[0116] like Figure 2 As shown, the vehicle positioning data queue in this embodiment of the invention includes multiple positioning cache records; each positioning cache record includes a vehicle identifier, a positioning timestamp, positioning data, and a positioning processing status; the positioning data includes longitude and latitude; the positioning processing status includes two states: unprocessed and processed. It should be noted that the vehicle positioning data queue corresponds one-to-one with the onboard device 1, that is, one-to-one with the autonomous vehicle, and all vehicle identifiers in the queue are identical.

[0117] like Figure 2 As shown, the vehicle event data queue in this embodiment of the invention includes multiple event cache records; the event cache records include vehicle identifier, event timestamp, event data, and event processing status; the event data includes event type and event location; the event types include multiple types of traffic accidents, multiple types of vehicle malfunctions, and multiple types of external force damage; the event location includes longitude and latitude; the event processing status includes two states: unprocessed and processed. It should be noted that the vehicle event data queue corresponds one-to-one with the on-board device 1, that is, one-to-one with the autonomous vehicle, and all vehicle identifiers in the queue are the same.

[0118] In another specific implementation of this invention, the data caching module 22 is specifically used to periodically clear processed data from each queue:

[0119] At a preset first clearing frequency, periodically clear the cached records of data packets with a message processing status of "processed" in the data packet queues of each vehicle, clear the cached records of SMS messages with a message processing status of "processed" in the SMS packet queues of each vehicle, clear the cached records of location data with a location processing status of "processed" in the location data queues of each vehicle, and clear the cached records of event data with an event processing status of "processed" in the event data queues of each vehicle.

[0120] Here, the first clearing frequency in this embodiment of the invention is a preset time frequency parameter.

[0121] In another specific implementation of this invention, the data caching module 22 is specifically used when periodically clearing expired SMS messages from the vehicle SMS message queue:

[0122] According to a preset second clearing frequency, each vehicle's SMS message queue is periodically used as the current message queue; the cached records of SMS messages in the current message queue with an unprocessed SMS processing status form the corresponding current record set; the cached records of the current record set are clustered according to the SMS batch number, and one or more cached records with the same SMS batch number form a corresponding single batch record subset; the earliest SMS timestamp in each single batch record subset is used as the corresponding single batch start time; the interval between each single batch start time and the current time is calculated to obtain the corresponding first interval duration; the single batch record subsets corresponding to the first interval duration exceeding the preset first interval duration threshold are recorded as expired record subsets; and all expired record subsets in the current message queue are deleted.

[0123] Here, the second clearing frequency in this embodiment of the invention is a preset time frequency parameter; the first interval duration threshold is a preset time length parameter.

[0124] (V) Data Parsing Module 23:

[0125] The data parsing module 23 of this embodiment of the invention is used to parse the data packets of each vehicle data packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results; and to parse the SMS messages of each vehicle SMS packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results.

[0126] In another specific implementation of this invention, the data parsing module 23 is specifically used to parse data packets from each vehicle data packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results:

[0127] Step B1: Take each vehicle data packet queue as the current packet queue; take the first platform key corresponding to the current packet queue as the current key; and record all data packet cache records in the current packet queue whose packet processing status is unprocessed as unprocessed records.

[0128] Step B2: When the total number of unprocessed records in the current message queue is not 0, take the earliest unprocessed record in the current message queue as the current record; take the message protocol data of the current record as the corresponding first original message; update the corresponding vehicle positioning data queue or vehicle event data queue according to the current key and the first original message; and update the message processing status of the current record to processed.

[0129] In another specific implementation of this invention, the data parsing module 23 is specifically used to parse SMS messages in each vehicle SMS message queue and update the corresponding vehicle location data queue or vehicle event data queue based on the parsing results:

[0130] Step C1: Take each vehicle SMS message queue as the current message queue; take the first platform key corresponding to the current message queue as the current key; and record all SMS message cache records in the current message queue whose SMS processing status is unprocessed as unprocessed records.

[0131] Step C2 involves clustering the unprocessed records in the current message queue according to the SMS batch number, forming a corresponding unprocessed record subset with one or more unprocessed records having the same SMS batch number; recording the total number of SMS segments corresponding to each unprocessed record subset as the total number of segments in the subset; calculating the total number of records in each unprocessed record subset to obtain the total number of records in the subset; and recording the unprocessed record subsets whose total number of segments equals the total number of records in the subset as the corresponding unprocessed subsets; and using the earliest SMS timestamp in each unprocessed subset as the start time of the corresponding subset.

[0132] Step C3: If the total number of subsets to be processed is not 0, select the subset with the earliest start time as the current subset; sequentially concatenate all SMS message fragments of the current subset according to the index order of the SMS fragment index and use the resulting concatenated message as the corresponding first original message; update the corresponding vehicle positioning data queue or vehicle event data queue according to the current key and the first original message; and update the SMS processing status of all unprocessed records corresponding to the current subset to processed.

[0133] In another specific implementation of this invention, the data parsing module 23 is specifically used to update the corresponding vehicle positioning data queue or vehicle event data queue according to the current key and the first original message:

[0134] Step D1: Extract the corresponding first ciphertext type and first ciphertext data from the first original message;

[0135] Step D2, and identify the first ciphertext type;

[0136] Step D3: If the first ciphertext type is location ciphertext, then the first ciphertext data is decrypted based on the current key and the decrypted plaintext is used as the corresponding location acquisition data; the first timestamp of the location acquisition data is used as the corresponding location timestamp; the first longitude and the first latitude of the location acquisition data are used to form the corresponding location data; the corresponding location processing status is set to unprocessed; and a new location cache record is formed by the vehicle identifier, location timestamp, location data, and location processing status corresponding to the current record and stored in the vehicle location data queue corresponding to the current message queue.

[0137] Step D4: If the first ciphertext type is event ciphertext, then the first ciphertext data is decrypted based on the current key, and the decrypted plaintext is used as the corresponding vehicle event data; the second timestamp and vehicle event type of the vehicle event data are used as the corresponding event timestamp and event type; the second longitude and second latitude of the vehicle event data form the corresponding event location; the obtained event type and event location form the corresponding event data; the corresponding event processing status is set to unprocessed; and a new event cache record is formed by the vehicle identifier, event timestamp, event data, and event processing status corresponding to the current record and stored in the vehicle event data queue corresponding to the current message queue.

[0138] (vi) Trajectory Processing Module 24:

[0139] The trajectory processing module 24 of this embodiment of the invention is used to update the trajectory record of the corresponding vehicle trajectory list in the trajectory storage module 25 according to each vehicle positioning data queue, and to optimize the trajectory based on Kalman filtering during the update process.

[0140] In another specific implementation of this invention, the trajectory processing module 24 is specifically used to update the trajectory records of the corresponding vehicle trajectory list in the trajectory storage module 25 according to each vehicle positioning data queue, and to optimize the trajectory based on Kalman filtering during the update process:

[0141] Step E1: Take each vehicle positioning data queue as the current positioning queue; take the vehicle trajectory list corresponding to the current positioning queue as the current list; and record all data packet cache records in the current positioning queue whose positioning processing status is unprocessed as unprocessed records.

[0142] Step E2: If the total number of unprocessed records in the current location queue is not 0, take the earliest unprocessed record in the current location queue as the current record; and take the location timestamp and location data of the current record as the corresponding current time point and current latitude and longitude.

[0143] Step E3: The current time point is used as the current end time, and the time point obtained by subtracting the preset first duration from the current time point is used as the current start time. The current start time and the current end time are combined to form the corresponding current time period. The timestamps of the trajectory points in the current list that meet the current time period are combined with the latitude and longitude of the trajectory points to form a corresponding historical trajectory point. All the obtained historical trajectory points are combined to form the corresponding current historical trajectory.

[0144] Here, the first duration in this embodiment of the invention is a pre-set time length parameter;

[0145] Step E4, and identify whether the current historical trajectory is empty;

[0146] Step E5: If the current historical trajectory is empty, the current latitude and longitude are identified by querying the preset high-precision road map to determine whether the current latitude and longitude are in a non-driving area. If so, the timestamp and latitude and longitude of the trajectory point corresponding to the current record are set to empty. Otherwise, the current time point and current latitude and longitude are used as the timestamp and latitude and longitude of the trajectory point corresponding to the current record.

[0147] Step E6: If the current historical trajectory is not empty, record the total number of trajectory points in the current historical trajectory as K; and convert the latitude and longitude of all historical trajectory points in the current historical trajectory into road coordinates in the road SL coordinate system (l j ,s j ), 1≤indexj≤K; and according to the uniform acceleration motion mode, the vehicle speed v of all historical trajectory points corresponding to the current historical trajectory is adjusted. j acceleration a at the trajectory point j Estimate; and use the road coordinates (l) corresponding to the last historical trajectory point. j＝K ,s j＝K ), trajectory point vehicle speed v j＝K acceleration a at the trajectory point j＝K The corresponding state variables x K ; and convert the current latitude and longitude into road coordinates in the road SL coordinate system (l K+1 ,s K+1 ), and by road coordinates (l K+1 ,s K+1 ) form the corresponding observation y K+1 And the time difference Δt between the timestamp of the last historical trajectory point and the current time point. k+1 The calculations are performed; and a Kalman filter equation is constructed using a uniformly accelerated motion model, and the state variable x is... K Observation y K+1 Time difference △t k+1 Substituting the state variable x into the Kalman filter equation K+1Solve the problem; and consider the state variable x. K+1 Road coordinates Perform latitude and longitude conversion and use the conversion result as the new current latitude and longitude; and use the current time point and the new current latitude and longitude as the timestamp and latitude and longitude of the trajectory point corresponding to the current record;

[0148] Here, the state variable x in this embodiment of the invention K+1 From road coordinates Vehicle speed at trajectory point trajectory point acceleration composition;

[0149] It should be noted that the state variable x in this embodiment of the invention consists of four components: road coordinates (l, s), vehicle speed v, and acceleration a, i.e., x = [l, s, v, a]. T The observed value y is composed of four components: road coordinates (l, s), i.e., y = [l, s]. T The initial covariance matrix P corresponding to the (K+1)th step K Based on the K historical trajectory points corresponding to the current historical trajectory, K state variables x1~ K Perform initialization;

[0150] The Kalman filter equations constructed using a uniformly accelerated motion model in this embodiment of the invention are as follows:

[0151] x K+1 =Fx K +α K ,

[0152] y K+1 =Hx K+1 +β K+1 ;

[0153] Where F is the state transition matrix of the uniformly accelerated motion model of the Kalman filter equation, H is the state observation transition matrix of the Kalman filter equation, and α K Let β be the process noise vector. K+1 For the observed noise vector;

[0154] x K =[l K s K v K a K ] T y K+1 =[l K+1 s K+1 ] T ,

[0155]

[0156] In the covariance matrix PK State transition matrix F, state observation transition matrix H, state variable x K+1 Observation y K+1 Given the information, the state variable x can be estimated using the well-known single-step solution method of the Kalman filter equation. K+1 Express it as:

[0157] Step E7 involves identifying the timestamp and latitude / longitude of the trajectory point corresponding to the current record. If both the timestamp and latitude / longitude of the trajectory point corresponding to the current record are not empty, a new trajectory point record is created by combining the vehicle identifier, the timestamp, and the latitude / longitude of the trajectory point and stored in the current list. The location processing status of the current record is then reset to "processed". If both the timestamp and latitude / longitude of the trajectory point corresponding to the current record are empty, the location processing status of the current record is only reset to "processed".

[0158] (vii) Trajectory storage module 25:

[0159] The trajectory storage module 25 in this embodiment of the invention is used to store multiple vehicle trajectory lists.

[0160] like Figure 3 As shown in the schematic diagram of the vehicle trajectory list provided in this embodiment of the invention, the vehicle trajectory list includes multiple trajectory point records; each trajectory point record includes a vehicle identifier, a trajectory point timestamp, and the trajectory point's latitude and longitude. It should be noted that the vehicle trajectory list corresponds one-to-one with the onboard device 1, that is, one-to-one with the autonomous vehicle, and all vehicle identifiers in the list are identical.

[0161] Based on the trajectory storage module 25 of this invention, the list of all vehicle trajectories can be used to monitor the movement trajectories of all unmanned vehicles in real time.

[0162] (viii) Event Handling Module 26:

[0163] The event processing module 26 of this embodiment of the invention is used to issue event alarms according to each vehicle event data queue and update the event records of the corresponding vehicle event list in the event storage module 27; and update the corresponding vehicle event list based on the processing feedback information of each event.

[0164] In another specific implementation of this invention, the event processing module 26 is specifically used to: issue event alarms based on each vehicle event data queue and update the event records in the corresponding vehicle event list in the event storage module 27:

[0165] Step F1: Set each vehicle event data queue as the current event queue; set the vehicle event list corresponding to the current event queue as the current list; and record all event cache records in the current event queue whose event processing status is unprocessed as unprocessed records.

[0166] Step F2: If the total number of unprocessed records in the current event queue is not 0, select the earliest unprocessed record in the current event queue as the current unprocessed record; and send the corresponding current alarm message composed of the vehicle identifier, event timestamp, event type, and event location of the current unprocessed record to the preset alarm processing interface; add a new historical event record to the current list as the current new record, and set the corresponding vehicle identifier, event timestamp, event type, and event location in the current new record based on the vehicle identifier, event timestamp, event type, and event location of the current unprocessed record, and set the event processing feedback of the current new record to alarmed; and reset the event processing status of the current unprocessed record to processed.

[0167] Here, the alarm processing interface of this embodiment of the invention is used to send alarm information to the vehicle incident handling personnel of the autonomous vehicle operator. Upon receiving the alarm information, the vehicle incident handling personnel will immediately rush to the event location specified in the current alarm message to handle the emergency incident of the vehicle. If the vehicle incident handling personnel find the vehicle near the event location, they will send feedback information indicating that the vehicle has been found to another preset message interface, namely the event feedback interface, through the staff client. If the vehicle incident handling personnel do not find the vehicle near the event location, they need to search for the vehicle with the current event location as the center and a preset search distance as the radius. If the vehicle is found within the current search range, they will send feedback information indicating that the vehicle has been found to the event feedback interface through the staff client; otherwise, they will send feedback information indicating that the vehicle is lost to the event feedback interface through the staff client. After finding the vehicle, the vehicle incident handling personnel need to promptly return it to the vehicle maintenance point designated by the autonomous vehicle operator for maintenance. When the vehicle incident handlers send the vehicle involved in the incident to the designated vehicle repair shop, they will send back processing feedback information to the incident feedback interface through the staff client to indicate that the vehicle involved in the incident has been recalled.

[0168] In another specific implementation of this invention, the event processing module 26 is specifically used to update the corresponding vehicle event list based on the processing feedback information of each event:

[0169] Step G1: Receive processing feedback information for each event through a preset event feedback interface;

[0170] The processing feedback information includes the vehicle identifier of the alarm event, the timestamp of the alarm event, the type of alarm event, the location of the alarm event, and the feedback of the alarm event; the feedback of the alarm event includes whether the vehicle has been found, whether the vehicle is lost, and whether the vehicle has been recalled.

[0171] Step G2, and take each received processing feedback information as the current feedback information; take the alarm event vehicle identifier, alarm event timestamp, alarm event type, alarm event location, and alarm event feedback of the current feedback information as the corresponding current vehicle identifier, current event timestamp, current event type, current event location, and current event feedback; take the vehicle event list corresponding to the current vehicle identifier as the current list; take the historical event records in the current list whose vehicle identifier, event timestamp, event type, and event location match the corresponding current vehicle identifier, current event timestamp, current event type, and current event location as the current record; and reset the event processing feedback of the current record to the corresponding current event feedback.

[0172] (ix) Event storage module 27:

[0173] The event storage module 27 in this embodiment of the invention is used to store multiple vehicle event lists.

[0174] like Figure 4 As shown in the schematic diagram of the vehicle event list provided in this embodiment of the invention, the vehicle event list includes multiple historical event records. Each historical event record includes a vehicle identifier, event timestamp, event type, event location, and event processing feedback. The event processing feedback includes alerts and various processing feedback types. These various processing feedback types include at least "event vehicle found," "event vehicle lost," and "event vehicle recalled." It should be noted that the vehicle event list corresponds one-to-one with the onboard device 1, that is, one-to-one with the autonomous vehicle, and all vehicle identifiers in the list are identical.

[0175] Based on the event storage module 27 of this embodiment, the list of all vehicle events can monitor the time information of all emergencies of all autonomous vehicles in real time, and can also monitor the processing progress of all events in real time.

[0176] This invention provides a positioning management system for autonomous vehicles. As described above, the system includes: an onboard device and a management platform. The onboard device includes a vehicle-side data acquisition module and a vehicle-side communication module. The vehicle-side data acquisition module is used to periodically collect vehicle positioning information through the vehicle control system at a preset positioning acquisition frequency, generate corresponding positioning acquisition data, and encrypt the positioning acquisition data according to a vehicle-side key. It is also used to encrypt vehicle event data released by the vehicle control system according to the vehicle-side key. The vehicle-side communication module is used to monitor the network signal strength of the mobile communication network in real time and dynamically update the network transmission mode (mobile data transmission mode, SMS transmission mode) based on the monitoring results. Upon receiving encrypted positioning data or encrypted event data, it encapsulates the current encrypted data into a corresponding data / SMS message according to the network transmission mode and sends the current message to the management platform. The management platform includes a data receiving module, a data caching module, a data parsing module, a trajectory processing module, a trajectory storage module, an event processing module, and an event storage module. The data receiving module stores each received data / SMS message into the corresponding vehicle data / SMS message queue in the data caching module. The data caching module periodically clears processed data from each queue and periodically clears expired SMS messages from the vehicle SMS message queue. The data parsing module parses the data / SMS messages from each vehicle data / message message queue and updates the corresponding vehicle location / event data queue based on the parsing results. The trajectory processing module updates the trajectory records of the corresponding vehicle trajectory list in the trajectory storage module according to each vehicle location data queue and optimizes the trajectory based on Kalman filtering during the update process. The event processing module generates event alarms according to each vehicle event data queue, updates the event records of the corresponding vehicle event list in the event storage module, and updates the corresponding vehicle event list based on the processing feedback information of each event. This embodiment of the invention improves transmission stability through a dynamic allocation mechanism of mobile data transmission mode + SMS transmission mode; improves transmission security through a data encryption mechanism; reduces the risk of trajectory distortion by combining historical trajectory Kalman filtering mechanism; and compensates for the deficiencies of conventional solutions through the newly added real-time event data reporting, alarm, and feedback update mechanism, thereby improving the ability to handle emergencies and helping to reduce the risk of traffic congestion and property damage.

[0177] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0178] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0179] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning management system for unmanned vehicles, characterized in that, The system includes: vehicle-mounted equipment and a management platform; The vehicle-mounted equipment corresponds one-to-one with the autonomous vehicle and is installed on the corresponding autonomous vehicle; the vehicle-mounted equipment includes a vehicle-side data acquisition module and a vehicle-side communication module; the vehicle-side data acquisition module is connected to the data receiving module of the management platform through the vehicle-side communication module; the vehicle-side communication module is a 4G / 5G communication module, and the data transmission methods of the vehicle-side communication module include mobile data transmission and SMS transmission. The management platform includes a data receiving module, a data caching module, a data parsing module, a trajectory processing module, a trajectory storage module, an event processing module, and an event storage module; the data caching module is connected to the data receiving module, the data parsing module, the trajectory processing module, and the event processing module respectively; the trajectory processing module is connected to the trajectory storage module; the event processing module is connected to the event storage module. The vehicle-mounted data acquisition module is also connected to the vehicle control system of the unmanned vehicle; The vehicle-side data acquisition module is used to periodically collect vehicle positioning information through the vehicle control system at a preset positioning acquisition frequency to generate corresponding positioning data; and to encrypt the positioning data according to the first vehicle-side key preset locally on the device to obtain corresponding positioning encrypted data and send it to the vehicle-side communication module; the positioning data includes a first timestamp, a first longitude, and a first latitude. The vehicle-side data acquisition module is also used to receive vehicle event data released by the vehicle control system; and to encrypt the vehicle event data according to the first vehicle-side key to obtain corresponding event ciphertext data and send it to the vehicle-side communication module; the vehicle event data includes a second timestamp, vehicle event type, second longitude, and second latitude; the vehicle event type includes multiple types of traffic accidents, multiple types of vehicle malfunctions, and multiple types of external damage. The vehicle-mounted communication module is used to monitor the network signal strength of the mobile communication network in real time and dynamically update the network transmission mode preset locally on the device based on the monitoring results; the network transmission mode includes mobile data transmission mode and SMS transmission mode. The vehicle-side communication module is also used to encapsulate the current encrypted data into a corresponding data packet or SMS packet according to the network transmission mode and send the current packet to the data receiving module when it receives the location encrypted data or the event encrypted data. The data receiving module is used to store each received data packet into the corresponding vehicle data packet queue in the data cache module; and to store each received SMS packet into the corresponding vehicle SMS packet queue in the data cache module. The data caching module is used to store a corresponding set of vehicle data message queues, vehicle SMS message queues, vehicle positioning data queues, and vehicle event data queues for each of the vehicle-mounted devices; and to periodically clear processed data from each queue; and to periodically clear expired SMS messages from the vehicle SMS message queue. The data parsing module is used to parse the data packets of each vehicle data packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results; and to parse the SMS packets of each vehicle SMS packet queue and update the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results. The trajectory processing module is used to update the trajectory record of the corresponding vehicle trajectory list in the trajectory storage module according to each vehicle positioning data queue, and optimize the trajectory based on Kalman filtering during the update process; The trajectory storage module is used to store multiple lists of vehicle trajectories; The event processing module is used to issue event alarms based on each of the vehicle event data queues and update the event records in the corresponding vehicle event list in the event storage module; and to update the corresponding vehicle event list based on the processing feedback information of each event. The event storage module is used to store multiple lists of vehicle events.

2. The positioning management system for unmanned vehicles according to claim 1, characterized in that, The mobile data transmission methods include GPRS transmission and TCP / IP protocol stack transmission. The vehicle data packet queue includes multiple data packet cache records; each data packet cache record includes a vehicle identifier, a packet timestamp, packet protocol data, and a packet processing status; the packet processing status includes two states: unprocessed and processed; each vehicle data packet queue corresponds one-to-one with the on-board device, and all vehicle identifiers in the queue are identical; The vehicle SMS message queue includes multiple SMS message cache records; the SMS message cache record includes the vehicle identifier, SMS timestamp, SMS batch number, total number of SMS segments, SMS segment index, SMS message segment, and SMS processing status; 1 ≤ SMS fragment index ≤ total number of SMS fragments; the message processing status includes two states: unprocessed and processed; the vehicle SMS message queue corresponds one-to-one with the vehicle-mounted device, and all vehicle identifiers in the queue are the same; The vehicle positioning data queue includes multiple positioning cache records; the positioning cache records include the vehicle identifier, positioning timestamp, positioning data, and positioning processing status; the positioning data includes longitude and latitude; the positioning processing status includes two states: unprocessed and processed; the vehicle positioning data queue corresponds one-to-one with the on-board device, and all vehicle identifiers in the queue are identical; The vehicle event data queue includes multiple event cache records; each event cache record includes the vehicle identifier, event timestamp, event data, and event processing status; the event data includes event type and event location; the event type includes multiple types of traffic accidents, multiple types of vehicle malfunctions, and multiple types of external force damage; the event location includes longitude and latitude; the event processing status includes two states: unprocessed and processed; the vehicle event data queue corresponds one-to-one with the on-board device, and all vehicle identifiers in the queue are identical; The vehicle trajectory list includes multiple trajectory point records; each trajectory point record includes the vehicle identifier, trajectory point timestamp, and trajectory point latitude and longitude; the vehicle trajectory list corresponds one-to-one with the in-vehicle device, and all vehicle identifiers in the list are identical; The vehicle event list includes multiple historical event records; the historical event records include the vehicle identifier, the event timestamp, the event type, the event location, and the event handling feedback; The vehicle event list corresponds one-to-one with the in-vehicle device, and all vehicle identifiers in the list are identical; the event processing feedback includes alarms and multiple processing feedback types; The various processing feedback types include at least the following: the incident vehicle has been found, the incident vehicle is lost, and the incident vehicle has been recalled. The first vehicle-side key is unique to each vehicle, and the first vehicle-side key is different for different vehicle-mounted devices; The management platform stores a first platform key that corresponds one-to-one with each of the first vehicle terminal keys; each first vehicle terminal key is used for data encryption, and the corresponding first platform key is used for data decryption; if the data encryption / decryption algorithm is a symmetric algorithm, then each first vehicle terminal key is the same as its corresponding first platform key, and the symmetric algorithm includes AES algorithm, SM1 algorithm, and SM4 algorithm; if the data encryption / decryption algorithm is an asymmetric algorithm, then each first vehicle terminal key and its corresponding first platform key are a matching public-private key pair, and the asymmetric algorithm includes RSA algorithm and SM2 algorithm.

3. The positioning management system for unmanned vehicles according to claim 1, characterized in that, The vehicle-mounted communication module is specifically used when the network signal strength of the mobile communication network is monitored in real time and the network transmission mode preset locally on the device is dynamically updated based on the monitoring results: The network signal strength of the mobile communication network at the current moment is periodically determined according to a preset signal lookup frequency, and it is then identified whether the current signal strength is greater than a preset signal strength threshold. If the current signal strength is greater than the signal strength threshold, the preset signal counter is cleared to zero, and the network transmission mode is set to mobile data transmission mode; if the current signal strength is less than or equal to the signal strength threshold, the signal counter is incremented by 1, and after incrementing by 1, it is checked whether the signal counter is greater than the preset counter threshold. If so, the signal counter is cleared to zero, and the network transmission mode is set to SMS transmission mode.

4. The positioning management system for unmanned vehicles according to claim 1, characterized in that, The vehicle-side communication module is specifically used when, according to the network transmission mode, the current encrypted data is encapsulated into a corresponding data packet or SMS message and the current message is sent to the data receiving module: The current ciphertext data is used as the corresponding first ciphertext data; and the ciphertext type of the current ciphertext data is identified. If the current ciphertext data is the location ciphertext data, the corresponding first ciphertext type is set to location ciphertext. If the current ciphertext data is the event ciphertext data, the corresponding first ciphertext type is set to event ciphertext. The first ciphertext type and the first ciphertext data are combined to form the corresponding first original message. And the network transmission mode is identified; If the network transmission mode is a mobile data transmission mode, the first original message is encapsulated according to a preset data packet encapsulation mechanism to obtain a corresponding first data packet, and the first data packet is sent to the data receiving module through the mobile data transmission method; the first data packet carries a first vehicle identifier, a first sending time, and the first original message; the first vehicle identifier is the unique identifier of the unmanned vehicle where the on-board equipment is located; the first sending time is the sending time of the current message; If the network transmission mode is SMS transmission mode, then a unique batch number is assigned to the first original message as the corresponding first batch number; and the message length of the first original message is statistically analyzed to obtain the corresponding first message length; and whether the first message length is greater than a preset threshold for the length of a single SMS message is identified. If so, calculate the corresponding total number of first SMS messages = int(first message length / single SMS message data length threshold), where int() is the round-up function; If not, then set the total number of the first SMS messages to 1; and identify the total number of the first SMS messages; if the total number of the first SMS messages is greater than 1, then divide the first original message into multiple corresponding first message segments p in sequence, limited by the single message length threshold. i 1 ≤ fragment index i ≤ total number of first SMS messages; if the total number of first SMS messages is equal to 1, then the first original message is taken as the corresponding first message fragment p. i＝1 ; and according to the preset data SMS encapsulation mechanism, each of the first message segments p i The SMS message is encapsulated to obtain the corresponding first SMS message, and each of the first SMS messages is sent to the data receiving module via SMS transmission. Each of the first SMS messages carries the second vehicle identifier, the second sending time, the first batch number, the total number of the first SMS messages, and the corresponding first SMS segment index and the first message segment p. i The second vehicle identifier is the unique identifier of the unmanned vehicle where the on-board equipment is located; the second sending time is the sending time of the current message; the first SMS fragment index is the corresponding fragment index i.

5. The positioning management system for unmanned vehicles according to claim 2, characterized in that, The data caching module is specifically used during the periodic clearing of expired SMS messages from the vehicle SMS message queue: According to a preset second clearing frequency, each of the vehicle SMS message queues is periodically used as the current message queue; and the corresponding current record set is composed of the SMS message cache records in the current message queue whose SMS processing status is unprocessed; The SMS message cache records in the current record set are clustered according to the SMS batch number, and one or more SMS message cache records with the same SMS batch number are formed into a corresponding single batch record subset; and the earliest SMS timestamp in each single batch record subset is taken as the corresponding single batch start time. The first interval duration is calculated by taking the interval between the start time and the current time of each batch. Each batch of records corresponding to the first interval duration that exceeds the preset first interval duration threshold is recorded as an expired record subset; and all expired record subsets in the current message queue are deleted.

6. The positioning management system for unmanned vehicles according to claim 2, characterized in that, The data parsing module is specifically used when parsing the data packets of each of the vehicle data packet queues and updating the corresponding vehicle positioning data queue or vehicle event data queue based on the parsing results: Each of the vehicle data packet queues is designated as the current packet queue; the first platform key corresponding to the current packet queue is designated as the current key; and all data packet cache records in the current packet queue whose packet processing status is unprocessed are recorded as unprocessed records. When the total number of unprocessed records in the current message queue is not 0, the earliest unprocessed record in the current message queue is taken as the current record; the message protocol data of the current record is taken as the corresponding first original message; the corresponding vehicle positioning data queue or vehicle event data queue is updated according to the current key and the first original message; and the message processing status of the current record is updated to processed.

7. The positioning management system for unmanned vehicles according to claim 2, characterized in that, The data parsing module is specifically used when parsing SMS messages in each of the vehicle SMS message queues and updating the corresponding vehicle location data queue or vehicle event data queue based on the parsing results: Each of the vehicle SMS message queues is designated as the current message queue; the first platform key corresponding to the current message queue is designated as the current key; and all SMS message cache records in the current message queue whose SMS processing status is unprocessed are recorded as unprocessed records. The unprocessed records in the current message queue are clustered according to the SMS batch number, and one or more unprocessed records with the same SMS batch number form a corresponding subset of unprocessed records; The total number of SMS segments corresponding to each of the unprocessed record subsets is recorded as the total number of segments in the corresponding subset, and the total number of records in each of the unprocessed record subsets is statistically analyzed to obtain the total number of records in the corresponding subset. And the unprocessed record subset whose total number of each subset segment is equal to the total number of subset records is recorded as the corresponding unprocessed subset; The earliest timestamp of the SMS message in each of the pending subsets is taken as the corresponding subset start time. And when the total number of subsets of the subset to be processed is not 0, the subset to be processed with the earliest start time is taken as the current subset; And according to the index order of the SMS segment index, all the SMS message segments of the current subset are sequentially concatenated and the resulting concatenated message is used as the corresponding first original message; The system updates the corresponding vehicle location data queue or vehicle event data queue based on the current key and the first original message; and updates the SMS processing status of all unprocessed records corresponding to the current subset to processed.

8. The positioning management system for unmanned vehicles according to claim 6 or 7, characterized in that, The data parsing module is specifically used when updating the corresponding vehicle location data queue or vehicle event data queue according to the current key and the first original message: Extract the corresponding first ciphertext type and first ciphertext data from the first original message; And identify the first ciphertext type; If the first ciphertext type is location ciphertext, then the first ciphertext data is decrypted based on the current key and the resulting decrypted plaintext is used as the corresponding location collection data; The first timestamp of the location acquisition data is used as the corresponding location timestamp; the first longitude and the first latitude of the location acquisition data are used to form the corresponding location data; the corresponding location processing status is set to unprocessed; and a new location cache record is formed by the vehicle identifier, the location timestamp, the location data, and the location processing status corresponding to the current record and stored in the vehicle location data queue corresponding to the current message queue. If the first ciphertext type is event ciphertext, then the first ciphertext data is decrypted based on the current key and the resulting decrypted plaintext is used as the corresponding vehicle event data; And the second timestamp and the vehicle event type of the vehicle event data are used as the corresponding event timestamp and event type; The event location is formed by the second longitude and the second latitude of the vehicle event data; the event data is formed by the obtained event type and the event location; and the corresponding event processing status is set to unprocessed. The vehicle identifier corresponding to the current record, the event timestamp, the event data, and the event processing status are combined to form a new event cache record, which is then stored in the vehicle event data queue corresponding to the current message queue.

9. The positioning management system for unmanned vehicles according to claim 2, characterized in that, The trajectory processing module is specifically used when updating the trajectory record of the corresponding vehicle trajectory list in the trajectory storage module according to each of the vehicle positioning data queues, and optimizing the trajectory based on Kalman filtering during the update process: Each of the vehicle positioning data queues is designated as the current positioning queue; the vehicle trajectory list corresponding to the current positioning queue is designated as the current list; and all data packet cache records in the current positioning queue whose positioning processing status is unprocessed are recorded as unprocessed records. When the total number of unprocessed records in the current location queue is not 0, the earliest unprocessed record in the current location queue is taken as the current record; and the location timestamp and location data of the current record are taken as the corresponding current time point and current latitude and longitude. The current time point is taken as the current end time, and the time point obtained by subtracting a preset first duration from the current time point is taken as the current start time. The current start time and the current end time form the corresponding current time period. The timestamps of the trajectory points in the current list that satisfy the current time period and the latitude and longitude of the trajectory points form a corresponding historical trajectory point. All the obtained historical trajectory points form the corresponding current historical trajectory. And it identifies whether the current historical trajectory is empty; If the current historical trajectory is empty, the current latitude and longitude are identified by querying a preset high-precision road map to determine whether the current latitude and longitude are in a non-driving area. If so, the timestamp and latitude and longitude of the trajectory point corresponding to the current record are set to empty. Otherwise, the current time point and the current latitude and longitude are used as the timestamp and latitude and longitude of the trajectory point corresponding to the current record. If the current historical trajectory is not empty, then the total number of trajectory points in the current historical trajectory is recorded as K; and the latitude and longitude of all the historical trajectory points in the current historical trajectory are converted into road coordinates in the road SL coordinate system (l j ,s j ), 1≤indexj≤K; and according to the uniform acceleration motion mode, the vehicle speed v of all the trajectory points corresponding to the current historical trajectory points is adjusted. j acceleration a at the trajectory point j Estimate; and use the road coordinates (l) corresponding to the last historical trajectory point. j＝K ,s j＝K ), trajectory point vehicle speed v j＝K acceleration a at the trajectory point j＝K The corresponding state variables x K ; and convert the current latitude and longitude into road coordinates in the road SL coordinate system (l K+1 ,s K+1 ), and by the road coordinates (l K+1 ,s K+1 ) form the corresponding observation y K+1 And the time difference Δt between the timestamp of the last historical trajectory point and the current time point. k+1 The calculations are performed; and a Kalman filter equation is constructed using a uniformly accelerated motion model, and the state variable x is... K Observation y K+1 Time difference △t k+1 Substituting the state variable x into the Kalman filter equation K+1 Solve the problem; and for the state variable x K+1 Road coordinates Perform latitude and longitude conversion and use the conversion result as the new current latitude and longitude. The current time point and the new current latitude and longitude are used as the timestamp and latitude and longitude of the trajectory point corresponding to the current record; Wherein, the state variable x K+1 From the road coordinates Vehicle speed at trajectory point trajectory point acceleration composition; The system identifies the timestamp and latitude / longitude of the trajectory point corresponding to the current record. If neither the timestamp nor the latitude / longitude of the trajectory point corresponding to the current record is empty, a new trajectory point record is created by combining the vehicle identifier, the timestamp, and the latitude / longitude of the trajectory point and stored in the current list. The positioning processing status of the current record is then reset to "processed". If both the timestamp and the latitude / longitude of the trajectory point corresponding to the current record are empty, only the positioning processing status of the current record is reset to "processed".

10. The positioning management system for unmanned vehicles according to claim 2, characterized in that, The event processing module is specifically used when, during the process of issuing event alarms based on each of the vehicle event data queues and updating the event records in the corresponding vehicle event list in the event storage module: Each of the vehicle event data queues is designated as the current event queue; the vehicle event list corresponding to the current event queue is designated as the current list; and all event cache records in the current event queue whose event processing status is unprocessed are recorded as unprocessed records. And when the total number of unprocessed records in the current event queue is not 0, the earliest unprocessed record in the current event queue is taken as the current unprocessed record; The system sends a current alarm message, composed of the vehicle identifier, event timestamp, event type, and event location of the currently unprocessed record, to a preset alarm processing interface. It also adds a new historical event record to the current list as the new current record, sets the corresponding vehicle identifier, event timestamp, event type, and event location in the new current record based on the vehicle identifier, event timestamp, event type, and event location of the currently unprocessed record, sets the event processing feedback of the new current record to "alarmed," and resets the event processing status of the currently unprocessed record to "processed." 11. The positioning management system for unmanned vehicles according to claim 2, characterized in that, The event processing module is specifically used when updating the corresponding vehicle event list based on the processing feedback information of each event: The system receives processing feedback information for each event through a preset event feedback interface; wherein, the processing feedback information includes the vehicle identifier of the alarm event, the timestamp of the alarm event, the type of the alarm event, the location of the alarm event, and the feedback of the alarm event; the feedback of the alarm event includes whether the event vehicle has been found, whether the event vehicle is lost, and whether the event vehicle has been recalled. Each received processing feedback information is taken as the current feedback information; the alarm event vehicle identifier, alarm event timestamp, alarm event type, alarm event location, and alarm event feedback of the current feedback information are taken as the corresponding current vehicle identifier, current event timestamp, current event type, current event location, and current event feedback; the vehicle event list corresponding to the current vehicle identifier is taken as the current list; the historical event records in the current list whose vehicle identifier, event timestamp, event type, and event location match the corresponding current vehicle identifier, current event timestamp, current event type, and current event location are taken as the current records; and the event processing feedback of the current record is reset to the corresponding current event feedback.

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