Positioning method, device, vehicle-mounted positioning system, and roadside equipment for roadway coordination

Abstract

The present disclosure discloses a vehicle-to-roadway cooperative positioning method, apparatus, in-vehicle positioning system and roadside equipment, which relates to the technical field of Internet of Vehicles, and includes the steps of receiving a first vehicle-to-everything (V2X) message sent by at least one roadside equipment (RSU), the message including RSU position information; determining first positioning information of a vehicle and the RSU based on a first parameter, the first positioning information including first distance information or first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X side link; and determining a position of the vehicle based on the first positioning information and the RSU position information.

Description

[Technical field]

[0001] (Cross-reference to related disclosures) This disclosure is incorporated herein by reference in its entirety. application Priority is claimed to application No. 202110498145.9, the entire contents of which are incorporated by reference herein.

[0002] The present disclosure relates to the field of Internet of Vehicles technology, and in particular to a vehicle-road cooperative positioning method, device, in-vehicle positioning system and roadside equipment. [Background technology]

[0003] Currently, there are several positioning methods for roadway coordination / Internet of Vehicles. Global Navigation Satellite System (GNSS) / GNSS Real-Time Kinematic (RTK) can achieve high positioning accuracy when there is GNSS signal coverage. However, when there is no GNSS coverage or the GNSS signal coverage is poor (e.g., tunnels, underground conveyor passages, under coal mines, underground pipes in cities, etc.), GNSS / GNSS RTK cannot realize positioning or cannot support high-precision positioning. In this case, other positioning methods need to be adopted to support roadway coordination. However, other positioning methods have the following problems: When trying to achieve high-precision positioning using positioning assistance from an inertial measurement unit (IMU) and / or positioning using sensors (e.g., cameras, laser radar, millimeter-wave radar, etc.), it is generally necessary to collect high-precision maps in advance. High-precision positioning can be achieved by detecting feature points and matching them with high-precision maps. However, in order to apply this to road coordination, it is required that high-precision maps of the entire country of China have a high coverage rate. Summary of the Invention [Problem to be solved by the invention]

[0004] The embodiments of the present disclosure aim to provide a method, apparatus, in-vehicle positioning system, and roadside equipment for road-side cooperative positioning that solves the problem in related art that high-precision positioning of a vehicle needs to rely on high-precision maps in scenarios without GNSS. [Means for solving the problem]

[0005] According to a first aspect, an embodiment of the present disclosure provides a method for roadway cooperative positioning applied to an in-vehicle positioning system, comprising: Receiving a first vehicle-to-everything (V2X) message sent by at least one roadside unit (RSU), the first vehicle-to-everything (V2X) message including location information of the RSU; determining first positioning information of the vehicle and the RSU based on a first parameter, the first positioning information including first distance information or first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X sidelink; determining a position of the vehicle based on the first positioning information and the position information of the RSU.

[0006] Optionally, the step of determining a vehicle position based on the first positioning information and the RSU position information further comprises: The method includes a step of determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information, wherein the second positioning information includes second distance information, or second distance information and second angle information.

[0007] Optionally, the method further comprises: acquiring detection data by the detection sensor; determining the validity of the sensed data; The step of determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes: If it is determined that the detection data is valid, the step of determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information is included.

[0008] Optionally, the first parameter is: a first measurement parameter being a reference signal received power (RSRP) measured based on a demodulation reference signal (DMRS) of a physical sidelink control channel (PSCCH) or a measured RSRP based on a DMRS of a physical sidelink shared channel (PSSCH); a second measurement parameter being a time of arrival (TOA) or a time difference of arrival (TDOA) measured based on the PSCCH, or a TOA or a TDOA measured based on the PSSCH; A third measurement parameter being an RSRP measured based on a sidelink-positioning reference signal (SL-PRS) transmitted by the RSU; and and a fourth measurement parameter, which is at least one of a signal transit time, a signal transit time difference, and a signal transit angle parameter measured based on the SL-PRS.

[0009] Optionally, the step of determining first positioning information of the vehicle and the RSU based on a first parameter includes: The method further includes a step of determining first indication information in the first positioning information based on the first parameter, the first indication information indicating a type or confidence level of the first distance information.

[0010] Optionally, the step of determining first indication information in the first positioning information based on the first parameter includes: determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type if the first parameter is the first measurement parameter or the third measurement parameter; When the first parameter is the second measurement parameter, determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type, or determining that the first indication indicates that the confidence level of the first distance information is a preset confidence level; If the first parameter is the fourth measurement parameter, the step of determining that the first indication information indicates that the confidence of the first distance information is an estimated confidence, or determining that the first indication information indicates that the type of the first distance information is an accurate measurement type, is included.

[0011] Optionally, the step of determining a vehicle position based on the first positioning information and the RSU position information further comprises: if the first indication information indicates that the type of the first distance information is an inaccurate measurement type, or if the first indication information indicates that the confidence of the first distance information is equal to or greater than a confidence threshold, or if the first indication information indicates that the confidence of the first distance information is greater than a ranging accuracy of a detection sensor, determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, wherein the second positioning information includes second distance information, or second distance information and second angle information; Or, When the first indication information indicates that the confidence level of the first distance information is equal to or lower than the ranging accuracy of the detection sensor, or when the first indication information indicates that the type of the first distance information is an accurate measurement type, the method includes a step of determining the position of the vehicle based on the first positioning information and the position information of the RSU.

[0012] Optionally, the method further comprises: acquiring detection data by the detection sensor; determining the validity of the sensed data; The step of determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes: If it is determined that the detection data is valid, the step of determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information is included.

[0013] Optionally, the step of determining the validity of the sensed data further comprises: The method includes a step of determining that the detection data is valid when the number of sampling points occupied by at least one of the RSUs detected by the detection sensor is equal to or greater than a first predetermined value, or when the ratio of the number of sampling points occupied by at least one RSU detected by the detection sensor to the total number of sampling points is equal to or greater than a second predetermined value.

[0014] Optionally, the step of determining the validity of the sensed data further comprises: determining a ranging accuracy of each of the RSUs detected by the detection sensor based on the number of sampling points occupied by each of the RSUs detected by the detection sensor or the ratio of the number of sampling points occupied by each of the RSUs to the total number of sampling points; The method includes a step of determining that the detection data is valid when the ranging accuracy of at least one of the RSUs detected by the detection sensor is smaller than the confidence level of the first distance information indicated by the first indication information.

[0015] Optionally, the step of determining the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes: Matching an RSU that transmitted the first V2X message with an RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matching location information to the RSU detected by the detection sensor; The method includes a step of determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0016] Optionally, the step of matching the RSU that transmitted the first V2X message with the RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matching location information to the RSU detected by the detection sensor includes: determining, from at least one RSU that has transmitted the first V2X message, an RSU that the vehicle has already passed and / or an RSU that the vehicle has not passed, based on historical location information of the vehicle and location information of each of the RSUs, wherein the RSU that the vehicle has already passed is determined as an RSU located behind the vehicle, and the RSU that the vehicle has not passed is determined as an RSU located in front of the vehicle; determining an RSU located at the rear of the vehicle and / or an RSU located at the front of the vehicle from at least one RSU detected by the detection sensor; expressing a distance value of the first distance information corresponding to an RSU located at the rear of the vehicle and a distance value of the second distance information corresponding to an RSU located at the rear of the vehicle as negative values, and expressing a distance value of the first distance information corresponding to an RSU located at the front of the vehicle and a distance value of the second distance information corresponding to an RSU located at the front of the vehicle as positive values; performing one-to-one matching for RSUs corresponding to second distance information whose distance value is a negative value and RSUs corresponding to first distance information whose distance value is a negative value in descending order of distance value; The method includes a step of performing one-to-one matching for RSUs corresponding to second distance information whose distance values ​​are positive values ​​and RSUs corresponding to first distance information whose distance values ​​are positive values, in ascending order of distance value.

[0017] Optionally, the step of determining the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes: Determining an RSU located on the left side of a road on which the vehicle is located and / or an RSU located on the right side of a road on which the vehicle is located based on the position information of the RSU or the first angle information; determining an RSU located on the left side of a road and / or an RSU located on the right side of a road based on the second angle information; one-to-one matching of an RSU located on the left side of the road corresponding to the first distance information and an RSU located on the left side of the road corresponding to the second distance, and one-to-one matching of an RSU located on the right side of the road corresponding to the first distance information and an RSU located on the right side of the road corresponding to the second distance information, and matching location information to the RSU detected by the detection sensor; The method includes a step of determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0018] Optionally, the step of determining the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes: calculating predicted position information of the vehicle based on each of the first positioning information; determining relative position information between the vehicle and each of the RSUs based on the predicted position information and the position information of each of the RSUs; Matching an RSU that transmitted the first V2X message with an RSU detected by the detection sensor based on the relative position information and each of the second positioning information, and matching position information to the RSU detected by the detection sensor; determining a position of the vehicle based on position information matching the RSU detected by the detection sensor and the second positioning information.

[0019] Optionally, the method further comprises: receiving a second V2X message transmitted by each of the RSUs, the second V2X message including parameter information related to a surface of the RSU; acquiring detection data detected by the detection sensor; Obtaining feature information in parameter information related to a surface of the RSU; Performing matching in the sensing data according to features indicated by parameter information related to a surface of the RSU obtained from the second V2X message, and determining that the RSU is included in the sensing data if a matching result is obtained; If the detection data includes the RSU, determining second positioning information of the vehicle and the RSU, and if the second positioning information includes second angle information, determining that the second angle information is an angle between a first direction and a second direction, the first direction being the extension direction of a line connecting the detection sensor and the RSU detected by the detection sensor, and the second direction being the traveling direction or lane direction of the vehicle; The RSU has a surface provided with a light reflector, or the surface of each RSU is a metasurface or a reconfigurable intelligent surface; The parameter information is Supported signal types, Supported frequency band range, and and the shape of the feature points.

[0020] Optionally, the method further comprises: The method further includes a step of filtering in real time based on measurement data of an inertial measurement unit and / or vehicle driving parameters to predict the position of the vehicle when none of the first positioning information is obtained between two adjacent times for determining the position of the vehicle, or during the process of determining the position of the vehicle, wherein the vehicle driving parameters include at least one of a vehicle speed value, an acceleration value, and a direction angle value.

[0021] Optionally, the method further comprises: The method further includes a step of filtering in real time based on measurement data of an inertial measurement unit and / or vehicle driving parameters to predict the position of the vehicle between two adjacent times when the position of the vehicle is determined, or when none of the first positioning information is obtained and none of the second positioning information is obtained during the process of determining the position of the vehicle, wherein the vehicle driving parameters include at least one of a vehicle speed value, an acceleration value, and a direction angle value.

[0022] According to a second aspect, an embodiment of the present disclosure provides a method for roadway coordination positioning applied to roadside equipment, comprising: transmitting a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal; Or, transmitting the first V2X message and an SL-PRS to an in-vehicle positioning system having the V2X in-vehicle terminal; The method further provides that the first V2X message includes location information of an RSU.

[0023] Optionally, the surface of the RSU is coated with a light reflector, or the surface of the RSU is a metasurface or a reconfigurable intelligent surface.

[0024] Optionally, the method further comprises: sending a second V2X message to the vehicle-mounted positioning system, the second V2X message including parameter information related to a surface of the RSU; The parameter information is Supported signal types, Supported frequency band range, and and the shape of the feature points.

[0025] According to a third aspect, an embodiment of the present disclosure further provides an in-vehicle positioning system including a transceiver, a memory, a processor, and a computer program stored in the memory and executed on the processor, the in-vehicle positioning system realizing the roadway cooperative positioning method described in the first aspect when the processor executes the computer program.

[0026] According to a fourth aspect, an embodiment of the present disclosure further provides a roadside device including a transceiver, a memory, a processor, and a computer program stored in the memory and executed on the processor, the roadside device realizing the vehicle lane cooperative positioning method described in the second aspect when the processor executes the computer program.

[0027] According to a fifth aspect, an embodiment of the present disclosure provides a lane-coordinated positioning device for use in an in-vehicle positioning system, comprising: A first receiving module receives a first vehicle-to-everything (V2X) message transmitted by at least one roadside unit (RSU), the first vehicle-to-everything (V2X) message including location information of the RSU; a first determination module for determining first positioning information of a vehicle and the RSU based on a first parameter, the first positioning information including first distance information, or the first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X sidelink; and a second determining module for determining a position of a vehicle based on the first positioning information and the position information of the RSU. According to a sixth aspect, an embodiment of the present disclosure provides a positioning device for roadway coordination applied to roadside equipment, the device comprising: Send a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal; Or, A first transmitting module transmits the first V2X message and an SL-PRS to an in-vehicle positioning system having the V2X in-vehicle terminal; The present invention further provides a roadway cooperative positioning device, wherein the first V2X message includes location information of an RSU.

[0028] According to a seventh aspect, an embodiment of the present disclosure further provides a computer readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, realizing the lane coordination positioning method described in the first aspect or the lane coordination positioning method described in the second aspect. Effect of the Invention

[0029] The above technical solutions of the present disclosure have at least the following beneficial effects:

[0030] According to the vehicle lane cooperative positioning method of the embodiment of the present disclosure, first, a first vehicle-to-everything (V2X) message is received by at least one roadside unit (RSU), the message including the RSU's position information; and then, a first positioning information of the vehicle and the RSU is determined based on a first parameter, where the first positioning information includes first distance information, or first distance information and first angle information, and the first parameter is determined by measuring a signal transmitted on a V2X side link. Finally, a vehicle position is determined based on the first positioning information and the RSU's position information. In a scenario without GNSS, the vehicle positioning device can realize high-precision positioning of the vehicle based on the measurement results for the V2X message and the signal transmitted on the V2X side link without relying on a high-precision map. [Brief description of the drawings]

[0031] [Figure 1] 1 is a flow diagram of a lane-coordinated positioning method according to an embodiment of the present disclosure; FIG. [Diagram 2] FIG. 1 is a schematic diagram of an example of a detection sensor of the present disclosure detecting one RSU; [Diagram 3]FIG. 1 is a schematic diagram of two RSUs detected by a detection sensor according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a schematic diagram of three RSUs detected by a detection sensor according to an embodiment of the present disclosure. [Diagram 5] FIG. 2 is a schematic diagram of vehicle localization using one RSU in an embodiment of the present disclosure. [Figure 6] FIG. 2 is a schematic diagram of vehicle localization using two RSUs in an embodiment of the present disclosure. [Figure 7] 2 is a flow diagram 2 of a roadway coordinated positioning method according to an embodiment of the present disclosure. [Figure 8] FIG. 1 is a structural schematic diagram of a lane-coordinated positioning device according to an embodiment of the present disclosure. [Figure 9] FIG. 2 is a structural schematic diagram of a lane-coordinated positioning device according to an embodiment of the present disclosure. [Figure 10] FIG. 1 is a structural schematic diagram of an in-vehicle positioning system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] In order to clarify the problems, technical solutions and advantages of the present disclosure, the present disclosure will be described in detail below based on drawings and specific embodiments. In the following description, for example, specific details of specific arrangements and components are provided to fully understand the embodiments of the present disclosure. Therefore, as will be understood by those skilled in the art, various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. In addition, for clarity and conciseness, descriptions of existing functions and structures are omitted.

[0033] It should be noted that, in the full specification, the term "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic of an embodiment is included in at least one embodiment of the disclosure. Thus, the appearances of "in one embodiment" or "in one embodiment" in the full specification do not necessarily refer to the same embodiment. It should be noted that the particular feature, structure, or characteristic may be incorporated in one or more embodiments in any suitable manner.

[0034] In various embodiments of the present disclosure, it should be understood that the magnitude of the numbers of each process below does not indicate the order of execution, and the execution order of each process is determined by its function and internal logic, and does not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0035] In the embodiment according to the present disclosure, it should be understood that "B corresponding to A" means that B is related to A, and B can be determined based on A. It should be further understood that determining B based on A does not mean determining B based only on A, but B may be determined based on A and / or other information.

[0036] In describing the embodiment of the present disclosure, first, an in-vehicle positioning system of the embodiment of the present disclosure will be interpreted and described.

[0037] The in-vehicle positioning system is an in-vehicle positioning system having a vehicle-to-everything (V2X) on-board terminal (On Board Unit, OBU), that is, the in-vehicle positioning system includes a V2X OBU, and the in-vehicle positioning system further includes a detection sensor, an IMU, and a positioning calculation unit.

[0038] Here, the detection sensor may include, but is not limited to, at least one of a camera, a laser radar, and a millimeter wave radar, the V2X OBU is used to communicate with a road side unit (RSU), the positioning calculation unit is used to position the vehicle based on data received by the V2X OBU and / or data detected by the detection sensor, and the IMU is used to realize the positioning assistance.

[0039] In other words, the in-vehicle positioning system is an in-vehicle system that supports V2X communication, detection sensors, and positioning calculation functions.

[0040] Specifically, the embodiments of the present disclosure provide a lane-coordinated positioning method, device, vehicle-mounted positioning system, and roadside equipment to solve the following problems in the related art: 1. In typical scenarios without GNSS, such as tunnels, low illumination affects the detection effect of the camera, and the resolvable feature points in the environment are limited, making it difficult to achieve effective and accurate detection; 2. If there is an accumulated error in the inertial measurement element, and it is not possible to obtain a high-precision positioning result and perform calibration within a certain period of time, the error will continue to accumulate and high-precision positioning cannot be supported.

[0041] Third, the related technologies rely heavily on pre-collected high-precision maps. For example, when high-precision maps are not collected in advance to cover corresponding scenarios, sensor detection, inertial measurement elements, and the fusion of the two methods cannot support high-precision positioning.

[0042] Fourth, in scenarios without GNSS, the Long Term Evolution (LET)-V2X sidelink operating bandwidth is limited (e.g., currently 5905-5925MHz in China), and related technologies do not have an appropriate positioning technical design, so the positioning accuracy is limited; meanwhile, sidelink positioning based on New Radio (NR) has not yet begun standardized research work, and therefore cannot currently support high-precision positioning (e.g., decimeter order, centimeter order, etc.).

[0043] As shown in FIG. 1, an embodiment of the present disclosure provides a lane-coordinated positioning method, which includes the following steps.

[0044] Step 101: Receive a first vehicle-to-everything (V2X) message sent by at least one roadside unit (RSU), the message including location information of the RSU.

[0045] Specifically, this step may be a step of receiving a first V2X message sent to an RSU by a V2X OBU, and sending the received first V2X message to a positioning calculation element, and the positioning calculation unit analyzes the first V2X message to obtain the position information of the RSU contained in the first V2X message.

[0046] Step 102: Determine first positioning information of the vehicle and the RSU based on a first parameter, the first positioning information including first distance information, or first distance information and first angle information, and the first parameter is determined by measuring a signal transmitted on a V2X sidelink.

[0047] In this step, the signal transmitted on the V2X sidelink may be, but is not limited to, a signal transmitted on a Physical Sidelink Shared Channel (PSSCH) or a signal transmitted on a Physical Sidelink Control Channel (PSCCH).

[0048] Step 103: Determine a vehicle position based on the first positioning information and the position information of the RSU.

[0049] In a vehicle lane coordination positioning method according to an embodiment of the present disclosure, first, a first vehicle-to-everything (V2X) message including location information of an RSU is received, the vehicle-to-everything (V2X) message being transmitted by at least one roadside unit (RSU); and then, based on a first parameter, determining first positioning information of a vehicle and the RSU, the first positioning information including first distance information, or first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X side link, thus improving the determination accuracy of determining the distance and / or angle between a vehicle and an RSU; and finally, determining a position of the vehicle based on the first positioning information and the location information of the RSU.

[0050] As a result, in GNSS-less scenarios, the in-vehicle positioning system does not rely on high-precision maps and can achieve highly accurate positioning of the vehicle based on measurements of V2X messages and signals transmitted on the V2X sidelink.

[0051] As an alternative implementation, the step of determining a vehicle position based on the first positioning information and the RSU position information in step 103 includes: The method includes a step of determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information, wherein the second positioning information includes second distance information, or second distance information and second angle information.

[0052] That is, in this selective realization form, the in-vehicle positioning system may determine first positioning information between the RSU and the vehicle based on the first parameter, and the detection sensor in the in-vehicle positioning system may directly detect second positioning information between each RSU and the vehicle, thereby realizing determining the position information of each RSU detected by the detection sensor based on the first positioning information and the second positioning information, and realizing determining the position of the vehicle based on the position information of each RSU and the second positioning information between each RSU and the vehicle. Since the second positioning information between each RSU and the vehicle detected by the detection sensor is accurate with respect to the first positioning information between each RSU and the vehicle determined based on the first parameter, in this manner, compared to the form of determining the position of the vehicle based only on the position information of each RSU and the first positioning information, the determination method of this selective realization form further improves the accuracy of vehicle positioning.

[0053] In one alternative implementation, when determining the position of the vehicle based on the second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information, in order to further improve the accuracy of the vehicle positioning, the lane cooperation positioning method includes: acquiring detection data by the detection sensor; and determining the validity of the sensed data.

[0054] Specifically, if it is determined that the sensing data is valid, the vehicle position is determined based on the vehicle detected by the detection sensor, the second positioning information of the at least one RSU, the position information of the RSU, and the first positioning information. In this way, the inaccurate vehicle positioning caused by using invalid sensing data to determine the vehicle position is avoided, and the accuracy of the vehicle positioning is further improved.

[0055] In one alternative implementation, the first parameter is: a first measurement parameter being a Reference Signal Received Power (RSRP) measured based on a Demodulation Reference Signal (DMRS) of a Physical Sidelink Control Channel (PSCCH) or a RSRP measured based on a DMRS of a Physical Sidelink Shared Channel (PSSCH); a second measurement parameter being a Time of Arrival (TOA) or a Time Difference of Arrival (TDOA) measured based on the PSCCH, or a TOA or a TDOA measured based on the PSSCH; A third measurement parameter being an RSRP measured based on Sidelink-Positioning Reference Signals (SL-PRS) transmitted by the RSU; and (It should be noted here that the SL-PRS may be transmitted together with the first V2X message, i.e., the SL-PRS may be included in the first V2X message, or may be transmitted independently.) and a fourth measurement parameter, which is at least one of a signal transit time, a signal transit time difference, and a signal transit angle parameter measured based on the SL-PRS.

[0056] Here, it should be explained that the signal transmission time measured based on the SL-PRS may be the TOA, Round Trip Time (RTT) or symmetric bilateral double-pass RTT of the SL-PRS, the signal transmission time difference measured based on the SL-PRS may be the TDOA, Reference Signal Time Difference (RSTD) of the SL-PRS, and the signal transmission angle parameter measured based on the SL-PRS may be, but is not limited to, the channel angle of arrival (AOA) or the channel angle of departure (AOD).

[0057] In one alternative implementation, the step 102 of determining first positioning information of the vehicle and the RSU based on a first parameter includes: The method further includes a step of determining a first indication in the first positioning information based on the first parameter, the first indication indicating a type or a confidence level of the first distance information.

[0058] That is, in this optional implementation form, the first positioning information may include first distance information and first instruction information, or the first positioning information may include first distance information, first angle information and first instruction information.

[0059] Here, the first indication information is used to indicate the type or confidence level of the first distance information, thereby further determining the parameters used in the process of accurately positioning the vehicle based on the content indicated by the first indication information, and further improving the accuracy of positioning the vehicle. Below, the process of positioning the vehicle based on the content indicated by the first indication information will be described respectively.

[0060] In this alternative implementation, by arranging the first instruction information, if the V2X sidelink measurement value (first distance information) is better than the detection accuracy of the sensor, the first positioning information can be used to accurately position the vehicle; otherwise, the sensor's distance measurement value (second positioning information) within the valid detection range is adopted to perform positioning, thereby improving the positioning accuracy.

[0061] In one alternative embodiment, the step of determining first indication information in the first positioning information based on the first parameter comprises: determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type if the first parameter is the first measurement parameter or the third measurement parameter; When the first parameter is the second measurement parameter, determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type, or determining that the first indication indicates that the confidence level of the first distance information is a preset confidence level; If the first parameter is the fourth measurement parameter, the step of determining that the first indication information indicates that the confidence of the first distance information is an estimated confidence, or determining that the first indication information indicates that the type of the first distance information is an accurate measurement type, is included.

[0062] It should be noted here that the estimated confidence may be determined based on at least one of the bandwidth of the SL-PRS, the number of repeated transmissions of the SL-PRS, the number of RSUs that have received the SL-PRS, a channel busy ratio (CBR), and a channel environment, etc.

[0063] In this selective realization form, the content indicated by the first instruction information is determined based on the specific content of the first parameter. In this way, the method of determining the first parameter can realize the determination of parameters for accurately positioning the vehicle, and different positioning methods are adopted according to different first parameters to position the vehicle, thereby further improving the positioning accuracy without relying on a high-precision map.

[0064] In one alternative implementation, when the first positioning information includes first indication information, the step of determining a vehicle position based on the first positioning information and the position information of the RSU in step 103 includes: determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information when the first indication information indicates that the type of the first distance information is an inaccurate measurement type, or when the first indication information indicates that the confidence of the first distance information is equal to or greater than a confidence threshold, or when the first indication information indicates that the confidence of the first distance information is greater than a ranging accuracy of a detection sensor, wherein the second positioning information includes second distance information, or second distance information and second angle information; Or, When the first indication information indicates that the confidence level of the first distance information is equal to or lower than the ranging accuracy of the detection sensor, or when the first indication information indicates that the type of the first distance information is an accurate measurement type, the method includes a step of determining the position of the vehicle based on the first positioning information and the position information of the RSU.

[0065] As can be seen from the combination of the relationship between the first parameter and the first instruction content, when the first parameter is determined using measurements of signals transmitted on the V2X sidelink in the related art, the accuracy of the first distance information may not be high, and when a proprietary signal related to positioning, such as the SL-PRS transmitted employing a wide bandwidth (e.g., spectrum of 100 MHz or more), is used, the accuracy of the first distance information may be increased. In this alternative implementation, the parameters used when positioning the vehicle may be determined based on the accuracy of the first distance information, and thus the accuracy of positioning the vehicle may be further improved.

[0066] That is, in this optional implementation form, the first indication information can indicate the accuracy of the first distance information; for example, when the first indication information indicates that the first distance information is an inaccurate measurement type or the certainty of the first distance information is greater than the ranging accuracy of the detection sensor, it indicates that the accuracy of the first distance information is worse than the accuracy of the second distance information detected by the detection sensor; when the first indication information indicates that the first distance information is an accurate measurement type or the certainty of the first distance information is equal to or lower than the detection accuracy of the detection sensor, it indicates that the accuracy of the first distance information is almost the same as the accuracy of the second distance information detected by the detection sensor, or the accuracy of the first distance information is better than the accuracy of the second distance information detected by the detection sensor; thus, when positioning a vehicle, positioning is performed based on the positioning information with relatively higher accuracy among the first positioning information and the second positioning information, thereby further improving the accuracy of positioning.

[0067] In one alternative implementation, when the first positioning information includes first indication information, and the first indication information determines that the position of the vehicle needs to be determined based on the second positioning information of the vehicle detected by a detection sensor and at least one RSU, the position information of the RSU, and the first positioning information, in order to further improve the accuracy of the vehicle positioning, the lane-coordinated positioning method includes: acquiring detection data by the detection sensor; and determining the validity of the sensed data.

[0068] Specifically, if it is determined that the sensing data is valid, the vehicle position is determined based on the vehicle detected by the detection sensor, the second positioning information of the at least one RSU, the position information of the RSU, and the first positioning information. In this way, the phenomenon of inaccurate vehicle positioning due to the use of invalid sensing data to determine the vehicle position is avoided, and the accuracy of vehicle positioning is further improved.

[0069] The steps of determining the validity of the sensed data in the above two implementations will now be described in detail.

[0070] In one specific embodiment, the step of determining the validity of the sensed data comprises: The method includes a step of determining that the detection data is valid when the number of sampling points occupied by at least one of the RSUs detected by the detection sensor is equal to or greater than a first predetermined value, or when the ratio of the number of sampling points occupied by at least one of the RSUs detected by the detection sensor to the total number of sampling points is equal to or greater than a second predetermined value.

[0071] That is, in this specific embodiment, the validity of the sensing data can be determined based on the number of sampling points occupied by the RSU or the proportion of the number of sampling points occupied by the RSU to the total number of sampling points, and as long as it is determined that there is at least one valid RSU, the sensing data is determined to be valid.

[0072] This particular implementation can determine the validity of the sensed data according to the following steps:

[0073] Step 1: Determine whether the sensing data includes sampling points of at least one RSU.

[0074] Step 2: For each RSU detected from the sensing data, if the number of sampling points occupied by the detected single RSU is equal to or greater than a first preset value, or the proportion of sampling points occupied by the detected single RSU in the total sampling points is equal to or greater than a second preset value, determine that the sensing data for the RSU is valid, i.e., the RSU is located within a valid detection range of the detection sensor.

[0075] It should be noted that the greater the distance between the RSU and the vehicle, the lower the detection accuracy, and the fewer sampling points a single detected RSU occupies, where the sampling points may be, but are not limited to, laser radar point cloud data sampling points or camera sampling points.

[0076] In another specific implementation form, when the first positioning information includes first instruction information, the first instruction information indicates a confidence level of the first distance information, and the first instruction information determines that the position of the vehicle needs to be determined based on the second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information, the step of determining the validity of the detection data includes: determining a ranging accuracy of each of the RSUs detected by the detection sensor based on the number of sampling points occupied by each of the RSUs detected by the detection sensor or the ratio of the number of sampling points occupied by each of the RSUs to the total number of sampling points; The method includes a step of determining that the detection data is valid when the ranging accuracy of at least one of the RSUs detected by the detection sensor is smaller than the confidence level of the first distance information indicated by the first indication information.

[0077] In other words, by comparing the ranging accuracy of each RSU detected by the detection sensor with the confidence of the first distance information, as long as there is at least one RSU whose ranging accuracy is higher than the confidence of the first distance information, the detection data of that RSU is considered to be valid.

[0078] This particular implementation can determine the validity of the sensed data according to the following steps:

[0079] Step 1: Determine whether the sensing data includes sampling points of at least one RSU.

[0080] Step 2: For each RSU detected from the detection data, derive the ranging accuracy of detecting the RSU by the detection sensor based on the number of sampling points occupied by the detected single RSU or the proportion of the number of sampling points occupied by the detected single RSU to the total sampling points. If the accuracy is lower than the certainty of the first distance information, the detection data of the RSU is considered to be invalid.

[0081] In one alternative implementation form, the step of determining the position of the vehicle based on the second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes: A step of matching an RSU that transmitted the first V2X message with an RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matching location information to the RSU detected by the detection sensor, Here, it should be noted that since the detection sensor can only detect the distance between the object (vehicle) where the detection sensor is located and the detected object (RSU), or the distance and angle between the two objects, the first positioning information needs to be used to match the position information of each RSU detected by the detection sensor, thereby obtaining the reference point, i.e., the position information of the RSU, which is required to determine the position of the vehicle; The method includes a step of determining a position of the vehicle based on position information matching the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determining a position of the vehicle based on position information matching the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0082] In this step, if the second positioning information includes only second distance information, the position of the vehicle may be determined based on the position information matching the RSU detected by the detection sensor and the second distance information; if the second positioning information includes second distance information and second angle information, the position of the vehicle may be determined based on the position information matching the RSU detected by the detection sensor and the second distance information and second angle information; of course, if the second positioning information includes second distance information and second angle information, the position of the vehicle may be determined based only on the position information matching the RSU detected by the detection sensor and the second distance information, and the present disclosure is not limited thereto.

[0083] It should be noted here that when determining the position of the vehicle, the RSU whose position information is currently matched may be taken as the positioning reference point for calculating the position of the vehicle.

[0084] The following describes a specific implementation of the process of matching location information with the RSU detected by the detection sensor.

[0085] In one specific implementation form, the step of matching the RSU that transmitted the first V2X message with the RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matching location information to the RSU detected by the detection sensor includes the following steps:

[0086] Step 1: Based on the historical location information of the vehicle and the location information of each of the RSUs, from at least one RSU that transmitted the first V2X message, determine RSUs that the vehicle has already passed and / or RSUs that the vehicle has not passed, and the RSUs that the vehicle has already passed are determined as RSUs located behind the vehicle, and the RSUs that the vehicle has not passed are determined as RSUs located in front of the vehicle.

[0087] In this step, the historical location information may be the vehicle's location information currently stored in the in-vehicle positioning system, and if only one RSU is detected by the detection sensor, the RSU may be determined as an RSU that has already been passed or an RSU that has not been passed based on the historical location information and the location information of the detected RSU; if two or more RSUs are detected by the detection sensor, each RSU may be determined as an RSU that has already been passed or an RSU that has not been passed, respectively, based on the historical location information.

[0088] Step 2: From at least one RSU detected by the detection sensor, an RSU located at the rear of the vehicle and / or an RSU located at the front of the vehicle are determined.

[0089] Similarly, in this step, based on the relative positional relationship between each RSU detected by the detection sensor and the vehicle and the vehicle's traveling direction, it is determined whether each RSU detected by the detection sensor is an RSU located behind the vehicle or an RSU located in front of the vehicle.

[0090] Step 3: The distance value of the first distance information corresponding to an RSU located at the rear of the vehicle and the distance value of the second distance information corresponding to an RSU located at the rear of the vehicle are both expressed as negative values, and the distance value of the first distance information corresponding to an RSU located at the front of the vehicle and the distance value of the second distance information corresponding to an RSU located at the front of the vehicle are both expressed as positive values.

[0091] In this step, based on whether it is determined that each RSU is an RSU located at the rear of the vehicle or an RSU located at the front of the vehicle, the distance value of the first distance information and the distance value of the second distance information between each RSU and the vehicle are indicated as "positive" or "negative". In this way, when matching location information to each RSU detected by the detection sensor later, the RSU that is closest to the vehicle can be matched first.

[0092] Step 4: For RSUs corresponding to the second distance information whose distance value is a negative value and RSUs corresponding to the first distance information whose distance value is a negative value, one-to-one matching is performed in descending order of distance value.

[0093] Step 5: For RSUs corresponding to the second distance information whose distance value is a positive value and RSUs corresponding to the first distance information whose distance value is a positive value, one-to-one matching is performed in ascending order of distance value.

[0094] In this specific implementation, each RSU that transmits the first V2X message is classified as an RSU that the vehicle has already passed (an RSU located behind the vehicle) and an RSU that the vehicle has not passed (an RSU located in front of the vehicle), and the RSUs detected by the detection sensor are also classified as an RSU located behind the vehicle and an RSU located in front of the vehicle, thereby matching location information with the RSUs located behind the vehicle and the RSUs located in front of the vehicle, respectively, thereby avoiding matching errors due to inaccuracies in the first distance information and improving the accuracy of matching.

[0095] On the other hand, for each RSU located at the rear of the vehicle, matching is performed one-to-one in ascending order of distance value, and for each RSU located at the front of the vehicle, matching is performed one-to-one in ascending order of distance value, thereby achieving position matching starting from the RSU that is closest to the vehicle.In this way, errors in matching the RSU positions due to inaccuracies in the first distance information are avoided, and the accuracy of matching is improved.

[0096] The process of matching location information will be described below with reference to a specific embodiment.

[0097] Example 1: As shown in FIG. 2, first, one RSU (RSU2) is detected by a detection sensor, and the second distance information between the RSU detected by the detection sensor and the vehicle is denoted as dx'. It is determined that the RSU is located in front of the vehicle, and therefore the second distance information is denoted as +dx'. Next, it is determined that the V2X OBU receives a first V2X message transmitted by three RSUs, which are RSU1, RSU2, and RSU3 respectively, and the first distance information corresponding to RSU1 is d1, the first distance information corresponding to RSU2 is d2, and the first distance information corresponding to RSU3 is d3. Based on the historical position information of the vehicle, it is determined that the vehicle has already passed RSU1 and has not passed RSU2 and RSU3.

[0098] Therefore, the first distance information corresponding to RSU1 is denoted as -d1, the first distance information corresponding to RSU2 is denoted as +d2, and the first distance information corresponding to RSU3 is denoted as +d3. After comparison, it is determined that |d2|<|d1|<|d3|. Then, since the detection sensor detects only one RSU where no vehicle has passed, only the V2X OBUs are sorted based on the positive distance measurement value represented by the first V2X message, and the result is d2. <d3となる。

[0099] Finally, if the positioning calculation unit determines based on the sorting result that the RSU detected by the detection sensor is RSU2, it positions the vehicle based on the position information of RSU2 and the second distance information dx' corresponding to RSU2. A specific positioning process is shown in Fig. 5, in which first, using the position of RSU2 as a reference point, it determines the angle θ between the detection sensor and RSU2 based on the measurement result of the detection sensor and the traveling direction of the vehicle, then solves the longitudinal and lateral coordinates of the detection sensor relative to RSU2 based on the angle θ, and finally solves the position of the vehicle based on the position coordinate of RSU2.

[0100] Example 2: As shown in FIG. 3, firstly, it is determined that there are two RSUs detected by the detection sensor, and the second distance information corresponding to the two RSUs is dx' and dy' respectively, the RSU corresponding to dx' is located at the rear of the vehicle and is denoted as -dx', and the RSU corresponding to dy' is located at the front of the vehicle and the second distance information is denoted as +dy'; then, it is determined that the V2X OBU has received a first V2X message transmitted by three RSUs, and the three RSUs are RSU1, RSU2, and RSU3 respectively, the first distance information corresponding to RSU1 is d1, the first distance information corresponding to RSU2 is d2, and the first distance information corresponding to RSU3 is d3; and based on the historical position information of the vehicle, it is determined that the vehicle has already passed RSU1 and has not passed RSU2 and RSU3.

[0101] Therefore, the first distance information corresponding to RSU1 is denoted as -d1, the first distance information corresponding to RSU2 is denoted as +d2, and the first distance information corresponding to RSU3 is denoted as +d3. After comparison, it is determined that the relationship between the first distance information corresponding to the two RSUs through which the vehicle has not passed is |d2|<|d3|. Based on the above information, the positioning calculation unit determines that the RSUs detected by the detection sensor are RSU1 and RSU2, determines that the second distance information corresponding to RSU1 is dx', and determines that the second distance information corresponding to RSU2 is dy'. Finally, the positioning calculation unit locates the vehicle based on the above-mentioned position information and second distance information dx' of RSU1, and the position information and second distance information dy' of RSU2.

[0102] A specific positioning process is shown in FIG. 6. First, draw a circle with RSU1 as the center and dx' as the radius, and draw a circle with RSU2 as the center and dy' as the radius. Then, determine the vehicle position from the intersection point obtained by solving the equation using the two circles. When the vehicle is traveling through a tunnel, the coordinate point located in the tunnel is the vehicle position.

[0103] Example 3: As shown in FIG. 4, first, it is determined that there are three RSUs detected by the detection sensor, and the second distance information corresponding to the three RSUs is dx', dy', and dz', respectively. The RSU corresponding to dx' is located behind the vehicle, and the second distance information corresponding thereto is denoted as -dx'. The RSU corresponding to dy' is located in front of the vehicle, and the second distance information corresponding thereto is denoted as +dy'. The RSU corresponding to dz' is located in front of the vehicle, and the second distance information corresponding thereto is denoted as +dz'. Then, V2X The OBU determines that it receives a first V2X message sent by three RSUs, the three RSUs being RSU1, RSU2, and RSU3, respectively, the first distance information corresponding to RSU1 is d1, the first distance information corresponding to RSU2 is d2, and the first distance information corresponding to RSU3 is d3, and based on the historical location information of the vehicle, it determines that the vehicle has already passed RSU1 and has not passed RSU2 and RSU3, so the first distance information corresponding to RSU1 is denoted as -d1, the first distance information corresponding to RSU2 is denoted as +d2, and the first distance information corresponding to RSU3 is denoted as +d3. By comparison, it is found that the vehicle has not passed The relationship between the first distance information corresponding to the two RSUs is determined to be |d2|<|d3|, and the positioning calculation unit determines based on the above information that the RSUs detected by the detection sensors are RSU1, RSU2, and RSU3, and determines that the second distance information corresponding to RSU1 is dx', the second distance information corresponding to RSU2 is dy', and the second distance information corresponding to RSU3 is dz', and finally, the positioning calculation unit locates the vehicle based on the above-mentioned position information and second distance information dx' of RSU1, position information and its second distance information dy' of RSU2, and position information and its second distance information dz' of RSU3.

[0104] Here, it should be noted that when three or more RSUs are detected by the detection sensor, when determining the position of the vehicle, the two RSUs closest to the vehicle may be determined as the reference points, and the specific determination process is the same as when two RSUs are detected by the detection sensor, so it will not be described further here.

[0105] Here, it should be further explained that if the detection sensor detects that the absolute value of the distance between an RSU and a vehicle is smaller than a preset distance threshold (e.g., ±10 m), a deviation may occur when determining whether the vehicle has already passed the RSU based on the vehicle's historical position information. In order to avoid such a deviation, the positive and negative values ​​indicated in the first distance information in the first positioning information may be further checked and corrected before matching.

[0106] That is, after matching with respect to the RSU, the matching result is corrected based on the difference or variance between the corresponding first distance value (positive or negative is already indicated) and the corresponding second distance value (positive or negative is already indicated) after matching, and the difference or variance of the corresponding distance value in the corrected matching result is the smallest. Specifically, the correction may be performed according to the following form.

[0107] First, a calculation is performed to find the difference / variance for each of the first distance values ​​(positive or negative is already indicated) of the first distance information and the second distance values ​​(positive or negative is already indicated) of the second positioning information of the RSU corresponding to the first distance information, and the absolute values ​​of each difference value are taken and added / each variance is added to obtain a first numerical value.

[0108] Next, if the first numerical value is greater than a first preset threshold, the largest one or the first distance values ​​expressed as 1 to N negative values ​​are expressed as positive values, and matching is performed again, and the above-mentioned calculation of adding the absolute value of the difference value / adding the variance is performed again to obtain a second numerical value, where N≧2 and N is an integer.

[0109] Meanwhile, the smallest 1 or 1 to N positive first distance values ​​are expressed as negative values, and matching is performed again, and the above-mentioned calculation of adding the absolute value of the difference value / adding the variance is performed again to obtain a third value, where N≧2 and N is an integer. Finally, the matching result corresponding to the smallest value among the first value, the second value, and the third value is determined as the final matching result.

[0110] It should be noted here that the operation of taking the absolute value of each difference value and adding them / adding each variance may be, but is not limited to, taking the absolute value of each difference value and finding the average / finding the average of each variance, etc.

[0111] In light of the above, as one optional implementation form, the step of determining the position of the vehicle based on the second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes the following steps:

[0112] Step 1: Based on the position information of the RSU or the first angle information, determine an RSU located on the left side of the road on which the vehicle is located and / or an RSU located on the right side of the road.

[0113] When determining an RSU located on the left side of the road and / or an RSU located on the right side of the road based on the RSU's position information, specifically, the RSU located on the left side of the road and / or the RSU located on the right side of the road may be determined based on the RSU's position information and the position information of the road centerline.When determining an RSU located on the left side of the road and / or an RSU located on the right side of the road based on first angle information, specifically, the relative positional relationship between the RSU and the vehicle on which the detection sensor is located may be determined based on the first angle information, and the RSU may be determined to be an RSU located on the left side of the road or an RSU located on the right side of the road based on the vehicle's traveling direction.

[0114] Step 2: Determine an RSU located on the left side of the road and / or an RSU located on the right side of the road based on the second angle information.

[0115] Similarly, in this step, the relative positional relationship between the RSU and the vehicle on which the detection sensor is located may be determined based on the second angle information, and whether the RSU is an RSU located on the left side of the road or an RSU located on the right side of the road may be determined based on the vehicle's traveling direction.

[0116] Step 3: Match the RSU located on the left side of the road corresponding to the first distance information with the RSU located on the left side of the road corresponding to the second distance on a one-to-one basis, and match the RSU located on the right side of the road corresponding to the first distance information with the RSU located on the right side of the road corresponding to the second distance information on a one-to-one basis, and match the location information to the RSU detected by the detection sensor.

[0117] Step 4: Determine a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determine a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0118] Similarly, in this step, if the second positioning information includes only second distance information, the position of the vehicle may be determined based on the position information matching the RSU detected by the detection sensor and the second distance information; if the second positioning information includes second distance information and second angle information, the position of the vehicle may be determined based on the position information matching the RSU detected by the detection sensor and the second distance information and second angle information; of course, if the second positioning information includes second distance information and second angle information, the position of the vehicle may be determined based on the position information matching the RSU detected by the detection sensor and the second distance information, and the present disclosure is not limited thereto.

[0119] In this alternative implementation, by classifying each RSU as an RSU located on the left side of the road and an RSU located on the right side of the road, it is possible to match location information to the RSU located on the left side of the road and the RSU located on the right side of the road respectively, thereby avoiding matching errors caused by inaccurate distance information and improving the accuracy of matching.

[0120] As one optional implementation form, the step of determining the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information includes the following steps.

[0121] Step 1: Calculate predicted position information of the vehicle based on each of the first positioning information.

[0122] In this step, when one RSU is received and the first parameter is the fourth measurement parameter, the predicted location information of the vehicle may be determined based on the first distance information, the first angle information, and the location information of the RSU in the first positioning information, thus realizing that the location of the vehicle can be predicted based on a single RSU; when the first V2X message transmitted by two or more RSUs is received, the predicted location information of the vehicle can be solved by the TOA method; when the first V2X message transmitted by four or more RSUs is received, the predicted location information of the vehicle can be solved by the TDOA method.

[0123] Step 2: Determine relative position information between the vehicle and each of the RSUs based on the predicted position information and the position information of each of the RSUs.

[0124] Step 3: Based on the relative location information and each of the second positioning information, match the RSU that transmitted the first V2X message with the RSU detected by the detection sensor, and match location information to the RSU detected by the detection sensor.

[0125] Step 4: Determine the position of the vehicle based on the position information matched to the RSU detected by the detection sensor and the second positioning information. In this step, when determining the position of the vehicle, the RSU whose current position information is matched may be used as a positioning reference point for calculating the position of the vehicle.

[0126] Here, the specific implementation of the above step 3 and step 4 is similar to the above-mentioned matching process and vehicle position determination process, so it will not be described further here.

[0127] Furthermore, as one alternative implementation, the method further includes the following steps:

[0128] Step 1: Receive a second V2X message transmitted by each of the RSUs, the second V2X message including parameter information related to a surface of the RSU.

[0129] Wherein, a surface of the RSU is provided with a light reflector, or the surface of each of the RSUs is a metasurface or a reconfigurable intelligent surface; The parameter information is Supported signal types, Supported frequency band range, and and the shape of the feature points.

[0130] Step 2: Obtaining detection data detected by the detection sensor.

[0131] Step 3: Obtain feature information in parameter information related to the surface of the RSU.

[0132] It should be noted here that the feature information may be the shape of the feature points of the RSU.

[0133] Step 4: Perform matching in the sensing data according to the features indicated by the parameter information related to the surface of the RSU obtained from the second V2X message, and if a matching result is obtained, determine that the RSU is included in the sensing data.

[0134] It should be explained here that this step specifically involves matching the characteristic shape of the RSU with the sensing data one-to-one, determining whether the matching is successful or not, and determining that a matching result has been obtained when the matching is successful, in which case it is determined that the sensing data includes the RSU.

[0135] Step 5: If the detection data includes the RSU, determine second positioning information of the vehicle and the RSU, and if the second positioning information includes second angle information, determine that the second angle information is an angle between a first direction and a second direction, where the first direction is the extension direction of a line connecting the detection sensor and the RSU detected by the detection sensor, and the second direction is the vehicle's direction of travel or lane direction.

[0136] Specifically, in this step, as shown in FIG. 5, in the process of positioning the vehicle, first, when it is determined that one RSU is detected by the detection sensor, the position information is matched to the RSU detected by the detection sensor; then, using the position of the RSU as the reference point, the angle θ between the detection sensor and the RSU is determined based on the second distance information dx and second angle information detected by the detection sensor and the vehicle's traveling direction; finally, based on dx and θ, the horizontal coordinate hx and vertical coordinate lx of the detection sensor relative to the RSU are solved; and finally, the position of the vehicle is determined based on the position information of the RSU and the horizontal coordinate and vertical coordinate of the detection sensor relative to the RSU.

[0137] In this optional implementation, by determining second positioning information of the vehicle and the RSU based on the detection data, it is possible to achieve accurate positioning of the vehicle based on second distance information and second angle information of a single RSU.

[0138] It should be noted here that the second V2X message may be transmitted included in the first V2X message, or the second V2X message may be transmitted independently, and the embodiments of the present disclosure are not limited thereto.

[0139] It should be further explained here that metasurfaces or reconfigurable intelligent surfaces can increase the reflected power of optical waves or laser radar reflection waves / FMCW (Frequency Modulated Continuous Wave) or millimeter wave radar reflection waves / FMCW without changing the reflection angle.

[0140] Additionally, in this alternative implementation, supported signal types include at least light, electromagnetic waves, lasers, and the like.

[0141] In this alternative implementation, first, an optical reflector is provided on the surface of the RSU to effectively reinforce the light beam; alternatively, the RSU surface is configured as a metasurface or a reconfigurable intelligent surface, which is arranged so as not to change the reflection angle of the light, electromagnetic wave, or laser while improving the reflection intensity, thereby effectively reinforcing the light beam; alternatively, the reflected wave or FMCW used for detection is significantly reinforced, thereby enabling accurate detection of feature points in low-illumination and scarce feature point environments, thereby solving the problem that in typical scenarios without GNSS, such as tunnels, low illumination affects the detection effect of the camera, and the resolvable feature points in the environment are limited, making it difficult to achieve effective and accurate detection; and secondly, the received second V2X message can be used as prior information of the detection data detected by the detection sensor, which realizes verification of the detection data, and further improves the detection success rate and detection accuracy of the detection sensor.

[0142] Further, as an alternative implementation, when determining the vehicle position based only on the first positioning information and the RSU position information, the method includes: The method further includes a step of filtering in real time based on measurement data of an inertial measurement unit and / or vehicle driving parameters to predict the position of the vehicle when none of the first positioning information is obtained between two adjacent times for determining the position of the vehicle, or during the process of determining the position of the vehicle, wherein the vehicle driving parameters include at least one of a vehicle speed value, an acceleration value, and a direction angle value.

[0143] Here, it should be explained that first, the vehicle driving parameters may be obtained directly from the vehicle body device, and "filtering in real time" may be at least one of methods such as Kalman filtering, average filtering, median filtering, and particle filtering, but is not limited to them.

[0144] Furthermore, as another optional implementation form, when determining the position of the vehicle based on the first positioning information, the second positioning information, and the position information of the RSU, the method includes: The method further includes a step of filtering in real time based on measurement data of an inertial measurement unit and / or vehicle driving parameters to predict the position of the vehicle between two adjacent times when the position of the vehicle is determined, or when none of the first positioning information is obtained and none of the second positioning information is obtained during the process of determining the position of the vehicle, wherein the vehicle driving parameters include at least one of a vehicle speed value, an acceleration value, and a direction angle value.

[0145] Similarly, vehicle driving parameters may be obtained directly from a vehicle body device, and "filtering in real time" may be at least one of methods such as, but not limited to, Kalman filtering, average filtering, median filtering, and particle filtering.

[0146] The above-mentioned two alternative implementation forms can realize the prediction of the vehicle position by filtering in real time based on the IMU measurement data and / or vehicle driving parameters when the detection sensor does not detect valid detection data of the RSU and / or when the in-vehicle positioning system does not receive the first V2X message sent by the RSU. In this way, when the detection range of the detection sensor is limited or the detection sensor and V2X sidelink do not obtain accurate ranging information frequently, filtering and position prediction are performed based on the IMU parameters, effectively avoiding positioning deviation in the absence of accurate measurement values, and effectively eliminating the accumulated error of the IMU when accurate measurement values ​​are obtained, ensuring sustained and high-precision positioning performance.

[0147] As shown in FIG. 7, an embodiment of the present disclosure provides a roadway cooperative positioning method applied to roadside equipment, the method includes the following steps:

[0148] Step 701: Send a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal; Alternatively, the first V2X message and the SL-PRS are transmitted to an in-vehicle positioning system having the V2X in-vehicle terminal; The first V2X message includes location information of the RSU.

[0149] It should be noted here that the SL-PRS may be transmitted together with the first V2X message or may be transmitted independently, although embodiments of the present disclosure are not limited thereto.

[0150] An embodiment of the present disclosure transmits a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal, or transmits the first V2X message and an SL-PRS signal, such that the in-vehicle positioning system can achieve high-precision positioning of the vehicle based on the received message when not relying on high-precision maps in a scenario without GNSS.

[0151] In one alternative implementation, the surface of the RSU is covered with a light reflector, or the surface of the RSU is a metasurface or a reconfigurable intelligent surface.

[0152] It should be noted here that metasurfaces or reconfigurable intelligent surfaces can improve the reflected power of optical or laser radar echo / FMCW or millimeter wave radar echo / FMCW without changing the reflection angle.

[0153] In this alternative implementation, by providing an optical reflector on the surface of the RSU or by configuring the RSU surface as a metasurface or a reconfigurable intelligent surface, the light beam can be effectively reinforced, or the reflected wave or FMCW used for detection can be significantly reinforced, thereby realizing accurate detection of feature points in low-light and scarce feature point environments. As a result, the problem that in typical scenarios without GNSS, such as tunnels, low light affects the detection effect of the camera and the resolvable feature points in the environment are limited, making it difficult to achieve effective and accurate detection, can be solved.

[0154] In one alternative implementation, the method comprises: sending a second V2X message to the vehicle-mounted positioning system, the second V2X message including parameter information related to a surface of the RSU; The parameter information is Supported signal types, Supported frequency band range, and and the shape of the feature points.

[0155] It should be noted here that the second V2X message may be transmitted included in the first V2X message, or the second V2X message may be transmitted independently, and the embodiments of the present disclosure are not limited thereto.

[0156] In this optional implementation form, by sending a second V2X message to the in-vehicle positioning system, the in-vehicle positioning system can take the shape of feature points in the parameter information related to the surface of the RSU contained in the second V2X message as a pre-parameter, thereby realizing verification of the detection data detected by the detection sensor, thereby avoiding the in-vehicle positioning system from performing traditional training learning, and improving the detection efficiency and accuracy.

[0157] As shown in FIG. 8 , an embodiment of the present disclosure further provides a lane-coordinated positioning device applied to an in-vehicle positioning system. The lane-coordinated positioning device includes: A first receiving module 801 for receiving a first vehicle-to-everything (V2X) message sent by at least one roadside unit (RSU), the first vehicle-to-everything (V2X) message including location information of the RSU; a first determination module 802 for determining first positioning information of a vehicle and the RSU based on a first parameter, the first positioning information including first distance information, or first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X sidelink; and a second determination module 803 for determining a vehicle position based on the first positioning information and the RSU position information.

[0158] In the embodiment of the present disclosure, first, a first receiving module 801 receives a first vehicle-to-everything (V2X) message sent to at least one roadside unit (RSU), the message including the location information of the RSU; then a first determining module 802 determines first positioning information of the vehicle and the RSU based on a first parameter, the first positioning information including first distance information or first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X sidelink; finally, a second determining module 803 determines a position of the vehicle based on the first positioning information and the location information of the RSU. In this way, in a scenario without GNSS, the in-vehicle positioning device can realize highly accurate positioning of the vehicle based on the measurement results for the V2X message and the signal transmitted on the V2X sidelink without relying on a highly accurate map.

[0159] Optionally, the second determination module 803: The first determination sub-module includes a first determination sub-module that determines a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, where the second positioning information includes second distance information, or second distance information and second angle information.

[0160] Furthermore, the device A first acquisition module that acquires detection data by the detection sensor; and a third determination module for determining the validity of the sensing data.

[0161] Specifically, when it is determined that the detection data is valid, the second determination submodule determines the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information.

[0162] Optionally, the first parameter is: a first measurement parameter being a reference signal received power (RSRP) measured based on a demodulation reference signal (DMRS) of a physical sidelink control channel (PSCCH) or a measured RSRP based on a DMRS of a physical sidelink shared channel (PSSCH); a second measurement parameter being a time of arrival (TOA) or a time difference of arrival (TDOA) measured based on the PSCCH, or a TOA or a TDOA measured based on the PSSCH; A third measurement parameter being an RSRP measured based on a sidelink-positioning reference signal (SL-PRS) transmitted by the RSU; and and a fourth measurement parameter, which is at least one of a signal transit time, a signal transit time difference, and a signal transit angle parameter measured based on the SL-PRS.

[0163] Optionally, the first determination module 801: The second determination sub-module includes a second determination sub-module that determines first indication information in the first positioning information based on the first parameter, the first indication information indicating a type or confidence level of the first distance information.

[0164] Optionally, the second determination sub-module; a first determining unit for determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type when the first parameter is the first measurement parameter or the third measurement parameter; a second determining unit for determining, when the first parameter is the second measurement parameter, that the first indication indicates that the type of the first distance information is an inaccurate measurement type, or that the first indication indicates that the confidence level of the first distance information is a preset confidence level; and a third determination unit that, when the first parameter is the fourth measurement parameter, determines that the first indication information indicates that the confidence of the first distance information is an estimated confidence, or determines that the first indication information indicates that the type of the first distance information is an accurate measurement type.

[0165] Optionally, the second determination module 803: a third determination sub-module for determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information when the first indication information indicates that the type of the first distance information is an inaccurate measurement type, or when the first indication information indicates that the confidence of the first distance information is equal to or greater than a confidence threshold, or when the first indication information indicates that the confidence of the first distance information is greater than a ranging accuracy of a detection sensor, wherein the second positioning information includes second distance information, or second distance information and second angle information; Or, The present invention includes a third determination submodule that determines a position of the vehicle based on the first positioning information and position information of the RSU when the first indication information indicates that the certainty of the first distance information is equal to or less than the ranging accuracy of the detection sensor, or when the first indication information indicates that the type of the first distance information is an accurate measurement type.

[0166] Furthermore, the device A second acquisition module that acquires detection data by the detection sensor; and a fourth determination module for determining the validity of the sensing data.

[0167] Specifically, when it is determined that the detection data is valid, the third determination submodule determines the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information.

[0168] Optionally, the third determination module specifically determines that the detection data is valid when the number of sampling points occupied by at least one of the RSUs detected by the detection sensor is equal to or greater than a first predetermined value, or when the ratio of the number of sampling points occupied by at least one RSU detected by the detection sensor to the total number of sampling points is equal to or greater than a second predetermined value.

[0169] Optionally, the fourth determination module specifically determines that the detection data is valid when the number of sampling points occupied by at least one of the RSUs detected by the detection sensor is equal to or greater than a first predetermined value, or when the ratio of the number of sampling points occupied by at least one RSU detected by the detection sensor to the total number of sampling points is equal to or greater than a second predetermined value.

[0170] Optionally, the fourth determination module: a fourth determination submodule that determines a ranging accuracy of each of the RSUs detected by the detection sensor based on the number of sampling points occupied by each of the RSUs detected by the detection sensor, or the ratio of the number of sampling points occupied by each of the RSUs to the total number of sampling points; and a fifth decision submodule that determines that the detection data is valid if the ranging accuracy of at least one of the ranging accuracy of each of the RSUs detected by the detection sensor is less than the confidence of the first distance information indicated by the first indication information.

[0171] Optionally, the third determination submodule: a fourth determination unit that matches an RSU that transmitted the first V2X message with an RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matches location information to the RSU detected by the detection sensor; and a fifth determination unit that determines a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determines the position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0172] Optionally, the fourth determination submodule: a sixth determination unit that matches an RSU that transmitted the first V2X message with an RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matches location information to the RSU detected by the detection sensor; and a seventh determination unit that determines a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determines the position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0173] Optionally, the fourth determining unit: a first determination subunit for determining, from at least one RSU that has transmitted the first V2X message, an RSU that the vehicle has already passed and / or an RSU that the vehicle has not passed, based on historical location information of the vehicle and location information of each of the RSUs, where the RSU that the vehicle has already passed is determined to be an RSU located behind the vehicle, and the RSU that the vehicle has not passed is determined to be an RSU located in front of the vehicle; A second determination subunit for determining an RSU located at a rear of the vehicle and / or an RSU located at a front of the vehicle from at least one RSU detected by the detection sensor; a first processing subunit that expresses a distance value of a first distance information corresponding to an RSU located at the rear of the vehicle and a distance value of the second distance information corresponding to an RSU located at the rear of the vehicle as negative values, and expresses a distance value of a first distance information corresponding to an RSU located at the front of the vehicle and a distance value of the second distance information corresponding to an RSU located at the front of the vehicle as positive values; For RSUs corresponding to second distance information whose distance value is a negative value and RSUs corresponding to first distance information whose distance value is a negative value, performing one-to-one matching in ascending order of distance value; The system includes a first matching subunit that performs one-to-one matching for RSUs corresponding to second distance information whose distance value is a positive value and RSUs corresponding to first distance information whose distance value is a positive value, in order of smallest distance value.

[0174] Optionally, the sixth determining unit: a third determination subunit for determining, from at least one RSU that has transmitted the first V2X message, an RSU that the vehicle has already passed and / or an RSU that the vehicle has not passed, based on historical location information of the vehicle and location information of each of the RSUs, wherein the RSU that the vehicle has already passed is determined as an RSU located behind the vehicle, and the RSU that the vehicle has not passed is determined as an RSU located in front of the vehicle; A fourth determination subunit for determining an RSU located at a rear of the vehicle and / or an RSU located at a front of the vehicle from at least one RSU detected by the detection sensor; a second processing subunit that expresses a distance value of a first distance information corresponding to an RSU located at the rear of the vehicle and a distance value of the second distance information corresponding to an RSU located at the rear of the vehicle as negative values, and expresses a distance value of a first distance information corresponding to an RSU located at the front of the vehicle and a distance value of the second distance information corresponding to an RSU located at the front of the vehicle as positive values; For the RSUs corresponding to the second distance information whose distance value is a negative value and the RSUs corresponding to the first distance information whose distance value is a negative value, performing one-to-one matching in descending order of distance value; The system further includes a second matching subunit that performs one-to-one matching for RSUs corresponding to second distance information whose distance values ​​are positive values ​​and RSUs corresponding to first distance information whose distance values ​​are positive values, in ascending order of distance values.

[0175] Optionally, the third determination submodule: an eighth determination unit for determining an RSU located on the left side of a road on which the vehicle is located and / or an RSU located on the right side of the road based on the position information of the RSU or the first angle information; a ninth determining unit for determining an RSU located on the left side of a road and / or an RSU located on the right side of a road based on the second angle information; a first matching unit that performs one-to-one matching between an RSU located on the left side of the road corresponding to the first distance information and an RSU located on the left side of the road corresponding to the second distance, and performs one-to-one matching between an RSU located on the right side of the road corresponding to the first distance information and an RSU located on the right side of the road corresponding to the second distance information, and matches location information to the RSU detected by the detection sensor; a tenth determination unit that determines a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or determines the position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0176] Optionally, the fourth determination submodule: an eleventh determination unit for determining an RSU located on the left side of a road on which the vehicle is located and / or an RSU located on the right side of the road based on the position information of the RSU or the first angle information; A twelfth determination unit, which determines an RSU located on the left side of a road and / or an RSU located on the right side of a road based on the second angle information; a second matching unit that performs one-to-one matching between an RSU located on the left side of the road corresponding to the first distance information and an RSU located on the left side of the road corresponding to the second distance, and performs one-to-one matching between an RSU located on the right side of the road corresponding to the first distance information and an RSU located on the right side of the road corresponding to the second distance information, and matches location information to the RSU detected by the detection sensor; a thirteenth determination unit that determines a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle detected by the detection sensor and the RSU, or that determines the position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle detected by the detection sensor and the RSU.

[0177] Optionally, the first determination submodule: a first calculation unit for calculating predicted position information of the vehicle based on each of the first positioning information; a fourteenth determination unit for determining relative position information between the vehicle and each of the RSUs based on the predicted position information and the position information of each of the RSUs; a third matching unit that matches the RSU that transmitted the first V2X message with the RSU detected by the detection sensor based on the relative position information and each of the second positioning information, and matches position information to the RSU detected by the detection sensor; and a fifteenth determination unit that determines a position of the vehicle based on position information matching the RSU detected by the detection sensor and the second positioning information.

[0178] Optionally, the fourth determination submodule: a second calculation unit for calculating predicted position information of the vehicle based on each of the first positioning information; a sixteenth determination unit for determining relative position information between the vehicle and each of the RSUs based on the predicted position information and the position information of each of the RSUs; a fourth matching unit that matches an RSU that transmitted the first V2X message with an RSU detected by the detection sensor based on the relative position information and each of the second positioning information, and matches position information to the RSU detected by the detection sensor; and a seventeenth determination unit that determines a position of the vehicle based on position information matching the RSU detected by the detection sensor and the second positioning information.

[0179] Furthermore, the device A second receiving module for receiving a second V2X message transmitted by each of the RSUs, the second V2X message including parameter information related to a surface of the RSU; A third acquisition module that acquires detection data detected by the detection sensor; A fourth acquisition module for acquiring feature information in parameter information related to a surface of the RSU; A fifth determination module performs matching in the sensing data according to features indicated by parameter information related to a surface of the RSU obtained from the second V2X message, and determines that the RSU is included in the sensing data if a matching result is obtained; and a sixth determination module for determining second positioning information of the vehicle and the RSU when the detection data includes the RSU, and for determining, when the second positioning information includes second angle information, that the second angle information is an angle between a first direction and a second direction, the first direction being the extension direction of a line connecting the detection sensor and the RSU detected by the detection sensor, and the second direction being the traveling direction or lane direction of the vehicle; Wherein, a surface of the RSU is provided with a light reflector, or the surface of each of the RSUs is a metasurface or a reconfigurable intelligent surface; The parameter information is Supported signal types, Supported frequency band range, and and the shape of the feature points.

[0180] Furthermore, the device The vehicle positioning device further includes a first prediction module that performs real-time filtering based on measurement data of an inertial measurement unit and / or vehicle driving parameters to predict the position of the vehicle when none of the first positioning information is obtained between two adjacent times when the position of the vehicle is determined or during the process of determining the position of the vehicle, wherein the vehicle driving parameters include at least one of a vehicle speed value, an acceleration value, and a direction angle value.

[0181] Furthermore, the device The vehicle positioning system further includes a second prediction module that filters in real time based on measurement data of an inertial measurement unit and / or vehicle driving parameters to predict the position of the vehicle between two adjacent times when the position of the vehicle is determined, or when none of the first positioning information is obtained and none of the second positioning information is obtained during the process of determining the position of the vehicle, wherein the vehicle driving parameters include at least one of a vehicle speed value, an acceleration value, and a direction angle value.

[0182] The lane-coordinated positioning device of the embodiments of the present disclosure corresponds to a lane-coordinated positioning method applied to an in-vehicle positioning system, and all of the implementation forms of the lane-coordinated positioning method can also be applied to the embodiments of the lane-coordinated positioning device to achieve the same technical effects.

[0183] As shown in FIG. 9 , an embodiment of the present disclosure further provides a roadway coordinated positioning device applied to roadside equipment, the device comprising: The present invention includes a first transmitting module 901 for transmitting a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal, or for transmitting the first V2X message and an SL-PRS to an in-vehicle positioning system having the V2X in-vehicle terminal, wherein the first V2X message includes location information of an RSU.

[0184] Optionally, the surface of the RSU is coated with a light reflector, or the surface of the RSU is a metasurface or a reconfigurable intelligent surface.

[0185] Furthermore, the device a second transmitting module configured to transmit a second V2X message to the vehicle-mounted positioning system, the second V2X message including parameter information related to a surface of the RSU; The parameter information is Supported signal types, Supported frequency band range, and and the shape of the feature points.

[0186] The lane-coordinated positioning device of the embodiment of the present disclosure corresponds to the lane-coordinated positioning method applied to the roadside equipment, and all of the implementation forms of the lane-coordinated positioning method can be applied to the embodiment of the lane-coordinated positioning device to achieve the same technical effects.

[0187] To better achieve the above-mentioned objectives, as shown in FIG. 10, an embodiment of the present disclosure further provides an in-vehicle positioning system, which includes a processor 1000 and a memory 1020 connected to the processor 1000 via a bus interface, the memory 1020 is used to store programs and data used by the processor 1000 when performing operations, and the processor 1000 calls and executes the programs and data stored in the memory 1020.

[0188] Here, the transceiver 1010 is connected to the bus interface and is controlled by the processor 1000 to receive a first vehicle-to-everything (V2X) message sent by at least one roadside unit (RSU), the first vehicle-to-everything (V2X) message including location information of the RSU, and the processor 1000 is used to read the program in the memory 1020 and execute the following steps.

[0189] Determine first positioning information of the vehicle and the RSU based on a first parameter, the first positioning information including first distance information or first distance information and first angle information, and the first parameter is determined by measuring a signal transmitted on a V2X sidelink.

[0190] A vehicle position is determined based on the first positioning information and the RSU position information.

[0191] The in-vehicle positioning system according to the above-mentioned embodiment of the present disclosure can receive a first V2X message, determine a first positioning message based on a first parameter, and determine a position of the vehicle based on the first positioning message and the position information of the RSU, thereby achieving high-precision positioning of the vehicle in a GNSS-less scenario without relying on a high-precision map.

[0192] It should be explained that the vehicle-mounted positioning system according to the above-mentioned embodiments of the present disclosure is an in-vehicle positioning system capable of executing the vehicle-road coordinated positioning method, and any vehicle-road coordinated positioning method applied to the vehicle-mounted positioning system can be applied to the vehicle-mounted positioning system and can achieve the same or similar beneficial effects.

[0193] 10, the bus architecture may include any number of interconnected buses and bridges, specifically linked by various circuits, such as one or more processors, represented by processor 1000, and memory, represented by memory 1020. The bus architecture may also link various other circuits, such as, for example, peripherals, voltage regulators, and power management circuits, all of which are well known in the art and will not be described further herein.

[0194] The bus interface provides an interface. The transceiver 1010 may be a number of elements, i.e., a transmitter and a transceiver, providing a unit for communicating with various other devices over a transmission medium. For different terminals, the user interface 1030 may be an interface that allows the necessary devices to be connected internally and externally, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

[0195] The processor 1000 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 1000 when performing operations.

[0196] An embodiment of the present disclosure further provides a roadside equipment, the roadside equipment including a processor and a memory connected to the processor via a bus interface, the memory being used to store programs and data used when the processor performs operations, and the processor calling and executing the programs and data stored in the memory.

[0197] Here, a transceiver is connected to the bus interface and is used under the control of the processor to perform the following steps:

[0198] Send a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal, or send the first V2X message and an SL-PRS to an in-vehicle positioning system having the V2X in-vehicle terminal, where the first V2X message includes location information of an RSU.

[0199] The roadside equipment according to the above-mentioned embodiments of the present disclosure transmits a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal, or transmits the first V2X message and the SL-PRS, so that the in-vehicle positioning system can realize high-precision positioning of the vehicle based on the received messages and without relying on high-precision maps in a GNSS-less scenario.

[0200] It should be clarified that the roadside equipment according to the above-mentioned embodiments of the present disclosure is a roadside equipment capable of executing the vehicle lane coordination positioning method, and any of the vehicle lane coordination positioning methods applied to the roadside equipment can be applied to the roadside equipment and can achieve the same or similar beneficial effects.

[0201] Here, it should be noted that the structure of the roadside equipment is similar to that of the vehicle-mounted positioning system, so the structure of the roadside equipment can be referred to FIG.

[0202] As can be understood by those skilled in the art, the steps of implementing all or part of the above-mentioned embodiments may be implemented by hardware, or may be implemented by instructing relevant hardware by a computer program, the computer program including commands to implement some or all of the steps of the above-mentioned method, and the computer program may be stored in a readable storage medium, and the storage medium may be any type of storage medium.

[0203] In addition, the embodiment of the present disclosure further provides a computer-readable storage medium, in which a program is stored, and when the program is executed by a processor, each process of the embodiment of the lane coordination positioning method can be realized and the same technical effect can be achieved, and in order to avoid repetition, no further description will be given here. Here, the computer-readable storage medium may be, for example, a read-only memory (abbreviated as ROM), a random access memory (abbreviated as RAM), a magnetic disk, an optical disk, etc.

[0204] It should be noted that in the apparatus and method of the present disclosure, obviously, each component or each step may be disassembled and / or recombined, and such disassembly and / or recombination should be regarded as an equivalent scheme of the present disclosure.

[0205] And while the steps of carrying out the sequence of processes described above may naturally be performed in the order or chronological order described, they do not necessarily have to be performed in chronological order, and some steps may be performed in parallel or independently of one another.

[0206] As will be understood by those skilled in the art, all or any steps or components of the methods and apparatuses disclosed herein may be implemented in any computing device (including a processor, storage medium, etc.) or network of computing devices using hardware, firmware, software, or a combination thereof, which may be realized by those skilled in the art using basic programming skills grasped after reading the description of the present disclosure.

[0207] The objects of the present disclosure may be realized by running a program or set of programs on any computing device, which may be any well-known general-purpose device, and thus the objects of the present disclosure may be realized by providing only a program product including program code implementing the method or apparatus.

[0208] That is, such a program product also constitutes the present disclosure, and the storage medium on which such a program product is stored can also constitute the present disclosure. Obviously, the storage medium may be any known storage medium or any storage medium developed in the future.

[0209] It should be noted that the division of each of the above modules is merely a division of logical functions, and that in actual implementation, all or part of them may be integrated into one physical entity, or may be physically separated.

[0210] All of these modules may be implemented in the form of software being called by a processing element, or all may be implemented in the form of hardware, or some of the modules may be implemented in the form of software being called by a processing element, and some of the modules may be implemented in the form of hardware.

[0211] For example, each decision module may be an independently provided processing element, or may be integrated and realized in a chip of the above-mentioned device, or may be stored in the memory of the above-mentioned device in the form of program code and called by a processing element of the above-mentioned device to perform the functions of the above-mentioned decision module.

[0212] The implementation of other modules is similar. Note that these modules may be integrated in whole or in part, or may be implemented independently. The processing elements described herein may be integrated circuits having signal processing capabilities. In the implementation process, each step of the above method or each module may be implemented by an integrated logic circuit of hardware in the processor element, or a command in the form of software.

[0213] For example, each module, unit, sub-unit or sub-module may be configured as one or more integrated circuits implementing the above methods, such as one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (digital signal processors (DSPs)), or one or more Field Programmable Gate Arrays (FPGAs), etc.

[0214] Also, for example, when a certain module is realized in a form in which a program code is called by a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or a processor capable of calling program code. Also, for example, these modules may be integrated and realized in the form of a system-on-a-chip (SOC).

[0215] Finally, it should be further explained that, in this specification, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not require or imply the existence of any such actual relationship or ordering between those entities or operations.

[0216] And the terms "comprehensive," "including," or any other variations thereof, are intended to cover a non-exclusive inclusion, whereby a process, method, article, or device comprising a set of elements not only includes those elements, but also includes other elements not expressly listed or inherent to such process, method, article, or device.

[0217] Unless further limited, an element defined by the phrase "comprises a" does not exclude the presence of other identical elements in the process, method, article, or device that comprises the element.

[0218] The above is a preferred embodiment of the present disclosure, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the above-mentioned principles of the present disclosure, and these improvements and modifications should also be considered as part of the protection scope of the present disclosure.

Claims

1. A lane-coordinated positioning method applied to an in-vehicle positioning system, comprising: receiving a first vehicle-to-everything (V2X) message transmitted by at least one roadside unit (RSU), the first vehicle-to-everything (V2X) message including location information of the RSU; determining first positioning information of a vehicle and the RSU based on a first parameter, the first positioning information including first distance information or first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X sidelink; acquiring detection data by the detection sensor; determining the validity of the sensed data; if the detection data is determined to be valid, determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information, the second positioning information including second distance information, or second distance information and second angle information; method.

2. The first parameter is a first measurement parameter being a reference signal received power (RSRP) measured based on a demodulation reference signal (DMRS) of a physical sidelink control channel (PSCCH) or a measured RSRP based on a DMRS of a physical sidelink shared channel (PSSCH); a second measurement parameter being a time of arrival (TOA) or a time difference of arrival (TDOA) measured based on the PSCCH, or a TOA or a TDOA measured based on the PSSCH; a third measurement parameter being a RSRP measured based on a Sidelink-Positioning Reference Signal (SL-PRS) transmitted by the RSU; and a fourth measurement parameter, the fourth measurement parameter being at least one of a signal transit time, a signal transit time difference, and a signal transit angle parameter measured based on the SL-PRS; The method of claim 1.

3. Determining first positioning information of the vehicle and the RSU based on a first parameter includes: determining a first indication in the first positioning information based on the first parameter, the first indication indicating a type or a confidence level of the first distance information; The method of claim 2.

4. The step of determining first indication information in the first positioning information based on the first parameter includes: determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type if the first parameter is the first measurement parameter or the third measurement parameter; If the first parameter is the second measurement parameter, determining that the first indication indicates that the type of the first distance information is an inaccurate measurement type, or determining that the first indication indicates that the confidence level of the first distance information is a preset confidence level; and if the first parameter is the fourth measurement parameter, determining that the first indication indicates that a confidence level of the first distance information is an estimated confidence level or determining that the first indication indicates that a type of the first distance information is an accurate measurement type. The method according to claim 3.

5. determining a position of a vehicle based on the first positioning information and the RSU position information, determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, when the first indication information indicates that the type of the first distance information is an inaccurate measurement type, or when the first indication information indicates that the confidence of the first distance information is equal to or greater than a confidence threshold, or when the first indication information indicates that the confidence of the first distance information is greater than a ranging accuracy of a detection sensor, the second positioning information includes second distance information, or second distance information and second angle information; Or, determining a position of the vehicle based on the first positioning information and the position information of the RSU when the first indication information indicates that the confidence level of the first distance information is equal to or lower than the ranging accuracy of the detection sensor, or when the first indication information indicates that the type of the first distance information is an accurate measurement type; The method according to claim 3.

6. acquiring detection data by the detection sensor; determining the validity of the sensed data; determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, if the detection data is determined to be valid, determining a location of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, location information of the RSU, and the first positioning information; The method according to claim 5.

7. The step of determining validity of the sensed data comprises: determining that the detection data is valid when the number of sampling points occupied by at least one of the RSUs detected by the detection sensor is equal to or greater than a first preset value, or when a ratio of the number of sampling points occupied by at least one of the RSUs detected by the detection sensor to a total number of sampling points is equal to or greater than a second preset value; The method of claim 1.

8. The step of determining validity of the sensed data comprises: determining a ranging accuracy of each of the RSUs detected by the detection sensor based on the number of sampling points occupied by each of the RSUs detected by the detection sensor, or the ratio of the number of sampling points occupied by each of the RSUs to the total number of sampling points; determining that the detection data is valid when at least one of the distance measurement accuracies of each of the RSUs detected by the detection sensor is smaller than the confidence level of the first distance information indicated by the first indication information; The method according to claim 6.

9. determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, Matching the RSU that transmitted the first V2X message with the RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matching location information to the RSU detected by the detection sensor; determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle and the RSU detected by the detection sensor, or determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle and the RSU detected by the detection sensor. The method of claim 1.

10. The step of matching the RSU that transmitted the first V2X message with the RSU detected by the detection sensor based on the first positioning information and the second positioning information, and matching location information to the RSU detected by the detection sensor includes: determining an RSU that the vehicle has already passed and / or an RSU that the vehicle has not passed from at least one RSU that has transmitted the first V2X message based on historical position information of the vehicle and position information of each of the RSUs, wherein the RSU that the vehicle has already passed is determined as an RSU located behind the vehicle, and the RSU that the vehicle has not passed is determined as an RSU located in front of the vehicle; determining an RSU located at the rear of the vehicle and / or an RSU located at the front of the vehicle from at least one RSU detected by the detection sensor; expressing a distance value of the first distance information corresponding to an RSU located behind the vehicle and a distance value of the second distance information corresponding to an RSU located behind the vehicle as negative values, and expressing a distance value of the first distance information corresponding to an RSU located in front of the vehicle and a distance value of the second distance information corresponding to an RSU located in front of the vehicle as positive values; performing one-to-one matching in descending order of distance value for RSUs corresponding to second distance information whose distance value is a negative value and RSUs corresponding to first distance information whose distance value is a negative value; performing one-to-one matching in ascending order of distance value for RSUs corresponding to second distance information whose distance value is a positive value and RSUs corresponding to first distance information whose distance value is a positive value; 10. The method of claim 9.

11. determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, determining an RSU located on the left side of a road on which the vehicle is located and / or an RSU located on the right side of the road based on the position information of the RSU or the first angle information; determining an RSU located on the left side of a road and / or an RSU located on the right side of a road based on the second angle information; one-to-one matching between an RSU located on the left side of the road corresponding to the first distance information and an RSU located on the left side of the road corresponding to the second distance, and one-to-one matching between an RSU located on the right side of the road corresponding to the first distance information and an RSU located on the right side of the road corresponding to the second distance information, and matching location information to the RSU detected by the detection sensor; determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information in second positioning information between the vehicle and the RSU detected by the detection sensor, or determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and second distance information and second angle information in second positioning information between the vehicle and the RSU detected by the detection sensor. The method of claim 1.

12. determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, position information of the RSU, and the first positioning information, calculating predicted position information of the vehicle based on each of the first positioning information; determining relative position information between the vehicle and each of the RSUs based on the predicted position information and position information of each of the RSUs; Matching the RSU that transmitted the first V2X message with the RSU detected by the detection sensor based on the relative position information and each of the second positioning information, and matching location information to the RSU detected by the detection sensor; determining a position of the vehicle based on position information matched to the RSU detected by the detection sensor and the second positioning information; The method of claim 1.

13. receiving a second V2X message transmitted by each of the RSUs, the second V2X message including parameter information related to a surface of the RSU; acquiring detection data detected by the detection sensor; obtaining characteristic information in parameter information related to a surface of the RSU; performing matching in the sensing data according to characteristics indicated by parameter information related to a surface of the RSU obtained from the second V2X message, and determining that the RSU is included in the sensing data if a matching result is obtained; and if the detection data includes the RSU, determining second positioning information of the vehicle and the RSU, and if the second positioning information includes second angle information, determining that the second angle information is an angle between a first direction and a second direction, the first direction being the extension direction of a line connecting the detection sensor and the RSU detected by the detection sensor, and the second direction being the traveling direction or lane direction of the vehicle; The surface of the RSU is provided with a light reflector, or the surface of each of the RSUs is a metasurface or a reconfigurable intelligent surface; The parameter information is Supported signal types, Supported frequency band range, and the shape of the feature points; The method of claim 1.

14. The method further includes a step of filtering in real time based on measurement data of an inertial measurement unit and / or vehicle travel parameters to predict the position of the vehicle when no first positioning information is obtained between two adjacent times when the position of the vehicle is determined, or during the process of determining the position of the vehicle, the parameter of the vehicle travel including at least one of a speed value, an acceleration value, and a direction angle value of the vehicle. The method of claim 1.

15. The method further includes a step of filtering in real time based on measurement data of an inertial measurement unit and / or vehicle travel parameters to predict the position of the vehicle between two adjacent times when the position of the vehicle is determined, or when none of the first positioning information is obtained and none of the second positioning information is obtained during the process of determining the position of the vehicle, the step of predicting the position of the vehicle based on the measurement data of an inertial measurement unit and / or vehicle travel parameters, the parameter of the vehicle travel including at least one of a speed value, an acceleration value and a direction angle value of the vehicle. The method of claim 1.

16. A positioning method for roadway coordination applied to roadside equipment, comprising: transmitting a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal; Or, transmitting the first V2X message and an SL-PRS to an in-vehicle positioning system having the V2X in-vehicle terminal; The first V2X message includes location information of an RSU; The surface of the RSU is covered with a light reflecting material, or the surface of the RSU is a metasurface or a reconfigurable intelligent surface. method.

17. transmitting a second V2X message to the vehicle-mounted positioning system, the second V2X message including parameter information related to a surface of the RSU; The parameter information is Supported signal types, Supported frequency band range, and the shape of the feature points; 17. The method of claim 16.

18. 1. An in-vehicle positioning system comprising a transceiver, a memory, a processor, and a computer program stored in the memory and executing on the processor, When the processor executes the computer program, the method for lane-coordinated positioning according to any one of claims 1 to 15 is realized. Vehicle positioning system.

19. A roadside device including a transceiver, a memory, a processor, and a computer program stored in the memory and executed on the processor, When the processor executes the computer program, it implements the lane-coordinated positioning method according to claim 16 or 17. Roadside equipment.

20. A lane-coordinated positioning device for use in an in-vehicle positioning system, comprising: A first receiving module for receiving a first vehicle-to-everything (V2X) message transmitted by at least one roadside unit (RSU), the first vehicle-to-everything (V2X) message including location information of the RSU; a first determination module that determines first positioning information of a vehicle and the RSU based on a first parameter, the first positioning information including first distance information, or the first distance information and first angle information, the first parameter being determined by measuring a signal transmitted on a V2X sidelink; a second determination module that determines a position of the vehicle based on the first positioning information and the RSU position information; The second determination module: a first determination sub-module for determining a position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information, the second positioning information including second distance information, or second distance information and second angle information; The apparatus comprises: A first acquisition module that acquires detection data by the detection sensor; and a third determination module for determining validity of the sensing data, Specifically, when it is determined that the detection data is valid, the second determination submodule determines the position of the vehicle based on second positioning information of the vehicle and at least one RSU detected by a detection sensor, the position information of the RSU, and the first positioning information. A lane-coordinated positioning device.

21. A positioning device for roadway coordination applied to roadside equipment, Send a first V2X message to an in-vehicle positioning system having a V2X in-vehicle terminal; Or, a first transmission module for transmitting the first V2X message and the SL-PRS to an in-vehicle positioning system having the V2X in-vehicle terminal; The first V2X message includes location information of an RSU; The surface of the RSU is covered with a light reflecting material, or the surface of the RSU is a metasurface or a reconfigurable intelligent surface. A lane-coordinated positioning device.

22. A computer program is stored which, when executed by a processor, implements the lane-coordinated positioning method according to any one of claims 1 to 15 or the lane-coordinated positioning method according to claim 16 or 17. A computer-readable storage medium.

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