Vehicle positioning method

Abstract

The invention discloses a vehicle positioning method. The method includes the following steps of obtaining initial first position information when a positioned vehicle enters a road, obtaining a lane change state through a visual system in the driving process, updating the first position information according to the lane change state, sending the first position information to a road side unit by the positioned vehicle through vehicle-road coordinative communication, obtaining second position information through signal analysis by the road side unit, fusing the first position information, the second position information and prestored road mathematic information through the road side unit, obtaining vehicle position information of the positioned vehicle, feeding final position information back to the positioned vehicle through real-time communication by the road side unit, and obtaining the specific position of the vehicle in a map. The vehicle positioning method is not limited by geography, accurate positioning can be completed in the urban environment with unsatisfactory GPS / DGPS accuracy, and the requirements of the intelligent vehicle for collision avoidance, autonomous driving and other application are met.

Description

technical field [0001] The invention relates to the technical field of vehicle positioning, in particular to a vehicle positioning method for joint positioning based on radio frequency identification, vehicle vision and vehicle-road coordination. Background technique [0002] The Internet of Vehicles system is a network and application system that has emerged in recent years with the main purpose of improving traffic efficiency and traffic safety. Vehicle positioning technology is one of the key technologies. Acquiring accurate positions is important for improving the safety of intelligent vehicles and realizing autonomous driving. Significance. [0003] The Global Positioning System (GPS) is currently the most widely used vehicle positioning method, and the performance can be improved through the differential method. At present, the positioning accuracy of the Differential Global Positioning System (DGPS) can reach the centimeter level at best, but in complex urban environm...

AI Technical Summary

Problems solved by technology

[0003] The Global Positioning System (GPS) is currently the most widely used vehicle positioning method, and the performance can be improved through the differential method. At present, the positioning accuracy of the Differential Global Positioning System (DGPS) can reach the centimeter level at best, but in complex urban environments, Satellite signals are easily blocked, resulting in poor positioning accuracy or even failure to work, and it is expensive

[0004] Based on the vehicle-to-infrastructure (V2I) positioning method, by analyzing the real-time communication signals between the vehicle and the roadside unit in the Internet of Vehicles, the distance between the roadside unit and the vehicle is measured, and then the vehicle position coordinates are determined through a series of positioning algorithms. Not limited by terrain, it can make up for the lack of GPS, but the positioning process requires the vehicle to communicate with at least three base stations, which greatly increases the number of base stations required and construction costs

[0005] On the other hand, in vehicle positioning, the positioning accuracy requirements along the lateral direction of the road are higher than those required for the longitudinal positioning accuracy. The longitudinal position error can be easily compensated by reserving the longitudinal distance, while the lateral distance of the road is relatively short. If the vehicle is positioned to the wrong The lane will pose a serious threat to driving safety, and the existing positioning methods cannot ensure that the vehicle is positioned on the correct lane

Images