CN112203216A - Positioning information acquisition method, driving assistance method and vehicle end sensor detection method - Google Patents
Positioning information acquisition method, driving assistance method and vehicle end sensor detection method Download PDFInfo
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
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Abstract
The application relates to a target positioning method, which is characterized in that a target retrieval entry is obtained by matching detection features of a base station perception target with detection features in a pre-stored retrieval entry, the target retrieval entry comprises an identity, the identity corresponds to a specific target (generally a vehicle), the identity of the base station perception target can be locked through the process, and then the base station perception target is received by orienting position information perceived by the base station through the identity. The method can be applied to the scenes of weak GNSS signals, inaccurate positioning and the like of tunnels, parking lots and the like, and can enable the vehicle to acquire accurate positioning information.
Description
Technical Field
The application relates to the technical field of intelligent traffic, in particular to a positioning information acquisition method, an auxiliary driving method, a vehicle end sensor detection method, a device and a readable storage medium.
Background
In the field of intelligent driving, in order to realize driving assistance, it is necessary to collect environmental information around a vehicle (i.e., targets around the vehicle), and on the basis, the map data is combined to perform arithmetic analysis, thereby realizing driving assistance.
The basis of the calculation and analysis combined with the map data is the position information of the vehicle, and the auxiliary driving can be carried out by utilizing the corresponding map information only on the premise of accurate positioning of the vehicle. However, in a tunnel, a parking lot, or the like, it is difficult for a vehicle to acquire GNSS positioning signals or inaccurate positioning information.
Disclosure of Invention
Based on this, it is necessary to provide a positioning information acquisition method, a driving assistance method, a vehicle end sensor detection method, a device, and a readable storage medium, for solving the problem in the conventional technology that it is difficult to acquire positioning information in a tunnel, a parking lot, or other scenes.
A positioning information acquisition method comprises the following steps:
acquiring perception data of a road side base station, and determining detection characteristics and first position information of a perception target of the base station according to the perception data;
traversing a plurality of pre-stored retrieval entries to obtain a target retrieval entry with detection characteristics matched with the detection characteristics of the base station perception target; each retrieval entry comprises an identity of a target and a corresponding detection characteristic;
generating a message based on the identity of the target retrieval entry and the first position information of the base station perception target;
and broadcasting the message to enable the target to acquire first position information according to the identity of the target, or sending the message to the target corresponding to the identity in the message.
In one embodiment, the target is a vehicle, and the acquiring the identification and the driving information of the target includes:
receiving driving information and/or an identity of the vehicle sent by a terminal, wherein the driving information includes the second position information, and the identity includes: a terminal identity and/or a vehicle identity.
In one embodiment, before the step of traversing a plurality of pre-stored search terms to obtain a target search term with detection characteristics matched with the detection characteristics of the base station sensing target, the method further includes:
when a target passes through a preset position, acquiring an identity and driving information of the target; the travel information includes second position information;
acquiring first position information and detection characteristics of a base station perception target;
and if the first position information of the base station perception target is matched with the second position information of the target, binding the identity identification of the target with the detection characteristics to obtain the retrieval entry.
In one embodiment, the detecting feature comprises: one or more of target attribute, target contour, target color, course angle, target size and track characteristic.
In one embodiment, the driving information further includes a driving direction if the detected feature includes a heading angle, and/or a driving trajectory if the detected feature includes a trajectory feature.
In one embodiment, the traversing the plurality of pre-stored search terms to obtain a target term with detection characteristics matched with the detection characteristics of the base station sensing target includes:
carrying out target tracking on the base station perception target to obtain a target tracking result; acquiring third position information in the target tracking result according to a preset time interval;
and obtaining the message according to the third position information and the identity corresponding to the base station perception target. In one embodiment, the target comprises an intelligent terminal;
sending the message to a target corresponding to the identity in the message, including:
establishing a communication link between the server and the intelligent terminal according to the identity;
and sending the message to the target terminal by utilizing the communication link.
A positioning information acquisition method comprises the following steps:
receiving a broadcast message and analyzing the message; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
acquiring a target message matched with the identity identifier from the received message according to the identity identifier in the message;
acquiring first position information of a current target according to the target message; wherein the identity of the current target matches the identity of the target message.
A positioning information acquisition method comprises the following steps:
sending a position acquisition request; the location acquisition request comprises an identity;
receiving a message returned by the server based on the position acquisition request; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
and analyzing the message to obtain first position information of the current target.
In one embodiment, the method comprises:
acquiring first position information of a target by using the positioning information acquisition method; the target is a current vehicle;
and performing auxiliary driving according to the first position information of the current vehicle.
In one embodiment, generating a driving control command or driving assistance information according to the first position information includes:
determining the road environment of the current vehicle according to the first position information of the current vehicle;
and carrying out auxiliary driving according to the road environment.
In one embodiment, the road environment information includes a lane where the current vehicle is located and proximity information of the lane, and the driving assistance is performed according to the road environment, including:
determining a traffic rule according to a lane where a current vehicle is located and the proximity information of the lane;
and determining the driving behavior of the current vehicle according to the traffic rule.
In one embodiment, the road environment includes road condition information of a target area, the target area is an area which is greater than a preset distance from a vehicle in the current vehicle driving direction, and the driving assistance is performed according to the road environment, including:
and carrying out auxiliary driving according to the road condition information of the target area.
A vehicle end sensor detection method, the method comprising:
in one embodiment, first position information of a target is acquired; the target is a current vehicle;
acquiring map environment information from a high-definition map according to the first position information of the current vehicle;
acquiring a vehicle-end sensing result of a vehicle-end sensor;
and determining whether the vehicle-end sensor is abnormal or not according to the map environment information and the vehicle-end sensing result.
In one embodiment, the method further comprises:
and if the vehicle end sensor is determined to be abnormal, outputting an abnormal early warning of the vehicle end sensor.
A positioning information acquisition apparatus comprising:
the acquisition module is used for acquiring sensing data of a road side base station and determining the detection characteristics and first position information of a sensing target of the base station according to the sensing data;
the searching module is used for traversing a plurality of pre-stored retrieval entries to obtain a target retrieval entry of which the detection characteristic is matched with the detection characteristic of the base station perception target; each retrieval entry comprises an identity of a target and a corresponding detection characteristic;
the message generation module is used for generating a message based on the identity of the target retrieval entry and the first position information of the base station perception target;
and the communication module is used for broadcasting the message so that the target acquires first position information according to the identity of the target, or sending the message to the target corresponding to the identity in the message.
A positioning information acquisition apparatus comprising:
the communication module is used for receiving the broadcast message and analyzing the message; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
the matching module is used for acquiring a target message matched with the identity identifier from the received message according to the identity identifier in the message;
the acquisition module is used for acquiring first position information of a current target according to the target message; wherein the identity of the current target matches the identity of the target message.
A positioning information acquisition apparatus comprising:
a communication module for sending a location acquisition request; the location acquisition request comprises an identity; receiving a message returned by the server based on the position acquisition request; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
and the analysis module is used for analyzing the message to obtain the first position information of the current target.
A driving assistance apparatus comprising:
the positioning module is used for acquiring first position information of a target by using the positioning information acquisition method; the target is a current vehicle;
and the driving assistance module is used for performing driving assistance according to the first position information of the current vehicle.
An end of vehicle sensor detection device comprising:
the positioning module is used for acquiring first position information of a target by using the positioning information acquisition method; the target is a current vehicle;
the acquisition module is used for acquiring map environment information from a high-definition map according to the first position information of the current vehicle; acquiring a vehicle-end sensing result of the vehicle-end sensor;
and the judging module is used for determining whether the vehicle-end sensor is abnormal or not according to the map environment information and the vehicle-end sensing result.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the target positioning method, the target positioning device, the server and the readable storage medium, the target retrieval entry is obtained by matching the detection characteristics of the base station perception target with the detection characteristics in the pre-stored retrieval entries, the target retrieval entry comprises the identity, the identity corresponds to a specific target (generally a vehicle), the identity of the base station perception target can be locked through the process, and the base station perception target is received by orienting the position information perceived by the base station through the identity. The method can be applied to the scenes of weak GNSS signals, inaccurate positioning and the like of tunnels, parking lots and the like, and can enable the vehicle to acquire accurate positioning information.
Drawings
Fig. 1 is a schematic diagram of an application environment of a positioning information obtaining method in an embodiment;
fig. 2 is a schematic flowchart of a positioning information obtaining method in an embodiment;
FIG. 3 is a flow diagram illustrating additional steps in a method for location information acquisition, according to one embodiment;
FIG. 4 is a schematic flow chart illustrating a step of refining step S120 in one embodiment;
fig. 5 is a schematic flowchart of a positioning information obtaining method in another embodiment;
fig. 6 is a schematic flowchart of a positioning information obtaining method in another embodiment;
FIG. 7 is a flow chart illustrating a driving assistance method according to still another embodiment;
FIG. 8 is a schematic flowchart of a method for detecting a vehicle-end sensor in another embodiment;
fig. 9 is a block diagram showing the structure of a positioning information acquiring apparatus according to an embodiment;
fig. 10 is a block diagram showing the configuration of a positioning information acquisition apparatus according to another embodiment;
fig. 11 is a block diagram showing the configuration of a positioning information acquiring apparatus according to still another embodiment;
fig. 12 is a block diagram showing the configuration of the driving assistance acquisition means in one embodiment;
FIG. 13 is a block diagram showing the structure of a vehicle-end sensor detecting device in still another embodiment;
FIG. 14 is an internal block diagram of a server in one embodiment;
fig. 15 is an internal structural view of a terminal in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for acquiring the positioning information provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The application environment comprises at least one roadside base station 11, the roadside base station 11 is arranged at a preset position on a road, and each roadside base station can acquire sensing data in a self sensing range. Each road side base station is provided with a plurality of sensors and a Road Side Unit (RSU), each sensor is used for collecting perception data, the RSU is used for calling related programs/algorithms/models to process the perception data, and common data processing processes include but are not limited to multi-sensor data fusion, target detection, target tracking, target positioning and the like. Alternatively, the roadside base station may be initialized based on a high-precision map so that the position information of the target detection result obtained by the roadside base station matches the position in the high-precision map. Since the world coordinate system is generally adopted by the high-precision map, the wide use of the target detection result is facilitated. The roadside base station is also provided with a communication unit which is used for the communication between the base station and other targets. Other objects include, but are not limited to, smart car terminals, various smart phones, portable notebooks, ipads, and smart wearable devices. The communication modes that can be implemented by the communication unit include, but are not limited to, V2X, 4G, 5G, and the like. Alternatively, the sensor of the roadside base station may include at least one sensor such as a camera, a laser radar, and a millimeter wave radar. Typically, the roadside base station includes a lidar and/or a millimeter wave radar.
Optionally, the application scenario may further include a cloud server. The cloud server can provide higher computational support for the scenes. Optionally, the roadside base station may communicate with the cloud server. It should be noted that, in the present application, the RSUs of the cloud end server and the roadside base station both perform data processing of the sensing data. However, the task allocation between the cloud server and the roadside base station may perform resource scheduling according to actual conditions. The method and the device do not limit how the cloud server and the base station cooperatively perform data processing.
The implementation process of the scheme is specifically described below by taking the positioning information acquisition method as an example to be executed in the RSU of the road side base station.
As shown in fig. 2, the method for acquiring positioning information according to this embodiment includes the following steps:
step S110, obtaining perception data of the road side base station, and determining detection characteristics and first position information of a perception target of the base station according to the perception data.
Specifically, after the RSU of the roadside base station acquires the sensing data, the target detection is performed on the sensing data to obtain the detection characteristics of the sensing target of the base station and the ambient environment information of the sensing target of the base station. The surrounding environment information includes information on other objects around the vehicle, the type of road on which the vehicle is located, the location, and the like. The RSU may obtain service information for the bs aware target according to the surrounding environment information of the bs aware target. The service information involved may include positioning information. The first position information is position information perceived by the road side base station. The base station perception target is a target detected according to base station perception data. The RSU may perform fusion processing on the first acquired sensing data of each sensor, and obtain a target detection result according to the fusion result. The object detection result includes a detection feature of the object and first position information. Optionally, the detection feature comprises: one or more of target attribute, target contour, target color, course angle, target size and track characteristic.
Step S120, traversing a plurality of pre-stored retrieval entries to obtain a target retrieval entry with detection characteristics matched with the detection characteristics of the base station perception target; each retrieval entry comprises an identity and a detection characteristic which have a binding relationship.
After the RSU obtains the detection characteristics of the base station perception target, the RSU traverses the pre-stored retrieval entries, and obtains the retrieval entries with the detection characteristics matched with the detection characteristics of the base station perception target from the retrieval entries, wherein the retrieved retrieval entries obtained through detection are the target retrieval entries. Optionally, each search term includes an identity and a detection feature having a binding relationship. Each identity corresponds to a target. Optionally, the search term is stored in a preset storage space. The storage space may be a storage space in a database.
Step 140, broadcasting the message to enable the target to obtain the first location information according to the identity of the target, or sending the message to the target corresponding to the identity in the message.
In the target positioning method in this embodiment, the target retrieval entry is obtained by matching the detection feature of the base station sensing target with the detection feature in the pre-stored retrieval entry, where the target retrieval entry includes an identity, and the identity corresponds to a specific target (generally, a vehicle), and the identity of the base station sensing target can be locked through the above process, so that the base station sensing target receives the location information sensed by the base station in an oriented manner through the identity. The method can be applied to the scenes of weak GNSS signals, inaccurate positioning and the like of tunnels, parking lots and the like, and can enable the vehicle to acquire accurate positioning information.
In one embodiment, as shown in fig. 3, before step S120, the method for acquiring positioning information further includes:
step S150, when the target passes through a preset position, acquiring the identity and the driving information of the target; the travel information includes second position information.
Alternatively, the preset position may be determined according to the position of the deployed base station. For example, if the base station is deployed in a tunnel, a position at a preset distance (for example, 500 meters) from the tunnel entrance may be used as the preset position. The second position information is positioning information obtained by a vehicle self-positioning module or a positioning module of an intelligent terminal (such as a mobile phone) on the vehicle. Alternatively, the location module may be a GPS location module or a V2X module. The identity of the target can be obtained in a form that the target reports the identity of the target through communication with the road side base station. The identity may be an OBUID, a device/communication identification code on the target. If the target is a vehicle, the identification can be a license plate number, and at this time, the identification of the target can also be obtained by target detection. And the vehicle can report the acquired second position information at the same time when reporting the identity. Optionally, if the detected feature includes a heading angle, the driving information further includes a driving direction, and/or if the detected feature includes a trajectory feature, the driving information further includes a driving trajectory.
Step S160, obtaining first position information and detection characteristics of the base station sensing target.
Step S170, if the first position information of the base station perception target is matched with the second position information of the target, the identity of the target and the detection feature are bound to obtain the retrieval entry.
In the embodiment, the base station sensing target and the corresponding identity are bound through the position to obtain the corresponding relation between the detected target and the identity, the method can accurately obtain the target with the binding relation and the identity, and the method only relates to position matching, so that the data processing process is simple and the data processing efficiency is high.
In one embodiment, as shown in fig. 4, step S120 includes:
and step S121, carrying out target tracking on the base station perception target to obtain a target tracking result.
And step S122, acquiring third position information in the target tracking result according to a preset time interval.
Step S123, obtaining the message according to the third location information and the identity identifier corresponding to the base station sensing target.
Specifically, the RSU may perform target tracking on the target perceived by the base station, and in this embodiment, by acquiring the third location information of the target tracking result, the identity of the tracked target is directly used to provide a positioning information acquisition service for the corresponding target. The scheme can continuously provide continuous service for the targets (vehicles) with the acquired position information, simplifies the data processing flow when the targets provide subsequent positioning service, and improves the data processing efficiency.
Based on the same inventive concept, as shown in fig. 5, the present application also provides a positioning information obtaining method, which is applied to a vehicle-end device, and optionally, may be a vehicle-mounted intelligent device, or an intelligent terminal on a vehicle. The method comprises the following steps:
step S210, receiving the broadcast message and analyzing the message; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a road side base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance. Optionally, the roadside base station is initialized based on a high precision map.
Step S220, according to the ID in the message, obtaining the target message with matched ID from the received message.
Step S230, acquiring first position information of the current target according to the target message; wherein the identity of the current target matches the identity of the target message.
The vehicle-end equipment can receive the broadcast message, analyze the message and further acquire the identity in the message. The vehicle-end equipment can acquire own position information according to the identity. Alternatively, the message may be a V2X message. The present scheme is a vehicle-end scheme corresponding to the position information obtaining method in the foregoing, and specific implementation may refer to the above description, which is not described herein again.
The position information acquisition method of the embodiment can be applied to the scenes that GNSS signals are weak, positioning is inaccurate and the like, such as tunnels, parking lots and the like, and can enable the vehicle to acquire accurate positioning information.
Based on the same inventive concept, as shown in fig. 6, the present application also provides another positioning information obtaining method, which is applied to a vehicle-end device, and optionally, may be a vehicle-mounted intelligent device, or an intelligent terminal on a vehicle. The method comprises the following steps:
step S320, sending a position acquisition request; the location acquisition request comprises an identity;
step S320, receiving a message returned by the server based on the position acquisition request; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a road side base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance. Optionally, the roadside base station is initialized based on a high precision map.
Step S330, the message is analyzed to obtain the first position information of the current target.
The vehicle-end equipment can establish a communication link for transmitting data with the road-side base station. The present scheme is a vehicle-end scheme corresponding to the position information obtaining method in the foregoing, and specific implementation may refer to the above description, which is not described herein again.
The position information acquisition method of the embodiment can be applied to the scenes that GNSS signals are weak, positioning is inaccurate and the like, such as tunnels, parking lots and the like, and can enable the vehicle to acquire accurate positioning information.
Based on the same inventive concept, the present application also provides a driving assistance method, which may be applied to a vehicle-end device or a system where a vehicle-end interacts with a server, and an implementation process of the solution is described below by taking the application of the method to the vehicle-end device as an example, as shown in fig. 7, the method includes:
step S410, the vehicle-end equipment acquires first position information of a target by using the positioning information acquisition method applied to the vehicle-end equipment; the target is a current vehicle.
And step S420, performing auxiliary driving according to the first position information of the current vehicle.
Optionally, the road environment information includes a lane where the current vehicle is located and proximity information of the lane, and the vehicle-end device may determine the road environment where the current vehicle is located according to the first location information of the current vehicle; and carrying out auxiliary driving according to the road environment. Optionally, the road environment includes road condition information of a target area, the target area is an area that is greater than a preset distance (for example, 500 meters) from the vehicle in the current vehicle driving direction, and the vehicle-end device performs auxiliary driving according to the road condition information of the target area, so that a driver of the vehicle can acquire the road condition of the target area as early as possible to make a driving decision in sufficient time.
The driving assistance method can provide driving assistance service in the scenes of weak GNSS signals, inaccurate positioning and the like, such as tunnels, parking lots and the like.
Based on the same inventive concept, the present application also provides a vehicle end sensor detection method, which may be applied to a vehicle end device or a system in which a vehicle end interacts with a server, and an implementation process of the scheme is described below by taking the application of the method to the vehicle end device as an example, as shown in fig. 8, the method includes:
step S510, the vehicle-end equipment acquires first position information of a target by using a positioning information acquisition method; the target is a current vehicle. Alternatively, the positioning information acquiring method may be the positioning information acquiring method applied to the vehicle-end device.
And step S520, acquiring map environment information from a high-definition map according to the first position information of the current vehicle.
And step S530, obtaining a vehicle-end sensing result of the vehicle-end sensor.
And step S540, determining whether the vehicle end sensor is abnormal or not according to the map environment information and the vehicle end sensing result. Optionally, if the vehicle-end device determines that the vehicle-end sensor is abnormal, an abnormal warning of the vehicle-end sensor is output.
In the method of the embodiment, the positioning information of the vehicle is acquired based on the positioning information acquisition method, then the corresponding map environment information is acquired based on the positioning information, and the map environment information is compared with the sensing result sensed by the vehicle end, so as to determine whether the vehicle end sensor is abnormal. The scheme can find whether the vehicle-end sensor of the vehicle is abnormal or not in time.
It should be understood that although the various steps in the flowcharts of fig. 2-8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-8 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 9, there is provided a positioning information acquisition apparatus, comprising:
the acquisition module 21 is configured to acquire sensing data of a roadside base station, and determine a detection feature and first position information of a base station sensing target according to the sensing data;
the searching module 22 is configured to traverse a plurality of pre-stored retrieval entries to obtain a target retrieval entry with detection characteristics matched with the detection characteristics of the base station sensing target; each retrieval entry comprises an identity of a target and a corresponding detection characteristic;
a message generating module 23, configured to generate a message based on the identity of the target search entry and the first location information of the base station aware target;
the communication module 24 is configured to broadcast the message, so that the target obtains the first location information according to the identity of the target, or send the message to the target corresponding to the identity in the message.
In one embodiment, the search module 22 is further configured to obtain the identification and the driving information of the target when the target passes through a preset position; the travel information includes second position information; acquiring first position information and detection characteristics of a base station perception target; and if the first position information of the base station perception target is matched with the second position information of the target, binding the identity identification of the target with the detection characteristics to obtain the retrieval entry.
In one embodiment, the target is a vehicle, and the search module 22 is further configured to receive driving information and/or an identity of the vehicle sent by a terminal, where the driving information includes the second location information, and the identity includes: a terminal identity and/or a vehicle identity.
In one embodiment, the message generating module 23 is further configured to perform target tracking on the base station sensing target to obtain a target tracking result; acquiring third position information in the target tracking result according to a preset time interval; and obtaining the message according to the third position information and the identity corresponding to the base station perception target.
In one embodiment, the target comprises an intelligent terminal; the communication module 24 is used for establishing a communication link between the server and the intelligent terminal according to the identity; and sending the message to the target terminal by utilizing the communication link.
In another embodiment, as shown in fig. 10, there is provided a positioning information acquiring apparatus for a vehicle end, including:
a communication module 31, configured to receive a broadcast message and parse the message; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
the matching module 32 is used for acquiring a target message matched with the identity identifier from the received message according to the identity identifier in the message;
an obtaining module 33, configured to obtain first location information of a current target according to the target message; wherein the identity of the current target matches the identity of the target message.
In another embodiment, as shown in fig. 11, there is provided a positioning information acquiring apparatus for a vehicle end, including:
a communication module 41, configured to send a location acquisition request; the location acquisition request comprises an identity; receiving a message returned by the server based on the position acquisition request; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map.
And the analysis module 42 is configured to analyze the message to obtain first location information of the current target.
In one embodiment, as shown in fig. 12, a driving assistance apparatus includes:
a positioning module 51, configured to acquire first position information of a target by using a positioning information acquisition method; the target is a current vehicle;
and the driving assistance module 52 is used for performing driving assistance according to the first position information of the current vehicle.
Optionally, the driving assistance module 52 is configured to determine a road environment of the current vehicle according to the first position information of the current vehicle; and carrying out auxiliary driving according to the road environment.
Optionally, the road environment information includes a lane where the current vehicle is located and proximity information of the lane, and the driving assistance module 52 is configured to determine a traffic rule according to the lane where the current vehicle is located and the proximity information of the lane; and determining the driving behavior of the current vehicle according to the traffic rule.
Optionally, the road environment includes road condition information of a target area, where the target area is an area that is greater than a preset distance from the vehicle in the current vehicle driving direction, and the assistant driving module 52 is configured to perform assistant driving according to the road condition information of the target area.
In one embodiment, as shown in fig. 13, an end sensor detecting device includes:
the positioning module 61 is configured to acquire first position information of a target by using a positioning information acquisition method; the target is a current vehicle;
the obtaining module 62 is configured to obtain map environment information from a high-definition map according to the first position information of the current vehicle; acquiring a vehicle-end sensing result of the vehicle-end sensor;
and the judging module 63 is configured to determine whether the vehicle-end sensor is abnormal according to the map environment information and the vehicle-end sensing result.
The positioning information acquisition device, the driving assistance device and the vehicle end sensor detection device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted here.
For the specific limitations of the related devices, reference may be made to the limitations of the corresponding methods above, which are not described herein again. The various modules in the related devices described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the base station, and can also be stored in a memory in the base station in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a server is provided, and the internal structure of the server may be as shown in fig. 14. The server includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the server is configured to provide computing and control capabilities. The memory of the server comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the server is used for storing single base station perception data and perception information under a global scene. The network interface of the server is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a positioning information acquisition method.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 15. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a positioning information acquisition method or a driving assistance method or a vehicle end sensor detection method applied to a vehicle end. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the configurations shown in fig. 14 or 15 are block diagrams of only some of the configurations relevant to the present application, and do not constitute a limitation on the servers to which the present application applies, and a particular server may include more or less components than shown, or combine certain components, or have a different arrangement of components.
In one embodiment, a server is provided, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the positioning information obtaining method applied to the road end in the foregoing embodiments when executing the computer program.
The implementation principle and technical effect of the server provided in this embodiment are similar to those of the method embodiments described above, and are not described herein again.
In one embodiment, a terminal is provided, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the positioning information obtaining method or the driving assistance method or the end sensor detecting method applied to the end of the vehicle in the above embodiments when executing the computer program.
The implementation principle and technical effect of the terminal provided in this embodiment are similar to those of the above method embodiments, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of the positioning information acquisition method (end-of-vehicle or end-of-road) or the driving assistance method or the end-of-vehicle sensor detection method in the above-described embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (21)
1. A method for acquiring positioning information is characterized by comprising the following steps:
acquiring perception data of a road side base station, and determining detection characteristics and first position information of a perception target of the base station according to the perception data;
traversing a plurality of pre-stored retrieval entries to obtain a target retrieval entry with detection characteristics matched with the detection characteristics of the base station perception target; each retrieval entry comprises an identity of a target and a corresponding detection characteristic;
generating a message based on the identity of the target retrieval entry and the first position information of the base station perception target;
and broadcasting the message to enable the target to acquire first position information according to the identity of the target, or sending the message to the target corresponding to the identity in the message.
2. The method according to claim 1, wherein before the step of traversing a plurality of pre-stored search terms to obtain a target search term having a detection characteristic matching the detection characteristic of the target perceived by the base station, the method further comprises:
when a target passes through a preset position, acquiring an identity and driving information of the target; the travel information includes second position information; the second position information is position information acquired by a positioning module on the target;
acquiring first position information and detection characteristics of a base station perception target;
and if the first position information of the base station perception target is matched with the second position information of the target, binding the identity identification of the target with the detection characteristics to obtain the retrieval entry.
3. The positioning information obtaining method according to claim 2, wherein the object is a vehicle, and the obtaining of the identification and the driving information of the object includes:
and receiving the driving information and/or the identity of the vehicle sent by the terminal, wherein the driving information comprises the second position information.
4. The positioning information acquisition method according to claim 2, the detecting the feature comprising: one or more of target attribute, target contour, target color, course angle, target size and track characteristic.
5. The method according to claim 4, wherein the driving information further includes a driving direction if the detected feature includes a heading angle, and/or further includes a driving track if the detected feature includes a track feature.
6. The method of claim 1, wherein traversing a plurality of pre-stored search terms to obtain a target term with detection characteristics matching detection characteristics of the target perceived by the base station comprises:
carrying out target tracking on the base station perception target to obtain a target tracking result; acquiring third position information in the target tracking result according to a preset time interval;
and obtaining the message according to the third position information and the identity corresponding to the base station perception target.
7. The method according to claim 1, wherein the target includes an intelligent terminal;
sending the message to a target corresponding to the identity in the message, including:
establishing a communication link between the server and the intelligent terminal according to the identity;
and sending the message to the target terminal by utilizing the communication link.
8. A method for acquiring positioning information is characterized by comprising the following steps:
receiving a broadcast message and analyzing the message; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance;
acquiring a target message matched with the identity identifier from the received message according to the identity identifier in the message;
acquiring first position information of a current target according to the target message; wherein the identity of the current target matches the identity of the target message.
9. A method for acquiring positioning information is characterized by comprising the following steps:
sending a position acquisition request; the location acquisition request comprises an identity;
receiving a message returned by the server based on the position acquisition request; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; and analyzing the message to obtain first position information of the current target.
10. A driving assist method, characterized by comprising:
acquiring first position information of a target by using the positioning information acquisition method of claim 5 or 6; the target is a current vehicle;
and performing auxiliary driving according to the first position information of the current vehicle.
11. The driving assist method according to claim 8, wherein performing driving assist in accordance with the first position information of the current vehicle includes:
determining the road environment of the current vehicle according to the first position information of the current vehicle;
and carrying out auxiliary driving according to the road environment.
12. The driving assist method according to claim 9, wherein the road environment information includes a lane in which the current vehicle is located and proximity information of the lane, and the driving assist is performed according to the road environment, including:
determining a traffic rule according to a lane where a current vehicle is located and the proximity information of the lane;
and determining the driving behavior of the current vehicle according to the traffic rule.
13. The driving assist method according to claim 9, wherein the road environment includes road condition information of a target area, the target area being an area that is greater than a preset distance from a vehicle in the current vehicle traveling direction, and the driving assist is performed according to the first position information of the current vehicle, and the driving assist method includes:
and carrying out auxiliary driving according to the road condition information of the target area.
14. A vehicle end sensor detection method, characterized in that the method comprises:
acquiring first position information of a target by using the positioning information acquisition method according to claim 6 or 7; the target is a current vehicle;
acquiring map environment information from a high-definition map according to the first position information of the current vehicle;
acquiring a vehicle-end sensing result of a vehicle-end sensor;
and determining whether the vehicle-end sensor is abnormal or not according to the map environment information and the vehicle-end sensing result.
15. The detection method according to claim 12, further comprising:
and if the vehicle end sensor is determined to be abnormal, outputting an abnormal early warning of the vehicle end sensor.
16. A positioning information acquisition apparatus, comprising:
the acquisition module is used for acquiring sensing data of a road side base station and determining the detection characteristics and first position information of a sensing target of the base station according to the sensing data;
the searching module is used for traversing a plurality of pre-stored retrieval entries to obtain a target retrieval entry of which the detection characteristic is matched with the detection characteristic of the base station perception target; each retrieval entry comprises an identity of a target and a corresponding detection characteristic;
the message generation module is used for generating a message based on the identity of the target retrieval entry and the first position information of the base station perception target;
and the communication module is used for broadcasting the message so that the target acquires first position information according to the identity of the target, or sending the message to the target corresponding to the identity in the message.
17. A positioning information acquisition apparatus, comprising:
the communication module is used for receiving the broadcast message and analyzing the message; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
the matching module is used for acquiring a target message matched with the identity identifier from the received message according to the identity identifier in the message;
the acquisition module is used for acquiring first position information of a current target according to the target message; wherein the identity of the current target matches the identity of the target message.
18. A positioning information acquisition apparatus, comprising:
a communication module for sending a location acquisition request; the location acquisition request comprises an identity; receiving a message returned by the server based on the position acquisition request; the message is generated according to the identity identification and the first position information in the target retrieval entry; the first position information is obtained according to perception data of a roadside base station, the perception data is further used for obtaining identity characteristics of a perception target of the base station, and the identity characteristics are used for matching target retrieval entries from a plurality of retrieval entries stored in advance; the roadside base station is initialized based on a high-precision map;
and the analysis module is used for analyzing the message to obtain the first position information of the current target.
19. A driving assist apparatus, characterized by comprising:
a positioning module, configured to acquire first position information of a target by using the positioning information acquisition method according to claim 5 or 6; the target is a current vehicle;
and the driving assistance module is used for performing driving assistance according to the first position information of the current vehicle.
20. A vehicle end sensor detection device, comprising:
a positioning module, configured to acquire first position information of a target by using the positioning information acquisition method according to claim 5 or 6; the target is a current vehicle;
the acquisition module is used for acquiring map environment information from a high-definition map according to the first position information of the current vehicle; acquiring a vehicle-end sensing result of the vehicle-end sensor;
and the judging module is used for determining whether the vehicle-end sensor is abnormal or not according to the map environment information and the vehicle-end sensing result.
21. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 15.
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| CN115696185A (en) | 2023-02-03 |
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