The invention discloses a lane-level precision positioning method utilizing roadside equipment. The lane-level precision positioning method comprises the steps that a vehicle acquires a roadside safety message corresponding to the vehicle from broadcast of the roadside equipment; the vehicle extracts the vehicle state information detected by the roadside equipment from the roadside safety message;kalman filtering is utilized, and filtering processing is performed according to the vehicle state estimation value at the previous moment, a positioning value acquired by a vehicle-mounted GNSS at the current moment and vehicle state information detected by roadside equipment at the current moment so as to acquire the vehicle state estimation value at the current moment; the state estimation value of the vehicle at the starting moment is a positioning value acquired by a vehicle-mounted GNSS at the moment, and the state estimation value of the vehicle and the state information of the vehiclerespectively comprise the position and the speed of the vehicle; kalman filtering is continuously utilized to obtain the state estimation value of the vehicle at each moment, and the position in thestate estimation value of the vehicle at each moment is used as the current position of the vehicle at the moment. The positioning method can meet the positioning requirement of lane-level precision and has low cost.
一种利用路侧设备的车道级精度定位方法,包括:车辆从路侧设备的广播中获取对应本车的路侧安全消息;车辆从路侧安全消息中提取出路侧设备所检测的本车状态信息;利用卡尔曼滤波,根据上一时刻的本车状态估计值再结合当前时刻车载GNSS所获取的定位值、当前时刻路侧设备所检测的本车状态信息进行滤波处理,以获得当前时刻的本车状态估计值,令起始时刻的本车状态估计值为该时刻车载GNSS所获取的定位值,所述本车状态估计值和本车状态信息均各自包括车辆的位置和车速;持续利用卡尔曼滤波以获得各时刻的本车状态估计值,将各时刻的本车状态估计值中的位置作为该时刻的本车当前位置。该定位方法能满足车道级精度的定位要求且具有较低的成本。
Lane-level precision positioning method utilizing roadside equipment
利用路侧设备的车道级精度定位方法
2020-11-10
Patent
Electronic Resource
Chinese
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