CN-122028011-A - Vehicle positioning method, apparatus, computer device, readable storage medium, and program product

CN122028011ACN 122028011 ACN122028011 ACN 122028011ACN-122028011-A

Abstract

The present application relates to a vehicle positioning method, apparatus, computer device, computer readable storage medium and computer program product. The method comprises the steps of obtaining a target vehicle and at least one uplink reference signal of a cooperative vehicle corresponding to the target vehicle, determining a first positioning parameter between the target vehicle and a target base station and a second positioning parameter between the cooperative vehicle and the target base station based on the uplink reference signal of the target vehicle and the uplink reference signal of the cooperative vehicle, obtaining a measured relative distance between the target vehicle and the cooperative vehicle, determining the measured relative distance based on an end-to-end communication link between the target vehicle and the cooperative vehicle, and determining the position information of the target vehicle according to the first positioning parameter, the second positioning parameter and the measured relative distance. The method can provide continuous and stable positioning support for the vehicle and meet the positioning requirement of the vehicle.

Inventors

ZENG YUBIN
WANG BO
DONG HUIHUI

Assignees

国汽智端(成都)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260317

Claims (10)

1. A vehicle positioning method, the method comprising: Acquiring an uplink reference signal of a target vehicle and at least one cooperative vehicle corresponding to the target vehicle; determining a first positioning parameter between the target vehicle and a target base station and a second positioning parameter between the cooperative vehicle and the target base station based on the uplink reference signal of the target vehicle and the uplink reference signal of the cooperative vehicle; Acquiring a measured relative distance between the target vehicle and the cooperative vehicle, wherein the measured relative distance is determined based on an end-to-end communication link between the target vehicle and the cooperative vehicle; and determining the position information of the target vehicle according to the first positioning parameter, the second positioning parameter and the measured relative distance.
2. The method according to claim 1, wherein the acquiring the uplink reference signal of the target vehicle and at least one cooperative vehicle corresponding to the target vehicle includes: In response to a positioning request sent by a target vehicle, acquiring an uplink reference signal of the target vehicle and at least one cooperative vehicle corresponding to the target vehicle, or And responding to a positioning instruction of the network equipment, and acquiring the target vehicle and at least one uplink reference signal of the cooperative vehicle corresponding to the target vehicle.
3. The method according to claim 2, wherein the method further comprises: And sending a connection instruction to the target vehicle and the cooperative vehicle, wherein the connection instruction is used for establishing an end-to-end communication link between the target vehicle and the cooperative vehicle.
4. The method of claim 1, wherein the positioning parameters include distance information, pitch angle information, and azimuth angle information, and wherein determining the location information of the target vehicle based on the first positioning parameter, the second positioning parameter, and the measured relative distance comprises: Calculating first candidate position information corresponding to the target vehicle according to first distance information, first pitch angle information and first azimuth angle information between the target vehicle and a target base station, and calculating second candidate position information of the cooperative vehicle according to second distance information, second pitch angle information and second azimuth angle information between the cooperative vehicle and the target base station; Determining first candidate position information corresponding to the target vehicle and second candidate position information of the cooperative vehicle, and determining a candidate position relative distance between the target vehicle and the cooperative vehicle; And determining the position information of the target vehicle according to the candidate position relative distance between the target vehicle and the cooperative vehicle and the first candidate position information corresponding to the target vehicle by taking the measured relative distance between the target vehicle and the cooperative vehicle as a constraint condition.
5. The method of claim 4, wherein determining the location information of the target vehicle based on the candidate location relative distance of the target vehicle to the cooperative vehicle and the first candidate location information corresponding to the target vehicle using the measured relative distance between the target vehicle and the cooperative vehicle as a constraint condition comprises: Determining a target cooperative vehicle with a measured relative distance and a candidate position relative distance meeting a preset proximity condition in each cooperative vehicle, and calculating third candidate position information of the target vehicle based on the measured relative distance between the target cooperative vehicle and the target vehicle; and calculating the position information of the target vehicle according to the first candidate position information and the third candidate position information.
6. The method of claim 5, wherein the calculating the location information of the target vehicle from the first candidate location information and the third candidate location information comprises: The first candidate position information and the third candidate position information are weighted and fused to obtain the position information of the target vehicle, or And inputting the first candidate position information and the third candidate position information into a pre-trained position prediction model to obtain the position information of the target vehicle.
7. A vehicle positioning device, the device comprising: the first acquisition module is used for acquiring an uplink reference signal of a target vehicle and at least one cooperative vehicle corresponding to the target vehicle; The determining module is used for determining a first positioning parameter between the target vehicle and a target base station and a second positioning parameter between the cooperative vehicle and the target base station based on the uplink reference signal of the target vehicle and the uplink reference signal of the cooperative vehicle; A second acquisition module configured to acquire a measured relative distance between the target vehicle and the cooperative vehicle, the measured relative distance being determined based on an end-to-end communication link between the target vehicle and the cooperative vehicle; and the positioning module is used for determining the position information of the target vehicle according to the first positioning parameter, the second positioning parameter and the measured relative distance.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Vehicle positioning method, apparatus, computer device, readable storage medium, and program product Technical Field The present application relates to the field of computer technology, and in particular, to a vehicle positioning method, apparatus, computer device, readable storage medium, and program product. Background Along with the rapid iteration and large-scale application of the automatic driving technology and the advanced auxiliary driving technology, the autonomy, the safety and the intelligent level of the vehicle driving are continuously improved, and meanwhile, the high-precision, the high-reliability and the full-scene suitability requirements of the vehicle on the positioning service are increasingly urgent. The positioning technology is used as one of core support technologies of the automatic driving system, the performance of the positioning technology directly determines the realization effect of key functions such as path planning, lane keeping, obstacle avoidance and the like of the automatic driving vehicle, and the positioning technology is a precondition basis for guaranteeing the safe and stable operation of high-grade automatic driving. In the conventional technology, GNSS (Global Navigation SATELLITE SYSTEM ) is generally used for positioning, specifically, positioning calculation can be completed by receiving satellite broadcast signals and combining satellite orbit parameters, so that basic positioning service can be provided for vehicles in open scenes. However, in complex scenes with serious satellite signal shielding, such as urban canyons, tunnels, underground parking lots, under-bridge, and the like, the GNSS signals are attenuated, interrupted or disturbed, so that the positioning failure and the positioning precision are rapidly reduced, continuous and stable positioning support cannot be provided for vehicles, and the vehicle positioning requirements cannot be met. Disclosure of Invention In view of the foregoing, it is desirable to provide a vehicle positioning method, apparatus, computer device, readable storage medium, and program product that are capable of providing continuous and stable positioning support for a vehicle. In a first aspect, the present application provides a vehicle locating method, the method comprising: Acquiring an uplink reference signal of a target vehicle and at least one cooperative vehicle corresponding to the target vehicle; determining a first positioning parameter between the target vehicle and a target base station and a second positioning parameter between the cooperative vehicle and the target base station based on the uplink reference signal of the target vehicle and the uplink reference signal of the cooperative vehicle; Acquiring a measured relative distance between the target vehicle and the cooperative vehicle, wherein the measured relative distance is determined based on an end-to-end communication link between the target vehicle and the cooperative vehicle; and determining the position information of the target vehicle according to the first positioning parameter, the second positioning parameter and the measured relative distance. In one embodiment, the acquiring the uplink reference signal of the target vehicle and at least one cooperative vehicle corresponding to the target vehicle includes: In response to a positioning request sent by a target vehicle, acquiring an uplink reference signal of the target vehicle and at least one cooperative vehicle corresponding to the target vehicle, or And responding to a positioning instruction of the network equipment, and acquiring the target vehicle and at least one uplink reference signal of the cooperative vehicle corresponding to the target vehicle. In one embodiment, the method further comprises: And sending a connection instruction to the target vehicle and the cooperative vehicle, wherein the connection instruction is used for establishing an end-to-end communication link between the target vehicle and the cooperative vehicle. In one embodiment, the positioning parameters include distance information, pitch angle information and azimuth angle information, and the determining the position information of the target vehicle according to the first positioning parameter, the second positioning parameter and the measured relative distance includes: Calculating first candidate position information corresponding to the target vehicle according to first distance information, first pitch angle information and first azimuth angle information between the target vehicle and a target base station, and calculating second candidate position information of the cooperative vehicle according to second distance information, second pitch angle information and second azimuth angle information between the cooperative vehicle and the target base station; Determining first candidate position information corresponding to the target vehicle and second candidate position information of the cooperative vehicle