Positioning method, device, system, terminal for position of internet of vehicles apparatus and storage medium

Patent metadata

Field	Value
Publication number	US-12372600-B2
Application number	US-202017436819-A
Country	US
Kind code	B2
Filing date	Jun 24, 2020
Priority date	Sep 20, 2019
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

A positioning method, device, system, terminal, and a non-transitory computer-readable storage medium are disclosed. The positioning method may include: continuously and at intervals sending broadcast packets including at least RSU location information and message sending time to the vehicle-to-everything (V2X) apparatus ( 100 ) through at least 3 road side units (RSUs) (RSU1, RSU2, RSU3) with fixed locations; when the positioning system of the V2X apparatus ( 100 ) is abnormal, by using the information in the broadcast packets and the information at the time before the abnormality of the positioning system of the V2X apparatus ( 100 ), calculating and obtaining the location information of the V2X apparatus ( 100 ) in real time.

First claim

The invention claimed is:

1. A positioning method, comprising:
acquiring positioning location information of a vehicle-to-everything (V2X) apparatus at a time when a positioning system is in a normal condition;
receiving broadcast packets from each of at least three road side units (RSUs), to acquire location information of the at least three RSUs respectively, and acquire latency information for the broadcast packets of each of the RSUs respectively; and
obtaining location information of the V2X apparatus according to the positioning location information of the V2X apparatus at the time when the positioning system is in the normal condition, the location information of each of the RSUs, and the latency information for the broadcast packets of each of the RSUs;
wherein the latency information comprise latency information at the time when the positioning system is in the normal condition and latency information at a time when the positioning system is in an abnormal condition.

2. The method of claim 1 , wherein
the latency information for the broadcast packets of each of the RSUs comprises at least latency information for a first broadcast packet and latency information for a second broadcast packet; and
the latency information for each of the broadcast packets is a time interval between sending of the broadcast packet and reception of the same broadcast packet.

3. The method of claim 2 , wherein
the V2X apparatus receives the latency information for the first broadcast packet at a time before the positioning system becomes abnormal; and
the V2X apparatus receives the latency information for the second broadcast packet at another time after the positioning system becomes abnormal.

4. A method for positioning of a vehicle-to-everything (V2X) apparatus, comprising:
acquiring positioning location information at a time when a positioning system is in a normal condition;
receiving broadcast packets respectively sent by a first road side unit (RSU), a second RSU, and a third RSU at the time when the positioning system is in the normal condition; acquiring location information of the first RSU, the second RSU, and the third RSU; and acquiring latency information indicating a time interval between sending and reception of each broadcast packet;
receiving broadcast packets respectively sent by the first RSU, the second RSU, and the third RSU at a time when the positioning system is in an abnormal condition; acquiring latency information indicating a time interval between sending and reception of each broadcast packet; and
obtaining location information of the V2X apparatus at the time when the SNSS positioning system is in the abnormal condition according to the positioning location information at the time when the positioning system is in the normal condition, the location information of the first RSU, the second RSU and the third RSU, the latency information for each broadcast packet at the time when the positioning system is in the normal condition, and the latency information for each broadcast packet at the time when the positioning system is in the abnormal condition.

Assignees

• Xian Zhongxing New Software Co Ltd

Inventors

• Jiang shuangfeng

Classifications

• G01S19/48 Primary

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G01S5/10 Primary

  Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements {, e.g. omega or decca systems}(G01S5/12 takes precedence {; beacons and receivers cooperating therewith G01S1/306, G01S1/308}) · CPC title

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• H04W4/025

  using location based information parameters · CPC title

• G01S5/01

  Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption · CPC title