Vehicle position calibration method and apparatus

• US 9,420,412 B2
• Filed: 06/19/2014
• Issued: 08/16/2016
• Est. Priority Date: 12/25/2013
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Ho, Ping-Fan
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/309,113
• Publication Number:
  US 20150177003A1
• Time in Patent Office: 789 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01S 19/23 Testing, monitoring, correcting or calibrating of receiver elements
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

A vehicle position calibration method and apparatus thereof are disclosed. The vehicle position calibration method is applicable to a vehicle having a mobile calibration positioning device and at least a vehicle having a positioning device to be calibrated. The method starts with the mobile calibration positioning device transmitting a message of positioning precision level to the positioning device to be calibrated. Then, the positioning device to be calibrated sends a calibration request to the mobile calibration positioning device according to the message of positioning precision level; then the mobile calibration positioning device detects a relative position between the mobile calibration positioning device and the positioning device to be calibrated according to the calibration request. The mobile calibration positioning device computes and transmits a calibrated position to the positioning device to be calibrated; and the positioning device to be calibrated updates the position of the positioning device to be calibrated.

Claims

1. A vehicle positioning calibration method, applicable to a vehicle, having a mobile calibration positioning device, and at least another vehicle having a positioning device to be calibrated, the method comprising:

the mobile calibration positioning device transmitting a message of positioning precision level to the positioning device to be calibrated, the message of positioning precision level includes a positioning precision level of the mobile calibration positioning device;

the positioning device to be calibrated sending a calibration request to the mobile calibration positioning device according to the message of positioning precision level;

the mobile calibration positioning device detecting a relative position between the mobile calibration positioning device and the positioning device to be calibrated according to the calibration request;

the mobile calibration positioning device computing and transmitting a calibrated position to the positioning device to be calibrated; and

the positioning device to be calibrated updating the position of the positioning device to be calibrated according to the calibrated position.

2. The vehicle positioning calibration method as claimed in claim 1, wherein the positioning device to be calibrated determines whether to send the calibration request to the mobile calibration positioning device based on a positioning precision level of the positioning device to be calibrated after receiving the message of positioning precision level from the mobile calibration positioning device.

3. The vehicle positioning calibration method as claimed in claim 1, wherein the calibrated position of the positioning device to be calibrated is a position of the mobile calibration positioning device plus an amount corresponding to the relative position.

4. The vehicle positioning calibration method as claimed in claim 1, wherein the positioning device to be calibrated computes an inertial displacement of the at least another vehicle having the positioning device to be calibrated within a calibration duration and adds an amount, corresponding to the inertial displacement, to the calibrated position and updates the position of the positioning device to be calibrated according to the amount added with the calibrated position.

5. The vehicle positioning calibration method as claimed in claim 1, wherein the mobile calibration positioning device transmits the message of positioning precision level to the positioning device to be calibrated through a wireless communication and transmits the calibrated position to the positioning device to be calibrated through the wireless communication.

6. The vehicle positioning calibration method as claimed in claim 1, wherein after the position of the positioning device to be calibrated has been updated to an updated calibrated position by being calibrated according to the calibrated position transmitted by the mobile calibration positioning device, the positioning device to be calibrated transmits the updated calibrated position to another vehicle having another positioning device to be calibrated.

7. A vehicle positioning calibration method, applicable to a vehicle having a mobile calibration positioning device, and at least another vehicle having a positioning device to be calibrated, the method comprising:

the mobile calibration positioning device transmitting a message of positioning precision level and a position of the mobile calibration positioning device to the positioning device to be calibrated, the message of positioning precision level includes a positioning precision level of the mobile calibration positioning device;

the positioning device to be calibrated detecting a relative position between the mobile calibration positioning device and the positioning device to be calibrated, and computing a calibrated position of the positioning device to be calibrated according to the message of positioning precision level; and

the positioning device to be calibrated updating the position of the positioning device to be calibrated according to the calibrated position.

8. The vehicle positioning calibration method as claimed in claim 7, wherein the calibrated position of the positioning device to be calibrated is the position of the mobile calibration positioning device plus an amount corresponding to the relative position.

9. The vehicle positioning calibration method as claimed in claim 7, wherein the positioning device to be calibrated computes an inertial displacement of the at least another vehicle having the positioning device to be calibrated within a calibration duration, adds an amount, corresponding the inertial displacement, to the calibrated position and updates the position of the positioning device to be calibrated according to the amount added with the calibrated position.

10. The vehicle positioning calibration method as claimed in claim 7, wherein the mobile calibration positioning device transmits the message of positioning precision level to the positioning device to be calibrated through a wireless communication.

11. The vehicle positioning calibration method as claimed in claim 7, wherein after the position of the positioning device to be calibrated has been updated to an updated calibrated position by being calibrated according to the calibrated position, the positioning device to be calibrated transmits the updated calibrated position to other vehicles having a positioning device to be calibrated.

12. A vehicle positioning calibration method, applicable to a first vehicle having a first positioning device to be calibrated, comprising:

the first vehicle passing a calibration point having a lane-level calibration positioning capability and being calibrated;

the first vehicle transmitting a message of positioning precision level to a second vehicle having a second positioning device to be calibrated, the message of positioning precision level includes a positioning precision level of the first positioning device;

the second positioning device sending a calibration request to the first positioning device according to the message of positioning precision level;

the first vehicle detecting a relative position between the first vehicle and the second vehicle having the second positioning device to be calibrated, and the first vehicle computing a calibrated position of the second vehicle to be calibrated by adding the position of the first vehicle and an amount corresponding to the relative position; and

the first vehicle transmitting the calibrated position of the second vehicle having the second positioning device to be calibrated through a wireless communication to the second vehicle having the second positioning device to be calibrated and the second vehicle having the second positioning device to be calibrated updating the position of the second vehicle according to the calibrated position.

13. The vehicle positioning calibration method as claimed in claim 12, wherein the calibration point having the lane-level calibration positioning capability is a road side unit (RSU)-assisted road positioning point.

14. The vehicle positioning calibration method as claimed in claim 12, wherein the second vehicle having the second positioning device to be calibrated computes an inertial displacement of the second vehicle within a calibration duration and adds an amount, corresponding to the inertial displacement, to the calibrated position and updates the position of the second vehicle according to the amount added with the calibrated position.

15. The vehicle positioning calibration method as claimed in claim 12, wherein the first vehicle computes a lane which the second vehicle occupies according to a lane width.

16. A vehicle positioning calibration method, applicable to a vehicle having a mobile calibration positioning device, comprising:

the mobile calibration positioning device transmitting a message of positioning precision level to at least a positioning device to be calibrated, the message of positioning precision level includes a positioning precision level of the mobile calibration positioning device;

the mobile calibration positioning device receiving a calibration request transmitted by the at least a positioning device;

the mobile calibration positioning device detecting a relative position between the mobile calibration positioning device and the at least a positioning device to be calibrated according to the calibration request; and

the mobile calibration positioning device computing and transmitting a calibrated position to the at least a positioning device to be calibrated.

17. The vehicle positioning calibration method as claimed in claim 16, wherein the calibrated position of the at least a positioning device to be calibrated is a position of the vehicle having the mobile calibration positioning device plus an amount corresponding to the relative position.

18. The vehicle positioning calibration method as claimed in claim 16, wherein the calibrated position of the at least a positioning device to be calibrated is a lane where the at least a positioning device to be calibrated occupies.

19. The vehicle positioning calibration method as claimed in claim 16, wherein the vehicle having the mobile calibration positioning device transmits the message of positioning precision level to the at least a positioning device to be calibrated through a wireless communication and transmits the calibrated position to the at least a positioning device to be calibrated through the wireless communication.

20. A positioning calibration apparatus, applicable to a vehicle, comprising:

a calibration positioning module, for determining a position of the positioning calibration apparatus;

a communication module; and

a detection module, for detecting a relative position of at least a positioning device to be calibrated;

the positioning calibration apparatus executing;

transmitting a message of positioning precision level to the at least a positioning device to be calibrated, the message of positioning precision level includes a positioning precision level of the positioning calibration apparatus;

receiving a calibration request transmitted by the at least a positioning device to be calibrated;

detecting a relative position between the positioning calibration apparatus and the at least a positioning device to be calibrated according to the calibration request; and

computing and transmitting a calibrated position to the at least a positioning device to be calibrated.