阅读说明：本技术 一种基于v2x的map消息集的车辆定位方法 (A kind of vehicle positioning method of the MAP message collection based on V2X ) 是由 张盼 黄冠华 牛雷 邓杰 李增文 于 2019-08-28 设计创作，主要内容包括：本发明公开了一种基于V2X的MAP消息集的车辆定位方法,其依据MAP消息集,对MAP的节点下的有向路段进行筛选定位计算,再对符合要求的有向路段下的车道进行筛选定位计算,最终输出对应的某一个符合车辆所在位置要求(即符合定位要求)的节点、有向路段、车道的相关信息,供各类V2I应用进行调用；其最大程度的满足了车辆不同道路路型的准确定位要求,从而提高了V2I应用的效率与稳定性,能满足未来V2I应用发展的需求,以更好的适应量产。(The vehicle positioning method of the invention discloses a kind of MAP message collection based on V2X, it is according to MAP message collection, screening location Calculation is carried out to the oriented section under the node of MAP, screening location Calculation is carried out to the lane under satisfactory oriented section again, final output it is corresponding some meet the relevant information that vehicle position requires the node of (meeting positioning requirements), oriented section, lane, be called for all kinds of V2I application；Its accurate positionin requirement for meeting vehicle difference Road type to the greatest extent is able to satisfy the demand of the following V2I application development, to improve the efficiency and stability of V2I application preferably to adapt to volume production.)

1. a kind of vehicle positioning method of the MAP message collection based on V2X, is executed by vehicle end equipment characterized by comprising

Step 1: obtaining MAP message collection and vehicle position information, step 2 is then executed；

Step 2: judging whether there is the node not traversed, if it is, executing step 3, otherwise determine vehicle not current Within the scope of MAP, then terminate；

Step 3: choosing a node in the node never traversed in order, step 4 is then executed；

Step 4: with the presence or absence of the oriented section not traversed under the node that judgement is chosen, if it is, executing step 5, otherwise Return to step two；

Step 5: choosing an oriented section in the oriented section never traversed in order, step 6 is then executed；

Step 6: judging whether the oriented section chosen meets positioning requirements, if it is, executing step 7, otherwise returns and hold Row step 4；

Step 7: with the presence or absence of the lane not traversed under the oriented section that judgement is chosen, if it is, executing step 8, otherwise Return to step four；

Step 8: choosing a lane in the lane never traversed in order, step 9 is then executed；

Step 9: judging whether the lane chosen meets positioning requirements, if it is, executing step 10, otherwise returns and execute step Rapid seven；

Step 10: record meets the related data of the node of positioning requirements, oriented section and lane, then terminate.

2. the vehicle positioning method of the MAP message collection according to claim 1 based on V2X, which is characterized in that the selection Oriented section whether meet the judgment modes of positioning requirements and include:

The section reference point quantity in the oriented section that S1, judgement are chosen, if section reference point quantity determines to choose less than 2 Oriented section do not meet positioning requirements, if section reference point quantity be equal to 2, execute S2, otherwise execute S4；

S2, two section reference points and vehicle location point are brought into location algorithm, section positional parameter I is calculated, so After execute S3；

S3, judge whether section positional parameter I meets section location condition, if it is, determining that the oriented section chosen meets Otherwise positioning requirements determine that the oriented section chosen does not meet positioning requirements；

The oriented section that S4, judgement are chosen whether there is the section reference point not traversed, if it is, executing S5, otherwise determine The oriented section chosen does not meet positioning requirements；

S5, it chooses a section reference point in order in the section reference point not traversed, while also choosing and being referred to the section An adjacent section reference point of point, then executes S6；

S6, the two adjacent section reference points chosen in S5 and vehicle location point are brought into location algorithm, is calculated Section positional parameter II, then executes S7；

S7, judge whether section positional parameter II meets section location condition, if it is, determining that the oriented section chosen meets Otherwise positioning requirements return and execute S4.

3. the vehicle positioning method of the MAP message collection according to claim 2 based on V2X, which is characterized in that the selection Lane whether meet the judgment modes of positioning requirements and include:

The lane reference point quantity in the lane that P1, judgement are chosen, if lane reference point quantity less than 2, determines the vehicle chosen Road does not meet positioning requirements, if lane reference point quantity is equal to 2, executes P2, otherwise executes P4；

P2, two lane reference points and vehicle location point are brought into location algorithm, lane location parameter I is calculated, so After execute P3；

P3, judge whether lane location parameter I meets lane location condition, if it is, determining that the lane chosen meets positioning It is required that otherwise determining that the lane chosen does not meet positioning requirements；

The lane that P4, judgement are chosen whether there is the lane reference point not traversed, if it is, executing P5, otherwise determine to choose Lane do not meet positioning requirements；

P5, it chooses a lane reference point in order in the lane reference point not traversed, while also choosing and being referred to the lane An adjacent lane reference point of point, then executes P6；

P6, the two adjacent lane reference points chosen in P5 and vehicle location point are brought into location algorithm, is calculated Lane location parameter II, then executes P7；

P7, judge whether lane location parameter II meets lane location condition, if it is, determining that the lane chosen meets positioning P4 is executed it is required that otherwise returning.

4. the vehicle positioning method of the MAP message collection according to claim 2 or 3 based on V2X, which is characterized in that described Location algorithm includes:

Two reference point Point [i], Point [i+1] and the vehicle location point HV that the first step, connection input, constitute one three It is angular, then execute second step；

Second step, according to the longitude and latitude of 3 points, calculating reference point Point [i] arrives the deflection and reference point of vehicle location point HV Point [i] arrives the deflection of reference point Point [i+1], then executes third step；

Be calculated in second step 2 deflections are subtracted each other and are taken absolute value by third step, and reconvert is obtained at triangle interior angle Into triangle with reference point Point [i] be vertex angle α_j, wherein then j=1 or 2 or 3 or 4 executes the 4th step；

4th step, according to the longitude and latitude of 3 points, the deflection of calculating reference point Point [i+1] to vehicle location point HV and reference Point Point [i+1] arrives the deflection of reference point Point [i], then executes the 5th step；

2 deflections being calculated in 4th step are subtracted each other and are taken absolute value by the 5th step, and reconvert is obtained at triangle interior angle Into triangle with reference point Point [i+1] be vertex angle β_j, then execute the 6th step；

6th step utilizes two reference point Point [i], the latitude and longitude value of Point [i+1], calculating reference point Point [i] to ginseng The distance d of examination point Point [i+1]_j, then execute the 7th step；

7th step utilizes distance d_jAnd angle α_j、β_j, according to the cosine law and Heron's formula, vehicle location point HV is calculated To two reference point Point [i], the distance L of Point [i+1] line_j。

5. the vehicle positioning method of the MAP message collection according to claim 4 based on V2X, it is characterised in that: the section Positional parameter I include connect two section reference points and vehicle location point and in a triangle constituting, with a section Reference point is the angle α on vertex₁, using another section reference point as the angle β on vertex₁And vehicle location o'clock is to two sections The distance L of reference point line₁；If α₁≤ 90 ° and β₁≤ 90 ° andThen indicate that section positional parameter I is full Sufficient section location condition；The section positional parameter II include connect two adjacent section reference points for being chosen in the S5 with And vehicle location point and in a triangle constituting, using an adjacent section reference point as the angle α on vertex₂, with adjacent Another section reference point be vertex angle β₂And vehicle location point to two adjacent section reference point lines away from From L₂；If α₂≤ 90 ° and β₂≤ 90 ° andThen indicate that section positional parameter II meets section positioning strip Part；Wherein, LinkWidth indicates the width in the oriented section chosen.

6. the vehicle positioning method of the MAP message collection according to claim 4 based on V2X, it is characterised in that: the lane Positional parameter I include connect two lane reference points and vehicle location point and in a triangle constituting, with a lane Reference point is the angle α on vertex₃, using another lane reference point as the angle β on vertex₃And vehicle location o'clock is to two lanes The distance L of reference point line₃；If α₃≤ 90 ° and β₃≤ 90 ° andThen indicate that lane location parameter I is full Sufficient lane location condition；The lane location parameter II include connect two adjacent lane reference points for being chosen in the P5 with And vehicle location point and in a triangle constituting, using an adjacent lane reference point as the angle α on vertex₄, with adjacent Another lane reference point be vertex angle β₄And vehicle location point to two adjacent lane reference point lines away from From L₄；If α₄≤ 90 ° and β₄≤ 90 ° andThen indicate that lane location parameter II meets lane location item Part；Wherein LaneWidth indicates the width in the lane chosen.

Technical field

The invention belongs to automobile car networking (i.e. V2X) technical fields, and in particular to a kind of MAP message collection based on V2X Vehicle positioning method.

Background technique

As V2X technology is popularized in the development and country of V2X technology energetically, more and more V2X applications are mined. Wherein, V2I refers mainly to a kind of means of communication of vehicle and roadside device interconnection, when vehicle is more and more intelligent, only leans on Bicycle intelligent driving can no longer meet application and development under complex environment, just need this when to pass through infrastructure Construction, reinforce the intelligence on road, bus or train route cooperative system established by the V2I in V2X, to reach a completely new intelligence Traffic system.There is the widely used scene of V2I in current major development company: traffic lights identification reminds, it is pre- to make a dash across the red light Police, reverse track early warning, real-time road traffic info class early warning etc..And these scenes have a common ground, that is, must The vehicle positioning method that must be developed dependent on MAP (i.e. map) message set that roadside device is sent to vehicle end equipment, MAP Message set include several node datas of map, several Oriented Path from Its Maximal Subtrees segment datas (including several sections with reference to point data, Oriented section width etc.) and several lane data (including several lanes are with reference to point data, lane width etc.) and other Ancillary data.The localization method designed at present is generally divided into two classes: one kind be it is too simple, can only simply meet linear road Positioning often has large error in bend positioning, frequently can lead to positioning mistake in the road of complex dense, existing cannot Each different road is adapted to, the case where not adapting to ring road, do not adapt to bend, do not adapt to more intersections；It is another kind of Be it is excessively complicated, location algorithm is excessively tediously long, and complexity is high, is easy error, and the requirement to equipment is high, computationally intensive, is unfavorable for The volume production of vehicle-mounted end equipment, will lead to vehicle-mounted end equipment is to meet performance and cost is excessively high, positions poor in timeliness, tends not to Meet the requirement of application well.

Summary of the invention

The vehicle positioning method of the object of the present invention is to provide a kind of MAP message collection based on V2X, with full to the greatest extent The accurate positionin of sufficient vehicle difference Road type.

The vehicle positioning method of MAP message collection of the present invention based on V2X, is executed by vehicle end equipment, comprising:

Step 1: obtaining MAP message collection and vehicle position information, step 2 is then executed；

Step 2: judging whether there is the node not traversed, if it is, executing step 3, otherwise determine that vehicle does not exist In current MAP (i.e. map) range, then terminate；

Step 3: choosing a node in the node never traversed in order, step 4 is then executed；

Step 4: with the presence or absence of the oriented section not traversed under the node that judgement is chosen, if it is, step 5 is executed, Otherwise two are returned to step；

Step 5: choosing an oriented section in the oriented section never traversed in order, step 6 is then executed；

Step 6: judging whether the oriented section chosen meets positioning requirements, if it is, executing step 7, otherwise return Receipt row step 4；

Step 7: with the presence or absence of the lane not traversed under the oriented section that judgement is chosen, if it is, step 8 is executed, Otherwise four are returned to step；

Step 8: choosing a lane in the lane never traversed in order, step 9 is then executed；

Step 9: judging whether the lane chosen meets positioning requirements, if it is, executing step 10, otherwise returns and hold Row step 7；

Step 10: record meets the related data of the node of positioning requirements, oriented section and lane, then terminate.

Preferably, whether the oriented section of the selection meets the judgment mode of positioning requirements and includes:

The section reference point quantity in the oriented section that S1, judgement are chosen, if section reference point quantity determines less than 2 The oriented section chosen does not meet positioning requirements, if section reference point quantity is equal to 2, executes S2, otherwise executes S4；

S2, two section reference points and vehicle location point are brought into location algorithm, section positional parameter is calculated I, then execute S3；

S3, judge whether section positional parameter I meets section location condition, if it is, determining the oriented section chosen Meet positioning requirements, otherwise determines that the oriented section chosen does not meet positioning requirements；

The oriented section line that S4, judgement are chosen whether there is the section reference point not traversed, if it is, S5 is executed, it is no Then determine that the oriented section chosen does not meet positioning requirements；

S5, it chooses a section reference point in order in the section reference point not traversed, while also choosing and the section An adjacent section reference point of reference point, then executes S6；

S6, the two adjacent section reference points chosen in S5 and vehicle location point are brought into location algorithm, is calculated Section positional parameter II is obtained, S7 is then executed；

S7, judge whether section positional parameter II meets section location condition, if it is, determining the oriented section chosen Meet positioning requirements, otherwise returns and execute S4.

Preferably, whether the lane of the selection meets the judgment mode of positioning requirements and includes:

The lane reference point quantity in the lane that P1, judgement are chosen, if lane reference point quantity determines to choose less than 2 Lane do not meet positioning requirements, if lane reference point quantity be equal to 2, execute P2, otherwise execute P4；

P2, two lane reference points and vehicle location point are brought into location algorithm, lane location parameter is calculated I, then execute P3；

P3, judge whether lane location parameter I meets lane location condition, if it is, determining that the lane chosen meets Otherwise positioning requirements determine that the lane chosen does not meet positioning requirements；

The lane that P4, judgement are chosen whether there is the lane reference point not traversed, if it is, executing P5, otherwise determine The lane of selection does not meet positioning requirements；

P5, it chooses a lane reference point in order in the lane reference point not traversed, while also choosing and the lane An adjacent lane reference point of reference point, then executes P6；

P6, the two adjacent lane reference points chosen in P5 and vehicle location point are brought into location algorithm, is calculated Lane location parameter II is obtained, P7 is then executed；

P7, judge whether lane location parameter II meets lane location condition, if it is, determining that the lane chosen meets Otherwise positioning requirements return and execute P4.

Preferably, the location algorithm includes:

Two reference point Point [i], Point [i+1] and the vehicle location point HV that the first step, connection input, constitute one A triangle, then executes second step；

Second step, according to the longitude and latitude of 3 points, calculating reference point Point [i] arrives the deflection and ginseng of vehicle location point HV Examination point Point [i] arrives the deflection of reference point Point [i+1], then executes third step；

Be calculated in second step 2 deflections are subtracted each other and are taken absolute value by third step, and reconvert is at triangle interior angle (taking the part less than 180 °) obtains the angle α in triangle with reference point Point [i] for vertex_j, wherein j=1 or 2 or 3 or 4, then execute the 4th step；

4th step, according to the longitude and latitude of 3 points, the deflection of calculating reference point Point [i+1] to vehicle location point HV and Reference point Point [i+1] arrives the deflection of reference point Point [i], then executes the 5th step；

2 deflections being calculated in 4th step are subtracted each other and are taken absolute value by the 5th step, and reconvert is at triangle interior angle (taking the part less than 180 °) obtains the angle β in triangle with reference point Point [i+1] for vertex_j, then execute Six steps；

6th step utilizes two reference point Point [i], the latitude and longitude value of Point [i+1], calculating reference point Point [i] To the distance d of reference point Point [i+1]_j, then execute the 7th step；

7th step utilizes distance d_jAnd angle α_j、β_j, according to the cosine law and Heron's formula, vehicle location is calculated Point HV to two reference point Point [i], Point [i+1] line distance L_j。

Using the method for " triangle location Calculation ", two reference points and vehicle location point are chosen, two-by-two line, constituted One triangle finally calculates numerical value content (the i.e. distance L of our needs by every mathematical property of triangle_j, folder Angle α_j, angle β_j), location Calculation is simple and accurate, reduces location Calculation amount.

Preferably, the section positional parameter I includes two section reference points of connection and vehicle location point and constitutes In one triangle, using a section reference point as the angle α on vertex₁, using another section reference point as the angle β on vertex₁ And vehicle location o'clock is to the distance L of two section reference point lines₁；If α₁≤ 90 ° and β₁≤ 90 ° and Then indicate that section positional parameter I meets section location condition；The section positional parameter II includes connection institute State the two adjacent section reference points chosen in S5 and vehicle location point and in a triangle constituting, with adjacent one A section reference point is the angle α on vertex₂, using another adjacent section reference point as the angle β on vertex₂And vehicle location Point arrives the distance L of two adjacent section reference point lines₂；If α₂≤ 90 ° and β₂≤ 90 ° and Then Indicate that section positional parameter II meets section location condition；Wherein, LinkWidth indicate choose oriented section width (by MAP message collection provides).

Preferably, the lane location parameter I includes two lane reference points of connection and vehicle location point and constitutes In one triangle, using a lane reference point as the angle α on vertex₃, using another lane reference point as the angle β on vertex₃ And vehicle location o'clock is to the distance L of two lane reference point lines₃；If α₃≤ 90 ° and β₃≤ 90 ° and Then indicate that lane location parameter I meets lane location condition；The lane location parameter II includes connection institute State the two adjacent lane reference points chosen in P5 and vehicle location point and in a triangle constituting, with adjacent one A lane reference point is the angle α on vertex₄, using another adjacent lane reference point as the angle β on vertex₄And vehicle location Point arrives the distance L of two adjacent lane reference point lines₄；If α₄≤ 90 ° and β₄≤ 90 ° and Then Indicate that lane location parameter II meets lane location condition；Wherein LaneWidth indicates that the width in the lane chosen (is disappeared by MAP Breath collection provides).

The present invention carries out screening location Calculation according to MAP message collection, to the oriented section under the node of MAP, then to meeting It is required that oriented section under lane carry out screening location Calculation, final output it is corresponding some meet vehicle position It is required that the relevant information of the node of (meeting positioning requirements), oriented section, lane, is called for all kinds of V2I application；Its The accurate positionin requirement of vehicle difference Road type is met to the greatest extent, to improve the efficiency and stabilization of V2I application Property, it is able to satisfy the demand of the following V2I application development, preferably to adapt to volume production.

Detailed description of the invention

Fig. 1 is positioning flow figure of the invention.

Fig. 2 is whether to meet the flow chart that positioning requirements are judged to the oriented section of selection in the present invention.

Fig. 3 is whether to meet the flow chart that positioning requirements are judged to the lane of selection in the present invention.

Fig. 4 is the flow chart of the location algorithm in the present invention.

Fig. 5 is the mathematical model schematic diagram of the location algorithm in the present invention.

Specific embodiment

It elaborates with reference to the accompanying drawing to the present invention.

Firstly, illustrating location algorithm content, MAP message is taken to concentrate two orderly and adjacent reference points, the two references Point can be two reference points in any oriented section, two points being also possible on any lane, if the two reference points are Point [i], Point [i+1], the position coordinates of the two reference points are its latitude and longitude value respectively, are provided by MAP message collection, If vehicle location point is HV, vehicle location point coordinate is its latitude and longitude value at this time, is provided by GPS.

As shown in Figure 4, Figure 5, the detailed process of the location algorithm includes:

Two reference point Point [i], Point [i+1] and the vehicle location point HV that the first step, connection input, constitute one A triangle, then executes second step；

Second step, according to the longitude and latitude of 3 points, calculating reference point Point [i] arrives the deflection and ginseng of vehicle location point HV Examination point Point [i] arrives the deflection of reference point Point [i+1], then executes third step；

Be calculated in second step 2 deflections are subtracted each other and are taken absolute value by third step, and reconvert is at triangle interior angle (taking the part less than 180 °) obtains the angle α in triangle with reference point Point [i] for vertex_j, wherein j=1 or 2 or 3 or 4, then execute the 4th step；

4th step, according to the longitude and latitude of 3 points, the deflection of calculating reference point Point [i+1] to vehicle location point HV and Reference point Point [i+1] arrives the deflection of reference point Point [i], then executes the 5th step；

2 deflections being calculated in 4th step are subtracted each other and are taken absolute value by the 5th step, and reconvert is at triangle interior angle (taking the part less than 180 °) obtains the angle β in triangle with reference point Point [i+1] for vertex_j, then execute Six steps；

6th step utilizes two reference point Point [i], the latitude and longitude value of Point [i+1], calculating reference point Point [i] To the distance d of reference point Point [i+1]_j, then execute the 7th step；

7th step utilizes distance d_jAnd angle α_j、β_j, according to the cosine law and Heron's formula, vehicle location is calculated Point HV to two reference point Point [i], Point [i+1] line distance L_j。

After determining location algorithm, it is encapsulated and is stored in vehicle-mounted end equipment for a location algorithm function, vehicle-mounted After end equipment receives MAP message collection and is parsed, according to current GPS information, with positioning logic is closed, constantly reference is fixed Position algorithmic function, so that entire position fixing process is completed, final output positioning result, so that all kinds of V2I application is called.

Then, positioning logic content is illustrated, the present invention is needed using location algorithm function, carries out node layer screening, oriented Section layer screening, lane layer screening, eventually find satisfactory MAP positioning result.

The vehicle positioning method of MAP message collection based on V2X as shown in Figure 1, Figure 2, Figure 3 shows, is executed by vehicle end equipment, Include:

Step 1: vehicle end equipment obtains MAP message collection by V2I mode from roadside device, vehicle is obtained by GPS Then location information executes step 2；

Step 2: judging whether there is the node not traversed, if it is, executing step 3, otherwise determine that vehicle does not exist In current MAP (i.e. map) range, then terminate；

Step 3: being pressed from the node (may be a node, it is also possible to multiple nodes) of MAP message collection not traversed Sequence chooses a node, then executes step 4；

Step 4: with the presence or absence of the oriented section not traversed under the node that judgement is chosen, if it is, step 5 is executed, Otherwise two are returned to step；

Step 5: from the oriented section not traversed under the node of selection (may be an oriented section, it is also possible to more A oriented section) in choose an oriented section in order, then execute step 6；

Step 6: judging whether the oriented section chosen meets positioning requirements, if it is, executing step 7, otherwise return Receipt row step 4；

Step 7: with the presence or absence of the lane not traversed under the oriented section that judgement is chosen, if it is, step 8 is executed, Otherwise four are returned to step；

Step 8: from the lane not traversed under the oriented section of selection (may be a lane, it is also possible to Duo Geche Road) in choose a lane in order, then execute step 9；

Step 9: judging whether the lane chosen meets positioning requirements, if it is, executing step 10, otherwise returns and hold Row step 7；

Step 10: calling custom data structure, record meets node, oriented section and the lane of positioning requirements Related data, then terminate.

Wherein, whether the oriented section of selection meets the judgment mode of positioning requirements and includes:

The section reference point quantity in the oriented section that S1, judgement are chosen, if section reference point quantity determines less than 2 The oriented section chosen does not meet positioning requirements, if section reference point quantity is equal to 2, S2 is executed, otherwise (i.e. if road 2) section reference point quantity, which is greater than, executes S4；

S2, two section reference points and vehicle location point are brought into location algorithm, two sections of connection is calculated Reference point and vehicle location point and in a triangle constituting, using a section reference point as the angle α on vertex₁, with another One section reference point is the angle β on vertex₁And vehicle location o'clock is to the distance L of two section reference point lines₁, then hold Row S3；

S3, judge whether α₁≤ 90 ° and β₁≤ 90 ° andIf it is, determining to choose oriented Section meets positioning requirements, otherwise determines that the oriented section chosen does not meet positioning requirements；

The oriented section that S4, judgement are chosen whether there is the section reference point not traversed, if it is, executing S5, otherwise Determine that the oriented section chosen does not meet positioning requirements；

S5, the oriented section of selection do not traverse section reference point (may be a section reference point, it is also possible to Multiple section reference points) in choose a section reference point in order, while also choosing adjacent with the section reference point one Section reference point, then executes S6；

S6, the two adjacent section reference points chosen in S5 and vehicle location point are brought into location algorithm, is calculated Obtain two adjacent section reference points for choosing and vehicle location point in connection S5 and in a triangle constituting, with An adjacent section reference point is the angle α on vertex₂, using another adjacent section reference point as the angle β on vertex₂And Distance L of the vehicle location point to two adjacent section reference point lines₂, then execute S7；

S7, judge whether α₂≤ 90 ° and β₂≤ 90 ° andIf it is, determining to choose oriented Section meets positioning requirements, otherwise returns and executes S4.

Wherein, whether the lane of selection meets the judgment mode of positioning requirements and includes:

The lane reference point quantity in the lane that P1, judgement are chosen, if lane reference point quantity determines to choose less than 2 Lane do not meet positioning requirements, if lane reference point quantity be equal to 2, P2 is executed, otherwise (i.e. if lane reference point 2) quantity, which is greater than, executes P4；

P2, two lane reference points and vehicle location point are brought into location algorithm, two lanes of connection is calculated Reference point and vehicle location point and in a triangle constituting, using a lane reference point as the angle α on vertex₃, with another One lane reference point is the angle β on vertex₃And vehicle location o'clock is to the distance L of two lane reference point lines₃, then hold Row P3；

P3, judge whether α₃≤ 90 ° and β₃≤ 90 ° andIf it is, determining the lane chosen Meet positioning requirements, otherwise determines that the lane chosen does not meet positioning requirements；

The lane that P4, judgement are chosen whether there is the lane reference point not traversed, if it is, executing P5, otherwise determine The lane of selection does not meet positioning requirements；

P5, the lane reference point not traversed in the lane of selection (may be a lane reference point, it is also possible to multiple Lane reference point) in choose a lane reference point in order, while also choosing a lane adjacent with the lane reference point Then reference point executes P6；

P6, the two adjacent lane reference points chosen in P5 and vehicle location point are brought into location algorithm, is calculated Obtain two adjacent lane reference points for choosing and vehicle location point in connection P5 and in a triangle constituting, with An adjacent lane reference point is the angle α on vertex₄, using another adjacent lane reference point as the angle β on vertex₄And Distance L of the vehicle location point to two adjacent lane reference point lines₄, then execute P7；

P7, judge whether α₄≤ 90 ° and β₄≤ 90 ° andIf it is, determining the lane chosen Meet positioning requirements, otherwise returns and execute P4.