Vehicle positioning method, on-vehicle device, roadside device, and medium

An onboard device comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor and storing an instruction that, when executed by the at least one processor, causes the at least one processor to:
• determine a first relative horizontal distance between an onboard device and a roadside device at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment, the first moment being earlier than the second moment, and the second moment being earlier than the third moment;
• obtain position information of the roadside device;
• determine a first moving distance of a vehicle where the onboard device is located from the first moment to the second moment and a second moving distance of the vehicle from the second moment to the third moment;
• and
• based on the first moving distance and the second moving distance, determine a moving trajectory of the vehicle partially overlapping with three circles with the position information of the roadside device as a center and with the first relative horizontal distance, the second relative horizontal distance, and the third relative horizontal distance as radii, wherein the determining the moving trajectory of the vehicle comprises selecting the moving trajectory from a plurality of candidate moving trajectories according to at least one of a moving direction of the vehicle between the first moment and the third moment or a lane direction.

A roadside device comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor and storing an instruction that, when executed by the at least one processor, causes the at least one processor to:
• determine a first relative horizontal distance between an onboard device and a roadside device at a first moment, a second relative horizontal distance at a second moment, and a third relative horizontal distance at a third moment, the first moment being earlier than the second moment, and the second moment being earlier than the third moment;
• obtain position information of the roadside device;
• determine a first moving distance of a vehicle where the onboard device is located from the first moment to the second moment and a second moving distance of the vehicle from the second moment to the third moment;
• and
• based on the first moving distance and the second moving distance, determine a moving trajectory of the vehicle partially overlapping with three circles with the position information of the roadside device as a center and with the first relative horizontal distance, the second relative horizontal distance, and the third relative horizontal distance as radii, wherein the determining the moving trajectory of the vehicle comprises selecting the moving trajectory from a plurality of candidate moving trajectories according to at least one of a moving direction of the vehicle between the first moment and the third moment or a lane direction.