Vehicle-road cooperative positioning system and method

The invention discloses a vehicle-road cooperative positioning system and method. The vehicle-road cooperative positioning system comprises a roadside sensor unit, an edge calculation unit, a roadside communication unit, a vehicle-mounted communication unit and a vehicle-mounted calculation unit which are sequentially connected for data transmission, the vehicle-mounted calculation unit comprises a preprocessing module, a multi-target matching tracking module, a target position prediction module and a self-vehicle probability prediction module which are connected in sequence; and the vehicle-mounted calculation unit is used for positioning the vehicle in the road area according to the road side sensing information and the state information of the vehicle. The method can get rid of dependence on GNSS signals, can achieve long-distance continuous positioning of the networked vehicle, can obtain the relative position relation with surrounding vehicles, and is more practical. 本发明公开了一种车路协同定位系统及方法。本发明车路协同定位系统包括依次连接