CN109121084A - Vehicle, mobile terminal and its car searching method, device and system - Google Patents
Vehicle, mobile terminal and its car searching method, device and system Download PDFInfo
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- CN109121084A CN109121084A CN201811168632.3A CN201811168632A CN109121084A CN 109121084 A CN109121084 A CN 109121084A CN 201811168632 A CN201811168632 A CN 201811168632A CN 109121084 A CN109121084 A CN 109121084A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses vehicle, mobile terminal and its car searching methods, device and system, by the geographical location information for obtaining target garage；It obtains vehicle and enters the lifting height behind target garage or falling head, to determine floor information locating for vehicle itself；The geographical location information and floor information are sent, to determine the location information of vehicle.To which user can learn the floor information of vehicle, the positioning to vehicle is also able to achieve in underground garage, convenient for finding vehicle.
Description
Technical field
The present invention relates to positioning fields, and in particular to vehicle, mobile terminal and its car searching method, device and system.
Background technique
The underground multistoried garage environment of non intelligent building, the usually not positioning signal of global position system, even if having
Signal is also very faint, position inaccurate and can only position in the horizontal direction to vehicle.If user has forgotten vehicle
The floor stopped can directly position vehicle location currently without the relevant technologies, very then needing floor search vehicle one by one
It is inconvenient.In addition, even if user and vehicle are in the same floor, existing indoor positioning technologies, such as RSSI triangle center coordination method,
It is suitable only for reverse car search, user is not particularly suited for and actively seeks vehicle.
Therefore, the prior art is also need to be improved and enhanced.
Summary of the invention
The present invention is intended to provide a kind of vehicle, mobile terminal and its car searching method, device and system, in order to in garage
Vehicle positioned.
According to a first aspect of the present application, this application provides a kind of car searching method, include the following steps:
Obtain the geographical location information in target garage；
It obtains vehicle and enters behind target garage and rise or fall height, to determine floor information locating for vehicle；
The geographical location information and floor information are sent, to determine the location information of vehicle.
The method, wherein obtain vehicle and enter behind target garage and rise or fall height, to determine locating for vehicle
Floor information the step of, comprising:
When can't detect positioning signal, control pressure sensor detects current atmospheric pressure, according to the atmospheric pressure
It obtains entering the height above sea level H0 before target garage；The positioning signal is for determining geographical location information；
When the time for detecting that vehicle stops being more than preset threshold value, control pressure sensor detects current atmospheric pressure
Power obtains the height above sea level H1 of vehicle present position according to current atmospheric pressure；
The difference in height for calculating the height H1 and height H0 obtains vehicle and enters the lifting height behind target garage or decline
Highly；
Floor information locating for vehicle is calculated based on the lifting height or falling head.
The method, wherein obtain vehicle and enter behind target garage and rise or fall height, to determine locating for vehicle
Floor information the step of, comprising:
Lifting height or falling head are calculated by acceleration transducer, is risen after stopping or declining stopping, according to described
Lifting height or falling head obtain floor information locating for vehicle.
The method, wherein further comprise the steps of: and localizer beacon is sent to position vehicle by bluetooth.
The method, wherein further comprise the steps of: and environment temperature is detected by temperature sensor, according to the environment temperature
The atmospheric pressure for detecting baroceptor is spent to be modified.
According to a second aspect of the present application, this application provides a kind of car searching method, include the following steps:
According to garage locating for the geographical location information in target garage positioning vehicle；
Control pressure sensor detects current atmospheric pressure to obtain the first height above sea level angle value；
Determine whether current location is building locating for vehicle according to the first height above sea level angle value and the second height above sea level angle value
Layer, wherein the second height above sea level angle value is the corresponding height above sea level angle value of floor locating for vehicle；
If current location is floor locating for vehicle, sends communication linkage and establish the positioning for requesting and receiving vehicle transmission
Beacon is to determine the location information of vehicle.
The method, wherein further include previous step: floor locating for the location information and vehicle in target garage is received
Information and the corresponding height above sea level angle value of floor information, and correspondence is stored in Installed System Memory.
The method, wherein further comprise the steps of:
The localizer beacon that vehicle issues is received by bluetooth to position the location information of vehicle.
According to the third aspect of the application, this application provides one kind to seek vehicle system, comprising:
The geographical location information in vehicle acquisition target garage；
Vehicle obtains its lifting height or falling head for entering the target garage, obtains the floor information locating for it；
Vehicle sends the geographical location information and floor information to mobile terminal；
Mobile terminal receives the geographical location information and floor information that vehicle issues, and based on the Information locating vehicle
Location information.
According to the fourth aspect of the application, this application provides a kind of car finding devices, comprising:
First locating module, for obtaining geographical location information according to positioning signal；
First wireless communication module；
First processing module, for obtaining the geographical location information in target garage by the first locating module；Obtain vehicle
Into the lifting height or falling head behind target garage, to determine floor information locating for vehicle；And pass through the first channel radio
Believe that module sends the geographical location information and floor information, to determine the location information of vehicle.
The car finding device, wherein further include the first baroceptor；The first processing module obtains vehicle and enters
Lifting height or falling head behind target garage, to determine floor information locating for vehicle, comprising:
When the first locating module can't detect positioning signal, the first baroceptor of control detects current atmospheric pressure,
The height above sea level H0 into before target garage is obtained according to the atmospheric pressure；
When the time for detecting that vehicle stops being more than preset threshold value, the first baroceptor of control detects currently big
Atmospheric pressure obtains the height above sea level H1 of vehicle present position according to current atmospheric pressure；
The difference in height for calculating the height H1 and height H0 obtains vehicle and enters the lifting height behind target garage or decline
Highly；
Floor information locating for vehicle is calculated based on the lifting height or falling head.
The car finding device, wherein further include acceleration transducer；The first processing module obtains vehicle and enters mesh
Lifting height or falling head after marking garage, to determine floor information locating for vehicle, comprising:
Lifting height or falling head are calculated by acceleration transducer, is risen after stopping or declining stopping, according to described
Lifting height or falling head obtain floor information locating for vehicle.
The car finding device, wherein further include the first bluetooth module；The first processing module is also used to by first
Bluetooth module sends localizer beacon to position vehicle.
The car finding device, wherein further include the first temperature sensor, first processing module is also used to through the first temperature
Sensors sense environmental temperature is spent, is modified according to the atmospheric pressure that the environment temperature detects the first baroceptor.
According to the 5th of the application the aspect, this application provides a kind of car finding devices, comprising:
Second wireless communication module；
Second baroceptor；
Second processing module, for receiving the geographical location information and vehicle in target garage by the second wireless communication module
The corresponding height above sea level angle value of locating floor information and floor information positions vehicle institute according to the geographical location information in target garage
The garage at place；It controls the second baroceptor and detects current atmospheric pressure to obtain the first height above sea level angle value, according to described
One height above sea level angle value and the second height above sea level angle value determine whether current location is floor locating for vehicle, wherein second sea
Lifting angle value is the corresponding height above sea level angle value of floor locating for vehicle；If current location is floor locating for vehicle, communication is sent
Link establishes request and receives the localizer beacon of vehicle transmission to determine the location information of vehicle.
The car finding device, wherein further include the second bluetooth module, the Second processing module passes through the second bluetooth mould
Block receives the localizer beacon that vehicle issues to position the location information of vehicle.
According to the 6th of the application the aspect, this application provides a kind of vehicles, including car finding device as described above.
According to the 7th of the application the aspect, this application provides a kind of mobile terminals, including car finding device as described above.
The beneficial effects of the present invention are:
Vehicle, mobile terminal and its car searching method provided by the invention, device and system pass through the ground for obtaining target garage
Manage location information；It obtains vehicle and enters the lifting height behind target garage or falling head, to determine building locating for vehicle itself
Layer information；The geographical location information and floor information are sent, to determine the location information of vehicle.To which user can learn vehicle
Floor information, the positioning to vehicle is also able to achieve in underground garage, convenient for find vehicle.
Detailed description of the invention
Fig. 1 is the structural block diagram provided by the invention for seeking one embodiment of vehicle system；
Fig. 2 is the structural block diagram provided by the invention for seeking another embodiment of vehicle system；
Fig. 3 is sought in vehicle system to be provided by the invention, the schematic illustration of AoA positioning；
Fig. 4 is the flow chart of one embodiment of car searching method provided by the invention；
Fig. 5 is the specific flow chart of step S32 in one embodiment of car searching method provided by the invention；
Fig. 6 is the flow chart of another embodiment of car searching method provided by the invention.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is formed respectively in addition, feature described in this description, operation or feature can combine in any suitable way
Kind embodiment.Meanwhile each step in method description or movement can also can be aobvious and easy according to those skilled in the art institute
The mode carry out sequence exchange or adjustment seen.Therefore, the various sequences in the description and the appended drawings are intended merely to clearly describe a certain
A embodiment is not meant to be necessary sequence, and wherein some sequentially must comply with unless otherwise indicated.
As shown in Figure 1, provided by the present application seek vehicle system, including vehicle 10 and mobile terminal 20.Vehicle 10 includes one the
One car finding device.Mobile terminal 20 includes one second car finding device.
The geographical location information in the acquisition of vehicle 10 target garage；Obtain its into the target garage lifting height or under
Drop height, obtains the floor information locating for it；The geographical location information and floor information are sent to mobile terminal 20.Target carriage
Library is for vehicle driving, parking, such as surface parking lots and underground parking.
Mobile terminal 20 receives the geographical location information and floor information that vehicle 10 issues, and is based on the Information locating vehicle
Location information, shown later by display screen.
No matter target garage is ground garage or underground garage as a result, how many layer, user need to only pass through mobile terminal
20 it can be learnt which garage vehicle 10 is located in, is located at upstairs still downstairs, the positioning to vehicle is realized in garage, can
Easily find vehicle 10.
Mobile terminal 20 and vehicle 10 can be bound by account, vehicle identification code (such as Vehicle Identify Number or license plate number),
One mobile terminal 20 can bind multiple vehicles 10, and certainly, a vehicle 10 can also be bound by multiple mobile terminals 20.
Further, the first car finding device includes: first processing module 110, and the first wireless communication module 120, first is fixed
Position module 130 and the first bluetooth module 160.
First locating module 130 is used to obtain geographical location information according to positioning signal, for example, being led to using satellite positioning
It crosses and obtains positioning signal with interacting for satellite, the geographical location information of vehicle 10 can be obtained by positioning signal, positioning signal can
To be the Beidou signal using Beidou Navigation System, it is also possible to the GPS signal using GPS navigation system.That is the first positioning mould
Automatic navigator can be used in block 130.Geographical location information is the specific address of vehicle 10, for example, the street XX locating for vehicle 10
Mansion XX etc..In other embodiments, the geographical location information of vehicle 10 can be combined with map and be obtained using base station location technology
It takes.
First wireless communication module 120 is used for and external wireless communication, for example, wirelessly communicating with mobile terminal 20.
First processing module 110 is used to obtain the geographical location information in target garage by the first locating module 130；It obtains
Vehicle 10 is into the lifting height or falling head behind target garage, to determine floor information locating for vehicle 10；And pass through the
One wireless communication module 120 sends the geographical location information and floor information, to determine the location information of vehicle 10.Example
Such as, the geographical location information and floor information are sent to mobile terminal 20 by the first wireless communication module 120, made mobile whole
End 20 knows the position of vehicle 10.In order to ensure safety, the geographical position only is sent to the mobile terminal 20 bound with vehicle 10
Confidence breath and floor information, for example, sending the geographical location information and floor letter according to the request of the mobile terminal 20 of binding
Breath；Alternatively, the geographical location information and floor information to be synchronized to the mobile terminal 20 of binding.
First processing module 110 obtains the geographical location information in target garage by the first locating module 130, can be used more
Kind mode.For example, obtaining the real-time positioning signal of vehicle 10 by the first wireless communication module 120, and obtain real-time geography
Location information；When geographical location information is the position in target garage, the geographical location information is recorded；Or in positioning signal
Think that vehicle 10 enters in target garage when disconnected (when the first locating module can't detect positioning signal), positioning at this time is believed
Number geographical location information of the obtained geographical location information as target garage.
First processing module 110 obtains vehicle 10 into the lifting height or falling head behind target garage, to determine vehicle
Floor information locating for 10；At least two different modes can be used.For example, in the embodiment shown in fig. 1, the first processing
Module 110 obtains floor information locating for vehicle 10 by the first baroceptor 140 and the first temperature sensor 150.First
Baroceptor 140 is used to detect the atmospheric pressure of 10 local environment of vehicle.First temperature sensor 150 is for detecting vehicle 10
The temperature of local environment.
When the first locating module 130 can't detect positioning signal, first processing module 110 thinks that vehicle 10 enters target
Garage, control the first baroceptor 140 detect current atmospheric pressure, according to the atmospheric pressure detected at this time obtain vehicle 10 into
Height above sea level H0 before entering target garage.When the time for detecting that vehicle 10 stops being more than preset threshold value, it is believed that vehicle 10
It has been stopped that, the first baroceptor 140 of control detects current atmospheric pressure (atmospheric pressure after stopping), according to current
Atmospheric pressure obtains the height above sea level H1 of 10 present position of vehicle.Certainly, in other embodiments, can also whether stop
Vehicle detects atmospheric pressure in real time, obtains the real-time height above sea level of vehicle 10, thus before obtaining the entrance of vehicle 10 target garage
Height above sea level H0, stop 10 present position of rear vehicle height above sea level H1.
First processing module 110 calculates the difference in height of the real-time height and height H0 of vehicle, obtains vehicle 10 in target carriage
Thus the floor information locating in real time of vehicle 10 is calculated in real-time lifting height or falling head in library.It can also calculate
The difference in height of height H1 and height H0 after vehicle parking obtain vehicle 10 and enter lifting height or decline height behind target garage
Degree, the i.e. difference in height of parking floor and outdoor road, are thus calculated floor information locating for vehicle 10.Make user subsequent
It seeks Che Shineng and quickly learns floor locating for vehicle.
Wherein, height above sea level H is calculated according to the following formula:
P is the atmospheric pressure that the first baroceptor 140 detects, p0For standard atmospheric pressure.
It can be seen that, it is only necessary to know that corresponding height above sea level can be calculated in atmospheric pressure.
And since temperature will affect air pressure, therefore first processing module 110 also detects environment by the first temperature sensor 150
Temperature is modified according to the atmospheric pressure that environment temperature detects the first baroceptor, that is, when the first locating module detects
When less than positioning signal, the first baroceptor of control detects current atmospheric pressure, and control the first temperature sensor 150 detection is worked as
Preceding environment temperature is modified the atmospheric pressure according to the environment temperature, according to the revised atmospheric pressure obtain into
Height above sea level H0 ' before entering target garage；When the time for detecting that vehicle stops being more than preset threshold value, the first air pressure is controlled
Sensor detects current atmospheric pressure, and the first temperature sensor 150 of control detects current environment temperature, according to the environment temperature
Degree is modified the atmospheric pressure, obtains the height above sea level H1 ' of vehicle present position according to the revised atmospheric pressure；Meter
The difference in height for calculating the height H1 ' and height H0 ' obtains vehicle and enters the lifting height behind target garage or falling head.
Corresponding, revised height above sea level H ' is calculated according to the following formula:
Wherein P ' is revised atmospheric pressure.
In the embodiment shown in Figure 2, first processing module 110 is obtained locating for vehicle 10 by acceleration transducer 170
Floor information.After first processing module 110 thinks that vehicle 10 enters target garage, calculated by acceleration transducer 170
Rise or falling head rise after stopping or declining stopping (after stopping), are obtained according to the lifting height or falling head
To floor information locating for vehicle 10.For example, when the time for detecting that vehicle 10 stops is more than preset threshold value, it is believed that vehicle 10
Parking complete, according to the lifting height or falling head obtain vehicle 10 locating for floor information.Specifically, to ensure essence
Degree can also use gyroscope and acceleration transducer 170, obtain vehicle 10 upward acceleration or downward acceleration in real time,
Then quadratic integral is carried out to starting to rise to the time of parking or begin to decline time of parking, so that it may obtain vehicle
Lifting height or falling head.Floor information can be obtained by lifting height or falling head divided by story height, underground garage
Height is 3.2-3.9 meters general, and preferably desirable 3.5 meters of median, for estimating, obtain number of floor levels.
Certainly, it obtains obtaining the letter of floor locating for vehicle 10 in the mode and Fig. 2 of floor information locating for vehicle 10 in Fig. 1
The mode of breath can combine, and first processing module 110 both passes through the first baroceptor 140, the first temperature sensor 150
Floor information locating for vehicle 10 is obtained, obtains floor information locating for vehicle 10 further through acceleration transducer 170.By two kinds
The floor information that mode obtains is integrated, such as result takes average etc., the standard of floor locating for the vehicle further increased
True property.
First wireless communication module 120 can be using the second generation, the third generation, forth generation or the 5th third-generation mobile communication technology
Wireless communication module.Current vehicle 10,20 mainstream of mobile terminal use fourth generation mobile communication technology, the present embodiment as
Example is illustrated.First processing module 110 be also used to the first wireless communication module 120 current location can not receiving and transmitting signal when,
Such as when without 4G signal, geographical location information, floor information and positioning are sent to mobile terminal 20 by the first bluetooth module 160
Beacon；The localizer beacon is positioned for bluetooth.Preferably, the first bluetooth module 160 uses bluetooth 5.0, signal covering half
Diameter is 300 meters, is used in most of garage enough.Certainly, in transmission geographical location information, floor information and positioning at a distance
When beacon, signal relaying can be carried out by the vehicle of other same technology, achieve the effect that extend signal spread scope.
It can be seen that the first above-mentioned car finding device realizes the positioning in floor, also, the first car finding device in addition to
Setting in the car, can also be arranged in the equipment that mobile terminal or other needs position.
Second car finding device of mobile terminal, comprising: Second processing module 210, the second wireless communication module 220, second
Locating module 230, the second baroceptor 240, second temperature sensor 250, the second bluetooth module 260 and display screen 270.Its
In, mobile terminal can be smart phone, tablet computer, wearable device etc..The present embodiment is carried out by taking common mobile phone as an example
Explanation.
Second locating module 230 is for obtaining geographical location information；It uses satellite positioning, is obtained by the interaction with satellite
Positioning signal is taken, the geographical location information of mobile terminal 20 can be obtained by positioning signal, positioning signal can be using Beidou
The Beidou signal of navigation system is also possible to the GPS signal using GPS navigation system.Geographical location information is mobile terminal 20
Specific address, for example, the street XX mansion XX etc. locating for mobile terminal 20.In other embodiments, the ground of mobile terminal 20
Reason location information can be combined with map and be obtained using base station location technology.
Second wireless communication module 220 is used to carry out wireless communication with the first wireless communication module 120 of vehicle 10, example
Such as, the geographical location information and floor information that the first wireless communication module 120 issues are received.Second wireless communication module
220 equally can be the wireless communication module using the second generation, the third generation, forth generation or the 5th third-generation mobile communication technology.Floor
Floor where information not only includes vehicle, further includes the height above sea level H1 of vehicle.
Display screen 270 can be touching display screen, and Second processing module 210 seeks vehicle by touching display screen reception user's
Instruction seeks vehicle instruction in response to this, the geographical location information and vehicle in target garage is received by the second wireless communication module 220
The corresponding height above sea level angle value of locating floor information and floor information positions vehicle institute according to the geographical location information in target garage
The garage at place；The geographical location information of mobile terminal 20 is obtained by the second locating module 230；According to the geographical position of mobile terminal
Confidence breath judges whether mobile terminal is located in target garage, and electricity is shown on display screen 270 if not being located in target garage
Sub- map on the electronic map by the geographical location marker in target garage is entered in target garage by navigation guide user；If
In the target garage, then controls the second baroceptor 240 and detect current atmospheric pressure to obtain the first height above sea level
Angle value determines whether current location is floor locating for vehicle according to the first height above sea level angle value and the second height above sea level angle value,
Wherein, the second height above sea level angle value is the corresponding height above sea level angle value of floor locating for vehicle；If current location is locating for vehicle
Floor then sends communication linkage and establishes request and receive the localizer beacon of vehicle transmission to determine the location information of vehicle.For example,
If being located in the target garage, controls the second baroceptor 240 and detect real-time atmospheric pressure, and according to big in real time
Atmospheric pressure obtains real-time height above sea level Hu；Compare the height above sea level H1 of 20 real-time height above sea level Hu and vehicle of mobile terminal,
It obtains and the real-time height difference H u-H1 of vehicle；The height difference H u-H1 and electronic map are shown on display screen 270, by target
The floor information label in garage on the electronic map, and guides the floor where user to vehicle mobile by electronic map；
Floor as Hu-H1=0, where prompting user to have arrived at vehicle by display screen 270；If current location is locating for vehicle
Floor, then send communication linkage and establish the localizer beacon for requesting and receiving vehicle transmission to determine the location information of vehicle.
Likewise, Second processing module 210 calculates the height above sea level of mobile terminal 20 according to above-mentioned formula one, and pass through
Second temperature sensor 250 detects environment temperature, the atmospheric pressure that the second baroceptor 240 is detected according to environment temperature into
Row amendment, concrete mode have elaborated in the embodiment of the first car finding device, and this will not be repeated here.
Second processing module 210 be also used to the second wireless communication module 220 current location can not receiving and transmitting signal when, example
When such as without 4G signal, the geographical location information, floor information and localizer beacon, and root are received by the second bluetooth module 260
The location information of vehicle 10 is positioned according to the localizer beacon.Preferably, the second bluetooth module 260 uses bluetooth 5.0, signal
Covering radius is 300 meters, is used in most of garage enough.
Specifically, positioning skill by AOA (angle of arrival ranging) after Second processing module 210 obtains the localizer beacon
The location information of vehicle 10 is calculated in art, and vehicle direction is shown on display screen 270.User prompts along direction always
It is mobile, so that it may to find vehicle.It can estimate that mobile terminal at a distance from vehicle, is made by bluetooth RSSI signal strength simultaneously
For aid prompting.
AoA is the abbreviation of Angle of arrival, that is, angle of arrival.The direction that AoA is also known that beacon has been obtained,
As shown in Figure 3.Angle of arrival (AoA) measurement is the method for determining the direction of propagation for the rf wave being incident on aerial array.
AoA determines direction by measuring the reaching time-difference (TDOA) of each element of array, can calculate AoA from these delays.
For example, mobile terminal 20 is built-in with the array of a double antenna, the distance of two antennas is the one of localizer beacon (video wave) wavelength
Half.If the wave of localizer beacon is incident on aerial array on front, it will reach each antenna simultaneously.This will be at two
0 ° of phase difference is measured between antenna element, is equivalent to 0 ° of AoA.In other words, between the localizer beacon that two antenna detections arrive
Phase difference be 0 °, illustrate that vehicle is located at the front of mobile double antenna.If the wave of localizer beacon is incident on battle array in front-right
On column, then 180 ° of phase differences will be measured between the antenna element, correspond to 90 ° of AoA.In other words, two antenna detections arrive
Localizer beacon between phase difference be 180 °, be the right side with positive number, for negative is left, illustrate that vehicle is located at mobile double antenna
Front-right.And so on realize positioning to vehicle.
It can be seen that the present invention is based on multistages to position, realizes garage on the ground or underground garage forward direction seeks vehicle.By upper
System is stated, user drives to drive into the square A underground garage layer, after nearby doing shopping, needs to seek vehicle.It need to only be carried out on mobile phone
The number of floor levels in vehicle garage located underground can be obtained in operation, and can obtain the vertical range with vehicle in real time, passes through bluetooth
Positioning, moreover it is possible to vehicle is accurately found on same floor, whole process can obtain navigation reminders, convenient and efficient.
What is provided based on the above embodiment seeks vehicle system, and the present invention also provides a kind of car searching methods.As shown in figure 4, described
Car searching method includes the following steps:
Step 31, the geographical location information for obtaining target garage.Specifically, target garage can be obtained according to positioning signal
Geographical location information, for example, by obtaining positioning signal with interacting for satellite, can be obtained by positioning signal using satellite positioning
The geographical location information of pick-up, vehicle enter the geographical location information that target garage can be obtained target garage.For example, obtaining
The real-time positioning signal of vehicle, and obtain real-time geographical location information；When geographical location information is the position in target garage,
Record the geographical location information；Or think that vehicle enters in target garage when positioning signal is interrupted, positioning at this time is believed
Number geographical location information of the obtained geographical location information as target garage.Positioning signal can be using Beidou Navigation System
Beidou signal, be also possible to the GPS signal using GPS navigation system.In other embodiments, the geographical location information of vehicle
It can be combined with map to obtain using base station location technology.
Step 32 obtains vehicle and enters the lifting height behind target garage or falling head, to determine building locating for vehicle
Layer information.At least two different modes can be used.For example, a kind of mode passes through the first baroceptor and the first temperature sensing
Device obtains floor information locating for vehicle.First baroceptor is used to detect the atmospheric pressure of vehicle local environment.First temperature
Degree sensor is used to detect the temperature of vehicle local environment.That is, as shown in figure 5, step 32 can be realized with the following method:
Step S321, when can't detect positioning signal, it is believed that vehicle enters target garage, controls the first baroceptor
Current atmospheric pressure is detected, the height above sea level H0 into before target garage is obtained according to the atmospheric pressure；The positioning signal
For determining geographical location information.
Step S322, when the time for detecting that vehicle stops being more than preset threshold value, it is believed that vehicle has stopped, control the
One baroceptor detects current atmospheric pressure, obtains the height above sea level of vehicle present position according to current atmospheric pressure
H1；Certainly, in other embodiments, it can also whether stop, detect atmospheric pressure in real time, obtain the real-time of vehicle
Height above sea level, to obtain the height above sea level of the height above sea level H0 before vehicle enters target garage, rear vehicle present position of stopping
H1。
Step S323, the difference in height for calculating the height H1 and height H0, obtains vehicle and enters the rising behind target garage
Height or falling head, the i.e. difference in height of parking floor and outdoor road.
Step S324, floor information locating for vehicle is calculated based on the lifting height or falling head.Make user
Floor locating for vehicle is quickly learnt in the subsequent Che Shineng that seeks.
Certainly, in other embodiments, the difference in height that can also calculate the real-time height and height H0 of vehicle, obtains vehicle
Thus the floor information locating in real time of vehicle 10 is calculated in real-time lifting height or falling head in target garage.
Wherein, height above sea level H is calculated according to the following formula:
P is the atmospheric pressure that the first baroceptor detects, p0For standard atmospheric pressure.
It can be seen that, it is only necessary to know that corresponding height above sea level can be calculated in atmospheric pressure.
And since temperature will affect air pressure, therefore the environment temperature of vehicle can also be detected by the first temperature sensor, root
It is modified according to the atmospheric pressure that environment temperature detects the first baroceptor, that is, when vehicle detection is less than positioning signal,
The first baroceptor detection current atmospheric pressure is controlled, the first temperature sensor of control detects current environment temperature, according to
The environment temperature is modified the atmospheric pressure, obtains the height above sea level into before target garage according to the revised atmospheric pressure
Height H0 '；When the time for detecting that vehicle stops being more than preset threshold value, the first baroceptor of control detects currently big
Atmospheric pressure, the first temperature sensor of control detect current environment temperature, are repaired according to the environment temperature to the atmospheric pressure
Just, the height above sea level H1 ' of vehicle present position is obtained according to the revised atmospheric pressure；Calculate the height H1 ' and height
The difference in height of H0 ' obtains vehicle and enters the lifting height behind target garage or falling head.
Corresponding, revised height above sea level H ' is calculated according to the following formula:
Wherein P ' is revised atmospheric pressure.
In a further mode of operation, floor information locating for vehicle can be obtained by acceleration transducer.Think that vehicle enters
Behind target garage, lifting height or falling head are calculated by acceleration transducer, is risen and is stopped or (stop after declining stopping
Afterwards), according to the lifting height or falling head obtain vehicle locating for floor information.For example, detect vehicle stop when
Between be more than preset threshold value when, it is believed that vehicle parking complete, obtained locating for vehicle according to the lifting height or falling head
Floor information.Specifically, can also use gyroscope and acceleration transducer to ensure precision, it is upward in real time to obtain vehicle
Then acceleration or downward acceleration carry out secondary product to starting to rise to the time of parking or begin to decline time of parking
Point, so that it may obtain the lifting height or falling head of vehicle.Floor information can be by lifting height or falling head divided by building
Layer height obtains, and underground garage height is 3.2-3.9 meters general, and preferably desirable 3.5 meters of median, for estimating, obtain floor
Number.
Certainly, the two ways of step 32 can combine, and both pass through the first baroceptor, the first temperature sensor
Floor information locating for vehicle is obtained, obtains floor information locating for vehicle further through acceleration transducer.Two ways is obtained
To floor information integrated, such as result takes average etc., the accuracy of floor locating for the vehicle further increased.
Step 33 sends the geographical location information and floor information, to determine the location information of vehicle；For example, logical
It crosses the first wireless communication module and sends the geographical location information and floor information to mobile terminal, mobile terminal is made to know vehicle
Position.In order to ensure safety, the geographical location information and floor information, example only are sent to the mobile terminal bound with vehicle
Such as, according to the request of the mobile terminal of binding, the geographical location information and floor information are sent；Alternatively, by the geographical position
Confidence breath and floor information are synchronized to the mobile terminal of binding.First wireless communication module can be using the second generation, the third generation,
The wireless communication module of forth generation or the 5th third-generation mobile communication technology.Current vehicle, mobile terminal mainstream are mobile using forth generation
The communication technology, the present embodiment are illustrated as example.First wireless communication module current location can not receiving and transmitting signal when, example
When such as without 4G signal, geographical location information, floor information and localizer beacon are sent to mobile terminal by the first bluetooth module；Institute
Localizer beacon is stated to position for bluetooth.Preferably, the first bluetooth module uses bluetooth 5.0, and signal covering radius is 300 meters,
It is used in most of building enough.Certainly, in transmission geographical location information, floor information and localizer beacon at a distance,
Signal relaying can be carried out by the vehicle of other same technology, achieve the effect that extend signal spread scope.
It can be seen that above-mentioned car searching method realizes the positioning in floor.
As shown in fig. 6, vehicle method can also include the following steps:
Step 34 receives floor information and the corresponding height above sea level of floor information locating for the location information and vehicle in target garage
Height value, and correspondence is stored in Installed System Memory.
Step 35, the garage according to locating for the geographical location information in target garage positioning vehicle.Obtain the ground of mobile terminal
Manage location information；Judge whether mobile terminal is located in target garage according to the geographical location information of mobile terminal, if not being located at
Target then shows electronic map in garage on a display screen, on the electronic map by the geographical location marker in target garage, passes through
Navigation guide user enters in target garage；If being located in the target garage, S36 is entered step.
Step 36, control pressure sensor detect current atmospheric pressure to obtain the first height above sea level angle value.
Step 37 determines whether current location is vehicle institute according to the first height above sea level angle value and the second height above sea level angle value
The floor at place, wherein the second height above sea level angle value is the corresponding height above sea level angle value of floor locating for vehicle.Specifically, if being located at
In the target garage, then controls the second baroceptor and detect real-time atmospheric pressure, and obtained according to real-time atmospheric pressure
To real-time height above sea level Hu；The height above sea level H1 for comparing mobile terminal real-time height above sea level Hu and vehicle, obtains and vehicle
Real-time height difference H u-H1；The height difference H u-H1 and electronic map are shown on a display screen, and the floor in target garage is believed
Breath label on the electronic map, and guides the floor where user to vehicle mobile by electronic map；As Hu-H1=0,
Floor where prompting user to have arrived at vehicle by display screen；If current location is floor locating for vehicle, enter step
Rapid 38.
Likewise, the height above sea level of mobile terminal can be calculated according to above-mentioned formula one, and pass through second temperature sensor
Environment temperature is detected, is modified according to the atmospheric pressure that environment temperature detects the second baroceptor, concrete mode is the
It has been elaborated in the embodiment of one car finding device, this will not be repeated here.
If step 38, current location are floor locating for vehicle, send communication linkage and establish request and receive vehicle hair
The localizer beacon sent is to determine the location information of vehicle.For example, sending communication linkage by the second bluetooth module establishes request, and
The localizer beacon that vehicle issues is received by the second bluetooth module to position the location information of vehicle.
In step 34, building locating for the location information and vehicle in target garage is usually received by the second wireless communication module
The layer information and corresponding height above sea level angle value of floor information, the second wireless communication module current location can not receiving and transmitting signal when, example
When such as without 4G signal, the geographical location information, floor information and localizer beacon can be received by the second bluetooth module, and according to
The localizer beacon positions the location information of vehicle.Preferably, the second bluetooth module uses bluetooth 5.0, signal covering half
Diameter is 300 meters, is used in most of building enough.
Specifically, vehicle is calculated by AOA (angle of arrival ranging) location technology after obtaining the localizer beacon
Location information, and vehicle direction is shown on a display screen.User always along direction, move by prompt, so that it may find vehicle.
Mobile terminal can be estimated at a distance from vehicle, as aid prompting by bluetooth RSSI signal strength simultaneously.
AoA is the abbreviation of Angle of arrival, that is, angle of arrival.The direction that AoA is also known that beacon has been obtained,
As shown in Figure 3.Angle of arrival (AoA) measurement is the method for determining the direction of propagation for the rf wave being incident on aerial array.
AoA determines direction by measuring the reaching time-difference (TDOA) of each element of array, can calculate AoA from these delays.
For example, mobile terminal is built-in with the array of a double antenna, the distance of two antennas is the half of localizer beacon (video wave) wavelength.
If the wave of localizer beacon is incident on aerial array on front, it will reach each antenna simultaneously.This will be in two days
0 ° of phase difference is measured between thread elements, is equivalent to 0 ° of AoA.In other words, between the localizer beacon that two antenna detections arrive
Phase difference is 0 °, illustrates that vehicle is located at the front of mobile double antenna.If the wave of localizer beacon is incident on array in front-right
On, then 180 ° of phase differences will be measured between the antenna element, correspond to 90 ° of AoA.In other words, two antenna detections arrive
Phase difference between localizer beacon is 180 °, is the right side with positive number, for negative is left, illustrates that vehicle is being located at mobile double antenna just
Right.And so on realize positioning to vehicle.
It can be seen that the present invention is based on multistages to position, realizes garage on the ground or underground garage forward direction seeks vehicle.By upper
Method is stated, it is not only easy to operate, the vertical range with vehicle can be obtained in real time, positioned by bluetooth, moreover it is possible on same floor
Vehicle accurately is found, whole process can obtain navigation reminders, convenient and efficient.
It will be understood by those skilled in the art that all or part of the steps of various methods can pass through in above embodiment
Program instructs related hardware to complete, which can be stored in a computer readable storage medium, storage medium can wrap
It includes: read-only memory, random access memory, disk or CD etc..Especially during actual implementation of the present invention, above-described embodiment
In step can also be written as independent program, which is storable in server, disk, CD, on flash disk, passes through downloading
It is saved in the memory of local device, or version updating is carried out to local system by downloading, storage is executed by processor
Above-mentioned function can be realized in program in device.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (18)
1. a kind of car searching method, which comprises the steps of:
Obtain the geographical location information in target garage；
It obtains vehicle and enters behind target garage and rise or fall height, to determine floor information locating for vehicle；
The geographical location information and floor information are sent, to determine the location information of vehicle.
2. the method as described in claim 1, which is characterized in that obtain vehicle and enter behind target garage and rise or fall height
Degree, the step of to determine floor information locating for vehicle, comprising:
When can't detect positioning signal, control pressure sensor detects current atmospheric pressure, is obtained according to the atmospheric pressure
Into the height above sea level H0 before target garage；The positioning signal is for determining geographical location information；
When the time for detecting that vehicle stops being more than preset threshold value, control pressure sensor detects current atmospheric pressure,
The height above sea level H1 of vehicle present position is obtained according to current atmospheric pressure；
The difference in height for calculating the height H1 and height H0 obtains vehicle and enters lifting height or decline height behind target garage
Degree；
Floor information locating for vehicle is calculated based on the lifting height or falling head.
3. the method as described in claim 1, which is characterized in that obtain vehicle and enter behind target garage and rise or fall height
Degree, the step of to determine floor information locating for vehicle, comprising:
Lifting height or falling head are calculated by acceleration transducer, is risen after stopping or declining stopping, according to the rising
Height or falling head obtain floor information locating for vehicle.
4. the method as described in claim 1, which is characterized in that further comprise the steps of:
Localizer beacon is sent by bluetooth to position vehicle.
5. method according to claim 2, which is characterized in that it further comprises the steps of: and environment temperature is detected by temperature sensor,
It is modified according to the atmospheric pressure that the environment temperature detects baroceptor.
6. a kind of car searching method, which comprises the steps of:
According to garage locating for the geographical location information in target garage positioning vehicle；
Control pressure sensor detects current atmospheric pressure to obtain the first height above sea level angle value；
Determine whether current location is floor locating for vehicle according to the first height above sea level angle value and the second height above sea level angle value,
In, the second height above sea level angle value is the corresponding height above sea level angle value of floor locating for vehicle；
If current location is floor locating for vehicle, sends communication linkage and establish the localizer beacon for requesting and receiving vehicle transmission
To determine the location information of vehicle.
7. method as claimed in claim 6, which is characterized in that further include previous step: receiving the location information in target garage
Height above sea level angle value corresponding with floor information locating for vehicle and floor information, and correspondence is stored in Installed System Memory.
8. method as claimed in claim 6, which is characterized in that further comprise the steps of:
The localizer beacon that vehicle issues is received by bluetooth to position the location information of vehicle.
9. one kind seeks vehicle system characterized by comprising
The geographical location information in vehicle acquisition target garage；
Vehicle obtains its lifting height or falling head for entering the target garage, obtains the floor information locating for it；
Vehicle sends the geographical location information and floor information to mobile terminal；
Mobile terminal receives the geographical location information and floor information that vehicle issues, and the position based on the Information locating vehicle
Information.
10. a kind of car finding device characterized by comprising
First locating module, for obtaining geographical location information according to positioning signal；
First wireless communication module；
First processing module, for obtaining the geographical location information in target garage by the first locating module；Vehicle is obtained to enter
Lifting height or falling head behind target garage, to determine floor information locating for vehicle；And pass through the first radio communication mold
Block sends the geographical location information and floor information, to determine the location information of vehicle.
11. car finding device as claimed in claim 10, which is characterized in that further include the first baroceptor；At described first
Reason module obtains vehicle and enters the lifting height behind target garage or falling head, to determine floor information locating for vehicle, packet
It includes:
When the first locating module can't detect positioning signal, the first baroceptor of control detects current atmospheric pressure, according to
The atmospheric pressure obtains entering the height above sea level H0 before target garage；
When the time for detecting that vehicle stops being more than preset threshold value, the first baroceptor of control detects current atmospheric pressure
Power obtains the height above sea level H1 of vehicle present position according to current atmospheric pressure；
The difference in height for calculating the height H1 and height H0 obtains vehicle and enters lifting height or decline height behind target garage
Degree；
Floor information locating for vehicle is calculated based on the lifting height or falling head.
12. car finding device as claimed in claim 10, which is characterized in that further include acceleration transducer；First processing
Module obtains vehicle and enters the lifting height behind target garage or falling head, to determine floor information locating for vehicle, comprising:
Lifting height or falling head are calculated by acceleration transducer, is risen after stopping or declining stopping, according to the rising
Height or falling head obtain floor information locating for vehicle.
13. car finding device as claimed in claim 10, which is characterized in that further include the first bluetooth module；First processing
Module is also used to send localizer beacon by the first bluetooth module to position vehicle.
14. car finding device as claimed in claim 11, which is characterized in that further include the first temperature sensor, the first processing mould
Block is also used to detect environment temperature by the first temperature sensor, is detected according to the environment temperature to the first baroceptor
Atmospheric pressure is modified.
15. a kind of car finding device characterized by comprising
Second wireless communication module；
Second baroceptor；
Second processing module, for being received by the second wireless communication module locating for the geographical location information and vehicle in target garage
Floor information and the corresponding height above sea level angle value of floor information, according to the geographical location information in target garage position vehicle locating for
Garage；It controls the second baroceptor and detects current atmospheric pressure to obtain the first height above sea level angle value, according to first sea
It lifts angle value and the second height above sea level angle value determines whether current location is floor locating for vehicle, wherein second height above sea level
Angle value is the corresponding height above sea level angle value of floor locating for vehicle；If current location is floor locating for vehicle, communication linkage is sent
It establishes request and receives the localizer beacon of vehicle transmission to determine the location information of vehicle.
16. car finding device as claimed in claim 15, which is characterized in that further include the second bluetooth module, the second processing
Module receives the localizer beacon that vehicle issues by the second bluetooth module to position the location information of vehicle.
17. a kind of vehicle, which is characterized in that including the car finding device as described in any one of claim 10-14.
18. a kind of mobile terminal, which is characterized in that including the car finding device as described in claim 15 or 16.
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| CN201811168632.3A CN109121084A (en) | 2018-10-08 | 2018-10-08 | Vehicle, mobile terminal and its car searching method, device and system |
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| CN201811168632.3A CN109121084A (en) | 2018-10-08 | 2018-10-08 | Vehicle, mobile terminal and its car searching method, device and system |
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| CN112996103A (en) * | 2019-12-16 | 2021-06-18 | 深圳拓邦股份有限公司 | Indoor positioning method and device, positioning equipment, robot and storage medium |
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