CN113938820A - Vehicle searching method and vehicle searching module - Google Patents
Vehicle searching method and vehicle searching module Download PDFInfo
- Publication number
- CN113938820A CN113938820A CN202111135367.0A CN202111135367A CN113938820A CN 113938820 A CN113938820 A CN 113938820A CN 202111135367 A CN202111135367 A CN 202111135367A CN 113938820 A CN113938820 A CN 113938820A
- Authority
- CN
- China
- Prior art keywords
- arrival
- mobile node
- target vehicle
- distance
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The application relates to the technical field of automobile communication, in particular to a car searching method and a car searching module based on an intelligent key system. The vehicle searching method is executed by a target vehicle and comprises the following steps: receiving a vehicle searching signal sent by a mobile node in real time in a measuring time period in the advancing process in real time; determining the arrival distance of the vehicle searching signal at each moment of the measuring time period; the arrival distance is the distance information of the vehicle searching signal sent by the mobile node to the target vehicle at a moment; calculating an arrival angle of the mobile node relative to the target vehicle at each moment of the measurement period based on the arrival distance; and determining and prompting whether the mobile node is towards the target vehicle during the traveling process based on the change states of the arrival angle and the arrival distance in the measurement time period. The problem that the accurate real-time position information of the vehicle relative to the side key cannot be confirmed in the related technology, so that the vehicle cannot be accurately positioned can be solved.
Description
Technical Field
The application relates to the technical field of automobile communication, in particular to a car searching method and a car searching module based on an intelligent key system.
Background
An ultra-wideband signal angle positioning method in the related art generally arranges a plurality of antennas on the same node, and determines the equivalent time of the plurality of antennas on the measurement node for receiving the signal through an arrival angle intersection positioning technology to judge the arrival angle of a transmitting end relative to a receiving end. If the technology is used in a car key finding scheme, a target car is a transmitting end, and a car key is a receiving end, a plurality of antenna arrays are required to be arranged on the car key to realize the ultra-wide spectrum signal angle positioning method. However, since the space of the vehicle key is small, the space limitation is more obvious if a plurality of antennas are arranged.
In addition, in the related technology, only the angle information and the distance information of a single point under a static state relative to a target vehicle are determined, and the accurate real-time position information of the vehicle relative to a side key cannot be determined, so that the vehicle cannot be accurately positioned.
Disclosure of Invention
The application provides a vehicle searching method and a vehicle searching module, which can solve the problem that the accurate real-time position information of a vehicle relative to a side key cannot be confirmed in the related technology, so that the vehicle cannot be accurately positioned.
In order to solve the technical problems described in the background, a first aspect of the present application provides a vehicle finding method performed by a target vehicle, including the steps of:
receiving a vehicle searching signal sent by a mobile node in real time in a measuring time period in the advancing process in real time;
determining the arrival distance of the vehicle searching signal at each moment of the measuring time period; the arrival distance is the distance information of a vehicle searching signal sent by the mobile node to a target vehicle at a moment;
calculating an angle of arrival of the mobile node with respect to the target vehicle at each time of the measurement period based on the distance of arrival;
and determining and prompting whether the mobile node is towards the target vehicle in the traveling process based on the change states of the arrival angle and the arrival distance in the measurement time period.
Optionally, a plurality of signal receiving nodes are arranged on the body circumference of the target vehicle.
Optionally, the step of receiving, in real time, a vehicle-searching signal sent by the mobile node in real time during the traveling process in the measurement time period includes:
and the signal receiving nodes are used for respectively receiving the vehicle searching signals sent by the mobile nodes in real time in the measuring time period in the advancing process.
Optionally, the signal receiving nodes include at least a first signal receiving node, a second signal receiving node, and a third signal receiving node;
the step of determining the arrival distance of the vehicle seeking signal at each moment of the measurement time period comprises the following steps:
determining a first arrival distance, a second arrival distance and a third arrival distance of the vehicle searching signal at each moment of the measuring time period; the first arrival distance, the second arrival distance and the third arrival distance are distance information that vehicle searching signals sent by the mobile node respectively reach a first signal receiving node, a second signal receiving node and a third signal receiving node of a target vehicle at the same time;
determining a first measuring circle by taking the first signal receiving node as a circle center and the first arrival distance as a radius;
determining a second measuring circle by taking the second signal receiving node as a circle center and the second arrival distance as a radius;
determining a third measurement circle by taking the third signal receiving node as a circle center and the third arrival distance as a radius;
determining intersection point position information of the first measurement circle, the second measurement circle, and the third measurement circle as position information of the mobile node relative to the target vehicle.
Optionally, the step of calculating an angle of arrival of the mobile node with respect to the target vehicle at each time of the measurement time period based on the distance of arrival comprises:
determining an angle of arrival of the mobile node relative to the target vehicle based on the location information of the mobile node relative to the target vehicle.
Optionally, the step of determining and prompting whether the mobile node is heading to the target vehicle during the traveling process based on the change states of the angle of arrival and the distance of arrival in the measurement time period comprises:
and when the arrival angle is determined to be gradually increased in value and the arrival distance is gradually decreased in the measurement time period, determining and prompting that the mobile node is towards the target vehicle in the process of traveling.
Optionally, the step of determining and prompting whether the mobile node is heading to the target vehicle during the traveling process based on the change states of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is unchanged and the arrival distance is gradually increased, determining and prompting that the mobile node deviates from the target vehicle in the traveling process.
Optionally, the step of determining and prompting whether the mobile node is heading to the target vehicle during the traveling process based on the change states of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is unchanged, determining and prompting that the target vehicle surrounds the target vehicle in the traveling process of the mobile node and is positioned on the right side of the traveling direction of the mobile node.
Optionally, the step of determining and prompting whether the mobile node is heading to the target vehicle during the traveling process based on the change states of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is gradually increased, determining and prompting that the mobile node surrounds and is far away from the target vehicle in the traveling process, and the target vehicle is positioned at the right side of the traveling direction of the mobile node.
Optionally, the step of determining and prompting whether the mobile node is heading to the target vehicle during the traveling process based on the change states of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is gradually decreased, determining and prompting that the mobile node surrounds and approaches the target vehicle in the traveling process, and the target vehicle is positioned at the right side of the traveling direction of the mobile node.
Optionally, the step of determining and prompting whether the mobile node is heading to the target vehicle during the traveling process based on the change states of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is not changed, determining and prompting that the target vehicle surrounds the target vehicle in the traveling process of the mobile node and is positioned on the left side of the traveling direction of the mobile node.
Optionally, the step of determining and prompting whether the mobile node is heading towards the target vehicle during the traveling process in the state of change of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is gradually increased, the mobile node is determined and prompted to surround and depart from the target vehicle in the traveling process, and the target vehicle is positioned on the left side of the traveling direction of the mobile node.
Optionally, the step of determining and prompting whether the mobile node is heading towards the target vehicle during the traveling process in the state of change of the angle of arrival and the distance of arrival in the measurement time period comprises:
and in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is gradually reduced, determining and prompting that the mobile node surrounds and approaches the target vehicle in the traveling process, and the target vehicle is positioned on the left side of the traveling direction of the mobile node.
In order to solve the technical problems described in the background, a second aspect of the present application provides a vehicle searching module, which includes a processor and a memory, where at least one program or instruction is stored in the memory, and the program or instruction is loaded and executed by the processor to implement the vehicle searching method according to the first aspect of the present application.
The technical scheme at least comprises the following advantages: the method comprises the steps of receiving a vehicle searching signal sent by a mobile node in real time in a measuring time period in a traveling process, determining the arrival angle of the vehicle searching signal at each moment of the measuring time period, calculating each moment of the measuring time period based on the arrival angle, determining and prompting whether the traveling process of the mobile node faces to a target vehicle or not based on the arrival angle and the variation state of the arrival distance in the measuring time period, so that whether the current traveling direction faces to the vehicle or not is determined based on the real-time information variation under the motion state of the mobile node, and the fact that a user holding the mobile node (key) correctly walks to the vehicle is prompted, and a plurality of antennas do not need to be arranged on the key.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart illustrating a vehicle searching method according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating a mobile node transmitting a vehicle-seeking signal in real time during a measurement time period of 2 seconds;
fig. 3a shows a schematic diagram of the arrival distances of the car-seeking signal from the mobile node MP to the different signal receiving nodes AP at time T;
fig. 3b shows a schematic diagram of a process for determining the position information of the mobile node MP relative to the target vehicle at time T;
fig. 3c shows a schematic diagram of the procedure for determining the angle of arrival of the mobile node MP at a time T relative to the target vehicle;
fig. 4 shows a block diagram of a vehicle searching module according to an embodiment of the present application.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 shows a flowchart of a car seeking method provided in an embodiment of the present application, and as can be seen from fig. 1, the car seeking method includes the following steps S1 to S4, which are performed in sequence, wherein:
step S1: and receiving the vehicle searching signal sent by the mobile node in real time in the measuring time period in the advancing process in real time.
The mobile node is a car key, and a car owner carries the mobile node to move when searching a car.
Referring to fig. 2, which illustrates a schematic diagram of a mobile node during traveling for a measurement period of 2 seconds and transmitting a vehicle-finding signal in real time, it can be seen from fig. 2 that the mobile node MP moves from a starting point a to an end point B via a path S1 during the measurement period of 2 seconds, and is located at a corresponding position of the path S1 at each time during the measurement period, but the position information requires a target vehicle to be determined according to subsequent steps.
Step S2: determining the arrival distance of the vehicle searching signal at each moment of the measuring time period; the arrival distance is a distance at which a vehicle-seeking signal transmitted by the mobile node reaches a target vehicle at a time.
With continued reference to fig. 2, which also shows a schematic top view of the target vehicle, it can be seen from fig. 2 that the target vehicle is provided with a plurality of signal receiving nodes AP, which are a first receiving node AP1, a second receiving node AP2, a third receiving node AP3 and a fourth receiving node AP4, respectively, and four receiving nodes AP are circumferentially arranged around the target vehicle. And a coordinate system is established with the center of the target vehicle as a reference point RP.
And after the signal receiving node AP receives the vehicle searching signal in real time, determining each moment of the measurement time period and the arrival distance of the vehicle searching signal. For example, at time T in the measurement time period, the mobile node MP moves to point B and sends a vehicle seeking signal to the target vehicle at point B, and the signal receiving node AP of the target vehicle receives the vehicle seeking signal and determines the arrival distance of the vehicle seeking signal at the time T to the signal receiving node.
The arrival distances of the vehicle-seeking signal to different signal receiving nodes AP at the same time are different, so that the position information of the mobile node MP relative to the target vehicle can be determined according to the arrival distances of the vehicle-seeking signal to different signal receiving nodes AP at the same time.
Fig. 3a is a schematic diagram showing the arrival distances of the car-seeking signal from the mobile node MP to the different signal receiving nodes AP at the time T, and as can be seen from fig. 3, the mobile node MP sends the car-seeking signal at the time T, the distance from the car-seeking signal to the first signal receiving node AP1 is the first arrival distance D1, the distance from the car-seeking signal to the second signal receiving node AP2 is the second arrival distance D2, and the distance from the car-seeking signal to the third signal receiving node AP3 is the third arrival distance D3.
Fig. 3b shows a schematic diagram of the process of determining the position information of the mobile node MP with respect to the target vehicle at time T, and it can be seen from fig. 3b that a first measurement circle C1 is determined with the first signal receiving node AP1 as the center and the first arrival distance D1 as the radius; determining a second measurement circle C2 with the second signal receiving node AP2 as the center and the second arrival distance D2 as the radius; a third measurement circle C3 is determined with the third arrival distance D3 as the radius and the third signal receiving node AP3 as the center.
With continued reference to fig. 3b, the intersection point between the first measurement circle C1, the second measurement circle C2, and the third measurement circle C3 of fig. 3b is determined as the position of the mobile node MP relative to the target vehicle at time T. The coordinate information of the intersection point of the first measurement circle C1, the second measurement circle C2, and the third measurement circle C3 in the reference coordinate (x, y) may be calculated, and then the coordinate information of the intersection point may be determined as the position information of the mobile node MP at the time T with respect to the target vehicle.
Step S3: based on the arrival distance, an arrival angle of the mobile node with respect to the target vehicle at each time of the measurement period is calculated.
Fig. 3c shows a schematic diagram of the process of determining the angle of arrival of the mobile node MP at a time T relative to the target vehicle. Based on the position information of the mobile node MP relative to the target vehicle at time T shown in fig. 3a to 3b, an angle α 0 of the mobile node MP relative to the target vehicle reference point at time T may be determined, the angle α 0 being an arrival angle α 0 of the mobile node MP relative to the target vehicle at time T.
Exemplarily, the arrival angle of the mobile node MP with respect to the target vehicle at a certain time is: the connecting line between the mobile node MP and the target vehicle reference point RP at that moment forms an angle with the reference direction. In this embodiment, the reference direction may be a direction of a y-axis in a reference coordinate system (x, y), and an origin of the reference coordinate system (x, y) may be the target vehicle reference point RP.
Step S4: and determining and prompting whether the mobile node is towards the target vehicle during the traveling process based on the change states of the arrival angle and the arrival distance in the measurement time period.
And when the arrival angle is determined to be gradually increased in value and the arrival distance is gradually decreased in the measurement time period, determining and prompting that the mobile node is towards the target vehicle in the process of traveling.
As shown in fig. 3, during the 2-second measurement period, during the travel of the mobile node MP from the point a to the point B through the path S1, the arrival angle of the mobile node MP between each position and the reference point RP gradually becomes larger, and the distance of the mobile node MP between each position and the reference point RP gradually decreases, the mobile node MP heading toward the target vehicle during the travel.
The target vehicle may be caused to send an indication signal to the mobile node to indicate whether the mobile node is heading towards the target vehicle during travel. Alternatively, when it is determined that the reaching distance of the mobile node relative to the target vehicle gradually decreases, the indication signal sent to the mobile node can enable the indication lamp of the mobile node to flash quickly, and when it is determined that the reaching distance of the mobile node relative to the target vehicle gradually increases, the indication signal sent to the mobile node can enable the indication lamp of the mobile node to flash slowly.
Therefore, the owner of the vehicle is required to carry the mobile node to try to move towards different path directions, and the vehicle travels along the direction during the rapid flashing after obtaining the correct rapid flashing prompt.
Otherwise, it is determined that the mobile node is not heading toward the target vehicle during travel.
Wherein, the step of determining and prompting that the mobile node is not heading towards the target vehicle in the traveling process comprises the following possible implementation modes:
in a first embodiment, during the measurement time period, when the value of the angle of arrival is not changed and the distance of arrival gradually increases, the departure of the mobile node from the target vehicle during the traveling process is determined and prompted.
Alternatively, an indicator lamp on the left side and an indicator lamp on the right side may be provided on the mobile node. When the fact that the mobile node deviates from the target vehicle in the traveling process is determined, the indicating signal sent to the mobile node can enable the right indicating lamp and the left indicating lamp of the mobile node to flicker slowly, and therefore the fact that the mobile node deviates from the target vehicle in the traveling process is prompted.
In a second implementation manner, in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is not changed, the target vehicle surrounding the mobile node in the traveling process is determined and prompted, and the target vehicle is positioned on the right side of the traveling direction of the mobile node.
Alternatively, an indicator lamp on the left side and an indicator lamp on the right side may be provided on the mobile node. When the arrival distance of the mobile node relative to the target vehicle is determined to be unchanged and the target vehicle is determined to be positioned on the right side of the traveling direction of the mobile node, the right indicator light of the mobile node can be normally on by the indicating signal sent to the mobile node, so that the owner carrying the mobile node is prompted to move forward to the right until the right indicator light flashes rapidly.
In a third embodiment, in the measurement period, when the value of the angle of arrival gradually becomes larger and the distance of arrival gradually becomes larger, it is determined and prompted that the mobile node is moving around and away from the target vehicle, and the target vehicle is located on the right side of the moving direction of the mobile node.
Optionally, the mobile node may be provided with an indicator light located on the left side and an indicator light located on the right side, and when it is determined that the reaching distance of the mobile node with respect to the target vehicle gradually increases and it is determined that the target vehicle is located on the right side of the traveling direction of the mobile node, the indicator light on the right side of the mobile node may flash at a slow speed by an indicator signal sent to the mobile node, so as to prompt a vehicle owner carrying the mobile node to travel to the right until the indicator light on the right side flashes at a fast speed.
In a fourth embodiment, in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is gradually decreased, the mobile node is determined and prompted to surround and approach the target vehicle during the traveling process of the mobile node, and the target vehicle is located on the right side of the traveling direction of the mobile node.
Optionally, the mobile node may be provided with an indicator lamp located on the left side and an indicator lamp located on the right side, and when it is determined that the reaching distance of the mobile node with respect to the target vehicle gradually decreases and it is determined that the target vehicle is located on the right side of the traveling direction of the mobile node, the indicator lamp on the right side of the mobile node may flash quickly by an indicator signal sent to the mobile node, so as to prompt the owner carrying the mobile node to continue traveling according to the current traveling direction.
In a fifth implementation manner, in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is not changed, the target vehicle surrounding the mobile node in the traveling process is determined and prompted, and the target vehicle is located on the left side of the traveling direction of the mobile node.
Optionally, the mobile node may be provided with an indicator light located on the left side and an indicator light located on the right side, and when it is determined that the reaching distance of the mobile node with respect to the target vehicle is not changed and it is determined that the target vehicle is located on the left side of the traveling direction of the mobile node, the indicator light on the left side of the mobile node is constantly turned on by an indicator signal sent to the mobile node, so as to prompt a vehicle owner carrying the mobile node to advance rightward until the indicator light on the right side flashes rapidly.
In a sixth implementation manner, in the measurement time period, when the value of the arrival angle gradually becomes smaller and the arrival distance gradually becomes larger, it is determined and prompted that the mobile node surrounds and moves away from the target vehicle in the traveling process, and the target vehicle is located on the left side of the traveling direction of the mobile node.
Optionally, the mobile node may be provided with an indicator light located on the left side and an indicator light located on the right side, and when it is determined that the distance of the mobile node with respect to the target vehicle gradually increases and it is determined that the target vehicle is located on the left side of the traveling direction of the mobile node, the indicator light on the left side of the mobile node may flash at a slow speed by an indicator signal sent to the mobile node, so as to prompt a vehicle owner carrying the mobile node to advance to the left until the indicator light on the right side flashes at a fast speed.
In a seventh implementation manner, when the value of the arrival angle gradually becomes smaller and the arrival distance gradually becomes smaller in the measurement time period, the mobile node is determined and prompted to surround and approach the target vehicle during the traveling process, and the target vehicle is located on the left side of the traveling direction of the mobile node.
Optionally, the mobile node may be provided with an indicator light located on the left side and an indicator light located on the right side, and when it is determined that the distance between the mobile node and the target vehicle gradually decreases and it is determined that the target vehicle is located on the left side of the traveling direction of the mobile node, the indicator light on the left side of the mobile node may flash rapidly by an indicator signal sent to the mobile node, so as to prompt the owner of the mobile node to continue to advance in the current direction.
Referring to fig. 4, the vehicle seeking module provided in the embodiment of the present application is illustrated, and the vehicle seeking module includes a processor 420 and a memory 410, where the memory 410 stores at least one program or instruction, and the program or instruction is loaded and executed by the processor 420 to implement the vehicle seeking method as illustrated in any one of fig. 1 to 3.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.
Claims (14)
1. A vehicle searching method is characterized in that the vehicle searching method is executed by a target vehicle and comprises the following steps:
receiving a vehicle searching signal sent by a mobile node in real time in a measuring time period in the advancing process in real time;
determining the arrival distance of the vehicle searching signal at each moment of the measuring time period; the arrival distance is the distance information of a vehicle searching signal sent by the mobile node to a target vehicle at a moment;
calculating an angle of arrival of the mobile node with respect to the target vehicle at each time of the measurement period based on the distance of arrival;
and determining and prompting whether the mobile node is towards the target vehicle in the traveling process based on the change states of the arrival angle and the arrival distance in the measurement time period.
2. The vehicle searching method according to claim 1, wherein a plurality of signal receiving nodes are arranged on the body circumference of the target vehicle.
3. The vehicle searching method according to claim 2, wherein the step of receiving the vehicle searching signal sent by the mobile node in real time during the traveling process in the measurement time period in real time comprises:
and the signal receiving nodes are used for respectively receiving the vehicle searching signals sent by the mobile nodes in real time in the measuring time period in the advancing process.
4. The vehicle seeking method according to claim 2, wherein the signal receiving nodes include at least a first signal receiving node, a second signal receiving node, and a third signal receiving node;
the step of determining the arrival distance of the vehicle seeking signal at each moment of the measurement time period comprises the following steps:
determining a first arrival distance, a second arrival distance and a third arrival distance of the vehicle searching signal at each moment of the measuring time period; the first arrival distance, the second arrival distance and the third arrival distance are distance information that vehicle searching signals sent by the mobile node respectively reach a first signal receiving node, a second signal receiving node and a third signal receiving node of a target vehicle at the same time;
determining a first measuring circle by taking the first signal receiving node as a circle center and the first arrival distance as a radius;
determining a second measuring circle by taking the second signal receiving node as a circle center and the second arrival distance as a radius;
determining a third measurement circle by taking the third signal receiving node as a circle center and the third arrival distance as a radius;
determining intersection point position information of the first measurement circle, the second measurement circle, and the third measurement circle as position information of the mobile node relative to the target vehicle.
5. The vehicle seeking method according to claim 4, wherein said step of calculating an angle of arrival of said mobile node with respect to said target vehicle at each time of said measurement time period based on said distance of arrival comprises:
determining an angle of arrival of the mobile node relative to the target vehicle based on the location information of the mobile node relative to the target vehicle.
6. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling based on the state of change in the angle of arrival and the distance of arrival in the measurement period comprises:
and when the arrival angle is determined to be gradually increased in value and the arrival distance is gradually decreased in the measurement time period, determining and prompting that the mobile node is towards the target vehicle in the process of traveling.
7. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling based on the state of change in the angle of arrival and the distance of arrival in the measurement period comprises:
and in the measurement time period, when the value of the arrival angle is unchanged and the arrival distance is gradually increased, determining and prompting that the mobile node deviates from the target vehicle in the traveling process.
8. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling based on the state of change in the angle of arrival and the distance of arrival in the measurement period comprises:
and in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is unchanged, determining and prompting that the target vehicle surrounds the target vehicle in the traveling process of the mobile node and is positioned on the right side of the traveling direction of the mobile node.
9. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling based on the state of change in the angle of arrival and the distance of arrival in the measurement period comprises:
and in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is gradually increased, determining and prompting that the mobile node surrounds and is far away from the target vehicle in the traveling process, and the target vehicle is positioned at the right side of the traveling direction of the mobile node.
10. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling based on the state of change in the angle of arrival and the distance of arrival in the measurement period comprises:
and in the measurement time period, when the value of the arrival angle is gradually increased and the arrival distance is gradually decreased, determining and prompting that the mobile node surrounds and approaches the target vehicle in the traveling process, and the target vehicle is positioned at the right side of the traveling direction of the mobile node.
11. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling based on the state of change in the angle of arrival and the distance of arrival in the measurement period comprises:
and in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is not changed, determining and prompting that the target vehicle surrounds the target vehicle in the traveling process of the mobile node and is positioned on the left side of the traveling direction of the mobile node.
12. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling in the measurement period of time in a state of change in the angle of arrival and the distance of arrival comprises:
and in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is gradually increased, the mobile node is determined and prompted to surround and depart from the target vehicle in the traveling process, and the target vehicle is positioned on the left side of the traveling direction of the mobile node.
13. The vehicle seeking method according to claim 1, wherein the step of determining and prompting whether the mobile node is heading toward the target vehicle during traveling in the measurement period of time in a state of change in the angle of arrival and the distance of arrival comprises:
and in the measurement time period, when the value of the arrival angle is gradually reduced and the arrival distance is gradually reduced, determining and prompting that the mobile node surrounds and approaches the target vehicle in the traveling process, and the target vehicle is positioned on the left side of the traveling direction of the mobile node.
14. A car-finding module, characterized in that the car-finding module comprises a processor and a memory, in which at least one program or instruction is stored, which is loaded and executed by the processor to implement the car-finding method according to any one of claims 1 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111135367.0A CN113938820A (en) | 2021-09-27 | 2021-09-27 | Vehicle searching method and vehicle searching module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111135367.0A CN113938820A (en) | 2021-09-27 | 2021-09-27 | Vehicle searching method and vehicle searching module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113938820A true CN113938820A (en) | 2022-01-14 |
Family
ID=79276967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111135367.0A Pending CN113938820A (en) | 2021-09-27 | 2021-09-27 | Vehicle searching method and vehicle searching module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113938820A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005283325A (en) * | 2004-03-30 | 2005-10-13 | Hcx:Kk | Vehicle position guidance system and method |
| CN113093104A (en) * | 2021-03-25 | 2021-07-09 | 广州小鹏汽车科技有限公司 | Positioning method and device and vehicle |
| CN113225673A (en) * | 2021-04-30 | 2021-08-06 | 华人运通(上海)云计算科技有限公司 | Vehicle searching method, device and system |
-
2021
- 2021-09-27 CN CN202111135367.0A patent/CN113938820A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005283325A (en) * | 2004-03-30 | 2005-10-13 | Hcx:Kk | Vehicle position guidance system and method |
| CN113093104A (en) * | 2021-03-25 | 2021-07-09 | 广州小鹏汽车科技有限公司 | Positioning method and device and vehicle |
| CN113225673A (en) * | 2021-04-30 | 2021-08-06 | 华人运通(上海)云计算科技有限公司 | Vehicle searching method, device and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10969498B2 (en) | Vehicle positioning method, apparatus and device | |
| KR102189485B1 (en) | Method and system for vehicle-to-pedestrian collision avoidance | |
| US9834212B2 (en) | Apparatus and method for controlling vehicle using vehicle communication | |
| KR101436031B1 (en) | System and method for position estimation using downlink access point | |
| US9097784B2 (en) | System and method to collect and modify calibration data | |
| US20110200023A1 (en) | Method and system for determining a position fix indoors | |
| CN101160553A (en) | Determining relative spatial information between vehicles | |
| CN111238472B (en) | Real-time high-precision positioning method and device for full-automatic parking | |
| JP6291873B2 (en) | Wireless positioning device | |
| US20150334535A1 (en) | Wireless position detection apparatus and storage medium | |
| JP2020532209A (en) | How to report positioning data | |
| JP2007228018A (en) | Emergency call terminal | |
| JP2019041354A (en) | Terminal device, roadside device, communication system, and position acquisition method | |
| US8405492B2 (en) | In-vehicle wireless communication terminal | |
| CN113938820A (en) | Vehicle searching method and vehicle searching module | |
| JP6303865B2 (en) | Wireless communication device and wireless positioning system | |
| JP6384254B2 (en) | Terminal device | |
| JP2005039552A (en) | Narrow band radio communication system, mobile communications terminal and base station | |
| JP5754997B2 (en) | Mobile communication device and communication control method | |
| JP4500642B2 (en) | Inter-vehicle communication system and inter-vehicle communication device | |
| JP5359577B2 (en) | Information management center and in-vehicle terminal | |
| US10959042B2 (en) | Locating a mobile terminal by means of a vehicle | |
| JP6983034B2 (en) | In-vehicle system, target recognition method and computer program | |
| JP4370173B2 (en) | Inter-vehicle communication system and inter-vehicle communication device | |
| JP2017026386A (en) | Radio determination map creation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |