CN114071350B - Vehicle positioning method, device and readable storage medium - Google Patents
Vehicle positioning method, device and readable storage medium Download PDFInfo
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- CN114071350B CN114071350B CN202111241211.0A CN202111241211A CN114071350B CN 114071350 B CN114071350 B CN 114071350B CN 202111241211 A CN202111241211 A CN 202111241211A CN 114071350 B CN114071350 B CN 114071350B
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- 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
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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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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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
- H04W4/029—Location-based management or tracking services
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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]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The present disclosure relates to a vehicle positioning method, apparatus, and readable storage medium, the method comprising: acquiring a first vehicle speed of the vehicle; acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of vehicles, and more particularly relates to a vehicle positioning method, a vehicle positioning device and a readable storage medium.
Background
To standardize a user's parking, the user is required to park the vehicle in a set parking area. In particular, the vehicle location and the location of the parking area may be compared to determine whether the vehicle is within the parking area. Based on this, it is necessary to provide a vehicle positioning method.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a new solution for vehicle positioning.
According to a first aspect of the present disclosure, there is provided a vehicle positioning method including: acquiring a first vehicle speed of the vehicle; acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data.
Optionally, before the obtaining the first positioning position of the vehicle, the method further comprises: responding to the vehicle returning instruction, and determining whether the obtained data volume of the positioning data meets the set data volume requirement; and executing the step of obtaining the first positioning position of the vehicle according to the obtained positioning data under the condition that the data volume of the obtained positioning data meets the data volume requirement.
Optionally, the set speed threshold is greater than or equal to zero.
Optionally, the acquiring positioning data for indicating the positioning position of the vehicle includes: acquiring positioning data for indicating the positioning position of the vehicle according to signals output by a positioning device in the signal acquisition range of the vehicle; the positioning device is positioned in a corresponding set parking area, and the positioning data are data reflecting the relative distance between the vehicle and the positioning device.
Optionally, the method further comprises: acquiring a second vehicle speed of the vehicle under the condition that the positioning data is acquired for the first time; and adjusting the set speed threshold according to the second vehicle speed.
Optionally, before the acquiring the positioning data for indicating the positioning position of the vehicle, the method further comprises: acquiring a second positioning position of the vehicle under the condition that the first vehicle speed is smaller than or equal to the set speed threshold value; determining whether a target parking area exists according to the second positioning position, wherein the distance between the positioning position of the target parking area and the second positioning position is smaller than or equal to a set distance threshold; the step of acquiring positioning data indicating a positioning position of the vehicle is performed in the presence of the target parking area.
Optionally, after the obtaining the first positioning position of the vehicle, the method further comprises: determining whether the first positioning position is located in a set parking area; and executing the set vehicle returning operation under the condition that the first positioning position is located in the set parking area.
According to a second aspect of the present disclosure, there is also provided a vehicle positioning device including: the first acquisition module is used for acquiring a first speed of the vehicle; the second acquisition module is used for acquiring positioning data for indicating the positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and a third acquisition module, configured to obtain a first positioning position of the vehicle according to the obtained positioning data in response to a vehicle returning instruction corresponding to the vehicle.
According to a third aspect of the present disclosure, there is also provided a vehicle positioning device comprising a memory for storing a computer program and a processor; the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method according to the first aspect of the present disclosure.
One beneficial effect of the embodiment of the disclosure is that a first vehicle speed of the vehicle is obtained; acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data. According to the embodiment, the positioning data are acquired when the vehicle speed is low, namely, the user is about to return the vehicle, so that the positioning data with larger data quantity can be acquired before the user requests to return the vehicle, and the vehicle is positioned based on the acquired positioning data when the user requests to return the vehicle, and the accurate positioning of the vehicle can be realized.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
FIG. 1 is a schematic diagram of an implementation environment in which a vehicle positioning method according to one embodiment can be applied, and a system constituent structure in which the method can be implemented;
FIG. 2 is a flow diagram of a vehicle positioning method according to one embodiment;
FIG. 3 is a flow chart diagram of a vehicle positioning method according to another embodiment;
FIG. 4 is a block schematic diagram of a vehicle locating device according to one embodiment;
fig. 5 is a schematic hardware configuration of a vehicle positioning device according to an embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
One application scenario of the disclosed embodiments is vehicle positioning.
For vehicle positioning purposes, an alternative embodiment is: and responding to a vehicle returning request sent by a user, acquiring positioning data of the vehicle, and determining the positioning position of the vehicle according to the acquired positioning data. For example, the fitting center position of the positioning position determined by the positioning data can be taken as the positioning position of the vehicle. However, in order to ensure the response efficiency of returning to the vehicle, the data amount of the obtained positioning data is usually not large, so that the positioning accuracy of the positioning position obtained by the method is not high.
In view of the technical problems in the above embodiments, the inventor proposes a vehicle positioning method that obtains a first vehicle speed of the vehicle; acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data.
< implementation Environment and hardware configuration >
FIG. 1 is a schematic diagram of a vehicle positioning system 100 that may be used to implement embodiments of the present disclosure.
As shown in fig. 1, the system 100 includes a server 2000, a terminal device 1000, and a vehicle 3000.
The server 2000 and the terminal device 1000, and the server 2000 and the vehicle 3000 may be communicatively connected through a network 4000. The network 4000 on which the vehicle 3000 and the server 2000 and the terminal device 1000 communicate with the server 2000 may be the same or different. The network 4000 may be a wireless communication network or a wired communication network, and may be a local area network or a wide area network.
The server 2000 provides the service points for processing, databases, communication facilities. The server 2000 may be a monolithic server, a distributed server across multiple computers, a computer data center, a cloud server, or a cluster of servers deployed in the cloud, etc. The server may be of various types such as, but not limited to, a web server, news server, mail server, message server, advertisement server, file server, application server, interaction server, database server, or proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported by or implemented by the server. The server 2000 specific configuration may include, but is not limited to, a processor 2100, a memory 2200, an interface device 2300, a communication device 2400. The processor 2100 is configured to execute a computer program written in an instruction set of an architecture such as x86, arm, RISC, MIPS, SSE, etc. The memory 2200 is, for example, ROM (read only memory), RAM (random access memory), nonvolatile memory such as a hard disk, or the like. The interface device 2300 is, for example, a USB interface, a serial interface, a parallel interface, or the like. The communication device 2400 is capable of wired or wireless communication, for example, and may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like, for example.
The memory 2200 of the server 2000 is used to store a computer program for controlling the processor 2100 to operate to support implementation of the method according to the embodiments of the present disclosure, as applied to the embodiments of the present disclosure. The skilled person can design the computer program according to the disclosure of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
Those skilled in the art will appreciate that the server 2000 may include other devices in addition to those shown in fig. 1, and is not limited in this regard.
In this embodiment, the terminal device 1000 is, for example, a mobile phone, a portable computer, a tablet computer, a palm computer, a wearable device, etc.
The terminal device 1000 is provided with a vehicle application client, and a user can use the vehicle 3000 by operating the vehicle application client.
The terminal device 1000 can include, but is not limited to, a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a graphics processor GPU, a microprocessor MCU, etc. for executing a computer program written in an instruction set of an architecture such as x86, arm, RISC, MIPS, SSE, etc. The memory 1200 includes, for example, ROM (read only memory), RAM (random access memory), nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication device 1400 can perform wired communication using an optical fiber or a cable, or perform wireless communication, for example, and specifically can include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display, a touch display, or the like. The input device 1600 may include, for example, a touch screen, keyboard, somatosensory input, and the like. The speaker 1170 is for outputting an audio signal. A microphone 1180 is used to pick up the audio signal.
The memory 1200 of the terminal device 1000, as applied in the embodiments of the present disclosure, is used to store a computer program for controlling the processor 1100 to operate to support implementation of the method according to the embodiments of the present disclosure, which is well known in the art, and thus not described in detail herein. The terminal device 1000 can be equipped with an intelligent operating system (e.g., windows, linux, android, IOS, etc. systems) and application software.
It will be appreciated by those skilled in the art that although a plurality of means of terminal device 1000 are shown in fig. 1, terminal device 1000 of embodiments of the present disclosure may refer to only some of the means therein, e.g., only processor 1100, memory 1200, etc.
The vehicle 3000 may be a bicycle as shown in fig. 1, or may be a tricycle, an electric power assisted vehicle, a motorcycle, a four-wheel passenger vehicle, or the like, and is not limited thereto.
The vehicle 3000 may include, but is not limited to, a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, a display device 3500, an input device 3600, and the like. The processor 3100 may be a microprocessor MCU or the like. The memory 3200 includes, for example, ROM (read only memory), RAM (random access memory), nonvolatile memory such as a hard disk, and the like. The interface device 3300 includes, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication device 3400 may perform wired communication using an optical fiber or a cable, or perform wireless communication, for example, and may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 3500 may be, for example, a liquid crystal display, a touch display, or the like. The input device 3600 may include, for example, a touch panel, a keyboard, or the like, and may input voice information by a microphone.
The memory 3200 applied to the embodiment of the present disclosure is used for storing a computer program for controlling the processor 3100 to operate to support implementation of the method according to the embodiment of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
Although a plurality of devices of the vehicle 3000 are shown in fig. 1, the present invention may relate to only some of the devices, for example, the vehicle 3000 may relate to only the processor 3100, the memory 3200, and the communication device 3400.
It should be understood that although fig. 1 shows only one server 2000, terminal device 1000, and vehicle 3000, it is not meant to limit the respective numbers, and that a plurality of servers 2000, a plurality of terminal devices 1000, and a plurality of vehicles 3000 may be included in the present system.
Various embodiments and examples according to the present invention are described below with reference to the accompanying drawings.
< method example >
FIG. 2 is a flow diagram of a vehicle positioning method according to one embodiment. The implementation subject of the present embodiment may be the vehicle positioning system 100 shown in fig. 1.
As shown in fig. 2, the vehicle positioning method of the present embodiment may include the following steps S210 to S230:
Step S210, obtaining a first vehicle speed of the vehicle.
The vehicle in this embodiment may be a bicycle or an electric bicycle.
In general, the vehicle speed is relatively high during riding by the user, and the vehicle speed is gradually reduced until the vehicle speed is zero when the user is about to return to the vehicle. When the vehicle speed is zero, namely the vehicle is in a stationary state, a user can send a vehicle returning request by operating the corresponding APP on the terminal equipment.
To standardize the parking of the vehicle, it may be defined that the user is allowed to return only when the user parks the vehicle into a set position, such as a parking area. Thus, in order to achieve the purpose of standard returning, it is necessary to know the positioning position of the vehicle when the user requests returning.
For the implementation mode that the vehicle positioning data are periodically acquired only when the user requests to return the vehicle and the vehicle positioning position is acquired according to the periodic acquisition, in order to ensure the time efficiency of returning the vehicle, the duration of acquiring the vehicle positioning data in the implementation mode is not too long, so that the problem that the data size of the acquired vehicle positioning data is smaller exists, and the accuracy of the vehicle positioning position acquired according to the method is not high.
In order to improve the accuracy of vehicle positioning, unlike this implementation, the present embodiment may start acquiring vehicle positioning data before the user requests to return to the vehicle. By advancing the start time of acquiring the vehicle positioning data, the duration of acquiring the vehicle positioning data can be correspondingly prolonged while the vehicle returning timeliness is ensured, so that the data volume of the acquired vehicle positioning data is increased.
In order to improve the accuracy of vehicle positioning, the positions corresponding to the positioning data used for calculating the vehicle positioning positions should not differ greatly, so that the user can start to acquire the positioning data when the user is about to stop. In addition, the acquisition of the positioning data is started when the user is about to park, useless positioning data (such as positioning data acquired during riding of the user, which is not normally used for calculating the vehicle positioning position when the user is about to park) can be avoided, and the increase of the vehicle processing pressure due to the excessive data amount of the positioning data can be avoided.
Furthermore, in a possible implementation, the vehicle may obtain positioning data from signals output by the positioning device at the parking area. When a user is about to park, the vehicle is usually close to the positioning device, the situation that the signal cannot be acquired does not occur, and thus the positioning data is required to be acquired when the user is about to park, the situation that the signal output by the positioning device cannot be acquired for a long time is avoided, and the vehicle processing pressure is increased.
As described above, since the vehicle speed is gradually reduced when the user is about to park, the user can be considered to park and start acquiring the positioning data in the case where the vehicle speed is low. Based on this, step S210 may be performed to acquire the vehicle speed of the vehicle in real time during the use of the vehicle by the user.
In a possible implementation, a speed sensor may be provided at a wheel of the vehicle, and the vehicle may obtain the vehicle speed based on information collected by the speed sensor. In other implementations, the vehicle or the server may also calculate the vehicle speed based on a ratio of the vehicle's riding distance to the corresponding riding time.
The present embodiment obtains the vehicle speed of the vehicle, so that the timing for starting the operation of obtaining the positioning data can be determined according to the magnitude of the vehicle speed.
Step S220, when the first vehicle speed is less than or equal to a set speed threshold, acquiring positioning data for indicating a positioning position of the vehicle.
In this step, if the vehicle speed is not greater than the corresponding threshold, the user can be considered to be about to return the vehicle, and the vehicle can start to acquire the positioning data.
In detail, the positioning data acquired by the vehicle can be uploaded to the server in real time, can be cached in the vehicle and then uploaded to the server together, so that the server can calculate the positioning position of the vehicle according to the positioning data. Alternatively, the vehicle may directly calculate the vehicle positioning position, and upload the calculated vehicle positioning position to the server.
In this embodiment, the obtained positioning data is used to indicate the positioning position of the vehicle. The positioning data may be data representing the absolute position of the vehicle, such as GPS positioning data, or data representing the relative position of the vehicle, such as data reflecting the relative positional relationship between the vehicle and the set positioning device.
According to the embodiment, the positioning data is acquired when the vehicle speed is smaller, so that the data size of the acquired positioning data is larger when the vehicle positioning position needs to be acquired to achieve the purpose of returning the vehicle, and the accuracy of vehicle positioning can be improved.
In one embodiment of the present disclosure, the set speed threshold is greater than or equal to zero.
In this embodiment, the vehicle speed being zero is generally understood to be zero within the allowable speed error range, and the vehicle can be regarded as being in a stationary state.
For the case where the set speed threshold is zero, the obtained positioning data is the positioning data in the stationary state of the vehicle. Based on a large amount of positioning data, the positioning position of the vehicle during returning of the user can be accurately obtained.
Unlike the set speed threshold being zero, the set speed threshold may also be greater than zero, which is greater than the speed error, so that the vehicle is in a running state at this time. Thus, there are generally two types of positioning data obtained, one being positioning data in a running state of the vehicle and the other being positioning data in a stationary state of the vehicle.
By inputting the two types of positioning data into a set algorithm model, a more accurate positioning position can be obtained. This is because the determination of the positioning position involves two dimensions of the stationary state and the running state, and the positioning position of the vehicle is determined comprehensively from the two dimensions, and the positioning accuracy can be further improved as compared with the determination of the positioning position of the vehicle from only one dimension.
The vehicle speed is reduced when the user temporarily parks, such as when the user waits for a traffic light, when the user emergently brakes, and the like, and the user does not have a vehicle returning requirement at the moment, so that the vehicle positioning position does not need to be determined. Based on this, in the case where the vehicle speed is low, it is possible to distinguish between the user waiting for the vehicle and the user temporary parking, and to perform the vehicle positioning-related operation while the user is waiting for the vehicle and not to perform the vehicle positioning-related operation while the user is temporarily parked, so as to avoid the generation of unnecessary data processing pressure.
Based on this, in one embodiment of the present disclosure, before the acquiring the positioning data for indicating the positioning position of the vehicle, the method may further include the steps A1 to A3 of:
and step A1, acquiring a second positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to the set speed threshold value.
For example, positioning position information acquired by a GPS positioning module set by the vehicle may be acquired to obtain a current positioning position of the vehicle.
And A2, determining whether a target parking area exists according to the second positioning position, wherein the distance between the positioning position of the target parking area and the second positioning position is smaller than or equal to a set distance threshold value.
In detail, the position of each preset parking area is fixed and known.
Since the user is decelerating and waiting for the vehicle to get in, the vehicle is usually near the parking area, the server can judge whether the user is waiting for the vehicle or not through the distance between the parking area and the vehicle based on the position of the parking area and the position of the vehicle.
And step A3, executing the step of acquiring positioning data for indicating the positioning position of the vehicle when the target parking area exists.
In detail, if there is no parking area near the vehicle, it is considered that the user temporarily parks and decelerates, and the vehicle does not need to perform an operation of acquiring positioning data.
In detail, if there is a parking area near the vehicle, it can be considered that the user is waiting for the vehicle to get back and decelerate, the vehicle can start to perform the operation of acquiring the positioning data.
Therefore, by distinguishing the situation that the user waits for the vehicle to return from the situation that the user temporarily parks, the embodiment can accurately determine whether the operation of acquiring the positioning data needs to be executed, and unnecessary data processing pressure is avoided.
In view of the fact that the user is approaching the parking area when returning the vehicle, the positioning means may be provided at a position corresponding to the parking area, such as a boundary line, a boundary corner, etc. of the parking area. The positioning device can output corresponding signals, and the vehicle can sense the signals output by the positioning device, so that positioning data can be obtained according to the sensed signals.
Because the positions of the vehicle and the positioning device are close, the vehicle can acquire positioning data in a short-distance communication mode, and the vehicle positioning position acquired according to the positioning data can be more accurate than the GPS positioning position, so that the vehicle positioning accuracy is improved.
Based on this, in one embodiment of the present disclosure, the acquiring positioning data for indicating the positioning position of the vehicle may include the following step S2201:
step S2201, acquiring positioning data for indicating a positioning position of the vehicle according to a signal output by the positioning device within the signal acquisition range of the vehicle.
The positioning device is positioned in a corresponding set parking area, and the positioning data are data reflecting the relative distance between the vehicle and the positioning device.
In detail, the positioning device may be a device outputting a bluetooth signal, a device outputting a WiFi signal, or the like. Correspondingly, the vehicle in the present embodiment may be provided with a short-range communication module, such as a bluetooth module, a WiFi module, or the like, which may be provided in a smart lock of the vehicle, for example. Based on this, any vehicle in this embodiment can establish a communication connection with other positioning devices in the vicinity based on the corresponding short-range wireless communication method.
For example, the positioning device in this embodiment may be each bluetooth pile corresponding to the electronic fence. Correspondingly, the vehicle is provided with a bluetooth module. When the user waits to return, the vehicle approaches the electronic fence, at least one Bluetooth stake of the electronic fence is positioned in the signal acquisition range of the Bluetooth module of the vehicle, and then the Bluetooth module can sense the Bluetooth signal output by the Bluetooth stake.
In detail, under the condition that the vehicle speed is not greater than the set speed threshold, the vehicle can actively start Bluetooth scanning to sense Bluetooth signals output by the Bluetooth pile and obtain signal intensity values of the sensed Bluetooth signals. In detail, the vehicles may sort the periodically obtained signal strength values in chronological order, so as to determine the vehicle positioning position subsequently therefrom.
Because the closer the distance between the Bluetooth module and the Bluetooth pile is, the higher the strength of the Bluetooth signal sensed by the Bluetooth module is, otherwise, the lower the strength of the Bluetooth signal is, and the positioning data acquired by the vehicle can be the signal strength value of the acquired Bluetooth signal, so that the relative distance between the vehicle and the Bluetooth pile is reflected by the strength of the Bluetooth signal.
In this embodiment, the server or the vehicle may obtain the relative distance between the vehicle and the bluetooth piles according to the bluetooth signal intensity value before the vehicle and the bluetooth piles obtained by the vehicle, so as to accurately obtain the positioning position of the vehicle based on the known set positions of the bluetooth piles of the electronic fence.
In the above implementation manner of obtaining positioning data according to the positioning device, there may be a case where the vehicle speed is far from the positioning device (referred to as case a) and a case where the vehicle is close to the positioning device (referred to as case b) when the vehicle speed is low to the set speed threshold value, based on the difference in the set speed threshold value. In case a, the time for the vehicle to start to execute the operation of acquiring the positioning data is earlier than ideal time; in case b, the time for the vehicle to start the operation of acquiring the positioning data is delayed from the ideal time.
In the case a, when the vehicle speed is lower than the set speed threshold, the positioning data is not acquired in the early stage and the positioning data is acquired in the later stage of the vehicle as the vehicle gradually approaches the parking area. The positioning data acquisition efficiency in this case is not high.
In case b, in the case where the vehicle speed is lower than the set speed threshold, the vehicle is always able to acquire positioning data, but the amount of positioning data actually acquired is smaller than the amount of positioning data theoretically obtainable. The positioning data acquisition amount in this case is not high.
Thus, preferably, the set speed threshold may be continuously optimized for improving the efficiency of acquiring the positioning data and improving the amount of acquiring the positioning data. Based on this, in one embodiment of the present disclosure, the method may further include the following steps B1 to B2:
And step B1, acquiring a second vehicle speed of the vehicle under the condition that the positioning data is acquired for the first time.
In the case a, the vehicle speed when the vehicle obtains the positioning data for the first time is generally smaller than the current set speed threshold value, so that the value of the set speed threshold value can be correspondingly reduced according to the current vehicle speed.
In the case b, the vehicle speed when the vehicle obtains the positioning data for the first time will be generally equal to the current set speed threshold, so that the value of the set speed threshold can be correspondingly increased according to the current vehicle speed.
And B2, adjusting the set speed threshold according to the second vehicle speed.
In this way, the vehicle or the server may combine the current set speed threshold according to the obtained second vehicle speed to realize continuous optimization of the set speed threshold, and then execute the step S220 based on the optimized set speed threshold, so as to avoid the situation that the positioning data acquisition operation is executed too early or too late, so as to improve the positioning data acquisition efficiency and the positioning data acquisition amount.
In a possible implementation manner, the vehicle speed may be gradually reduced and not increased when the user waits for the vehicle to return, so as long as the condition that the vehicle speed is not greater than the set speed threshold is detected, the vehicle may periodically perform the operation of acquiring the positioning data, without repeatedly performing the step S210, until the following step S230 is performed, and the operation of acquiring the positioning data is finished.
Step S230, in response to a vehicle returning instruction corresponding to the vehicle, obtaining a first positioning position of the vehicle according to the obtained positioning data.
In detail, the user can send a vehicle returning request through the terminal device, and the server responds to the vehicle returning request and can send a vehicle returning instruction to a vehicle used by the user. And stopping acquiring the positioning data when the vehicle receives the vehicle returning instruction, acquiring the positioning position of the vehicle according to the acquired positioning data, and reporting the positioning position of the vehicle to the server.
Or the vehicle can stop acquiring the positioning data when receiving the vehicle returning instruction, and the acquired positioning data is reported to the server, so that the server can acquire the vehicle positioning position according to the acquired positioning data.
Because the size of the data amount of the positioning data is an important factor affecting the positioning accuracy, the data amount of the positioning data can be checked before the positioning position is obtained according to the size of the data amount of the positioning data, so that the data amount of the positioning data used for obtaining the positioning position is ensured to be large enough.
Based on this, in one embodiment of the present disclosure, before the obtaining the first positioning position of the vehicle, the method may further include the following steps C1 to C2:
and C1, responding to the vehicle returning instruction, and determining whether the data volume of the obtained positioning data meets the set data volume requirement.
In detail, the staff can set the data volume requirements as needed.
In detail, the vehicle responds to the vehicle returning instruction, judges whether the data volume of the currently obtained positioning data meets the requirement, if so, the positioning position can be determined according to the data volume, if not, the positioning position can be continuously obtained until the data volume of the obtained positioning data meets the requirement, and then the step of determining the positioning position is executed.
Because the positioning data is obtained before the user requests to return the vehicle, even if the vehicle continues to obtain the positioning position, the corresponding time is not excessive, and the response efficiency of returning the vehicle is not obviously affected.
And step C2, executing the step of obtaining the first positioning position of the vehicle according to the obtained positioning data under the condition that the data volume of the obtained positioning data meets the data volume requirement.
In the step, after the vehicle determines that the data volume of the currently obtained positioning data meets the requirement, the positioning position can be determined according to the obtained positioning data, or the obtained positioning data is uploaded to a server so that the server can determine the positioning position according to the positioning position.
The embodiment can ensure that the positioning position is calculated only when the obtained positioning data is enough by detecting the data quantity of the positioning data so as to ensure the positioning accuracy.
As can be seen from the above, the present embodiment provides a vehicle positioning method that obtains a first vehicle speed of the vehicle; acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data. According to the embodiment, the positioning data are acquired when the vehicle speed is low, namely, the user is about to return the vehicle, so that the positioning data with larger data quantity can be acquired before the user requests to return the vehicle, and the vehicle is positioned based on the acquired positioning data when the user requests to return the vehicle, and the accurate positioning of the vehicle can be realized.
After determining the vehicle positioning position in step S230, it may be determined whether the vehicle positioning position meets the requirement of standard vehicle returning according to the determination, so as to achieve the purpose of standard vehicle returning.
Based on this, in one embodiment of the present disclosure, after the obtaining the first positioning position of the vehicle, the method may further include the steps of S240 to S250:
step S240, determining whether the first positioning position is located in a set parking area.
In detail, the server may determine whether the user returns the vehicle specification to the parking area according to the set parking area position and the obtained vehicle positioning position. If yes, the user can be allowed to return to the vehicle.
Step S250, executing a set returning operation when the first positioning position is located in the set parking area.
In the case where the vehicle is located in the parking area, the server may perform a returning operation, such as issuing a lock-off instruction to the vehicle. The vehicle may close the vehicle lock and return a lock close success message in response to the lock close command. The server can then perform fee deduction processing under the condition that the vehicle is successfully locked.
The embodiment can realize the standard vehicle returning of the vehicle based on the determined vehicle positioning position, and avoid adverse effects on surrounding traffic and environment caused by the random returning of the vehicle by a user.
In summary, the vehicle positioning method provided in the embodiment may have at least the following characteristics:
1) In the scene that the vehicle was used bluetooth to fix a position, the vehicle can real-time perception vehicle motion state to before the user requests to return the car, open bluetooth in advance and carry out positioning data acquisition, can reach the sample quantity that increases to promote bluetooth positioning accuracy's purpose, do not have because the too short problem that leads to positioning accuracy of data acquisition time.
2) The vehicle running state is perceived in real time, bluetooth is started for data acquisition at the first time after the stopping gesture is detected, the data acquisition time can be greatly increased, and the acquired data quantity is increased. The more abundant data can greatly improve the Bluetooth positioning accuracy.
3) According to the embodiment, the change of the Bluetooth signal intensity of the vehicle in the far and near process can be acquired, so that two types of positioning data can be obtained for the vehicle, namely the far and near signal of the vehicle and the completely stationary signal of the vehicle, more accurate positioning positions can be obtained based on the two types of positioning data, and the positioning precision is improved.
Fig. 3 presents a flow diagram of a vehicle positioning method according to an embodiment. As shown in fig. 3, the method of this embodiment may include the following steps S301 to S306:
step S301, obtaining a first vehicle speed of the vehicle.
Step S302, acquiring positioning data for indicating the positioning position of the vehicle according to a signal output by a positioning device in the signal acquisition range of the vehicle when the first vehicle speed is smaller than or equal to a set speed threshold; the set speed threshold is greater than zero, the positioning device is located in a corresponding set parking area, and the positioning data are data reflecting the relative distance between the vehicle and the positioning device.
Step S303, in response to a vehicle returning instruction corresponding to the vehicle, determining whether the obtained data volume of the positioning data meets a set data volume requirement in response to the vehicle returning instruction.
Step S304, when the obtained data amount of the positioning data meets the data amount requirement, obtaining a first positioning position of the vehicle according to the obtained positioning data.
Step S305, determining whether the first positioning position is located in a set parking area.
Step S306, executing a set returning operation when the first positioning position is located in the set parking area.
According to the embodiment, the positioning data are acquired when the vehicle speed is low, namely, the user is about to return the vehicle, so that the positioning data with larger data quantity can be acquired before the user requests to return the vehicle, and the vehicle is positioned based on the acquired positioning data when the user requests to return the vehicle, and the accurate positioning of the vehicle can be realized.
< device example >
Fig. 4 is a functional block diagram of a vehicle locating device 400 according to one embodiment. As shown in fig. 4, the vehicle positioning apparatus 400 may include a first acquisition module 410, a second acquisition module 420, and a third acquisition module 430.
The vehicle locating device 400 may be the vehicle locating system 100 shown in fig. 1.
Wherein the first obtaining module 410 is configured to obtain a first vehicle speed of the vehicle; the second obtaining module 420 is configured to obtain positioning data for indicating a positioning position of the vehicle when the first vehicle speed is less than or equal to a set speed threshold; the third obtaining module 430 is configured to obtain a first positioning position of the vehicle according to the obtained positioning data in response to a vehicle returning instruction corresponding to the vehicle.
The vehicle positioning device provided by the embodiment obtains a first vehicle speed of the vehicle; acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; and responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data. According to the embodiment, the positioning data are acquired when the vehicle speed is low, namely, the user is about to return the vehicle, so that the positioning data with larger data quantity can be acquired before the user requests to return the vehicle, and the vehicle is positioned based on the acquired positioning data when the user requests to return the vehicle, and the accurate positioning of the vehicle can be realized.
In one embodiment of the present disclosure, the third obtaining module 430 is configured to determine, before the obtaining the first positioning location of the vehicle, whether the obtained data volume of the positioning data meets a set data volume requirement in response to the vehicle returning instruction; and executing the step of obtaining the first positioning position of the vehicle according to the obtained positioning data under the condition that the data volume of the obtained positioning data meets the data volume requirement.
In one embodiment of the present disclosure, the set speed threshold is greater than or equal to zero.
In one embodiment of the present disclosure, the second obtaining module 420 is configured to obtain positioning data for indicating a positioning position of the vehicle according to a signal output by a positioning device within a signal acquisition range of the vehicle; the positioning device is positioned in a corresponding set parking area, and the positioning data are data reflecting the relative distance between the vehicle and the positioning device.
In one embodiment of the present disclosure, the vehicle positioning device 400 further includes: a first module, configured to acquire a second vehicle speed of the vehicle when the second acquisition module 420 acquires the positioning data for the first time; and adjusting the set speed threshold according to the second vehicle speed.
In one embodiment of the present disclosure, the second obtaining module 420 is configured to obtain, before obtaining the positioning data for indicating the positioning position of the vehicle, a second positioning position of the vehicle if the first vehicle speed is less than or equal to the set speed threshold; determining whether a target parking area exists according to the second positioning position, wherein the distance between the positioning position of the target parking area and the second positioning position is smaller than or equal to a set distance threshold; the step of acquiring positioning data indicating a positioning position of the vehicle is performed in the presence of the target parking area.
In one embodiment of the present disclosure, the third obtaining module 430 is configured to determine whether the first positioning location is located within a set parking area after obtaining the first positioning location of the vehicle; and executing the set vehicle returning operation under the condition that the first positioning position is located in the set parking area.
Fig. 5 is a schematic hardware configuration of a vehicle positioning device 500 according to another embodiment.
As shown in fig. 5, the vehicle positioning device 500 includes a processor 510 and a memory 520, the memory 520 being configured to store an executable computer program, the processor 510 being configured to perform a method as in any of the above method embodiments, according to control of the computer program.
The vehicle locating device 500 may be the vehicle locating system 100 shown in fig. 1.
The above modules of the vehicle positioning device 500 may be implemented by the processor 510 executing the computer program stored in the memory 520 in the present embodiment, or may be implemented by other circuit structures, which are not limited herein.
The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (9)
1. A vehicle positioning method, characterized by comprising:
acquiring a first vehicle speed of the vehicle;
acquiring positioning data for indicating a positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value;
responding to a vehicle returning instruction corresponding to the vehicle, and obtaining a first positioning position of the vehicle according to the obtained positioning data;
the acquiring positioning data for indicating a positioning position of the vehicle includes:
acquiring positioning data for indicating the positioning position of the vehicle according to signals output by a positioning device in the signal acquisition range of the vehicle;
The positioning device is positioned in a corresponding set parking area, and the positioning data are data reflecting the relative distance between the vehicle and the positioning device.
2. The method of claim 1, wherein prior to the obtaining the first location of the vehicle, the method further comprises:
responding to the vehicle returning instruction, and determining whether the obtained data volume of the positioning data meets the set data volume requirement;
and executing the step of obtaining the first positioning position of the vehicle according to the obtained positioning data under the condition that the data volume of the obtained positioning data meets the data volume requirement.
3. The method of claim 1, wherein the set speed threshold is greater than or equal to zero.
4. The method according to claim 1, wherein the method further comprises:
acquiring a second vehicle speed of the vehicle under the condition that the positioning data is acquired for the first time;
and adjusting the set speed threshold according to the second vehicle speed.
5. The method of claim 1, wherein prior to the acquiring the positioning data indicative of the positioning location of the vehicle, the method further comprises:
Acquiring a second positioning position of the vehicle under the condition that the first vehicle speed is smaller than or equal to the set speed threshold value;
determining whether a target parking area exists according to the second positioning position, wherein the distance between the positioning position of the target parking area and the second positioning position is smaller than or equal to a set distance threshold;
the step of acquiring positioning data indicating a positioning position of the vehicle is performed in the presence of the target parking area.
6. The method of claim 1, wherein after the obtaining the first location of the vehicle, the method further comprises:
determining whether the first positioning position is located in a set parking area;
and executing the set vehicle returning operation under the condition that the first positioning position is located in the set parking area.
7. A vehicle positioning device, characterized by comprising:
the first acquisition module is used for acquiring a first speed of the vehicle;
the second acquisition module is used for acquiring positioning data for indicating the positioning position of the vehicle under the condition that the first vehicle speed is less than or equal to a set speed threshold value; the method comprises the steps of,
The third acquisition module is used for responding to a vehicle returning instruction corresponding to the vehicle and acquiring a first positioning position of the vehicle according to the acquired positioning data;
the acquiring positioning data for indicating a positioning position of the vehicle includes:
the second acquisition module is used for acquiring positioning data for indicating the positioning position of the vehicle according to signals output by the positioning device in the signal acquisition range of the vehicle;
the positioning device is positioned in a corresponding set parking area, and the positioning data are data reflecting the relative distance between the vehicle and the positioning device.
8. A vehicle locating device comprising a memory and a processor, the memory for storing a computer program; the processor is configured to execute the computer program to implement the method according to any one of claims 1-6.
9. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 1-6.
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| CN109855617A (en) * | 2019-02-28 | 2019-06-07 | 深圳市元征科技股份有限公司 | A kind of vehicle positioning method, vehicle locating device and terminal device |
| CN111915873A (en) * | 2020-06-23 | 2020-11-10 | 摩拜(北京)信息技术有限公司 | Vehicle and shared vehicle system |
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