CN111770448A - Vehicle positioning method and device and computer equipment - Google Patents
Vehicle positioning method and device and computer equipment Download PDFInfo
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- CN111770448A CN111770448A CN201910238789.7A CN201910238789A CN111770448A CN 111770448 A CN111770448 A CN 111770448A CN 201910238789 A CN201910238789 A CN 201910238789A CN 111770448 A CN111770448 A CN 111770448A
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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
- H04W4/024—Guidance services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
- H04W4/30—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
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/15—Setup of multiple wireless link connections
Abstract
The target vehicle determines a target transmission link after passing user identity authentication according to user identity information in a received Bluetooth awakening instruction, and determines relative position information between the target vehicle and a user side according to a position relation among a virtual Bluetooth node, the user side and the target vehicle in the target transmission link. The awakening instruction received by the target vehicle is sent by the user side or forwarded by any virtual Bluetooth node, so that the user side, the virtual Bluetooth nodes and the target vehicle form a dynamic positioning networking, the vehicle cannot be positioned along with the fact that one virtual Bluetooth node cannot communicate during positioning, and the Bluetooth virtual nodes can forward the awakening instruction during networking, so that the coverage range of Bluetooth signals is enlarged, the defect that the vehicle cannot be positioned and searched without GPS signals or network service is effectively overcome, and the diversity of the vehicle positioning method is greatly improved.
Description
Technical Field
The application relates to the technical field of vehicle networking, in particular to a vehicle positioning method and device and computer equipment.
Background
Generally, in some large parking places, hundreds or even thousands of cars are often accommodated at the same time, and the appearances and colors of the cars are similar, so that it is difficult for car owners to quickly and timely find their own cars in the large parking lot, and various car-finding and positioning methods are developed based on the situations, for example: and positioning the vehicle by using the positioning of the GPS module in the networking component or the base station of the communication module.
For GPS positioning, a vehicle searching and positioning instruction is issued through a mobile phone end, the instruction is transmitted to the vehicle-mounted communication module through the cloud end, and then the vehicle-mounted communication module pushes the GPS positioning data of the current vehicle to the mobile phone end APP through the cloud end after reading the GPS positioning data. For base station positioning, distances between the communication module and three nearby base stations are used, distance information is uploaded to a cloud end, the cloud end analyzes and calculates the three distance information to obtain a unique positioning point meeting the three distance information, and positioning point information is pushed to a mobile phone end APP through the cloud end. However, the GPS positioning is performed in some areas where the GPS cannot be positioned, such as an underground garage or a tunnel, and the vehicle-searching scheme based on the GPS positioning fails when there is no GPS signal. Although the car-searching scheme for positioning the base station can solve the problem that a part of GPS cannot be used for positioning, the car-searching scheme for positioning the base station depends on a mobile communication operator, and once the mobile communication operator goes out of the network, the car-searching function of the base station cannot be used continuously.
Therefore, the current vehicle searching and positioning method cannot perform positioning vehicle searching when no GPS signal or mobile communication signal exists, and has great limitation.
Disclosure of Invention
Therefore, it is necessary to provide a vehicle positioning method, a vehicle positioning device and a computer device, aiming at the technical problem that the current vehicle positioning method cannot position and locate the vehicle without GPS signals and mobile communication signals and has great limitations.
In a first aspect, an embodiment of the present application provides a vehicle positioning method, including:
receiving a Bluetooth awakening instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
authenticating the user identity according to the user identity information in the Bluetooth awakening instruction;
if the identity authentication is passed, determining a target transmission link from all transmission links; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and determining the relative position information between the target vehicle and the user side according to the position relationship among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
In one embodiment, the determining the target transmission link from all transmission links includes:
acquiring the connection strength of the Bluetooth signals of each virtual Bluetooth node;
determining the credibility of each virtual Bluetooth node according to the connection strength of each Bluetooth signal; the reliability of the virtual Bluetooth node is in direct proportion to the connection strength of the Bluetooth signal;
and determining a target transmission link according to the credibility of each virtual Bluetooth node.
In one embodiment, the determining a target transmission link according to the credibility of each virtual bluetooth node includes:
sequencing all transmission links according to the sequence of the credibility of each virtual Bluetooth node from high to low to obtain a sequencing result;
and determining a target transmission link according to the sequencing result.
In one embodiment, the determining the target transmission link according to the sorting result includes:
if the number of all the transmission links is more than or equal to three, determining the first three transmission links in the sequencing result as target transmission links;
and if the number of all the transmission links is less than three, determining the first transmission link in the sequencing result as a target transmission link.
In one embodiment, if the number of destination transmission links is three; determining the relative position information between the target vehicle and the user terminal according to the position relationship among the virtual bluetooth node, the user terminal and the target vehicle in the target transmission link includes:
respectively acquiring a link connection starting point and a link connection end point in each target transmission link; the starting point of link connection is a virtual Bluetooth node which is directly connected with the user side in the target transmission link; the link connection end point is a virtual Bluetooth node which is directly connected with a target vehicle in a target transmission link;
and determining relative position information between the target vehicle and the user terminal according to the link connection starting point and the link connection end point.
In one embodiment, the determining the relative location information between the target vehicle and the user terminal according to the link connection starting point and the link connection ending point includes:
establishing a first coordinate system by taking any link connection starting point as an origin, and determining the position information of the user terminal in the first coordinate system;
establishing a second coordinate system by taking any link connection terminal as an origin, and determining the position information of the target vehicle in the second coordinate system;
establishing a third coordinate system by taking the link connection starting point or the link connection end point as an origin, and determining the position information of the link connection starting point and the link connection end point in the third coordinate system;
and establishing a fourth coordinate system by taking the target vehicle as an origin, translating and fusing the position information of the user terminal in the first coordinate system, the position information of the target vehicle in the second coordinate system, and the position information of the link connection starting point and the link connection end point in the third coordinate system into the fourth coordinate system, and determining the relative position information between the target vehicle and the user terminal in the fourth coordinate system.
In one embodiment, if one target transmission link is provided, a preset single-point positioning algorithm is used to determine the relative position information between the target vehicle and the user terminal.
In one embodiment, after determining the relative position information between the target vehicle and the user terminal according to the position relationship among the virtual bluetooth node, the user terminal and the target vehicle in the target transmission link, the method includes:
a moving instruction which is sent to the user side through the target transmission link and carries the relative position information between the target vehicle and the user side; the mobile instruction is used for indicating the user side to display the mobile path;
receiving a prompt request returned by the user side, and controlling the target vehicle to send out a warning signal until the user side reaches the target vehicle according to the moving path; wherein the warning signal comprises a whistle and/or a light flashing.
In a second aspect, an embodiment of the present application provides a vehicle positioning apparatus, including:
the instruction receiving module is used for receiving a Bluetooth awakening instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
the identity authentication module is used for authenticating the identity of the user according to the user identity information in the Bluetooth awakening instruction;
the target link determining module is used for determining a target transmission link from all transmission links if the identity authentication passes; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and the position information determining module is used for determining the relative position information between the target vehicle and the user side according to the position relation among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of any one of the methods provided in the embodiments of the first aspect when executing the computer program.
According to the vehicle positioning method, the vehicle positioning device and the computer equipment, after the target vehicle receives the Bluetooth awakening instruction carrying the user identity information, the user identity is authenticated, the target transmission link is determined after the authentication is passed, and the relative position information between the target vehicle and the user side is determined according to the position relation among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link. In the method, the Bluetooth awakening instruction received by the target vehicle is sent by the user side or forwarded by any virtual Bluetooth node, so that the user side, the virtual Bluetooth nodes and the target vehicle form a dynamic positioning networking, the virtual Bluetooth nodes are not interfered with one virtual Bluetooth node in the positioning process or the vehicle cannot be positioned due to the fact that one Bluetooth node cannot communicate, the Bluetooth virtual nodes can forward the awakening instruction in the networking process, the coverage range of Bluetooth signals is expanded, the defect that the vehicle cannot be positioned and searched when no GPS signals or network service exists is effectively avoided, and the diversity of the vehicle positioning method is greatly improved.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a vehicle positioning method;
FIG. 2 is a schematic flow chart diagram of a vehicle locating method according to one embodiment;
FIG. 3 is a schematic flow chart diagram of a vehicle locating method according to an embodiment;
FIG. 4 is a schematic flow chart diagram of a vehicle locating method according to one embodiment;
FIG. 5 is a schematic flow chart diagram of a vehicle locating method according to one embodiment;
fig. 5a is a schematic diagram illustrating a link connection starting point and a link connection ending point according to an embodiment;
FIG. 6 is a schematic flow chart diagram of a vehicle locating method according to one embodiment;
fig. 6a is a schematic diagram of a link connection starting point positioning client according to an embodiment;
FIG. 6b is a schematic illustration of a link-connected destination-locating target vehicle, according to an embodiment;
FIG. 7 is a schematic flow chart diagram of a vehicle locating method according to an embodiment;
FIG. 8 is a block diagram of a vehicle locating device according to an exemplary embodiment;
FIG. 9 is a block diagram of a vehicle locating device according to an exemplary embodiment;
FIG. 10 is a block diagram of a vehicle locating device according to an exemplary embodiment;
FIG. 11 is a block diagram of a vehicle locating device according to an exemplary embodiment;
fig. 12 is a block diagram illustrating a vehicle positioning apparatus according to an exemplary embodiment;
FIG. 13 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle positioning method provided by the present application can be applied to the vehicle positioning system shown in fig. 1, wherein the user side is used for performing information interaction with a target vehicle when executing the vehicle positioning method, for example, the user side can be but is not limited to various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices, wherein the virtual bluetooth node is used for forwarding a wake-up instruction sent by the user side to expand a connection range of bluetooth signals, and the virtual bluetooth node can be at least one vehicle-mounted bluetooth module subjected to pre-logic configuration. The target vehicle comprises but is not limited to the vehicle-mounted Bluetooth module which is logically configured in advance, a vehicle body controller and a warning device, wherein the vehicle-mounted Bluetooth module which is logically configured in advance in the target vehicle is used for authenticating the identity of the user according to the received awakening instruction; the vehicle body controller is used for executing position information determination and vehicle control in the vehicle-mounted positioning method; the warning device is used for sending warning signals including but not limited to whistling and light flashing, and assisting in quick positioning of the vehicle.
The embodiment of the application provides a vehicle positioning method, a vehicle positioning device and computer equipment, and aims to solve the technical problem that the existing vehicle searching and positioning method cannot perform positioning and vehicle searching without GPS signals and mobile communication signals and has great limitation. The following describes in detail the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems by embodiments and with reference to the drawings. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. It should be noted that, in the vehicle positioning method provided by the present invention, the execution main body in fig. 2 to fig. 7 is the target vehicle, wherein the execution main body may also be a vehicle positioning device, and the device may be implemented as part or all of vehicle positioning by software, hardware, or a combination of software and hardware.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In an embodiment, fig. 2 provides a vehicle positioning method, where the embodiment relates to a specific process in which a target vehicle authenticates a user identity according to a received bluetooth wakeup instruction, determines a target transmission link after the identity authentication is passed, and then determines relative position information between the target vehicle and a user terminal according to a position relationship among a virtual bluetooth node, the user terminal, and the target vehicle in the target transmission link, as shown in fig. 2, the method includes:
s101, receiving a Bluetooth awakening instruction carrying user identity information; wherein the bluetooth wake-up instruction is used to find the target vehicle.
In this embodiment, the bluetooth wake-up instruction represents an instruction for finding a target vehicle, and the bluetooth wake-up instruction is initially sent by a user side and carries user identity information, where the user identity information may include, but is not limited to, a user personal account, a user name, and the like. In practical application, the bluetooth wakeup instruction received by the target vehicle may be a user identity information carrying instruction directly sent by the user side, or may also be a user identity information carrying instruction forwarded by the virtual bluetooth node, where the virtual bluetooth node represents a vehicle-mounted bluetooth module other than the target vehicle, the vehicle-mounted bluetooth module refers to a bluetooth module in a low power consumption mode through preconfigured logic, and the preconfigured logic is: if the vehicle-mounted Bluetooth module is in the range of the Bluetooth awakening instruction sent by the user side, the vehicle-mounted Bluetooth module is awakened by the Bluetooth awakening instruction and authenticates the user identity information carried by the vehicle-mounted Bluetooth module, and if the vehicle-mounted Bluetooth module does not pass the authentication, the vehicle-mounted Bluetooth module forwards the awakening instruction carrying the user identity information to the surroundings by taking the vehicle-mounted Bluetooth module as a starting point so that the surroundings pass through the vehicle-mounted Bluetooth module which is also configured with logic in advance to authenticate the user identity. Based on this, it can be understood that the number of the virtual bluetooth nodes may be one or multiple, and this is not specifically limited in this embodiment of the application.
And S102, authenticating the user identity according to the user identity information in the Bluetooth awakening instruction.
Based on the above step S101, the target vehicle receives the bluetooth wakeup instruction carrying the user identity information, and authenticates the user identity, for example, in practical application, the method for the target vehicle to authenticate the user identity may be to query whether the vehicle-mounted bluetooth information of the target vehicle and the user identity information have a mapping relationship, or may be other methods, which is not limited in this embodiment.
S103, if the identity authentication is passed, determining a target transmission link from all transmission links; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle.
Based on the fact that the identity authentication of the user in the step S102 passes, the target vehicle determines the target transmission link, and it can be understood that, in this step, if the identity authentication of the user passes, it indicates that the vehicle currently authenticating the identity of the user is the target vehicle. The target vehicle determines a target transmission link from all transmission links, which means that a transmission link with higher reliability is selected from all transmission links, wherein the transmission link represents a connection path from a user terminal to the target vehicle, and comprises the user terminal, the virtual Bluetooth node and the target vehicle. It should be noted that the transmission link may not include a virtual bluetooth node, that is, the user side is directly communicated with the target vehicle, which is the same as the bluetooth wake-up instruction received by the target vehicle in the step S101 described above, where the user side directly sends the instruction, and the target vehicle is very close to the user side in this case, and the user may directly search for the vehicle according to the actual scene, which is not described in detail in this embodiment of the present application.
And S104, determining the relative position information between the target vehicle and the user side according to the position relationship among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
Based on the target transmission link determined in the step S103, the target vehicle determines the relative position information between the target vehicle and the user terminal according to the position relationship among the virtual bluetooth node, the user terminal, and the target vehicle in the target transmission link. In practical application, the target vehicle may determine the relative position information between each two of the virtual bluetooth node, the user terminal, and the target vehicle according to a distance estimation function of bluetooth itself, and then translate the relative position between each two of the virtual bluetooth node, the user terminal, and the target vehicle to determine the relative position information between the target vehicle and the user terminal. Wherein the location information comprises position information and distance information, for example: the finally determined relative position information between the target vehicle and the user terminal may be relative orientation information and distance information between the target vehicle and the user terminal in a coordinate system established with the target vehicle as a coordinate origin.
In the vehicle positioning method provided by this embodiment, after receiving the bluetooth wakeup instruction carrying the user identity information, the target vehicle authenticates the user identity, determines the target transmission link after the authentication is passed, and determines the relative position information between the target vehicle and the user side according to the position relationship among the virtual bluetooth node, the user side, and the target vehicle in the target transmission link. In the method, the Bluetooth awakening instruction received by the target vehicle is sent by the user side or forwarded by any virtual Bluetooth node, so that the user side, the virtual Bluetooth nodes and the target vehicle form a dynamic positioning networking, the virtual Bluetooth nodes are not interfered with one virtual Bluetooth node in the positioning process or the vehicle cannot be positioned due to the fact that one Bluetooth node cannot communicate, the Bluetooth virtual nodes can forward the awakening instruction in the networking process, the coverage range of Bluetooth signals is expanded, the defect that the vehicle cannot be positioned and searched when no GPS signals or network service exists is effectively avoided, and the diversity of the vehicle positioning method is greatly improved.
As for the process of determining a target transmission link from all transmission links by a target vehicle, which will be described in detail below by several embodiments, on the basis of the above embodiments, the present embodiment provides a vehicle locating method, as shown in fig. 3, where the above S103 includes:
s201, obtaining the connection strength of the Bluetooth signals of each virtual Bluetooth node.
In this embodiment, the target vehicle acquires the connection strength of the bluetooth signal of each virtual bluetooth node, where the connection strength of the bluetooth signal of the virtual bluetooth node represents the connection strength of a node connected to two ends of any virtual bluetooth node, for example, in an actual application, the target vehicle may acquire the connection strength of the bluetooth signal of each virtual bluetooth node by directly sending an acquisition instruction to each virtual bluetooth node and then receiving the respective connection strength returned by each virtual bluetooth node, or by other means, which is not limited in this embodiment.
S202, determining the credibility of each virtual Bluetooth node according to the connection strength of each Bluetooth signal; wherein, the credibility of the virtual Bluetooth node is in direct proportion to the connection strength of the Bluetooth signal.
Based on the connection strength of each bluetooth signal in or out of the step S201, the target vehicle determines the reliability of each virtual bluetooth node, where the reliability represents a parameter indicating whether the bluetooth node is available, and the reliability is proportional to the connection strength of the bluetooth signal, for example: when the intensity of the Bluetooth signal is greater than a preset calibration threshold value, the Bluetooth connection is considered to be credible, namely, the higher the intensity of the Bluetooth signal is, the higher the credibility is.
S203, determining a target transmission link according to the credibility of each virtual Bluetooth node.
Based on the credibility of each virtual bluetooth node determined in step S202, the target vehicle determines a target transmission link from all transmission links according to the credibility of each virtual bluetooth node, and the method for selecting a target transmission link for the target vehicle is not limited in this embodiment, and an implementation manner is provided below.
Optionally, as shown in fig. 4, one implementation manner of the step S203 includes:
s301, sequencing all transmission links according to the sequence of the credibility of each virtual Bluetooth node from high to low to obtain a sequencing result.
The target vehicle sequences all transmission links in a sequence from top to bottom according to the credibility of each virtual bluetooth node, and it should be noted that, because the transmission links are the paths connecting the user end and the target vehicle, and can pass through at least one virtual bluetooth node in the middle, the target vehicle sequences the transmission links according to the highest or lowest reliability of all virtual bluetooth nodes on the whole link, and in practical application, the target vehicle sequences all transmission links to obtain a sequencing result.
And S302, determining a target transmission link according to the sequencing result.
Based on the sorting result in the above step S301, the target vehicle determines the target transmission link according to the sorting result, so that the sorting result is determined according to the confidence level, the transmission link with the highest confidence level is arranged at the top, and the transmission link with the highest confidence level is finally determined. Optionally, the target vehicle determining the target transmission link according to the sequencing result may be implemented by two schemes:
scheme A: and if the number of all the transmission links is more than or equal to three, determining the first three transmission links in the sequencing result as target transmission links.
In the scheme, the target vehicle determines the number of all the transmission links, if the number of all the transmission links is greater than or equal to three, the first three transmission links are determined in the sequencing result, and the first three transmission links are determined as the target transmission links, that is, the three transmission links are the first three transmission links with the highest reliability, which is beneficial to improving the precision and speed of subsequently positioning the relative position between the target vehicle and the user terminal.
Scheme B: and if the number of all the transmission links is less than three, determining the first transmission link in the sequencing result as a target transmission link.
In the scheme, the target vehicle determines the number of all the transmission links, if the number of all the transmission links is less than three, the transmission link arranged in the first transmission link is determined in the sequencing result, and the transmission link is determined as the target transmission link, so that in a scene with a small number of bluetooth virtual nodes, a transmission link with the highest reliability is determined, and the accuracy and the speed for positioning the relative position between the target vehicle and the user side are improved.
According to the vehicle positioning method provided by the embodiment, the target vehicle determines the corresponding reliability according to the connection strength of the Bluetooth signals of the virtual Bluetooth nodes, then sorts all transmission links according to the determined high-low order of the reliability, and finally determines the target transmission link according to the sorting result.
In the following, a detailed description will be given, by using several embodiments, of a manner in which, when the target transmission links are three and one, the target vehicle determines the relative location information between the target vehicle and the user terminal according to the location relationship among the virtual bluetooth node, the user terminal, and the target vehicle in the target transmission link, and then, in one embodiment, for a case in which the target transmission links are three, the embodiment of the present application provides a vehicle positioning method, as shown in fig. 5, in S104, the method includes:
s401, respectively acquiring a link connection starting point and a link connection end point in each target transmission link; the starting point of link connection is a virtual Bluetooth node which is directly connected with the user side in the target transmission link; and the link connection end point is a virtual Bluetooth node which is directly connected with the target vehicle in the target transmission link.
In this embodiment, as shown in fig. 5a, the link connection starting point represents a virtual bluetooth node in the target transmission link, which is directly connected to the user side, and the link connection ending point represents a virtual bluetooth node in the target transmission link, which is directly connected to the target vehicle, so that the target vehicle respectively obtains the virtual bluetooth nodes represented by the link connection starting point and the link connection ending point in the target transmission link to determine which virtual bluetooth nodes are respectively the link connection starting point and the link connection ending point in the target transmission link.
S402, determining relative position information between the target vehicle and the user terminal according to the link connection starting point and the link connection end point.
Based on the link connection starting point and the link connection ending point obtained in the step S401, the target vehicle determines the relative position information between the vehicle and the user terminal, for example, the target vehicle may input the information of the link connection starting point and the link connection ending point into a neural network model which has been trained in advance, and directly determine the relative position information between the target vehicle and the user terminal according to the output result, of course, other manners may also be used, which is not limited in this embodiment of the present application. The following provides an embodiment in which the target vehicle determines relative location information between the target vehicle and the user terminal, then,
optionally, as shown in fig. 6, the step S502 includes:
s501, a first coordinate system is established by taking any link connection starting point as an origin, and position information of the user side in the first coordinate system is determined.
In this step, the target vehicle establishes a first coordinate system with any link connection starting point as an origin to determine the location information of the user terminal in the first coordinate system, for example, as shown in fig. 6a, the link connection starting point includes three virtual bluetooth nodes, the target vehicle establishes a coordinate with any node of the three virtual bluetooth nodes, and then determines the location information of the user terminal in the first coordinate system, that is, the direction information and the distance information, according to the relative distances between the user terminal and the target vehicle measured by the three virtual bluetooth nodes.
And S502, establishing a second coordinate system by taking any link connection terminal as an origin, and determining the position information of the target vehicle in the second coordinate system.
In this step, the target vehicle establishes a second coordinate system with any link connection end point as an origin to determine the position information of the target vehicle in the second coordinate system, for example, as shown in fig. 6b, the link connection end point also includes three virtual bluetooth nodes, the target vehicle establishes a coordinate with any one of the three virtual bluetooth nodes, and then determines the position information and the distance information of the target vehicle in the second coordinate system according to the relative distances between the target vehicle and the target vehicle measured by the three virtual bluetooth nodes.
And S503, establishing a third coordinate system by taking the link connection starting point or the link connection end point as an origin, and determining the position information of the link connection starting point and the link connection end point in the third coordinate system.
In this step, the target vehicle establishes a third coordinate system with the link connection starting point or the link connection end point as an origin, and determines the position information of the link connection starting point and the link connection end point in the third coordinate system.
It should be noted that the execution sequence of the steps S501, S502, and S503 may be performed simultaneously or sequentially, the sequence when the steps are performed sequentially is not specifically limited, and the specific execution sequence may be determined according to the actual situation.
And S504, establishing a fourth coordinate system by taking the target vehicle as an origin, translating and fusing the position information of the user terminal in the first coordinate system, the position information of the target vehicle in the second coordinate system, and the position information of the link connection starting point and the link connection end point in the third coordinate system into the fourth coordinate system, and determining the relative position information between the target vehicle and the user terminal in the fourth coordinate system.
Based on the position information of the user terminal in the first coordinate system, the position information of the target vehicle in the second coordinate system, and the position information of the link connection starting point and the link connection ending point in the third coordinate system, which are determined in the above steps S501, S502, and S503, the target vehicle merges the translation thereof into the fourth coordinate system, where the fourth coordinate system represents a coordinate system established with the target vehicle as the origin, and after the translation, the target vehicle directly determines the relative position information between the target vehicle and the user terminal in the fourth coordinate system.
In the vehicle positioning method provided by this embodiment, the target vehicle first obtains the link connection starting point and the link connection end point from the target transmission link, then determines the position information of the user in the first coordinate system according to the link connection starting point, determines the position information of the target vehicle in the second coordinate system according to the link connection end point, determines the position information of the link connection starting point and the link connection end point in the third coordinate system according to the link connection starting point and the link connection end point, and finally translates the above information into the fourth coordinate system established by the target vehicle, determines the relative position information between the target vehicle and the user terminal from the fourth coordinate, so that the position information between the user terminal, the target vehicle and each virtual bluetooth node is determined according to three points, the accuracy of each position information for positioning is ensured, and then performs translation fusion according to each position information to obtain the relative position information between the target vehicle and the user terminal, the accuracy of target vehicle positioning is greatly improved.
In another embodiment, for the case that there is one target transmission link, the present application provides a vehicle locating method, where the foregoing S104 includes: and determining the relative position information between the target vehicle and the user terminal by adopting a preset single-point positioning algorithm.
In this embodiment, only one target transmission link is provided, the preset single-point positioning algorithm indicates that the relative position information between the user terminal and the target vehicle is directly estimated according to the change of the relative position between each virtual bluetooth node in the target transmission link, and of course, other algorithms, such as a single-point positioning neural network model, may also be used to directly input the user terminal, each virtual bluetooth node, and the target vehicle in the target transmission link into the network model, and directly obtain the relative position information between the user terminal and the target vehicle, and the like.
After the relative position information between the user terminal and the target vehicle is determined based on the target vehicle, the target vehicle transmits the determined position information to the user terminal, so that the user can find the target vehicle according to the prompt of the user terminal. Then, in one embodiment, as shown in fig. 7, the method includes:
s601, sending a moving instruction carrying the relative position information between the target vehicle and the user terminal to the user terminal through the target transmission link. The moving instruction is used for indicating the user side to display the moving path.
In this embodiment, the moving instruction represents an instruction indicating the user terminal to display the moving path, and the target vehicle sends the moving instruction to the user terminal through the target transmission link. It should be noted that, if the target transmission link is one, the target vehicle sends the movement instruction through the one transmission link, and if the target transmission link is three, the target vehicle sends the movement instruction through the transmission link with the highest reliability among the three transmission links, so that it can be ensured that the movement instruction can be quickly and accurately sent to the user side.
S602, receiving the prompt request sent back by the user terminal, and controlling the target vehicle to send out a warning signal until the user terminal reaches the target vehicle according to the moving path; wherein the warning signal comprises a whistle and/or a light flashing.
Based on the step S601, the target vehicle sends the moving instruction to the user terminal, and the target vehicle receives the prompt request returned by the user terminal, and controls the target vehicle to send the warning signal until the user terminal reaches the target vehicle according to the moving path, where the warning signal includes a whistle and/or a light flash, so as to help the user to quickly find the target vehicle when moving to the vicinity of the target vehicle according to the moving path. It should be noted that the whistle and the light flashing listed in the warning signal in this embodiment are only an example, and if there are other warning signals in practical application, the warning signal also falls within the scope defined by the embodiment of the present application.
According to the vehicle positioning method provided by the embodiment, after the relative position information between the target vehicle and the user side is determined, the relative position information is sent to the user side, so that the user can move to the target vehicle according to the moving path displayed by the user side, and then the target vehicle controls the vehicle to send out the warning signal according to the prompt request sent by the user side, so that the warning signal is used for assisting the user in finding the target vehicle, and the rapidness and the accuracy of vehicle positioning are further improved.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a vehicle positioning device including: an instruction receiving module 10, an identity authentication module 11, a target link determination module 12 and a location information determination module 13, wherein,
the instruction receiving module 10 is configured to receive a bluetooth wakeup instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
the identity authentication module 11 is used for authenticating the identity of the user according to the user identity information in the Bluetooth awakening instruction;
a target link determining module 12, configured to determine a target transmission link from all transmission links if the identity authentication passes; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and the position information determining module 13 is configured to determine the relative position information between the target vehicle and the user side according to the position relationship among the virtual bluetooth node, the user side, and the target vehicle in the target transmission link.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, as shown in fig. 9, there is provided a vehicle locating apparatus, wherein the target link determining module 12 comprises: a strength acquisition unit 121, a confidence level determination unit 122, and a target link determination unit 123, wherein,
an intensity obtaining unit 121, configured to obtain connection intensities of bluetooth signals of the virtual bluetooth nodes;
a reliability determining unit 122, configured to determine the reliability of each virtual bluetooth node according to the connection strength of each bluetooth signal; the reliability of the virtual Bluetooth node is in direct proportion to the connection strength of the Bluetooth signal;
and a target link determining unit 123, configured to determine a target transmission link according to the credibility of each virtual bluetooth node.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, as shown in fig. 10, there is provided a vehicle locating apparatus, wherein the target link determining unit 123 includes: an ordering subunit 1231 and a determining subunit 1232, wherein,
a sequencing subunit 1231, configured to sequence all transmission links according to a sequence from high to low of the confidence level of each virtual bluetooth node, so as to obtain a sequencing result;
a determining subunit 1232, configured to determine the target transmission link according to the sorting result.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In an embodiment, the determining subunit 1232 is specifically configured to determine, if the number of all the transmission links is greater than or equal to three, the first three transmission links in the sorting result as target transmission links; and if the number of all the transmission links is less than three, determining the first transmission link in the sequencing result as a target transmission link.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, as shown in fig. 11, there is provided a vehicle positioning device, wherein the position information determination module 13 includes: an acquisition unit 131 and a position information determination unit 132, wherein,
an obtaining unit 131, configured to obtain a link connection starting point and a link connection ending point in each target transmission link respectively; the starting point of link connection is a virtual Bluetooth node which is directly connected with the user side in the target transmission link; the link connection end point is a virtual Bluetooth node which is directly connected with a target vehicle in a target transmission link;
the location information determining unit 132 is configured to determine the relative location information between the target vehicle and the user terminal according to the link connection starting point and the link connection ending point.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In an embodiment, the location information determining unit 132 is specifically configured to establish a first coordinate system with an origin of any link connection, and determine location information of a user terminal in the first coordinate system; establishing a second coordinate system by taking any link connection terminal as an origin, and determining the position information of the target vehicle in the second coordinate system; establishing a third coordinate system by taking the link connection starting point or the link connection end point as an origin, and determining the position information of the link connection starting point and the link connection end point in the third coordinate system; and establishing a fourth coordinate system by taking the target vehicle as an origin, translating and fusing the position information of the user terminal in the first coordinate system, the position information of the target vehicle in the second coordinate system, and the position information of the link connection starting point and the link connection end point in the third coordinate system into the fourth coordinate system, and determining the relative position information between the target vehicle and the user terminal in the fourth coordinate system.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, the position information determining module 13 is specifically configured to determine the relative position information between the target vehicle and the user terminal by using a preset single-point positioning algorithm.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, as shown in fig. 12, there is provided a vehicle positioning apparatus including: a transmission module 14 and a control module 15, wherein,
the sending module 14 is configured to send a moving instruction carrying the relative position information between the target vehicle and the user terminal to the user terminal through the target transmission link; the mobile instruction is used for indicating the user side to display the mobile path;
the control module 15 is configured to receive a prompt request returned by the user end, and control the target vehicle to send a warning signal until the user end reaches the target vehicle according to the moving path; wherein the warning signal comprises a whistle and/or a light flashing.
The implementation principle and technical effect of the vehicle positioning device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
For specific definition of the vehicle positioning device, reference may be made to the definition of the vehicle positioning method above, and details are not repeated here. The various modules in the vehicle locating device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 13. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle localization method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 13 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving a Bluetooth awakening instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
authenticating the user identity according to the user identity information in the Bluetooth awakening instruction;
if the identity authentication is passed, determining a target transmission link from all transmission links; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and determining the relative position information between the target vehicle and the user side according to the position relationship among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
The implementation principle and technical effect of the computer device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving a Bluetooth awakening instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
authenticating the user identity according to the user identity information in the Bluetooth awakening instruction;
if the identity authentication is passed, determining a target transmission link from all transmission links; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and determining the relative position information between the target vehicle and the user side according to the position relationship among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle positioning method, characterized in that the method comprises:
receiving a Bluetooth awakening instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
authenticating the user identity according to the user identity information in the Bluetooth awakening instruction;
if the identity authentication passes, determining a target transmission link from all transmission links; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and determining the relative position information between the target vehicle and the user side according to the position relationship among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
2. The method of claim 1, wherein determining the destination transmission link from all transmission links comprises:
acquiring the connection strength of the Bluetooth signals of the virtual Bluetooth nodes;
determining the credibility of each virtual Bluetooth node according to the connection strength of each Bluetooth signal; the credibility of the virtual Bluetooth node is in direct proportion to the connection strength of the Bluetooth signal;
and determining the target transmission link according to the credibility of each virtual Bluetooth node.
3. The method of claim 2, wherein said determining said target transmission link based on said trustworthiness of each of said virtual bluetooth nodes comprises:
sequencing all transmission links according to the sequence of the credibility of each virtual Bluetooth node from high to low to obtain a sequencing result;
and determining the target transmission link according to the sequencing result.
4. The method of claim 3, wherein the determining the target transmission link according to the sorting result comprises:
if the number of all the transmission links is more than or equal to three, determining the first three transmission links in the sequencing result as the target transmission links;
and if the number of all the transmission links is less than three, determining the first transmission link in the sequencing result as the target transmission link.
5. The method according to any of claims 1-4, wherein if the destination transmission link is three;
determining the relative position information between the target vehicle and the user terminal according to the position relationship among the virtual bluetooth node, the user terminal and the target vehicle in the target transmission link, including:
respectively acquiring a link connection starting point and a link connection end point in each target transmission link; the link connection starting point is a virtual Bluetooth node which is directly connected with the user side in the target transmission link; the link connection end point is a virtual Bluetooth node which is directly connected with the target vehicle in the target transmission link;
and determining the relative position information between the target vehicle and the user terminal according to the link connection starting point and the link connection end point.
6. The method of claim 5, wherein determining the relative location information between the target vehicle and the user terminal according to the link connection starting point and the link connection ending point comprises:
establishing a first coordinate system by taking any one link connection starting point as an origin, and determining the position information of the user side in the first coordinate system;
establishing a second coordinate system by taking any link connection terminal as an origin, and determining the position information of the target vehicle in the second coordinate system;
establishing a third coordinate system by taking the link connection starting point or the link connection end point as an origin, and determining position information of the link connection starting point and the link connection end point in the third coordinate system;
establishing a fourth coordinate system by taking the target vehicle as an origin, translationally fusing the position information of the user terminal in the first coordinate system, the position information of the target vehicle in the second coordinate system, and the position information of the link connection starting point and the link connection ending point in the third coordinate system into the fourth coordinate system, and determining the relative position information between the target vehicle and the user terminal in the fourth coordinate system.
7. The method according to any one of claims 1 to 4, wherein if there is one target transmission link, a preset single-point positioning algorithm is used to determine the relative position information between the target vehicle and the user terminal.
8. The method of claim 1, wherein after determining the relative position information between the target vehicle and the user terminal according to the position relationship among the virtual bluetooth node, the user terminal, and the target vehicle in the target transmission link, the method comprises:
a moving instruction which is sent to the user terminal through the target transmission link and carries the relative position information between the target vehicle and the user terminal; the moving instruction is used for indicating the user side to display a moving path;
receiving a prompt request returned by the user side, and controlling the target vehicle to send a warning signal until the user side reaches the target vehicle according to the moving path; the warning signal comprises a whistle and/or a light flashing.
9. A vehicle locating apparatus, characterized in that the apparatus comprises:
the instruction receiving module is used for receiving a Bluetooth awakening instruction carrying user identity information; the Bluetooth awakening instruction is used for searching a target vehicle;
the identity authentication module is used for authenticating the identity of the user according to the user identity information in the Bluetooth awakening instruction;
the target link determining module is used for determining a target transmission link from all transmission links if the identity authentication passes; the transmission link comprises a user side, a virtual Bluetooth node and a target vehicle;
and the position information determining module is used for determining the relative position information between the target vehicle and the user side according to the position relationship among the virtual Bluetooth node, the user side and the target vehicle in the target transmission link.
10. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.
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