CN113660611A

CN113660611A - Positioning method and device

Info

Publication number: CN113660611A
Application number: CN202110951404.9A
Authority: CN
Inventors: 刘抒民; 张博; 沈丽; 龙祁峰
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2021-11-16
Anticipated expiration: 2041-08-18
Also published as: WO2023020055A1; CN113660611B

Abstract

The application provides a positioning method and device, and relates to the technical field of terminals. According to the positioning method, under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold value, the first terminal and the second terminal are positioned by adopting a second positioning method. The first terminal may obtain first relative position information of the first terminal and the second terminal, where the first relative position information is obtained by using a second positioning method, and the first relative position information includes a distance and a direction between the first terminal and the second terminal. And then, updating the first positioning identifier in the first interface according to the first relative position information. Because the positioning accuracy of the second positioning method is higher than that of the first positioning method, the passenger holding the first terminal can more accurately perceive the distance and the direction between the driver holding the second terminal and the passenger holding the second terminal.

Description

Positioning method and device

Technical Field

The present application relates to the field of terminal technologies, and in particular, to a positioning method and apparatus.

Background

At present, with the development of internet technology, the online taxi appointment becomes a part of people's transportation. After the passenger successfully takes the car, the position of the driver is displayed on a display interface of a network appointment application of the passenger terminal for the passenger to look up.

In general, the driver's position is obtained by the driver's terminal through a 10-meter positioning technology such as GPS positioning, base station positioning, or bluetooth positioning.

However, the accuracy of the position of the driver acquired by the above method is low, so that the passenger cannot perceive the accurate position of himself with respect to the driver.

Disclosure of Invention

The application provides a positioning method and a positioning device, which can acquire first relative position information of a first terminal of a passenger and a second terminal of a driver, so that the passenger can sense the accurate position of the passenger relative to the driver.

In a first aspect, the present application provides a positioning method applied to a communication system, where the communication system includes a first terminal and a second terminal. The method provided by the application comprises the following steps: the first terminal acquires the position information of the second terminal obtained by adopting the first positioning method. The first terminal displays a first interface. The first interface comprises a map, a first positioning identifier and a second positioning identifier, the first positioning identifier is used for marking the position information of the second terminal in the map, the second positioning identifier is used for marking the position information of a target position on the map, and the target position is obtained by the first terminal based on user operation. And under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold, the first terminal and the second terminal are positioned by adopting a second positioning method. And the positioning precision of the second positioning method is greater than that of the first positioning method. The first terminal acquires first relative position information of the first terminal and the second terminal, which is obtained by adopting a second positioning method for positioning, wherein the first relative position information comprises the distance and the direction between the first terminal and the second terminal. And the first terminal updates the first positioning identifier in the first interface according to the first relative position information.

According to the positioning method, under the condition that the distance between the target position and the second terminal is smaller than the preset distance threshold, the first terminal and the second terminal are positioned by the second positioning method. The first terminal may obtain first relative position information of the first terminal and the second terminal, where the first relative position information is obtained by using a second positioning method, and the first relative position information includes a distance and a direction between the first terminal and the second terminal. And then, updating the first positioning identifier in the first interface according to the first relative position information. Because the positioning accuracy of the second positioning method is higher than that of the first positioning method, the passenger holding the first terminal can more accurately perceive the distance and the direction between the driver holding the second terminal and the passenger holding the second terminal.

In an optional implementation manner, the first terminal includes multiple antennas, and when a distance between the target location and the second terminal is smaller than a preset distance threshold, the first terminal and the second terminal perform positioning by using a second positioning method, including: and under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold, the first terminal receives a positioning signal from the position of the second terminal. The positioning signal carries a first time when the positioning signal is transmitted. The first terminal records a second moment when the positioning signal is received. And the first terminal determines the distance of the second terminal relative to the first terminal according to the first time, the second time and the set signal propagation rate. The first terminal determines the relative direction of the second terminal relative to the second terminal according to the plurality of antennas and the three-point positioning method.

In this way, the distance and direction of the second terminal with respect to the first terminal can be accurately calculated.

Further, in a case that a distance between the target position and the second terminal is smaller than a preset distance threshold, the receiving, by the first terminal, a positioning signal from the position of the second terminal includes: and the second terminal transmits a positioning signal when detecting that the distance between the target position and the second terminal is smaller than a preset distance threshold. The first terminal receives a positioning signal from the second terminal.

Thus, the second terminal can be used to transmit the positioning signal, and the cost is low.

Or, further, in a case that a distance between the target location and the second terminal is smaller than a preset distance threshold, the receiving, by the first terminal, a positioning signal from the location of the second terminal includes: and the second terminal informs the positioning equipment to transmit a positioning signal when detecting that the distance between the target position and the second terminal is smaller than a preset distance threshold, wherein the positions of the positioning equipment and the second terminal are the same. The first terminal receives a positioning signal from a positioning device.

In this way, the positioning device can be used to transmit the positioning signal, reducing the power consumption of the second terminal.

In an optional implementation manner, the first terminal and the second terminal interact through a cloud server, and before the first terminal displays the first interface, the method provided by the application further includes: the first terminal and the second terminal receive verification information from the cloud server, wherein the verification information comprises a verification identifier and a secret key. The first terminal receiving a positioning signal from a location of the second terminal, comprising: the first terminal receives a positioning signal which comes from the position of the second terminal, carries an authentication identifier and is encrypted by a secret key at a first moment. Before the first terminal determines the distance of the second terminal relative to the first terminal according to the first time, the second time and the set signal propagation rate, the method provided by the application further comprises: and under the condition that the verification identification from the cloud server is consistent with the verification identification carried by the positioning signal, the first terminal decrypts the first moment according to the secret key.

Therefore, the first moment in the positioning signal can be improved and cannot be acquired by others in the propagation process, and the privacy and the safety of the first relative position information are ensured.

In an alternative embodiment, the locating signal is a UWB signal or an ultrasonic signal.

In an optional embodiment, the first relative position information comprises text information for indicating a distance and a direction of the second terminal relative to the first terminal.

Therefore, the user can more conveniently sense the distance and the direction from the driver through the first relative position information.

Further, the first terminal also displays a third positioning identifier on the map of the first interface, where the third positioning identifier is used to mark the position information of the first terminal obtained by the first positioning method, and the content of the first positioning identifier is updated to indicate the relative position of the second terminal and the first terminal on the map. The first relative position information further includes: an arrow pointing from the third location identity to the updated first location identity.

Therefore, the user can more conveniently sense the distance and the direction from the user to the driver through the first positioning mark, the third positioning mark and the arrow.

Further, the content of the text information is updated as the first relative position information changes.

Further, under the condition that the distance between the second terminal and the first terminal is smaller than a preset distance threshold, the first terminal displays first prompt information on the first interface, and the first prompt information is used for indicating that a passenger gets on the vehicle.

Therefore, the passenger with the first terminal can sense that the passenger has got on the vehicle correctly through the first prompt message.

In an optional embodiment, the method provided herein further comprises: and the second terminal displays a second interface, and the second interface comprises a first control and a third positioning identifier. And the third positioning identifier is used for marking the position information of the first terminal obtained by the first positioning method. And the second terminal responds to the triggering operation of the first control and sends a first request to the first terminal. The first request is used for requesting first relative position information of the first terminal. And the first terminal responds to the first request and displays the second prompt message on the first interface. And the second prompt message is used for indicating that the first relative position information is shared to the second terminal. And the first terminal responds to the confirmation operation of the second prompt message and sends the first relative position message to the second terminal. And the second terminal generates second relative position information of the first terminal and the second terminal according to the first relative position information and the position information obtained by the second terminal by adopting the first positioning method. And the second terminal updates the third positioning identifier in the second interface according to the second relative position information.

In this way, the driver holding the second terminal can accurately sense the distance and direction of the passenger relative to the driver through the second relative position information.

Further, the second relative position information includes text information indicating a distance and a direction of the first terminal relative to the second terminal.

Therefore, the driver holding the second terminal can more conveniently sense the distance and the direction of the passenger relative to the driver through the text information.

Furthermore, the second interface further displays a first positioning identifier and a third positioning identifier, where the third positioning identifier is used to indicate the relative positions of the first terminal and the second terminal on the map, and the second relative position information further includes: an arrow pointing from the first location indicator to the third location indicator.

Therefore, the driver holding the second terminal can more conveniently sense the distance and the direction of the passenger relative to the driver through the first positioning mark, the third positioning mark and the arrow.

Further, when the distance between the first terminal and the second terminal is smaller than a preset distance threshold, the second terminal displays third prompt information on the second interface, and the third prompt information is used for indicating that a passenger gets on the vehicle.

In this way, the driver holding the second terminal can perceive that the passenger has got on the vehicle correctly through the third prompt message.

In a second aspect, the present application further provides a positioning apparatus applied to a first terminal, where the apparatus provided by the present application includes:

and the communication unit is used for acquiring the position information of the second terminal obtained by adopting the first positioning method. And the display unit is used for displaying the first interface. The first interface comprises a map, a first positioning identifier and a second positioning identifier, the first positioning identifier is used for marking the position information of the second terminal in the map, the second positioning identifier is used for marking the position information of a target position on the map, and the target position is obtained by the first terminal based on user operation. And the processing unit is used for positioning the second terminal by adopting a second positioning method under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold value. And the positioning precision of the second positioning method is greater than that of the first positioning method. And the processing unit is further used for acquiring first relative position information of the first terminal and the second terminal, which is obtained by adopting a second positioning method for positioning. The first relative position information comprises the distance and the direction between the first terminal and the second terminal. And the display unit is also used for updating the first positioning identifier in the first interface according to the first relative position information.

In an alternative embodiment, the first terminal comprises a plurality of antennas. And the communication unit is also used for receiving a positioning signal from the position of the second terminal under the condition that the distance between the target position and the second terminal is less than a preset distance threshold value. The positioning signal carries a first time when the positioning signal is transmitted. The processing unit is further used for recording a second moment when the positioning signal is received, and determining the distance between the second terminal and the first terminal according to the first moment, the second moment and the set signal propagation rate; and determining the relative direction of the second terminal relative to the second terminal according to the plurality of antennas and the three-point positioning device.

Further, the communication unit is specifically configured to receive a positioning signal from the second terminal when a distance between the target location and the second terminal is smaller than a preset distance threshold.

Or, further, the communication unit is specifically configured to receive a positioning signal from the positioning device when a distance between the target location and the second terminal is smaller than a preset distance threshold. Wherein the positioning device is located at the same position as the second terminal.

In an optional implementation manner, the first terminal and the second terminal interact through a cloud server. The communication unit is further used for receiving verification information from the cloud server, wherein the verification information comprises a verification identifier and a secret key. And the communication unit is specifically used for receiving the positioning signal which comes from the position of the second terminal, carries the verification identifier and is encrypted by the secret key at the first moment. And the processing unit is further used for decrypting the first moment by the first terminal according to the key under the condition that the verification identifier from the cloud server is consistent with the verification identifier carried by the positioning signal.

In an optional implementation manner, the display unit is further configured to, when the distance between the second terminal and the first terminal is smaller than a preset distance threshold, display, by the first terminal, a first prompt message on the first interface, where the first prompt message is used to indicate that a passenger gets on the vehicle.

In an optional embodiment, the communication unit is further configured to receive a first request from the second terminal. The first request is used for requesting first relative position information of the first terminal. And the display unit is also used for responding to the first request and displaying the second prompt message on the first interface. And the second prompt message is used for indicating that the first relative position information is shared to the second terminal. And the communication unit is also used for responding to the confirmation operation of the second prompt message and sending the first relative position information to the second terminal.

In a third aspect, an embodiment of the present application provides a positioning apparatus, including a processor and a memory, where the memory is used to store code instructions; the processor is configured to execute the code instructions to perform the positioning method performed by the first terminal as described in the first aspect or any implementation manner of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores instructions that, when executed, cause a computer to perform a positioning method performed by a first terminal as described in the first aspect or any implementation manner of the first aspect.

In a fifth aspect, a computer program product comprises a computer program which, when executed, causes a computer to perform a positioning method as described in the first aspect or any implementation form of the first aspect.

It should be understood that the second aspect to the fifth aspect of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by the aspects and the corresponding possible implementations are similar and will not be described again.

Drawings

Fig. 1 is an interaction diagram of a second terminal B sending GPS location information of the second terminal B to a first terminal a;

fig. 2 is a schematic diagram of a hardware system architecture of a first terminal and a second terminal according to an embodiment of the present application;

fig. 3 is a schematic interaction diagram of the first mobile phone 100, the cloud server 300, the second mobile phone 200, and the positioning device of the vehicle 400 provided in the embodiment of the present application;

fig. 4 is an interaction diagram illustrating a process of ordering a car by a network appointment performed by the first mobile phone 100, the cloud server 300, and the second mobile phone 200 according to the embodiment of the present disclosure;

fig. 5 is an interaction diagram illustrating that the cloud server 300 issues the key and the verification information to the first mobile phone 100 and the positioning device of the vehicle 400 respectively according to the embodiment of the present application;

fig. 6 is a block diagram of a positioning apparatus 700 according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of a first interface of the first mobile phone 100 according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of a second interface of the second mobile phone 200 according to the embodiment of the present application;

fig. 9 is a schematic diagram of a scenario where the first mobile phone 100 receives a UWB signal from a positioning device of a vehicle 400 according to an embodiment of the present application;

fig. 10 is a schematic view of an interface of the first mobile phone 100 for guiding a passenger to get on the vehicle correctly according to the first relative position information according to the embodiment of the present application;

fig. 11 is an interaction diagram illustrating the first mobile phone 100 sharing the first relative position information to the second mobile phone 200 according to the embodiment of the present application;

fig. 12 is a schematic diagram of an interface of the second mobile phone 200 for guiding the driver to correctly get to the passenger according to the second relative position information according to the embodiment of the present application;

fig. 13 is a flowchart of a positioning method according to an embodiment of the present application;

fig. 14 is an interaction diagram of a positioning method according to an embodiment of the present application;

fig. 15 is a block diagram of a positioning apparatus 1500 according to an embodiment of the present disclosure;

fig. 16 is a schematic hardware structure diagram of the first terminal or the second terminal according to an embodiment of the present disclosure;

fig. 17 is a schematic structural diagram of a chip according to an embodiment of the present application.

Detailed Description

In the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same or similar items having substantially the same function and action. For example, the first value and the second value are only used to distinguish different values, and the order of the values is not limited. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

At present, with the development of internet technology, the online taxi appointment becomes a part of people's transportation. For example, the passenger wants to drive from the starting point of travel "the intersection of the river and the street" to the end point of travel "the park road bus station". As shown in fig. 1, after the driver triggers the second terminal B to successfully receive the order, the second terminal B acquires the GPS location information of the second terminal and uploads the GPS location information to the cloud server 300. The cloud server 300 sends the GPS location information of the second terminal B to the first terminal a, and the first terminal a maps the GPS location information of the second terminal B to a map for display. Furthermore, the first terminal a identifies the driver's GPS position information in a map on the order interface of the online car booking application for the passenger to refer to.

However, the driver's GPS position information is located by using a GPS location technique with a location accuracy of 10 meters. This may result in the passenger's position of the driver being referred to at the dispatch interface being less than accurate.

In view of this, the present application provides a positioning method. And on the way that a driver of the networked car booking takes the passengers, if the distance between the driver and the trip starting point is less than a preset distance threshold value, a second terminal of the driver controls the positioning equipment to emit a positioning signal. Wherein the positioning signal carries the transmission time. The first terminal of the passenger can receive the positioning signal from the positioning device and record the receiving time and the propagation direction of the positioning signal. The first terminal can determine the distance of the passenger relative to the driver based on the transmitting time, the receiving time and the positioning signal propagation speed, so that the accuracy of the distance determination can reach centimeter level. Furthermore, the first terminal can determine the relative position information of the passenger and the driver according to the propagation direction of the positioning signal and the distance between the passenger and the driver. The first terminal then identifies relative passenger and driver position information in a map displayed at a dispatch interface of the network appointment application.

In this way, the passenger can refer to the relative position information of the passenger and the driver in the map displayed on the menu interface of the net appointment application. And the accuracy of the determined distance can reach the centimeter level, so that the accuracy of the relative position information between the passenger and the driver, which is referred by the passenger, is high, and the network appointment service in the positioning method provided by the embodiment of the application can be realized.

It is understood that the first terminal and the second terminal are both terminal devices. The terminal device may be a mobile phone (mobile phone), a wearable device (such as a smart band or a smart watch), a tablet computer (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an Augmented Reality (AR) terminal device, and so on. The embodiment of the present application does not limit the specific technology and the specific device form adopted by the terminal device.

In order to better understand the embodiments of the present application, the following describes the structure of the terminal device according to the embodiments of the present application. Exemplarily, fig. 2 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.

The terminal device may include a processor 110, a GPS positioning device 120, an internal memory 121, a Universal Serial Bus (USB) interface 130, a charging management module 140, a power management module 141, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an ultrasonic transceiver module 161, an audio module 170, a speaker 170A, a microphone 170B, a microphone 170C, a sensor module 180, a button 190, an indicator 192, a camera 193, a display screen 194, and the like. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, and the like.

It is to be understood that the illustrated structure of the embodiments of the present application does not constitute a specific limitation to the terminal device. In other embodiments of the present application, a terminal device may include more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components may be used. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

Processor 110 may include one or more processing units. The different processing units may be separate devices or may be integrated into one or more processors. A memory may also be provided in processor 110 for storing instructions and data.

The USB interface 130 is an interface conforming to the USB standard specification, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, or the like. The USB interface 130 may be used to connect a charger to charge the terminal device, and may also be used to transmit data between the terminal device and the peripheral device. And the earphone can also be used for connecting an earphone and playing audio through the earphone. The interface may also be used to connect other electronic devices, such as AR devices and the like.

The charging management module 140 is configured to receive charging input from a charger. The charger may be a wireless charger or a wired charger. The power management module 141 is used for connecting the charging management module 140 and the processor 110.

The wireless communication function of the terminal device can be realized by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor, the baseband processor, and the like.

The antenna 1 and the antenna 2 are used for transmitting and receiving electromagnetic wave signals, such as bluetooth signals, Ultra Wide Band (UWB) signals. Antennas in terminal devices may be used to cover single or multiple communication bands. In one embodiment, both the antenna 1 and the antenna 2 may be replaced by an array antenna, where the array antenna includes a plurality of sub-antennas arranged in an array, and a relative transmitting and receiving direction of each sub-antenna is different. In this way, the terminal device can determine the propagation direction of the received signal according to the strength of the received signal of each sub-antenna. In another embodiment, the terminal device may further include an antenna 3 (not illustrated in fig. 2), and the relative transceiving directions of the antenna 1, the antenna 2, and the antenna 3 are different. The terminal device can calculate the propagation direction of the signal by a three-point positioning method according to the time difference of the signal reaching the antenna 1, the antenna 2 and the antenna 3.

The mobile communication module 150 may provide a solution including 2G/3G/4G/5G wireless communication applied on the terminal device. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a Low Noise Amplifier (LNA), and the like. The mobile communication module 150 may receive the electromagnetic wave from the antenna 1, filter, amplify, etc. the received electromagnetic wave, and transmit the electromagnetic wave to the modem processor for demodulation.

The wireless communication module 160 may provide a solution for wireless communication applied to a terminal device, including Wireless Local Area Networks (WLANs) (e.g., wireless fidelity (Wi-Fi) networks), Bluetooth (BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Ultra Wide Band (UWB), and the like.

The ultrasonic transceiver module 161 may be used to transceive ultrasonic signals.

The terminal device realizes the display function through the GPU, the display screen 194, and the application processor. The GPU is a microprocessor for image processing, and is connected to the display screen 194 and an application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering.

The display screen 194 is used to display images, video, and the like. The display screen 194 includes a display panel. In some embodiments, the terminal device may include 1 or N display screens 194, with N being a positive integer greater than 1.

The terminal device can realize the shooting function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, the application processor, and the like.

The camera 193 is used to capture still images or video. In some embodiments, the terminal device may include 1 or N cameras 193, N being a positive integer greater than 1.

And the GPS positioning device 120 is configured to collect current GPS position information of the terminal device.

The internal memory 121 may be used to store computer-executable program code, which includes instructions. The internal memory 121 may include a program storage area and a data storage area.

The terminal device may implement an audio function through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, and the application processor. Such as music playing, recording, etc.

The audio module 170 is used to convert digital audio information into an analog audio signal output and also to convert an analog audio input into a digital audio signal. The speaker 170A, also called a "horn", is used to convert the audio electrical signal into an acoustic signal. The terminal device can listen to music through the speaker 170A, or listen to a handsfree call. The receiver 170B, also called "earpiece", is used to convert the electrical audio signal into an acoustic signal. When the terminal device answers a call or voice information, it is possible to answer a voice by bringing the receiver 170B close to the human ear. The microphone 170C, also referred to as a "microphone," is used to convert sound signals into electrical signals.

The pressure sensor 180A is used for sensing a pressure signal, and converting the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A may be disposed on the display screen 194. The gyro sensor 180B may be used to determine the motion attitude of the terminal device. The air pressure sensor 180C is used to measure air pressure. The magnetic sensor 180D includes a hall sensor. The acceleration sensor 180E can detect the magnitude of the acceleration of the terminal device in each of the opposite directions (generally, three axes). A distance sensor 180F for measuring a distance. The proximity light sensor 180G may include, for example, a Light Emitting Diode (LED) and a light detector, such as a photodiode. The ambient light sensor 180L is used to sense the ambient light level. The fingerprint sensor 180H is used to collect a fingerprint. The temperature sensor 180J is used to detect temperature. The touch sensor 180K is also called a "touch device". The touch sensor 180K may be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, which is also called a "touch screen". The bone conduction sensor 180M may acquire a vibration signal.

The keys 190 include a power-on key, a volume key, and the like. The keys 190 may be mechanical keys. Or may be touch keys. The terminal device may receive a key input, and generate a key signal input related to user setting and function control of the terminal device. Indicator 192 may be an indicator light that may be used to indicate a state of charge, a change in charge, or a message, missed call, notification, etc.

The software system of the terminal device may adopt a layered architecture, an event-driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture, which is not described herein again.

The following describes a positioning method provided in the embodiment of the present application by taking the first terminal as the first mobile phone 100 and the second terminal as the second mobile phone 200 as an example, which is not limited to the embodiment of the present application. The following embodiments may be combined with each other and are not described in detail with respect to the same or similar concepts or processes.

Fig. 3 is an application scenario architecture diagram of a positioning method according to an embodiment of the present application. As shown in fig. 3, the first mobile phone 100 of the passenger and the second mobile phone 200 of the driver are respectively in communication connection with a cloud server 300 for data interaction. The vehicle 400 is provided with a positioning device, and the second mobile phone 200 of the driver can establish one-to-one communication connection with the positioning device. For example, the second mobile phone 200 of the driver can establish a bluetooth connection or a wifi connection with the positioning device, and the like, which is not limited herein.

Illustratively, when a passenger wants to drive from a trip starting point "river-street intersection" to a trip end point "school park intersection", an icon of the net appointment application may be triggered on the system main interface of the first mobile phone 100. The first mobile phone 100 can respond to the triggering operation of the passenger, and display a menu interface (not shown in the figure) of the network appointment application, wherein the menu interface comprises an ordering control. The first mobile phone 100 can receive a trip starting point 'a river-street intersection' and a trip ending point 'a school park bus station' which are recorded by passengers on a dispatching list interface. Further, the first mobile phone 100 sends an order request to the cloud server 300 in response to a passenger's trigger operation of an order control of the order interface. The order request carries the passenger's GPS location information, the trip starting point "river-street intersection", the trip ending point "school park bus station", and the passenger's personal information (such as identity information, name, etc.).

As shown in fig. 4, the cloud server 300 issues the order request to the second mobile phone 200. After the second mobile phone 200 receives the order request, the starting point of the trip, "river-street intersection", the end point of the trip, "school park road bus station", and personal information of the passenger (not shown in the figure) are displayed on the order interface of the second mobile phone 200. The second mobile phone 200 may send an order receiving instruction to the cloud server 300 in response to a trigger operation of the order receiving control of the driver on the order receiving interface of the second mobile phone 200. Wherein, the order receiving instruction carries the driver's GPS position information, the driver's personal information (such as identity information, name, etc.), etc. It is to be understood that the GPS location information is collected by the second handset 200 using the first positioning method. In addition, the first positioning method may be replaced by a positioning method for acquiring base station position information, bluetooth position information, or the like, which is not limited herein.

Further, the cloud server 300 generates the verification information according to the order receiving instruction and the order request. The verification information includes a verification identifier (such as an order number), GPS location information of the first mobile phone 100, a trip start point "riverside intersection", a trip end point "school park bus station", personal information of the passenger (such as identity information, name, etc.), GPS location information of the second mobile phone 200, and personal information of the driver (such as identity information, name, etc.), and the like. Optionally, the cloud server 300 may also generate a key. As shown in fig. 5, the cloud server 300 may issue the authentication information and the key to the first and

second handsets

100 and 200, respectively. Since the second handset 200 and the positioning device have pre-established a one-to-one communication connection, the second handset 200 can also send the key and the authentication identifier in the authentication information to the positioning device. The positioning device receives the key and the authentication identification from the second handset 200 and stores the key and the authentication identification.

For example, the structure and operation principle of the positioning device will be described below by taking the example that the positioning device can be bluetooth connected to the second mobile phone 200. As shown in fig. 6, the pointing device 700 may include a bluetooth module 701, a signal processing module 702, a signal transmitting module 703, a storage module 704, and a power interface 705. The signal processing module 702 is electrically connected to the bluetooth module 701, the signal transmitting module 703, the storage module 704, and the power interface 705.

It is understood that the positioning device 700 can establish a one-to-one communication connection with the second handset 200 through the bluetooth module 701. Furthermore, the positioning device 700 may receive the key and the authentication identification from the second handset 200 via the bluetooth module 701 and store the key and the authentication identification in the storage module 704. The signal transmitting module 703 may be used to transmit a positioning signal. The positioning signal may be a UWB signal encrypted by a key and carrying a first time when the positioning signal is transmitted. Understandably, the UWB signal is encrypted through the secret key, so that the position information of a driver and the position information of passengers can be protected from being leaked to other people, and the information safety is ensured. Of course, the positioning signal may also be an unencrypted UWB signal or the like carrying the first time instant at which the positioning signal is transmitted, as defined herein. Additionally, the power interface 705 may be coupled to a vehicle power source such that the vehicle power source may provide power to the pointing device 700 via the power interface 705. In this manner, the onboard power supply may provide longer range and greater signal transmission power for the pointing device 700. Optionally, the power interface 705 may also be replaced by a storage battery to supply power to the positioning apparatus 700, which is not limited herein.

After the cloud server 300 issues the verification information to the first mobile phone 100 and the second mobile phone 200, the ordering process of the online car appointment is completed. Further, as shown in fig. 7, the first cell phone 100 of the passenger displays a first interface 101. The first interface 101 of the first mobile phone 100 displays a map, where the map includes a first positioning identifier 801, a second positioning identifier 802, and a distance prompt 104 "2 km away from you". As will be appreciated, the distance prompt 104 is used to indicate the distance of the GPS location information of the vehicle 400 on the map relative to the GPS location information of the start of travel for review by the passenger. The first positioning mark 801 is used for marking the GPS position information of the vehicle 400 on the map (i.e. the GPS position information of the second mobile phone 200 on the map), and the second positioning mark 802 is used for marking the GPS position information of the travel starting point "the river-crossing" on the map.

Similarly, as shown in fig. 8, the second cell phone 200 of the driver displays a second interface 201. A map is also displayed in the second interface 201, and the map includes a first positioning identifier 801, a second positioning identifier 802, and a distance prompt 202 "2 km from the starting point". The distance prompt 202 is used to indicate the distance of the GPS location information of the vehicle 400 on the map relative to the GPS location information of the travel starting point for the driver to review. The first positioning mark 801 is used for marking the GPS position information of the vehicle 400 on the map, and the second positioning mark 802 is used for marking the GPS position information of the travel starting point "the river-crossing" on the map.

When the second mobile phone 200 of the driver detects that the distance between the GPS location information of the driver and the GPS location information of the travel starting point "the river-crossing" is smaller than a preset distance threshold (e.g., 40m, 50m, 60m, etc.), the passenger has a need to acquire accurate location information of the vehicle 400 (i.e., first relative location information of the first mobile phone 100 and the vehicle 400), so as to be able to quickly and accurately find the driver's vehicle 400 to get on the vehicle. This results in the first location indicator 801 on the first interface 101, and the vehicle 400 identified on the map, having less accurate GPS location information due to less accurate GPS location technology. In this manner, the position information of the vehicle 400 can be located using the second location method with higher accuracy. It will be appreciated that the positioning accuracy of the second positioning method is greater than that of the first positioning method described above.

Next, the process of positioning the position information of the driver by using the UWB positioning technology will be described with reference to fig. 9, taking the second positioning method as the UWB positioning technology.

As shown in fig. 9, in the case where the driver's second mobile phone 200 detects that the distance between the GPS location information of the vehicle 400 and the GPS location information of the trip start point is less than the preset distance threshold, the second mobile phone 200 may notify the positioning device 700 on the vehicle 400 to transmit the UWB signal. Further, the signal processing module 702 of the positioning apparatus 700 extracts the key and the authentication identifier from the storage module 704, and controls the signal transmitting module 703 to transmit the UWB signal at the first time carrying the authentication identifier and the encryption. Wherein the first time is a time when the UWB signal is transmitted.

In this manner, the passenger's first handset 100 may receive the UWB signal transmitted by the positioning device 700 and record the second time when the UWB signal is received. The first handset 100 can detect whether the verification identifier carried by the UWB signal is consistent with the verification identifier previously received from the cloud server 300, and if so, it indicates that the vehicle 400 in which the positioning device 700 emitting the UWB signal is located is the vehicle reserved by the passenger. As such, the first handset 100 may decrypt the first instance of the UWB signal according to the key previously received from the cloud server 300.

Further, the first mobile phone 100 can calculate the transmission time t of the UWB signal from the first time and the second time. The first mobile phone 100 determines the distance between the vehicle 400 and the first mobile phone 100 (i.e. the distance between the second mobile phone 200 and the first mobile phone 100) where the positioning apparatus 700 is located according to the equation d ═ v × t. Where d is the distance between the vehicle 400 and the first mobile phone 100, v is the propagation rate of the UWB signal, and t is the transmission time of the UWB signal. It should be noted that the transmission time t can be accurate to picoseconds, and the accuracy is high; furthermore, the propagation velocity is a set constant, which can be accurate to millimeters per second.

It is understood that, in the above process, since the transmission time and the propagation rate of the UWB signal are highly accurate, the calculated distance can be accurate to the centimeter level (e.g., 5.61 meters). In addition, the first mobile phone 100 can calculate the direction of the vehicle 400 of the transmitted UWB signal by a three-point positioning method according to the transmission time of the UWB signal reaching the antenna of the first mobile phone 200. For example, the first handset 200 includes an antenna 1 and an antenna 2, and the distance between the antenna 1 and the antenna 2 is D. Assuming that the transmission time of the UWB signal arriving at the antenna 1 is T1, the distance D1 can be calculated from the transmission time T1 and the propagation velocity; the transmission time of the UWB signal arriving at the antenna 2 is T2, and thus the distance D2 can be calculated from the transmission time T2 and the propagation velocity. Since the antenna 1, the antenna 2 and the positioning device that transmits the UWB signal form a triangle, the angle between the positioning device and the antenna 1 or the antenna 2 can be calculated by a trigonometric function under the known conditions of D, D1 and D2, and the propagation direction of the first mobile phone 100 relative to the UWB signal can be obtained.

It will be appreciated that the direction of propagation of the UWB signal, i.e. the direction of the vehicle 400 relative to the first handset 100 (i.e. the distance between the second handset 200 and the first handset 100), and the direction of the vehicle 400 relative to the first handset 100, as indicated by the determination of the direction of propagation of the UWB signal by the antenna of the first handset 100, is highly accurate. Thus, combining the distance between the vehicle 400 and the first mobile phone 100 and the direction of the vehicle 400 relative to the first mobile phone 100, a more accurate first relative position information between the vehicle 400 and the first mobile phone 100 can be obtained.

Next, how the first mobile phone 100 guides the passenger to get on the vehicle correctly according to the first relative position information will be described with reference to fig. 10.

Illustratively, the first handset 100 may identify first relative location information 105 of the vehicle 400 and the first handset 100 on a map in the first interface 101 based on the GPS location information of the first handset 100, the distance of the vehicle 400 from the first handset 100, and the direction of propagation of the UWB signal. As shown in fig. 10 (a), the first mobile phone 100 may display a third positioning indicator 803 on the map of the first interface 101, wherein the third positioning indicator 803 is used for marking the GPS position information of the first mobile phone 100 on the map, i.e., the GPS position information of the passenger. In addition, the first mobile phone 100 can also update the content of the first location indicator 801 to indicate the relative position of the vehicle 400 and the first mobile phone 400 on the map. The first relative position information 105 may be a text message "15.61 meters away from the front right of your body". As can be appreciated, the first relative position information 105 is used to indicate the distance and direction of the vehicle 400 from the first mobile phone 100, i.e., the distance and direction between the passenger and the driver. In this way, the passenger can more accurately sense the distance and direction (e.g., 15.61 meters ahead of the right) between the vehicle 400 and the first mobile phone 100 through the first relative position information 105.

In addition, the first relative position information 105 may further include an arrow for indicating the direction of the vehicle 400, i.e., an arrow pointing from the third location indicator 803 to the updated first location indicator 801. The passenger can also perceive the direction and distance of the vehicle 400 relative to the first mobile phone 100 through the third positioning indicator 803, the updated first positioning indicator 801 and the arrow indicating the direction of the vehicle 400. In this manner, the passenger may more conveniently perceive the position of the vehicle 400 relative to himself to rationally plan the route and departure time for finding the vehicle 400.

As shown in fig. 10 (b), after the vehicle 400 reaches the travel starting point "the crossroad of the river, the vehicle 400 does not move any more, but waits for the boarding of passengers. And the content of the first relative position information 105 is updated as: "5.61 meters behind you's right". In this way, the passenger can more accurately sense the distance and direction (e.g. 5.61 meters behind right) between the vehicle 400 and the first mobile phone 100 through the first relative position information 105 during the process of moving to find the vehicle 400. It is understood that, when the first relative position information 105 includes an arrow for indicating the direction of the vehicle 400, the pointing direction of the arrow is adjusted as the relative distance and direction between the vehicle 400 and the first mobile phone 100 are changed. Therefore, the passenger can more conveniently sense the position of the vehicle 400 relative to the passenger to judge whether the moving direction of the passenger is correct or not, and then the passenger can more efficiently and accurately find the vehicle 400.

As shown in (c) of fig. 10, when the distance between the vehicle 400 and the first mobile phone 100 is less than a preset distance threshold (e.g., 0.5m, 0.3m, etc.) and the duration exceeds a preset duration (e.g., 3s, 5s, etc.), it indicates that the passenger has found the vehicle 400 and gets on the vehicle. Further, the first mobile phone 100 displays the first prompt message 106 "car has been got" on the first interface 101. It will be appreciated that the first prompt is for indicating that the passenger has got on the vehicle. In this way, the passenger can perceive that he or she has correctly picked up the vehicle through the first prompt message 106. And the first mobile phone 100 of the user transmits the "getting on the bus" information to the cloud server 300 for the cloud server 300 to confirm the bus taking.

In addition, when the distance between the driver's GPS position information and the GPS position information of the travel starting point "river-crossing" is smaller than a preset distance threshold (e.g., 40m, 50m, 60m, etc.), the driver also has a need to acquire an accurate relative position of the passenger, so as to determine a more accurate relative position of the passenger and the driver. In this way, the driver can request the first phone 100 to share an exact relative position to the driver's second phone 200.

In the following, it is explained how the second handset 200 directs the driver to get to the passenger correctly in connection with fig. 7-8 and fig. 11-12.

Referring back to fig. 7, a first control 203 is displayed on the second interface 201 of the second mobile phone 200. The second mobile phone 200 may send a first request to the first mobile phone 100 in response to the driver's trigger operation of the first control 203, where the first request is for requesting first relative position information of the first mobile phone 100. As shown in fig. 8, the first handset 100 receives a first request from the second handset 200, and displays a second prompt message 102 on the first interface 101. The second prompt message 102 is used to indicate that the first relative position information is shared with the second mobile phone 200, and the confirmation control 103 is included in the second prompt message 102.

As shown in fig. 11, if the passenger allows sharing of the first relative position information to the second cell phone 200, the first cell phone 100 may transmit the first relative position information to the cloud server 300 in response to the passenger's confirmation operation of the confirmation control 103. Further, the cloud server 300 transmits the first relative position information to the second handset 200. It is understood that the second mobile phone 200 receives the first relative position information only after the passenger allows the first relative position information to be shared with the second mobile phone 200, so that the privacy of the passenger's position can be protected.

Since the first relative position information includes the distance between the vehicle 400 and the first mobile phone 100 and the propagation direction of the UWB signal, the second mobile phone 200 of the driver can generate the second relative position information 204 between the first mobile phone 100 and the vehicle 400 according to the GPS position information of the second mobile phone 200, the distance between the vehicle 400 and the first mobile phone 100, and the propagation direction of the UWB signal. As shown in fig. 12 (a), the second mobile phone 200 may display a first positioning indicator 801 and a third positioning indicator 803 on a map of the second interface 201, wherein the first positioning indicator 801 is used for marking GPS position information of the vehicle 400, and the third positioning indicator 803 is used for indicating a relative position of the first mobile phone 100 and the vehicle 400 on the map. In addition, the second interface 201 of the second mobile phone 200 may also display second relative position information 204 of the first mobile phone 100 and the vehicle 400. The second relative position information 204 includes a text message of "15.61 m from the passenger on the front right".

It will be appreciated that the second relative position information 204 is used to indicate the distance and direction of the first mobile phone 100 from the vehicle 400, i.e. the distance and direction between the passenger and the driver. In this way, the driver can more accurately sense the distance and direction (e.g. 15.61 meters) between the first mobile phone 100 and the vehicle 400 through the second relative position information 204. In addition, the second relative position information 204 may further include: an arrow pointing from the first location indicator 801 to the third location indicator 803. It will be appreciated that arrows are used to indicate the direction of the first mobile phone 100. The driver can also perceive the direction and distance of the first mobile phone 100 relative to the vehicle 400 through the third positioning indicator 803, the first positioning indicator 801 and the arrow indicating the direction of the first mobile phone 100. In this manner, the driver can more easily perceive the position of the first mobile phone 100 relative to itself (i.e., the position of the passenger relative to the driver) to rationally plan the route for the passenger.

As shown in fig. 12 (b), after the vehicle 400 reaches the travel starting point "the crossroad of the river, the vehicle 400 does not move any more, but waits for the boarding of passengers. In addition, the contents of the second relative location information 204 may be updated as: the distance from the right side to the passenger is 5.61 meters, and the first positioning mark 801 of the vehicle 400 is also positioned at the starting point of travel, namely the crossroad of the riverside and the street. In this way, the driver can more accurately sense the distance and direction (e.g., 5.61 meters to the right) between the vehicle 400 and the first mobile phone 100 through the second relative position information 204 during the movement of the passenger. It is understood that when the second relative position information 204 includes an arrow indicating the direction of the first mobile phone 100, the direction of the arrow is adjusted according to the relative distance and direction between the first mobile phone 100 and the vehicle 400 to determine whether the passenger is approaching to his/her position. In this manner, the driver can continue to patiently wait for the arrival of the passenger without the need to call the passenger to depart or ask the passenger for the location.

As shown in (c) of fig. 12, when the distance between the first mobile phone 100 and the vehicle 400 is less than a preset distance threshold (e.g., 0.5m, 0.3m, etc.) and the duration exceeds a preset duration (e.g., 3s, 5s, etc.), it indicates that the passenger has found the vehicle 400 and gets on the vehicle. Further, the second cellular phone 200 displays a third prompt message 205 "the passenger has confirmed the boarding" on the second interface 201. It will be appreciated that the third prompt message 205 is used to indicate confirmation that the passenger has got on the vehicle. Therefore, the driver can sense that the passenger gets on the bus correctly through the third prompt message 205, and does not need to ask the tail number of the mobile phone number of the passenger to judge whether the passenger gets on the bus correctly, so that the taxi taking process links of the passenger and the driver are reduced. In addition, passengers and drivers do not need to check the tail numbers of the mobile phone numbers to determine whether to take the correct vehicle, and more convenience is provided for people with language barriers.

In addition, the second mobile phone 200 may also notify the positioning device 700 on the vehicle 400 to stop transmitting the UWB signal to reduce the power consumption of the positioning device 700 when detecting that the distance between the vehicle 400 and the first mobile phone 100 has not changed within a preset time period (e.g., 5 s).

Next, the above-mentioned flow of the positioning method in fig. 3-12 will be described by taking the first terminal as the first handset 100 and the second terminal as the second handset 200 as an example.

Fig. 13 is a flowchart illustrating a positioning method according to an embodiment of the present application. As shown in fig. 13, the positioning method may include the steps of:

s1401: the first mobile phone 100 displays a dispatch interface of the net appointment application in response to a passenger's trigger operation of an icon on the system main interface that triggers the net appointment application. And the order interface comprises an order control.

Illustratively, the first mobile phone 100 can receive a travel starting point "river-street intersection" and a travel ending point "school road bus station" which are recorded by the passenger on the menu interface. Of course, the "riverside-street intersection" may be replaced by another starting point for travel, and the "school park intersection" may be replaced by another ending point for travel, which is not limited herein.

S1402: the first mobile phone 100 sends an order request to the cloud server 200 in response to a triggering operation of an order drop control of the order interface by a passenger.

S1403: the cloud server 200 sends an order request to the second handset 200.

The order request carries the passenger's GPS location information, the trip starting point "river-street intersection", the trip ending point "school park bus station", and the passenger's personal information (such as identity information, name, etc.). After the second mobile phone 200 receives the order request, the starting point of the trip, "river-street intersection", the end point of the trip, "school park road bus station", and partial personal information for confirming the passenger are displayed on the order interface of the second mobile phone 200.

S1404: the second mobile phone 200 can send an order taking instruction associated with the order request to the cloud server 300 in response to a trigger operation of a driver on an order taking control of an order taking interface of the second mobile phone 200.

Wherein, the order receiving instruction carries the driver's GPS position information, the driver's personal information (such as identity information, name, etc.), etc. Further, the cloud server 300 generates the verification information according to the order receiving instruction and the order request. The verification information includes a verification identifier (such as an order number), GPS location information of the first mobile phone 100, a trip start point "riverside intersection", a trip end point "school park bus station", personal information of the passenger (such as identity information, name, etc.), GPS location information of the second mobile phone 200, and personal information of the driver (such as identity information, name, etc.), and the like.

S1405: the cloud server 300 generates verification information according to the order receiving instruction and the order request.

S1406: the first and

second handsets

100 and 200 receive authentication information from the cloud server 300.

The first handset 100 and the second handset 200 may also receive a key for encrypting the positioning signal from the cloud server 300.

S1407: the first mobile phone 100 displays a first interface 101.

The first interface 101 of the first mobile phone 100 displays a map, where the map includes a first positioning identifier 801, a second positioning identifier 802, and a distance prompt 104. The distance prompt 104 is used to indicate the distance of the GPS position information of the vehicle 400 on the map with respect to the GPS position information of the travel starting point. The first positioning mark 801 is used for marking the GPS position information of the vehicle 400 on the map, and the second positioning mark 802 is used for marking the GPS position information of the travel starting point "the river-crossing road" on the map.

S1408: the second handset 200 displays the second interface 102.

A map is also displayed in the second interface 201, and the map includes a first positioning identifier 801, a second positioning identifier 802, and a distance indicator 202. The distance prompt 202 is used to indicate the distance of the GPS position information of the vehicle 400 on the map with respect to the GPS position information of the travel starting point. The first positioning mark 801 is used for marking the GPS position information of the vehicle 400 on the map, and the second positioning mark 802 is used for marking the GPS position information of the travel starting point "the river-crossing road" on the map.

S1409: the second cell phone 200 may notify the positioning device 700 on the vehicle 400 of transmitting the UWB signal in a case where the second cell phone 200 detects that the distance between the GPS position information of the vehicle 400 and the GPS position information of the trip start point is less than a preset distance threshold.

The structure and principle of the positioning apparatus 700 may refer to the description of fig. 6 in the above embodiments, and are not described herein again.

S1410: the first handset 100 may receive the UWB signal transmitted by the positioning device 700 and record a second time instant at which the UWB signal was received. Wherein the UWB signal carries a first time instant at which the positioning signal is transmitted.

The working principle of S1409-S1410 may refer to the description of fig. 9 in the above embodiment, and is not described herein again. In addition, when the second mobile phone 200 also has a function of transmitting and receiving UWB signals, in S1409 to S1410, the apparatus for transmitting UWB signals may be replaced with: the second handset 200 is integrated with a UWB signal transmitting function.

S1411: the first mobile phone 100 determines the distance between the vehicle 400 where the positioning device 700 is located and the first mobile phone 100 according to the first time and the second time, and determines the propagation direction of the UWB signal.

It will be appreciated that combining the distance of the vehicle 400 from the first handset 100 and the orientation of the vehicle 400 relative to the first handset 100 results in more accurate first relative position information of the vehicle 400 and the first handset 100.

In connection with S1412, how the first mobile phone 100 guides the passenger to search for the vehicle 400 according to the first relative position information will be described.

S1412: the first mobile phone 100 may display the third positioning indicator 803 on the map of the first interface 101. The third positioning identifier 803 is used to mark the GPS location information of the first mobile phone 100, and the first mobile phone 100 updates the first positioning identifier in the first interface 101 according to the first relative location information.

As can be appreciated, the first relative position information is used to indicate the distance and direction of the vehicle 400 from the first mobile phone 100. In this way, the passenger can more accurately sense the distance and direction between the vehicle 400 and the first mobile phone 100 through the first relative position information. In addition, the first relative position information may further include an updated first location indicator 801 of the vehicle 400 on the map and an arrow indicating the direction of the vehicle 400, and thus, the passenger may also determine the direction and distance of the vehicle 400 with respect to the first mobile phone 100 through the relative positions of the third location indicator 803 and the updated first location indicator 801 and the arrow indicating the direction of the vehicle 400.

It should be noted that, the operation principle of S1412 may refer to the description of fig. 10, and is not described herein again.

Next, how the first mobile phone 100 shares the first relative position information to the second mobile phone 200 is described with reference to S1413-S1416.

S1413: the second mobile phone 200 sends a first request to the first mobile phone 100 in response to the driver's trigger operation of the first control 203 of the second interface 201. Wherein the first request is for indicating that the first relative position information of the first mobile phone 100 is requested.

S1414: the first mobile phone 100 displays the second prompt information 102 on the first interface 101 in response to the first request. The second prompt message 102 is used to indicate that the first relative position information is shared with the second mobile phone 200.

S1415: the first cellular phone 100 may transmit the first relative position information to the second cellular phone 200 in response to the confirmation operation of the passenger on the second prompt message 102.

S1416: the second cell phone 200 generates second relative position information according to the first relative position information and the GPS position information of the second cell phone 200.

It is to be understood that S1413-S1416 described above may be omitted.

In connection with S1418-S1419, how the second mobile phone 200 guides the driver to correctly get to the passenger based on the second relative position information will be described.

S1417: the second handset 200 displays the first location identity 801 and the second relative position information on a map in the second interface 201. The first positioning indicator 801 is used to indicate GPS positioning information of the vehicle 400 on a map.

For the specific process and principle of S1417, reference may be made to the description of fig. 12, which is not described herein again.

As can be appreciated, the second relative position information is used to indicate the distance and direction of the first mobile phone 100 from the vehicle 400. In this way, the driver can more accurately sense the distance (e.g. 15.61 meters) and direction between the first mobile phone 100 and the vehicle 400 through the second relative position information. The second interface 201 may further display a third positioning indicator 803, and the third positioning indicator 803 is used for indicating the relative positions of the first mobile phone 100 and the vehicle 400 on the map.

In addition, the second relative position information may further include: a fifth location indicator 1201 and an arrow indicating the direction of the first mobile phone 100, and the driver can also determine the distance and direction of the first mobile phone 100 relative to the vehicle 400 by means of the third location indicator 803 and the fifth location indicator 1201 and the arrow indicating the direction of the first mobile phone 100. In this way, the driver can more accurately determine the position of the first mobile phone 100 relative to himself to rationally plan the route for the passenger.

S1418: when the distance between the first mobile phone 100 and the vehicle 400 is smaller than the preset distance threshold, the second mobile phone 200 displays the third prompt message 205 on the second interface 201. The third prompt message 205 is used to indicate that the passenger is confirmed to get on the vehicle.

Next, how the first mobile phone 100 directs the passenger to get on the vehicle based on the first relative position information will be described with reference to S1419.

S1419: when the first mobile phone 100 detects that the distance between the vehicle 400 and the first mobile phone 100 is less than the preset distance threshold, the first mobile phone 100 displays a first prompt message 106 on the first interface 101, where the first prompt message 106 is used to indicate that the passenger gets on the vehicle.

It is to be understood that S1418-S1420 described above may be omitted.

Fig. 14 is an interaction diagram of a positioning method according to an embodiment of the present application. The interaction diagram of the positioning method may summarize the methods of fig. 4-13 described above.

As shown in fig. 14, the method provided by the present application includes:

step 1: the cloud server 300 generates a key and an authentication identification.

Step 2: the cloud server 300 transmits the key and the authentication identification to the first handset 100 and the second handset 200.

And step 3: the second handset 200 transmits the encrypted UWB signal when the distance between the first handset 100 and the second handset 200 is less than the distance threshold. The UWB signal carries a secret key and an authentication identifier.

And 4, step 4: the first mobile phone 100 receives and decrypts the UWB signal from the second mobile phone 200, and acquires the first relative position information of the

mobile phones

100 and 200 according to the UWB signal.

And 5: navigating according to the first relative position information and sending the first relative position information to the second handset 200.

Step 6: the second handset 200 navigates according to the first relative position information.

And 7: when the distance between the first and

second handsets

100 and 200 is less than the distance threshold and does not change within a preset time, the first handset 100 confirms getting on.

And 8: when the distance between the first mobile phone 100 and the second mobile phone 200 is smaller than the distance threshold and does not change within a preset time, the second mobile phone 200 confirms that the passenger gets on the vehicle.

And step 9: the cloud server receives confirmation boarding instructions from the first cell phone 100 and the second cell phone 200. After the vehicle 400 determines that the travel destination is reached through the GPS location information, when the first mobile phone 100 detects that the distance between the first mobile phone 100 and the vehicle 400 is greater than a preset distance threshold (e.g., 1m, 2m, etc.), the first mobile phone 100 sends a payment request to the cloud server 300, the cloud server 300 confirms that the payment is completed, and sends the payment content to the second mobile phone 200 (not shown in fig. 15), so that more accurate operations of confirming that the order and the payment are completed without additional operations can be performed.

In addition, in the above-mentioned positioning method provided by the embodiments of the present application, the triggering operation may include: a click operation, a long-press operation, a gesture trigger operation, and the like, which are not limited herein.

In addition, in the positioning methods provided by the embodiments of the present application, the positioning signals are all described as UWB signals. It will be appreciated that UWB signals may also be replaced by ultrasonic signals. Correspondingly, the bluetooth module in the positioning device is replaced by an ultrasonic transceiver module, and the first mobile phone 100 is also provided with the ultrasonic transceiver module. In this way, the positioning device can be enabled to transmit ultrasonic signals and the first handset 100 can be enabled to receive ultrasonic signals.

In addition, the above description is provided for the positioning method according to the embodiment of the present application, which is explained by the positioning apparatus 700 being located in a vehicle. In addition, the second mobile phone 200 may also integrate a transmitting function of UWB signals or ultrasonic signals, and may realize the same function as the positioning apparatus 700.

In addition, in the above embodiment, in order to further improve the accuracy of the distance, the way of calculating the distance between the first handset 100 and the vehicle 400 from the UWB signal may be replaced by: in the case where it is detected that the distance between the GPS positioning information of the vehicle 400 and the GPS positioning information of the trip start point is less than the preset distance threshold value, the first mobile phone 100 is notified to transmit the encrypted UWB signal 1. The first mobile phone 100 records the transmission moment Ta. The positioning device 700 receives the UWB signal 1 transmitted by the first handset 100 and transmits the UWB signal 2 carrying an encrypted time difference T0, wherein the time difference T0 is the time difference between the transmission of the UWB signal 1 from the first handset 100 to the positioning device 700. The first handset 100 receives the UWB signal 2 emitted by the positioning device 700 and records a second time Tb. And decrypts the time difference T0 carried in the UWB signal 2 by the key. In this way, the first mobile phone 100 can calculate the distance between the first mobile phone 100 and the vehicle 400 according to the formula D ═ c × (Tb-Ta-T0)/2. Where D is the distance between the first mobile phone 100 and the vehicle 400, and c is the transmission speed of the UWB signal.

Referring to fig. 15, an embodiment of the present application further provides a positioning apparatus 1500 applied to a first terminal. As shown in fig. 15, the apparatus 1500 provided by the present application includes a communication unit 1501, a display unit 1502, and a processing unit 1503. Wherein the content of the first and second substances,

a communication unit 1501, configured to acquire the location information of the second terminal obtained by using the first positioning method. The display unit 1502 is configured to display a first interface. The first interface comprises a map, a first positioning identifier and a second positioning identifier, the first positioning identifier is used for marking the position information of the second terminal in the map, the second positioning identifier is used for marking the position information of a target position on the map, and the target position is obtained by the first terminal based on user operation. The processing unit 1503 is configured to perform positioning with the second terminal by using a second positioning method when a distance between the target position and the second terminal is smaller than a preset distance threshold. And the positioning precision of the second positioning method is greater than that of the first positioning method. The processing unit 1503 is further configured to obtain first relative position information of the first terminal and the second terminal, where the first relative position information is obtained by positioning with the second positioning method. The first relative position information comprises the distance and the direction between the first terminal and the second terminal. The display unit 1502 is further configured to update the first positioning identifier in the first interface according to the first relative position information.

In an alternative embodiment, the first terminal comprises a plurality of antennas. The communication unit 1501 is further configured to receive a positioning signal from the location of the second terminal when the distance between the target location and the second terminal is smaller than a preset distance threshold. The positioning signal carries a first time when the positioning signal is transmitted. The processing unit 1503 is further configured to record a second time when the positioning signal is received, and determine a distance between the second terminal and the first terminal according to the first time, the second time, and the set signal propagation rate; and determining a relative orientation of the second terminal with respect to the second terminal based on the plurality of antennas and the three point positioning apparatus 1500.

Further, the communication unit 1501 is specifically configured to receive the positioning signal from the second terminal when the distance between the target position and the second terminal is smaller than the preset distance threshold.

Or, further, the communication unit 1501 is specifically configured to receive a positioning signal from the positioning device when the distance between the target position and the second terminal is smaller than a preset distance threshold. Wherein the positioning device is located at the same position as the second terminal.

In an optional implementation manner, the first terminal and the second terminal interact through a cloud server. The communication unit 1501 is further configured to receive authentication information from the cloud server, where the authentication information includes an authentication identifier and a key. The communication unit 1501 is specifically configured to receive a positioning signal that comes from a location of the second terminal and carries the authentication identifier and is encrypted by the key at the first time. The processing unit 1503 is further configured to, when the verification identifier from the cloud server is consistent with the verification identifier carried by the positioning signal, decrypt the first time by the first terminal according to the key.

In an optional implementation manner, the display unit 1502 is further configured to, when the distance between the second terminal and the first terminal is smaller than a preset distance threshold, display, by the first terminal, a first prompt message on the first interface, where the first prompt message is used to indicate that a passenger gets on the vehicle.

In an alternative embodiment, the communication unit 1501 is further configured to receive the first request from the second terminal. The first request is used for requesting first relative position information of the first terminal. The display unit 1502 is further configured to display, in response to the first request, the second prompt information on the first interface. And the second prompt message is used for indicating that the first relative position information is shared to the second terminal. The communication unit 1501 is further configured to transmit the first relative position information to the second terminal in response to a confirmation operation of the second guidance information.

Fig. 16 is a schematic diagram of a hardware structure of a first terminal and a second terminal provided in an embodiment of the present application, and as shown in fig. 16, the first terminal and the second terminal include a processor 1601, a communication line 1604, and at least one communication interface (an example of the communication interface 1603 in fig. 16 is used as an example for description).

The processor 1601 may be a general processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs in accordance with the present disclosure.

The communication lines 1604 may include circuitry to communicate information between the above-described components.

Communication interface 1603 may be any device using any transceiver or the like for communicating with other devices or communication networks, such as ethernet, Wireless Local Area Networks (WLAN), etc.

Possibly, the first and second terminals may further comprise a memory 1602.

The memory 1602 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disk read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these. The memory may be separate and coupled to the processor via a communication line 1604. The memory may also be integral to the processor.

The memory 1602 is used for storing computer-executable instructions for implementing the present invention, and is controlled by the processor 1601. The processor 1601 is configured to execute the computer executable instructions stored in the memory 1602, so as to implement the positioning method executed by the first terminal or the second terminal provided by the embodiment of the present application.

Possibly, the computer executed instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.

In particular implementations, processor 1601 may include one or more CPUs such as CPU0 and CPU1 in fig. 16, for example, as an embodiment.

In particular implementations, the first terminal and the second terminal may include a plurality of processors, such as processor 1601 and processor 1605 in fig. 16, as an example. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

Exemplarily, fig. 17 is a schematic structural diagram of a chip provided in an embodiment of the present application. Chip 170 includes one or more (including two) processors 1710 and a communication interface 1730.

In some embodiments, memory 1740 stores the following elements: an executable module or a data structure, or a subset thereof, or an expanded set thereof.

In an embodiment of the present application, memory 1740 may include both read-only memory and random access memory, and provides instructions and data to processor 1710. A portion of memory 1740 may also include non-volatile random access memory (NVRAM).

In the illustrated embodiment, memory 1740, communication interface 1730, and memory 1740 are coupled together by a bus system 1720. The bus system 1720 may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. For ease of description, the various buses are identified in FIG. 17 as the bus system 1720.

The method performed by the first terminal or the second terminal described in the embodiments of the present application may be applied to the processor 1710 or implemented by the processor 1710. The processor 1710 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 1710. The processor 1710 may be a general-purpose processor (e.g., a microprocessor or a conventional processor), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an FPGA (field-programmable gate array) or other programmable logic device, a discrete gate, a transistor logic device, or a discrete hardware component, and the processor 1710 may implement or execute the methods, steps, and logic blocks executed by the first terminal or the second terminal disclosed in the embodiments of the present application.

The steps of the method executed by the first terminal or the second terminal disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or may be implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium mature in the field, such as a random access memory, a read only memory, a programmable read only memory, or a charged erasable programmable memory (EEPROM). The storage medium is located in the storage 1740, and the processor 1710 reads the information in the storage 1740 and completes the steps of the method executed by the first terminal or the second terminal in combination with hardware of the processor.

In the above embodiments, the instructions stored by the memory for execution by the processor may be implemented in the form of a computer program product. The computer program product may be written in the memory in advance, or may be downloaded in the form of software and installed in the memory.

The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. Computer instructions may be stored in, or transmitted from, a computer-readable storage medium to another computer-readable storage medium, e.g., from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optics, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.), the computer-readable storage medium may be any available medium that a computer can store or a data storage device including one or more available media integrated servers, data centers, etc., the available media may include, for example, magnetic media (e.g., floppy disks, hard disks, or magnetic tape), optical media (e.g., digital versatile disks, DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), etc.

The embodiment of the application also provides a computer readable storage medium. The method performed by the first terminal or the second terminal described in the above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. Computer-readable media may include computer storage media and communication media, and may include any medium that can communicate a computer program from one place to another. A storage medium may be any target medium that can be accessed by a computer.

As one possible design, the computer-readable medium may include a compact disk read-only memory (CD-ROM), RAM, ROM, EEPROM, or other optical disk storage; the computer readable medium may include a disk memory or other disk storage device. Also, any connecting line may also be properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

Combinations of the above should also be included within the scope of computer-readable media. The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A positioning method applied to a communication system including a first terminal and a second terminal, the method comprising:

the first terminal acquires the position information of the second terminal obtained by adopting a first positioning method;

the first terminal displays a first interface, wherein the first interface comprises a map, a first positioning identifier and a second positioning identifier, the first positioning identifier is used for marking the position information of the second terminal in the map, the second positioning identifier is used for marking the position information of a target position on the map, and the target position is obtained by the first terminal based on user operation;

under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold, a second positioning method is adopted between the first terminal and the second terminal for positioning, wherein the positioning accuracy of the second positioning method is greater than that of the first positioning method;

the first terminal acquires first relative position information of the first terminal and the second terminal, which is obtained by adopting the second positioning method for positioning, wherein the first relative position information comprises the distance and the direction between the first terminal and the second terminal;

and the first terminal updates the first positioning identifier in the first interface according to the first relative position information.

2. The method according to claim 1, wherein the first terminal includes multiple antennas, and in a case that a distance between the target location and the second terminal is smaller than a preset distance threshold, the positioning between the first terminal and the second terminal using a second positioning method includes:

the first terminal receives a positioning signal from the position of the second terminal under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold, wherein the positioning signal carries a first moment when the positioning signal is transmitted;

the first terminal records a second moment when the positioning signal is received;

the first terminal determines the distance between the second terminal and the first terminal according to the first moment, the second moment and the set signal propagation rate;

and the first terminal determines the relative direction of the second terminal relative to the second terminal according to the plurality of antennas and the three-point positioning method.

3. The method according to claim 2, wherein the receiving, by the first terminal, the positioning signal from the location of the second terminal in the case that the distance between the target location and the second terminal is smaller than a preset distance threshold comprises:

the second terminal transmits the positioning signal when detecting that the distance between the target position and the second terminal is smaller than a preset distance threshold;

the first terminal receives the positioning signal from the second terminal.

4. The method according to claim 2, wherein the receiving, by the first terminal, the positioning signal from the location of the second terminal in the case that the distance between the target location and the second terminal is smaller than a preset distance threshold comprises:

the second terminal informs a positioning device to transmit the positioning signal when detecting that the distance between the target position and the second terminal is smaller than a preset distance threshold, wherein the positions of the positioning device and the second terminal are the same;

the first terminal receives a positioning signal from the positioning device.

5. The method according to claim 2, wherein the first terminal and the second terminal interact through a cloud server, and before the first terminal displays the first interface, the method further comprises:

the first terminal and the second terminal receive authentication information from the cloud server, wherein the authentication information comprises an authentication identifier and a secret key;

the first terminal receiving a positioning signal from a location of the second terminal, comprising: the first terminal receives a positioning signal which comes from the position of the second terminal, carries a verification identifier and is encrypted by a secret key at the first moment;

before the first terminal determines the distance of the second terminal relative to the first terminal according to the first time, the second time and the set signal propagation rate, the method further includes:

and under the condition that the verification identification from the cloud server is consistent with the verification identification carried by the positioning signal, the first terminal decrypts the first moment according to the key.

6. The method of any of claims 2-5, wherein the locating signal is a UWB signal or an ultrasonic signal.

7. The method of claim 1, wherein the first relative position information comprises text information indicating a distance and a direction of the second terminal relative to the first terminal.

8. The method according to claim 7, wherein the first terminal further displays a third positioning identifier on the map of the first interface, wherein the third positioning identifier is used to mark the position information of the first terminal obtained by the first positioning method, the content of the first positioning identifier is updated to indicate the relative positions of the second terminal and the first terminal on the map, and the first relative position information further includes: an arrow pointing from the third location identity to the updated first location identity.

9. The method of claim 7, wherein the content of the text information is updated as the first relative position information changes.

10. The method according to claim 1, wherein the first terminal displays a first prompt message on the first interface when the distance between the second terminal and the first terminal is less than a preset distance threshold, wherein the first prompt message is used for indicating that a passenger gets on the vehicle.

11. The method of claim 1, further comprising:

the second terminal displays a second interface, wherein the second interface comprises a first control and a third positioning identifier, and the third positioning identifier is used for marking the position information of the first terminal obtained by the first positioning method;

the second terminal responds to the triggering operation of the first control and sends a first request to the first terminal, wherein the first request is used for requesting first relative position information of the first terminal;

the first terminal responds to the first request and displays second prompt information on the first interface, wherein the second prompt information is used for indicating that the first relative position information is shared to the second terminal;

the first terminal responds to the confirmation operation of the second prompt message and sends the first relative position message to the second terminal;

the second terminal generates second relative position information of the first terminal and the second terminal according to the first relative position information and the position information obtained by the second terminal by adopting a first positioning method,

and the second terminal updates the third positioning identifier in the second interface according to the second relative position information.

12. The method of claim 11, wherein the second relative position information comprises textual information indicating a distance and direction of the first terminal relative to the second terminal.

13. The method of claim 12, wherein the second interface further displays the first positioning identifier and a third positioning identifier, wherein the third positioning identifier is used to indicate a relative position of the first terminal and the second terminal on the map, and the second relative position information further includes: an arrow pointing from the first location indicator to the third location indicator.

14. The method according to claim 11, wherein when the distance between the first terminal and the second terminal is less than a preset distance threshold, the second terminal displays a third prompt message on the second interface, wherein the third prompt message is used for indicating that a passenger gets on the vehicle.

15. A positioning apparatus, applied to a first terminal, the apparatus comprising:

the communication unit is used for acquiring the position information of the second terminal obtained by adopting the first positioning method;

the display unit is used for displaying a first interface, wherein the first interface comprises a map, a first positioning identifier and a second positioning identifier, the first positioning identifier is used for marking the position information of the second terminal in the map, the second positioning identifier is used for marking the position information of a target position on the map, and the target position is obtained by the first terminal based on user operation;

the processing unit is used for positioning the second terminal by adopting a second positioning method under the condition that the distance between the target position and the second terminal is smaller than a preset distance threshold, wherein the positioning precision of the second positioning method is greater than that of the first positioning method;

the processing unit is further configured to obtain first relative position information of the first terminal and the second terminal, where the first relative position information is obtained by using the second positioning method, and the first relative position information includes a distance and a direction between the first terminal and the second terminal;

the display unit is further configured to update the first positioning identifier in the first interface according to the first relative position information.

16. The apparatus of claim 15, wherein the first terminal comprises a plurality of antennas,

the communication unit is further configured to receive a positioning signal from the second terminal when the distance between the target location and the second terminal is smaller than a preset distance threshold, where the positioning signal carries a first time at which the positioning signal is transmitted;

the processing unit is further configured to record a second time when the positioning signal is received, and determine a distance between the second terminal and the first terminal according to the first time, the second time and a set signal propagation rate; and determining the relative direction of the second terminal relative to the second terminal according to the plurality of antennas and the three-point positioning device.

17. The apparatus according to claim 16, wherein the communication unit is specifically configured to receive the positioning signal from the second terminal if a distance between the target location and the second terminal is smaller than a preset distance threshold.

18. The apparatus according to claim 16, wherein the communication unit is specifically configured to receive a positioning signal from a positioning device if a distance between the target location and the second terminal is smaller than a preset distance threshold, where the positioning device and the second terminal are located at the same location.

19. The apparatus of claim 16, wherein the first terminal and the second terminal interact through a cloud server,

the communication unit is further configured to receive authentication information from the cloud server, where the authentication information includes an authentication identifier and a key;

the communication unit is specifically configured to receive a positioning signal which is from the location of the second terminal, carries an authentication identifier, and is encrypted by a secret key at the first time;

the processing unit is further configured to, when the verification identifier from the cloud server is consistent with the verification identifier carried by the positioning signal, decrypt the first time by the first terminal according to the key.

20. The apparatus of any one of claims 16-19, wherein the positioning signal is a UWB signal or an ultrasonic signal.

21. The apparatus of claim 15, wherein the first relative position information comprises textual information indicating a distance and a direction of the second terminal relative to the first terminal.

22. The device according to claim 15, wherein the display unit is further configured to, when the distance between the second terminal and the first terminal is smaller than a preset distance threshold, the first terminal displays a first prompt message on the first interface, where the first prompt message is used to indicate that a passenger gets on the vehicle.

23. The apparatus of claim 15,

the communication unit is further configured to receive a first request from the second terminal, where the first request is used to request first relative location information of the first terminal;

the display unit is further configured to display, in response to the first request, second prompt information on the first interface, where the second prompt information is used to indicate that the first relative position information is shared to the second terminal;

the communication unit is further configured to send the first relative position information to the second terminal in response to a confirmation operation on the second prompt information.

24. A computer-readable storage medium, in which a computer program is stored which, when executed by a processor, causes a computer to perform the method as claimed in any one of claims 1 to 14 performed by the first terminal.