CN113870489A - Vehicle positioning method and device and vehicle - Google Patents
Vehicle positioning method and device and vehicle Download PDFInfo
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- CN113870489A CN113870489A CN202111062980.4A CN202111062980A CN113870489A CN 113870489 A CN113870489 A CN 113870489A CN 202111062980 A CN202111062980 A CN 202111062980A CN 113870489 A CN113870489 A CN 113870489A
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- H—ELECTRICITY
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Abstract
The embodiment of the application provides a vehicle positioning method, which comprises the following steps: obtaining historical position data of the vehicle at a first moment, wherein the first moment is earlier than a current moment; acquiring mobile identification information of the vehicle in a target time length, wherein the target time length is the time length from the first time to the current time, and the mobile identification information represents whether the vehicle has moved in the target time length; and obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of vehicles, in particular to a vehicle positioning method and device and an electric bicycle.
Background
The shared vehicle has become a emerging travel mode in the city, and the travel demand of urban people can be effectively solved.
At present, in order to ensure continuous and safe operation of a shared vehicle, the shared vehicle is generally required to periodically report position information to a server, so that a riding user can search for using the shared vehicle according to the position information provided by the server, or an operation and maintenance person can search for maintaining the shared vehicle according to the position information provided by the server.
However, when the existing shared vehicle reports the position data in each positioning period, the vehicle needs to be controlled to enter the wake-up state first, and the positioning module needs to be started to perform positioning each time, which has the problems of long time consumption and high power consumption.
Disclosure of Invention
An object of the present disclosure is to provide a new technical solution for vehicle positioning, so that the vehicle can complete the positioning process quickly and with low power consumption.
According to a first aspect of the present disclosure, there is provided one embodiment of a vehicle localization method, comprising:
obtaining historical position data of the vehicle at a first moment, wherein the first moment is earlier than a current moment;
acquiring mobile identification information of the vehicle in a target time length, wherein the target time length is the time length from the first time to the current time, and the mobile identification information represents whether the vehicle has moved in the target time length;
and obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
Optionally, the obtaining target location data of the vehicle at the current time according to the historical location data and the mobile identification information includes:
and taking the historical position data as the target position data under the condition that the movement identification information is first state information, wherein the first state information represents that the vehicle has moved within the target time length.
Optionally, the obtaining target location data of the vehicle at the current time according to the historical location data and the mobile identification information includes:
and under the condition that the movement identification information is second state information, controlling a positioning device of the vehicle to perform positioning processing so as to obtain the target position data, wherein the second state information indicates that the vehicle does not move within the target time length.
Optionally, before the obtaining target position data of the vehicle at the current time according to the historical position data and the mobile identification information, the method further includes:
judging whether the historical position data meet preset conditions or not;
under the condition that the historical position data do not meet the preset conditions, controlling a positioning device of the vehicle to perform positioning processing to obtain the target position data; and the number of the first and second groups,
and under the condition that the historical position data meet the preset condition, obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
Optionally, after obtaining the target location data, the method further comprises:
and sending the target position data to a server.
Optionally, in a case that the vehicle enters an awake state from a sleep state in response to a preset positioning reporting period to acquire the target location data at the current time, after sending the target location data to a server, the method further includes:
and controlling the vehicle to enter the dormant state again.
Optionally, the obtaining of the mobile identification information of the vehicle within the target duration includes:
acquiring a movement monitoring signal which is acquired by a movement detection device of the vehicle within the target time length and aims at the vehicle;
and obtaining the mobile identification information according to the mobile detection signal.
Optionally, the movement detection signal comprises at least one of: vehicle vibration signals, vehicle wheel motion signals;
the obtaining the mobile identification information according to the mobile detection signal includes:
setting the movement identification information as first state information under the condition that the movement detection signal indicates that the vehicle vibrates and/or moves in the wheel within the target time length; and the number of the first and second groups,
setting the movement identification information as second state information under the condition that the movement detection signal indicates that the vehicle does not vibrate and/or does not wheel within the target time length;
wherein the first state information indicates that the vehicle has moved within the target duration, and the second state information indicates that the vehicle has not moved within the target duration.
According to a second aspect of the present disclosure, there is provided one embodiment of a vehicle locating device, comprising:
the vehicle position acquisition module is used for acquiring historical position data of the vehicle at a first moment, wherein the first moment is earlier than the current moment;
the mobile identification information acquisition module is used for acquiring mobile identification information of the vehicle in a target time length, wherein the target time length is the time length from the first moment to the current moment, and the mobile identification information represents whether the vehicle has moved in the target time length;
and the target position data obtaining module is used for obtaining the target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
According to a third aspect of the present disclosure, there is provided an embodiment of a vehicle comprising a vehicle positioning device as described in the second aspect of the present specification, or,
the vehicle includes:
a memory for storing executable instructions;
a processor configured to operate the vehicle to perform the vehicle positioning method according to the control of the instruction.
The method has the advantages that when the vehicle needs to be positioned, the historical position data of the vehicle at the first moment earlier than the current moment is acquired, the movement identification information of the vehicle in the target duration is acquired, so that whether the vehicle moves between the first moment and the current moment can be judged according to the movement identification information to determine whether the current moment is necessary to be repositioned, and if the vehicle does not move, the historical position data can be directly used as the target position data of the current vehicle, so that the positioning operation of the vehicle can be completed quickly and at low power consumption.
Other features of the present description and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description, serve to explain the principles of the specification.
Fig. 1 shows a schematic structural diagram of a shared vehicle system of a usage scenario of a vehicle.
FIG. 2 is a flow diagram of a vehicle location method according to one embodiment.
FIG. 3 is a schematic flow diagram of a vehicle locating device according to one embodiment.
FIG. 4 is a hardware architecture diagram of a vehicle according to one embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
< hardware configuration >
Fig. 1 shows a schematic structural diagram of a shared vehicle system of a usage scenario of a vehicle.
As shown in fig. 1, the shared vehicle system 100 includes a server 1000, a user terminal 2000, and a vehicle 3000.
The server 1000 and the user terminal 2000, and the server 1000 and the vehicle 3000 may be communicatively connected through a network N. The network N over which the vehicle 3000 communicates with the server 1000 and the user terminal 2000 communicates with the server 1000 may be the same or different.
The server 1000 provides a service point for processes, databases, and communications facilities. The server 1000 may be a unitary server, a distributed server across multiple computers, a computer data center, a cloud server, or a cloud-deployed server cluster, etc. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.
In one embodiment, the server 1000 may be as shown in fig. 1 and may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, and the like.
Processor 1100 is used to execute computer programs, which may be written in instruction sets of architectures such as x86, Arm, RISC, MIPS, SSE, and the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. The communication device 1400 is capable of wired or wireless communication, for example.
In this embodiment, the memory 1200 of the server 1000 is used for storing a computer program for controlling the processor 1100 to perform operations for realizing monitoring and the like of the vehicle, including, for example: according to an unlocking request sent by the terminal device 2000 of the user, an unlocking instruction is sent to the vehicle, so that the vehicle can be ridden; according to a locking request sent by the terminal device 2000 of the user, a locking instruction is sent to the vehicle 3000, so that the vehicle 3000 is in a non-riding state; and, according to the failure information reported by the vehicle 3000, performing failure processing and the like on the vehicle 3000. The skilled person can design the computer program according to the disclosed solution. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
In this embodiment, the user terminal 2000 is, for example, a mobile phone, a portable computer, a tablet computer, a palm computer, a wearable device, or the like.
The user terminal 2000 is installed with a vehicle application client, and a user can operate the vehicle application client to achieve the purpose of using the vehicle 3000.
As shown in fig. 1, the user terminal 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and the like.
The processor 2100 is used to execute a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, and so on. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 2400 can perform wired or wireless communication, for example, the communication device 2400 may include at least one short-range communication module, for example, any module that performs short-range wireless communication based on a short-range wireless communication protocol such as a Hilink protocol, WiFi (IEEE802.11 protocol), Mesh, bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, and the like, and the communication device 2400 may also include a long-range communication module, for example, any module that performs WLAN, GPRS, 2G/3G/4G/5G long-range communication. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. The user terminal 2000 may output an audio signal through the speaker 2700 and collect an audio signal through the microphone 2800.
In this embodiment, the memory 2200 of the user terminal 2000 is used to store a computer program for controlling the processor 2100 to operate to perform a method of using a vehicle, including, for example: acquiring a unique identifier of a vehicle 3000, generating an unlocking request for the vehicle 3000, and sending the unlocking request to the server 1000; send a lock-off request to the server 1000 for that vehicle 3000; and, bill calculation and the like are performed according to the charge settlement notice transmitted from the server 1000. A skilled person can design a computer program according to the solution disclosed in the present invention. How computer programs control the operation of the processor is well known in the art and will not be described in detail herein.
In the present embodiment, the vehicle 3000 may be a bicycle as shown in fig. 1, or may be in various forms such as a tricycle, an electric bicycle, a motorcycle, and a four-wheel passenger vehicle, and the vehicle may be used to implement the vehicle positioning method according to any one of the embodiments.
As shown in fig. 1, the control system of the vehicle 3000 may include a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, an output device 3500, an input device 3600, and the like.
The processor 3100 is for executing a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The computer program is for controlling the processor 3100 to operate for performing a vehicle localization method according to any of the embodiments of the disclosure, e.g. the computer program is for controlling the processor 3100 to operate for performing at least the following steps: obtaining historical position data of the vehicle at a first moment, wherein the first moment is earlier than a current moment; acquiring mobile identification information of the vehicle in a target time length, wherein the target time length is the time length from the first time to the current time, and the mobile identification information represents whether the vehicle has moved in the target time length; and obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
The vehicle 3000 may be provided with at least one processor 3100, and the at least one processor 3100 may be used as a controller of a control system. The processor 3100 may be, for example, a microprocessor MCU or the like.
The memory 3200 may comprise, for example, a ROM (read only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, or the like.
The interface device 3300 may include at least one of a USB interface, an RJ45 interface, and an earphone interface, for example.
The communication device 3400 is capable of wired or wireless communication, for example, and is also capable of short-range and long-range communication, for example, and the communication device 3400 may include at least one of a GSM module, a GPRS module, a 3G module, a 4G module, a 5G module, and a WLAN module.
The output device 3500 may include at least one of a display module, an audio output module, and a light output module. The display module is, for example, a liquid crystal display or a touch display. The audio output module may include at least one of a speaker and a buzzer, for example. The light output module includes, for example, various LED lamp indicating circuits and the like.
The input device 3600 may include at least one of an audio input module for inputting an audio signal, such as a touch panel, a physical key input circuit, and a microphone.
It should be understood that although fig. 1 shows only one server 1000, one user terminal 2000, and one vehicle 3000, it is not meant to limit the respective numbers, and the vehicle system 100 may include a plurality of servers 1000, a plurality of user terminals 2000, a plurality of vehicles 3000, and the like.
< method examples >
Fig. 2 is a schematic flow chart of a vehicle positioning method according to an embodiment, which may be implemented by a vehicle, for example, the vehicle 3000 in fig. 1, and the vehicle positioning method of the embodiment is described below by taking the vehicle 3000 shown in fig. 1 as an example, wherein the processor 3100 of the vehicle 3000 may be used as a main controller of the vehicle 3000.
As shown in fig. 2, the method of the present embodiment may include the following steps S2100-S2300, which will be described in detail below.
In step S2100, historical position data of the vehicle at a first time is obtained, where the first time is earlier than the current time.
The first time is a time earlier than the current time at which the vehicle successfully acquired the position data indicating the position where the vehicle was located. Specifically, the first time may be a time corresponding to an last positioning reporting period of the vehicle, and the vehicle successfully positions the position data at the time corresponding to the positioning reporting period.
The positioning reporting period of the vehicle may be a preset period for controlling the vehicle to enter the wake-up state according to a preset time interval, so that the vehicle obtains the position data of the current position of the vehicle and reports the position data to the server, for example, the position data may be reported to the server by the vehicle every 10 minutes.
The historical position data may be position data acquired by the vehicle at the first time and indicating a position where the vehicle is located at the first time. In one embodiment, the historical location data may be stored in the vehicle, so that the vehicle may not need to communicate with the server when acquiring the historical location data during the location reporting process, so as to save communication time, thereby reducing the total time for finally acquiring the target location data of the vehicle at the current time.
Specifically, in the prior art, in order to ensure continuous and safe operation of a vehicle, for example, a shared vehicle, the vehicle is generally required to periodically report its position data to a server, so as to facilitate a riding user or an operation and maintenance person to find the vehicle. When the vehicle reaches the time corresponding to the positioning reporting period, the vehicle enters a wake-up state with relatively high power consumption from a low-power-consumption sleep state, and performs a positioning operation, i.e., a satellite search and settlement operation, by starting a positioning device to obtain position data of the current time, where the position data may be, for example, longitude and latitude data of the current position of the vehicle, and the positioning device of the vehicle may be a device based on a Global Navigation Satellite System (GNSS).
However, in the process of acquiring the position data of the position where the vehicle is located at the present moment through the positioning device, a certain time period is usually consumed, for example, for the shared electric bicycle, the time period for one positioning operation is between 30 seconds and 180 seconds. In addition, in the duration, the whole vehicle system needs to be kept in the wake-up state, which already has a certain power consumption problem to a certain extent, and since the positioning device of the vehicle is required to perform positioning operation every time the position data is reported, the power consumption of the vehicle is further increased. Therefore, the existing vehicle positioning method has the problems of long time consumption and high power consumption.
In order to solve the above problem, in the embodiment of the present disclosure, considering that the actual running time of the vehicle, that is, the riding time actually occupies only a small part of the day, and the vehicle is in a stationary state parked on the road surface for most of the time, if the vehicle is in a stationary state in consecutive positioning reporting periods, that is, no movement occurs, the position data obtained by the positioning device of the vehicle performing the positioning operation will be the same data in each positioning reporting period, so that when the vehicle is positioned, the movement identification information indicating whether the vehicle has moved within the target duration and the historical position data of the vehicle at the first time earlier than the current time can be obtained, so as to obtain the target position data of the vehicle at the current time quickly and with low power consumption.
It should be noted that, under some specific conditions, a situation that the vehicle loses the historical position data stored by the vehicle itself may occur, and therefore, in an embodiment of the present disclosure, the vehicle may also send a historical position data obtaining request to the server according to needs, so as to obtain the historical position data that is sent to the vehicle by the server in response to the historical position data obtaining request, which is not particularly limited this time.
Step S2200 is to obtain moving identification information of the vehicle within a target duration, where the target duration is a duration from the first time to the current time, and the moving identification information indicates whether the vehicle has moved within the target duration.
After the historical position data of the vehicle at the first time is acquired through step S2100, in order to determine whether the historical position data can be directly used as the target position data of the vehicle at the current time, the vehicle may first acquire the movement identification information of the vehicle within a target time period from the first time to the current time to determine whether the vehicle has moved within the target time period; if the movement does not occur, it can be determined that the positioning operation using the positioning device is not necessary, but the history position data can be directly used as the target position data, and how to obtain the movement identification information will be described first below.
In one embodiment, the obtaining of the mobile identification information of the vehicle within the target time period includes: acquiring a movement monitoring signal which is acquired by a movement detection device of the vehicle within the target time length and aims at the vehicle; and obtaining the mobile identification information according to the mobile detection signal.
The movement detection signal is a signal obtained by detecting a movement state of the vehicle. In one embodiment, the movement monitoring signal may include at least one of: vehicle vibration signal, vehicle wheel movement signal.
In one embodiment, the movement detection device of the vehicle may comprise at least one of: the sensor comprises an inertial sensor (IMU) and a Hall device, wherein the Hall device is arranged on a wheel of a vehicle and used for detecting whether the wheel of the vehicle is in wheel motion.
An inertial sensor, also called an inertial measurement unit, generally refers to a sensor for detecting and measuring parameters such as acceleration and rotational motion, and the principle thereof is implemented by using the law of inertia.
In one embodiment, the obtaining the mobile identity information according to the mobile detection signal includes: setting the movement identification information as first state information under the condition that the movement detection signal indicates that the vehicle vibrates and/or moves in the wheel within the target time length; and setting the movement identification information as second state information when the movement detection signal indicates that the vehicle does not vibrate and/or does not wheel within the target time length; wherein the first state information indicates that the vehicle has moved within the target duration, and the second state information indicates that the vehicle has not moved within the target duration.
Specifically, since the vehicle usually generates vibration, wheel movement, and the like if the vehicle moves, in this embodiment, a movement detection device may be disposed on the vehicle to detect a vehicle movement condition to obtain a movement detection signal, and the movement identification information may be set according to whether the vehicle shown by the movement detection signal generates vibration and/or wheel movement, and further, according to the movement identification information, it is determined whether it is necessary to control the positioning device of the vehicle to perform the positioning operation at the current time.
Step S2300, obtaining target position data of the vehicle at the current time according to the historical position data and the mobile identification information.
After the historical position data of the vehicle at the first moment and the mobile identification information of the vehicle in the target duration from the first moment to the current moment are obtained through the steps, the target position data of the vehicle at the current moment can be obtained according to the mobile identification information and the historical position data.
In one embodiment, the obtaining target location data of the vehicle at the current time according to the historical location data and the mobile identification information includes: and taking the historical position data as the target position data under the condition that the movement identification information is first state information, wherein the first state information represents that the vehicle has moved within the target time length.
Specifically, in the case that the movement identification information is to identify that the vehicle has not moved within the target duration, i.e., is continuously in a stationary state, it may be determined that the vehicle does not need to use the positioning device to perform positioning, but may directly use the historical position data at the first time as the target position data at the current time, so as to reduce the time consumption of the positioning operation and reduce the power consumption of the vehicle.
In addition, the obtaining target position data of the vehicle at the current time according to the historical position data and the mobile identification information may further include: and under the condition that the movement identification information is second state information, controlling a positioning device of the vehicle to perform positioning processing so as to obtain the target position data, wherein the second state information indicates that the vehicle does not move within the target time length.
That is, in the case where the movement identification information indicates that the vehicle has moved within the target period of time, the position of the vehicle may change as it follows the movement of the vehicle. Therefore, in this case, it is necessary to control a positioning device of the vehicle, for example, a GNSS module, to perform a positioning operation to obtain target position data of the vehicle at the present time.
After obtaining the target position data of the vehicle at the present time through the above processing, the method further includes: and sending the target position data to a server.
In addition, in an embodiment, in a case that the vehicle enters the wake-up state from the sleep state in response to a preset positioning reporting period to acquire the target location data at the current time, after sending the target location data to the server, the method further includes: and controlling the vehicle to enter the dormant state again. Because the vehicle in the stationary state also needs to enter the relatively high-power-consumption wake-up state from the low-power-consumption sleep state periodically according to the preset positioning reporting period to perform positioning operation, compared with the existing method, the method provided by the embodiment of the disclosure can reduce the time consumption and power consumption of the vehicle during positioning reporting processing.
As can be seen from the above description, according to the method provided in the embodiment of the present disclosure, when the vehicle enters the wake-up state according to the positioning reporting period to perform the positioning processing, it is not necessary to directly start the positioning module of the vehicle to perform the time-consuming and high-power-consumption positioning operation, but it may be determined whether the vehicle has moved according to the movement identifier information of the vehicle within the target time length, so as to determine whether the historical position data of the vehicle at the first time can be directly used as the target position data at the current time. Because the vehicle, especially the sharing vehicle, is in a static non-moving state in most of the time of a day, the method provided by the embodiment of the disclosure can greatly reduce the time consumption and the power consumption of the vehicle during the positioning and reporting processing, thereby prolonging the overall service life of the vehicle.
In addition, considering that in practice the vehicle may be affected by factors such as obstruction of obstacles, etc., the historical position data at the first time does not reach the expected positioning accuracy, so that, in order to facilitate the riding user or the operation and maintenance user, etc., the vehicle can be accurately found according to the position data provided by the server, in one embodiment, before implementing step S2300 of the method, the method further includes: judging whether the historical position data meet preset conditions or not; under the condition that the historical position data do not meet the preset conditions, controlling a positioning device of the vehicle to perform positioning processing to obtain the target position data; and under the condition that the historical position data meet the preset conditions, obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
The preset condition is a condition for determining whether the accuracy of the historical position data of the vehicle meets the user's expectation.
Specifically, the positioning device of the vehicle may include a plurality of positioning modules based on different positioning technologies, respectively; correspondingly, when the positioning device is started to obtain the position data of the vehicle, a plurality of candidate position data which represent the positions of the vehicle at the same moment can be obtained according to a plurality of positioning modules of the vehicle; then, the target position data of the vehicle at the time can be obtained from the plurality of candidate position data. In the process, the maximum candidate position data and the minimum candidate position data in the plurality of candidate position data may be taken, and whether the positioning accuracy of the target position data to be reported of the vehicle at the moment meets a preset condition is determined according to whether the absolute value of the difference between the maximum candidate position data and the minimum position data is smaller than a preset threshold, so that an accuracy identifier corresponding to the target position data at the moment may be set, and whether the accuracy of the position data reported to the server at the moment meets a user expectation is determined according to the accuracy identifier at the moment in a next positioning reporting period.
That is, in this embodiment, the historical data of the vehicle at each time also includes the corresponding accuracy identifier, and the determining whether the historical position data meets the preset condition may be: obtaining an accuracy identifier corresponding to the historical position data, and judging whether the historical position data meets a preset condition or not according to the accuracy identifier, wherein the accuracy identifier is obtained through the following steps: and acquiring maximum candidate position data and minimum candidate position data in the plurality of candidate position data for acquiring the historical position data, and acquiring the accuracy identifier according to an absolute value of a difference value between the maximum candidate position data and the minimum candidate position data.
Specifically, after the historical position data of the vehicle at the first time is acquired in step S2100, it may be determined whether the accuracy of the historical position data meets the user' S expectations, if so, step S2200 and step S2300 may be continuously performed, otherwise, the positioning device of the vehicle may be directly controlled to perform the positioning operation, so that the vehicle may obtain the target position data with higher accuracy.
In summary, in the method provided by this embodiment, when the vehicle needs to be located, the historical position data of the vehicle at the first time earlier than the current time is obtained; and acquiring the movement identification information of the vehicle in the target duration, so that whether the vehicle moves from the first moment to the current moment can be judged according to the movement identification information to determine whether the current moment is necessary to be repositioned, and if the vehicle does not move, the historical position data can be directly used as the target position data of the current vehicle, so that the vehicle can finish positioning operation quickly with low power consumption.
< apparatus embodiment >
In correspondence with the above-described embodiments, FIG. 3 is a functional block diagram of a vehicle locating device according to one embodiment. As shown in fig. 3, the vehicle positioning apparatus may include: a historical position data obtaining module 3100, a mobile identity information obtaining module 3200, and a target position data obtaining module 3300.
The historical position data acquisition module 3100 is configured to acquire historical position data of the vehicle at a first time, where the first time is earlier than a current time.
The mobile identity information obtaining module 3200 is configured to obtain mobile identity information of the vehicle within a target duration, where the target duration is a duration from the first time to a current time, and the mobile identity information indicates whether the vehicle has moved within the target duration.
In one embodiment, the mobile identity information obtaining module 3200, when obtaining the mobile identity information of the vehicle within the target duration, may be configured to: acquiring a movement monitoring signal which is acquired by a movement detection device of the vehicle within the target time length and aims at the vehicle; and obtaining the mobile identification information according to the mobile detection signal.
In one embodiment, the movement detection signal comprises at least one of: vehicle vibration signals, vehicle wheel motion signals; when obtaining the mobile identifier information according to the mobile detection signal, the mobile identifier information obtaining module 3200 may be configured to: setting the movement identification information as first state information under the condition that the movement detection signal indicates that the vehicle vibrates and/or moves in the wheel within the target time length; and setting the movement identification information as second state information when the movement detection signal indicates that the vehicle does not vibrate and/or does not wheel within the target time length; wherein the first state information indicates that the vehicle has moved within the target duration, and the second state information indicates that the vehicle has not moved within the target duration.
The target position data obtaining module 3300 is configured to obtain target position data of the vehicle at the current time according to the historical position data and the mobile identifier information.
In one embodiment, the target position data obtaining module 3300, when obtaining the target position data of the vehicle at the current time according to the historical position data and the mobile identification information, may be configured to: and taking the historical position data as the target position data under the condition that the movement identification information is first state information, wherein the first state information represents that the vehicle has moved within the target time length.
In one embodiment, the target position data obtaining module 3300, when obtaining the target position data of the vehicle at the current time according to the historical position data and the mobile identification information, may be configured to: and under the condition that the movement identification information is second state information, controlling a positioning device of the vehicle to perform positioning processing so as to obtain the target position data, wherein the second state information indicates that the vehicle does not move within the target time length.
In one embodiment, the apparatus 3000 further includes a determining module, configured to determine whether the historical location data meets a preset condition; under the condition that the historical position data do not meet the preset conditions, controlling a positioning device of the vehicle to perform positioning processing to obtain the target position data; and under the condition that the historical position data meet the preset conditions, obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
In one embodiment, the apparatus 3000 further comprises a location data sending module, configured to send the target location data to a server after obtaining the target location data.
< apparatus embodiment >
Corresponding to the above embodiments, in this embodiment, another vehicle is also provided, which may include the vehicle positioning device 3000 according to any embodiment of the present disclosure, for implementing the vehicle positioning method according to any embodiment of the present disclosure.
As shown in fig. 4, the vehicle 4000 may further include a processor 4200 and a memory 4100, the memory 4100 for storing executable instructions; the processor 4200 is configured to operate the vehicle according to the commanded control to perform a vehicle localization method according to any embodiment of the present disclosure.
The various modules of the above apparatus 3000 may be implemented by the processor 4200 executing the instructions to perform a method according to any embodiment of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations for embodiments of the present description may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), can execute computer-readable program instructions to implement various aspects of the present description by utilizing state information of the computer-readable program instructions to personalize the electronic circuit.
Aspects of the present description are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the description. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present description. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.
The foregoing description of the embodiments of the present specification has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the application is defined by the appended claims.
Claims (10)
1. A vehicle positioning method, characterized by comprising:
obtaining historical position data of the vehicle at a first moment, wherein the first moment is earlier than a current moment;
acquiring mobile identification information of the vehicle in a target time length, wherein the target time length is the time length from the first time to the current time, and the mobile identification information represents whether the vehicle has moved in the target time length;
and obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
2. The method of claim 1, wherein obtaining target location data for the vehicle at a current time based on the historical location data and the mobile identity information comprises:
and taking the historical position data as the target position data under the condition that the movement identification information is first state information, wherein the first state information represents that the vehicle has moved within the target time length.
3. The method of claim 1, wherein obtaining target location data for the vehicle at a current time based on the historical location data and the mobile identity information comprises:
and under the condition that the movement identification information is second state information, controlling a positioning device of the vehicle to perform positioning processing so as to obtain the target position data, wherein the second state information indicates that the vehicle does not move within the target time length.
4. The method of claim 1, wherein prior to said obtaining target location data for the vehicle at the current time based on the historical location data and the mobile identity information, the method further comprises:
judging whether the historical position data meet preset conditions or not;
under the condition that the historical position data do not meet the preset conditions, controlling a positioning device of the vehicle to perform positioning processing to obtain the target position data; and the number of the first and second groups,
and under the condition that the historical position data meet the preset condition, obtaining target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
5. The method of claim 1, wherein after obtaining the target location data, the method further comprises:
and sending the target position data to a server.
6. The method of claim 5, wherein in a case where the vehicle enters an awake state from a sleep state in response to a preset positioning reporting period to acquire the target location data at the current time, after sending the target location data to a server, the method further comprises:
and controlling the vehicle to enter the dormant state again.
7. The method of claim 1, wherein the obtaining of the mobile identity information of the vehicle within the target duration comprises:
acquiring a movement monitoring signal which is acquired by a movement detection device of the vehicle within the target time length and aims at the vehicle;
and obtaining the mobile identification information according to the mobile detection signal.
8. The method of claim 7, wherein the movement detection signal comprises at least one of: vehicle vibration signals, vehicle wheel motion signals;
the obtaining the mobile identification information according to the mobile detection signal includes:
setting the movement identification information as first state information under the condition that the movement detection signal indicates that the vehicle vibrates and/or moves in the wheel within the target time length; and the number of the first and second groups,
setting the movement identification information as second state information under the condition that the movement detection signal indicates that the vehicle does not vibrate and/or does not wheel within the target time length;
wherein the first state information indicates that the vehicle has moved within the target duration, and the second state information indicates that the vehicle has not moved within the target duration.
9. A vehicle positioning device, comprising:
the vehicle position acquisition module is used for acquiring historical position data of the vehicle at a first moment, wherein the first moment is earlier than the current moment;
the mobile identification information acquisition module is used for acquiring mobile identification information of the vehicle in a target time length, wherein the target time length is the time length from the first moment to the current moment, and the mobile identification information represents whether the vehicle has moved in the target time length;
and the target position data obtaining module is used for obtaining the target position data of the vehicle at the current moment according to the historical position data and the mobile identification information.
10. A vehicle comprising the vehicle positioning device of claim 9, or,
the vehicle includes:
a memory for storing executable instructions;
a processor for operating the vehicle to perform the vehicle localization method of any one of claims 1-8 according to the control of the instructions.
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