CN114173287A

CN114173287A - Positioning method and device, equipment, positioning system and storage medium

Info

Publication number: CN114173287A
Application number: CN202210131709.XA
Authority: CN
Inventors: 刘诗聪; 姚远
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2022-02-14
Filing date: 2022-02-14
Publication date: 2022-03-11

Abstract

The embodiment of the application provides a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium, wherein the method comprises the steps of determining that a terminal device enters a first range of a target vehicle, and triggering the terminal device to establish Bluetooth connection with the target vehicle; and carrying out Bluetooth multi-antenna positioning on the target vehicle through the Bluetooth connection, and controlling the direction of the guide identifier according to the positioning data of the Bluetooth multi-antenna positioning so as to enable the guide identifier to point to the target vehicle. The problem that the positioning precision cannot meet the requirement of a user when the vehicle is searched by a satellite positioning system of a mobile phone can be solved, the requirement of the positioning precision of the user is met, and the experience degree of the user is improved.

Description

Positioning method and device, equipment, positioning system and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, a device, a positioning system, and a storage medium.

Background

When the vehicle is driven to travel, the vehicle needs to be parked in a parking lot near a destination, the area of the parking lot along with the vehicle is larger and larger, and the difficulty in searching the position of the vehicle during the return trip is increased continuously.

In some vehicle searching schemes, a user can be guided to return to a parking position through navigation by a satellite positioning system of a mobile phone, but the problem that the positioning accuracy of satellite navigation and the positioning capability of the satellite positioning system in a room (such as an underground parking lot) are weak is limited, so that the user is difficult to find a vehicle through the satellite positioning system, and the user experience is reduced.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium. In some embodiments provided by the application, under the condition that the satellite positioning system cannot meet the positioning requirement of a user, the terminal device and the target vehicle are adopted for cooperative communication, and the target vehicle is searched in a Bluetooth positioning mode, so that the problem that the positioning precision caused when the satellite positioning system of a mobile phone searches for the vehicle cannot meet the requirement of the user can be solved, the requirement of the positioning precision of the user is met, and the experience of the user is improved.

In a first aspect, an embodiment of the present application provides a positioning method, where the method is applied to a terminal device, and includes: generating a parking card on a display interface of the terminal device based on parking information sent by a target vehicle, wherein the parking information comprises a parking position provided by the target vehicle, and the parking card comprises a static map generated based on the parking position; generating a car searching card on a display interface of the terminal equipment in response to a car searching instruction of a user, wherein the car searching card comprises a guide identifier, a first photo and a second photo, the guide identifier points to the target vehicle, the first photo is a photo taken in a first direction when the target vehicle parks, and the second photo is a photo taken in a second direction when the target vehicle parks; if the terminal equipment is determined to enter a first range of a target vehicle, triggering the terminal equipment to establish Bluetooth connection with the target vehicle; if the distance between the terminal equipment and the target vehicle is determined to be smaller than a first distance, the first photo and the second photo are replaced by a vehicle environment real-time video, wherein the vehicle environment real-time video comprises a direction indicator; if the terminal device is determined to be in the first range and the distance between the terminal device and the target vehicle is not smaller than the second distance, performing Bluetooth multi-antenna positioning on the target vehicle through the Bluetooth connection, and controlling the direction of a guide identifier according to positioning data of the Bluetooth multi-antenna positioning so that the guide identifier points to the target vehicle; and if the distance between the terminal equipment and the target vehicle is determined to be smaller than a second distance, triggering the terminal equipment and the target vehicle to establish an ultra-wideband channel, carrying out ultra-wideband positioning on the target vehicle based on the ultra-wideband channel, and controlling the guiding direction of the guiding identification according to the positioning data of the ultra-wideband positioning so as to enable the guiding identification to point to the target vehicle.

Further, the parking card still includes parking information, the parking information includes: parking spot description information and/or parking time.

Further, the first photograph and/or the second photograph include a directional indicator.

Further, the determining that the terminal device enters the first range includes: and determining that the terminal equipment enters the cell of the parking position of the target vehicle.

Further, the wireless communication connection includes a WIFI-P2P connection.

Further, the determining that the distance between the terminal device and the target vehicle is less than the first distance comprises: and determining that the distance between the terminal equipment and the target vehicle is less than 40 m.

Further, the determining that the distance between the terminal device and the target vehicle is smaller than a second distance comprises: and determining that the distance between the terminal equipment and the target vehicle is less than 10 m.

Further, after the vehicle searching card is generated on the display interface of the terminal device, if the terminal device is determined not to enter the first range of the target vehicle, a navigation line is provided through a satellite positioning navigation system based on the parking position of the target vehicle.

Further, after determining that the distance between the terminal device and the target vehicle is smaller than the first distance, the method further includes:

triggering the terminal device to establish a wireless communication connection with the target vehicle, wherein the wireless communication connection comprises a WIFI-P2P connection; and receiving the vehicle environment real-time video sent by the target vehicle through the wireless communication connection.

Further, after the terminal device establishes the bluetooth connection with the target vehicle, the method further includes:

and displaying the distance information between the terminal equipment and the target vehicle on a screen of the terminal equipment.

In a second aspect, an embodiment of the present application further provides a positioning apparatus, including: a processor and a memory for storing at least one instruction which is loaded and executed by the processor to implement the positioning method provided by the first aspect.

In one embodiment, the positioning device provided in the second aspect may be a chip.

In a third aspect, an embodiment of the present application further provides an electronic device, which may include the positioning apparatus provided in the second aspect.

In one embodiment, the positioning device may be a component of the electronic device, such as a chip or a chip module.

In one embodiment, the electronic device may be a mobile phone, a tablet computer, or a smart wearable device.

In a fourth aspect, an embodiment of the present application further provides a cooperative positioning system, where the system includes: the third aspect provides an electronic device and a vehicle, wherein the vehicle includes a vehicle-mounted positioning device, wherein the vehicle-mounted positioning device includes: the camera shooting unit comprises at least two cameras and is used for shooting a picture of the target vehicle in a first direction and a picture of the target vehicle in a second direction based on a first shooting instruction and shooting a real-time video of a vehicle environment based on a second shooting instruction; the vehicle machine is used for executing the following operations after the vehicle is determined to be flameout: determining a parking position through a vehicle-mounted positioning system and sending the parking position to the electronic equipment; sending the first shooting instruction to the shooting unit, and sending the picture of the target vehicle in the first direction and the picture of the target vehicle in the second direction which are shot by the shooting unit to the electronic equipment; the vehicle machine is further configured to send the second shooting instruction to the shooting unit after the electronic device establishes the WIFI-P2P connection, and send the real-time video of the vehicle environment shot by the shooting unit to the electronic device.

In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the positioning method provided in the first aspect.

Through the technical scheme, the terminal device can be triggered to establish the Bluetooth connection with the target vehicle when the terminal device is determined to enter the first range of the target vehicle, the target vehicle is subjected to Bluetooth multi-antenna positioning after the terminal device is successfully established with the target vehicle, and the guiding direction of the guiding identification is controlled according to the positioning data of the Bluetooth multi-antenna positioning so that the guiding identification points to the target vehicle. Correspondingly, the problem that the positioning precision cannot meet the user requirement when the satellite positioning system searches for the vehicle can be solved, the user positioning precision requirement can be met, and the user experience degree is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic diagram of a positioning system architecture according to an embodiment of the present application;

fig. 2 is a schematic diagram illustrating an architecture of a terminal device and a vehicle machine according to still another embodiment of the present application;

FIG. 3 is a schematic view of a process for generating a parking card according to yet another embodiment of the present application;

FIG. 4 is a schematic illustration of a parking card display provided in accordance with yet another embodiment of the present application;

fig. 5 is a schematic flowchart of a positioning method according to still another embodiment of the present application;

fig. 6 is a schematic flow chart of generating a car-finding card according to still another embodiment of the present application;

fig. 7 is a schematic view of a car-finding card according to still another embodiment of the present application;

fig. 8 is a schematic structural diagram of a positioning device according to still another embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

After a user parks a vehicle in a parking lot, the vehicle can be found in the parking lot through a mobile phone during a return trip, in the related technology, the implementation mode of finding the vehicle through the mobile phone can include that a vehicle management App is installed at a mobile phone end, when the vehicle is flamed out, the vehicle end records the GPS position of the vehicle and then sends the GPS position to a cloud end of a vehicle-mounted system, and then the GPS position is pushed to the vehicle management App on the mobile phone through the cloud end. When a user needs to find a vehicle, the vehicle management App on the mobile phone is opened, the position is displayed through the mobile phone map through the recorded historical parking GPS information, and then the user can find the vehicle through the mobile phone map navigation.

However, in practical use, due to the road conditions and the complexity of the parking lot, the GPS precision (50 meters) cannot meet the user requirements, and the accuracy of finding the vehicle in the underground/complex parking lot is low.

In order to solve the above technical problem, an embodiment of the present application provides a positioning method, which may trigger a terminal device held by a user to establish a bluetooth connection with a target vehicle when the terminal device is close to the target vehicle (i.e., it is determined that the terminal device enters a first range of the target vehicle), so as to perform bluetooth multi-antenna positioning on the target vehicle through the bluetooth connection, and may avoid a problem of low vehicle-finding efficiency due to low accuracy when positioning is performed only by using a satellite positioning system. Furthermore, a guide identifier can be generated on a terminal interface, and the guiding direction of the guide identifier is controlled according to positioning data positioned by the Bluetooth multi-antenna so that the guide identifier points to the target vehicle, so that the target vehicle can be quickly and accurately found in a complex parking environment.

In order to implement the foregoing positioning method, an embodiment of the present application further provides a positioning system architecture, fig. 1 is a schematic diagram of the positioning system architecture provided in the embodiment of the present application, and as shown in fig. 1, the system architecture may include a terminal device 10, a car machine 20, a camera 30, and a vehicle-mounted positioning device 40; the terminal device 10 may trigger the vehicle machine 20 of the target vehicle to establish a bluetooth connection when entering the first range of the target vehicle, and perform bluetooth multi-antenna positioning on the target vehicle through the bluetooth connection, and further, may generate a guidance identifier on a display interface of the terminal device 10, and control a guidance direction of the guidance identifier according to positioning data of the bluetooth multi-antenna positioning, so that the guidance identifier points to the target vehicle.

In some embodiments, the in-vehicle device 20 may transmit the positioning information provided by the in-vehicle positioning device 40 and the shooting content provided by the camera 30 to the terminal device 10. Wherein, this on-vehicle positioner can adopt GPS positioning system or big dipper positioning system.

Fig. 2 is a schematic diagram of a terminal device and a car machine according to still another embodiment of the present application, and as shown in fig. 2, a car machine cooperation Kit (or called as a car machine cooperation system tool, hereinafter referred to as car machine Kit) is deployed On a car machine 20 side and is responsible for acquiring signals of a vehicle central control system (On Board Diagnostics, OBD), a camera, and a microphone. The car machine 20 side is also provided with a connection layer, and short-distance modules such as WIFI, bluetooth, Ultra Wide Band (UWB) and the like of the car machine are used for driving, so that transmission between the terminal device 10 and the car machine 20 is realized. When a plurality of bluetooth antennas or UWB high-frequency directional modules are also deployed on the car machine 20 side, the azimuth distance between the car machine 20 and the terminal device 10 may also be queried through the distance and the transmission speed.

A transmission layer is deployed on the side of the terminal device 10, and short-distance module drives of the terminal device 10, such as WIFI, bluetooth and UWB, are used to realize transmission between the terminal device 10 and the car machine 20. On the other hand, a car-machine cooperative management system is also deployed on the terminal device 10 side, and can provide a car-searching service module. Further, the terminal device 10 side is also provided with an APP layer, which may be installed with a system application or a third-party application, specifically map application software, and may provide a map navigation function. In still another aspect, a smart service layer is deployed on the terminal device 10 side, and includes a scene assistant, which can provide a parking card and a car finding card. In some implementation scenarios, such as a car seek scenario, voice-controlled access may be provided.

The following describes the positioning method provided in the embodiment of the present application in detail based on the parking-vehicle finding procedure sequence.

Concerning the parking phase

After the user drives the vehicle to the destination and parks the vehicle in a parking lot near the destination, the vehicle key-off terminal device 10 may generate a parking card based on corresponding information provided from the in-vehicle machine 20.

Fig. 3 is a schematic view of a process for generating a parking card according to another embodiment of the present application, and as shown in fig. 3, the process for generating a parking card includes the following steps:

step 301: and after the vehicle-mounted OBD detects that the vehicle is flamed out, flameout information is sent to the vehicle machine Kit.

Step 302: and the vehicle machine Kit receives the flameout information and triggers a request for acquiring the vehicle positioning information from the vehicle positioning device.

Step 303: and the vehicle-mounted positioning device feeds back vehicle positioning information to the vehicle machine Kit based on the vehicle machine Kit positioning request.

Step 304: and the vehicle machine Kit synchronizes the acquired vehicle positioning information to the vehicle machine cooperation system at the terminal equipment side.

Step 305: and after receiving the vehicle positioning information provided by the vehicle machine, the cooperative processing module of the vehicle-machine cooperative system sends the vehicle positioning information to the vehicle searching service module.

Step 306: the vehicle searching service module inquires the parking position from the map software of the terminal equipment based on the vehicle positioning information provided by the vehicle machine so as to further request the map information of the parking position.

Step 307: and the map software of the terminal equipment feeds the map information of the parking position back to the car searching service module based on the query request of the car searching service module.

Step 308: the vehicle-mounted machine Kit receives the flameout information and triggers a request for acquiring the first picture and the second picture from the vehicle-mounted camera.

Step 309: the vehicle-mounted camera shoots the first picture and the second picture based on the shooting request of the vehicle machine Kit and feeds the first picture and the second picture back to the vehicle machine Kit.

Step 310: and the vehicle machine Kit synchronizes the acquired first photo and the acquired second photo to the vehicle machine cooperation system at the terminal equipment side.

Step 311: after receiving the first photo and the second photo provided by the car machine, the cooperative processing module of the car machine cooperative system sends the first photo and the second photo to the car searching service module.

Step 312: the vehicle searching service module generates a parking card based on the received map information of the parking position.

It should be noted that, in the steps 301 to 312, the step 302 and the step 308 may be executed simultaneously, that is, after the in-vehicle Kit acquires the key-off information, the acquisition of the vehicle positioning information to the in-vehicle positioning device 40 and the transmission of the first shooting instruction to the in-vehicle camera 30 to acquire the first picture and the second picture are triggered simultaneously. In one embodiment, the first and second photos may be photos taken by the cameras 30 in two directions of the vehicle, such as a photo in a front direction of the vehicle and a photo in a rear direction of the vehicle, and in other embodiments, multiple photos may be taken by multiple cameras around the vehicle, and collectively referred to as a vehicle ring view, i.e., a 3D panorama around the vehicle, by the vehicle Kit or a vehicle cooperation system of the terminal device.

In an implementation manner, after the parking card is generated based on the parking card generation process provided in the embodiment shown in fig. 3, the parking card may be displayed on a display interface (e.g., a desktop of a mobile phone) of the terminal device 10.

Fig. 4 is a schematic display diagram of a parking card according to still another embodiment of the present application, and as shown in fig. 4, a static map 401 corresponding to a parking position may be included in the parking card 400. In other embodiments, the parking card may further include parking information, wherein the parking information may include parking spot description information 402 and/or parking time 403. For example, the target vehicle is parked near a "building in central customs", the static map 401 displays environmental information (roads, buildings, etc.) of the parking position, the descriptive information 402 may be "near a building in central customs", and the parking time 403 is displayed as "13: 17: 24".

Regarding the stage of searching vehicle

The user needs to return to the parking spot, and the user can quickly and accurately find the parking position according to the car searching function provided by the terminal device 10, and specifically, the user can send a car searching instruction to the terminal device 10 to enable the terminal device 10 to start a car searching program. In one embodiment, the user may click on a parking card on the display interface of terminal 10 to trigger initiation of the vehicle finding procedure. In another embodiment, the user can also control the terminal device to start a car finding program by voice, for example, saying "you, take me to find my car" or "you, how far away from me" to the microphone of the terminal device.

After the car-finding program of the terminal device 10 is started, the user can be guided back to the side of the vehicle according to the positioning method provided by the embodiment of the application.

Fig. 5 is a schematic flowchart of a positioning method according to still another embodiment of the present application, as shown in fig. 5, the method includes the following steps:

step 501: the terminal device determines whether the device itself enters a first range of the target vehicle, if not, step 502 is executed, and if so, step 503 is executed.

Step 502: the terminal device provides a navigation line based on the parking position of the target vehicle through a satellite positioning navigation system.

Step 503: the terminal equipment triggers the Bluetooth connection with the target vehicle, and after the Bluetooth connection is successfully established, the Bluetooth multi-antenna positioning is carried out on the target vehicle, so that the guiding direction of the guiding identification is controlled according to the Bluetooth multi-antenna positioning data, and the guiding identification points to the target vehicle.

Fig. 6 is a schematic flow chart of generating a car-finding card according to still another embodiment of the present application, as shown in fig. 5 and fig. 6, in a specific implementation of step 501, after the car-finding procedure is started, the terminal device 10 may determine whether the current location of the terminal device 10 is within the first range of the target vehicle, and in an implementation manner, the determination manner may include the operation described in step 601 of fig. 6, specifically, by determining whether the terminal device is currently located in a cell where a parking position (parking point) of the target vehicle is located. In the parking card generation phase, when the terminal device 10 receives the vehicle positioning information provided by the car machine 20, the terminal device 10 may be triggered to acquire identity information of a cell currently registered by the terminal device 10, for example, acquire a cell ID of the cell. Further, when the terminal device knows the cell ID of the parking spot cell, after the car search procedure is started, it may be determined whether the cell ID of the cell currently registered by the terminal device 10 is consistent with the cell ID of the parking spot cell, if not, it may be determined that the terminal device 10 does not currently enter the first range of the target vehicle, and if so, it may be determined that the terminal device 10 has entered the first range of the target vehicle. In one embodiment, the terminal device may periodically detect whether the cell ID of the cell currently registered by the terminal device 10 is consistent with the cell ID of the cell at the parking spot, for example, every 10s, it should be noted that the interval time may be set by a user, and is not limited to 10 s.

In the specific implementation of step 502, the terminal device may provide a navigation route through the satellite positioning navigation system based on the parking position of the target vehicle, and the specific implementation may be the operation described in step 602 in fig. 6, specifically, after it is determined that the terminal device 10 does not enter the first range of the target vehicle, the map software of the terminal device 10 may be started, and the vehicle positioning information (parking position) provided by the vehicle machine 20 may be queried through the map software, and the navigation route to the parking position may be planned for the user to guide the user to go to the parking spot.

In an embodiment, a guidance mark may also be generated on a display interface (car-finding card) of the terminal device to guide for going to a parking spot through the guidance mark, specifically, after step 602 is executed, step 603 may be continuously executed after vehicle positioning information (parking position) is obtained based on step 602, and the specific operations may include: based on the navigation data obtained by the map software according to the vehicle positioning information query provided by the vehicle machine 20, the direction of the guiding mark is controlled, and then step 604 is executed: generating a direction map, where the direction map is used to indicate a direction relationship between the user and the vehicle, and specifically indicates the direction through the guidance identifier, where the direction of the guidance identifier may be controlled based on navigation data obtained by the map software according to the vehicle positioning information query provided by the vehicle machine 20, so that the guidance identifier points to the direction of the target vehicle.

In one embodiment, the guide mark may be a guide arrow or a finger mark.

In one embodiment, the distance between the terminal and the target vehicle may be determined based on the navigation data obtained by the map software query, and the distance may be displayed beside the guidance sign.

In a specific implementation of step 503, after determining that the terminal device 10 enters the first range of the target vehicle, the triggering terminal device 10 may scan a Bluetooth Low Energy (BLE) device (step 606), and further determine whether the terminal device 10 establishes a BLE connection with the vehicle 20 of the target vehicle (step 607), if the vehicle BLE is not connected, continue to scan the vehicle BLE through the operation of step 606 until the terminal device 10 is connected to the vehicle BLE, and if the vehicle BLE is connected, the terminal device 10 may locate the target vehicle through the Bluetooth connection (step 608). It should be noted that, after entering the first range of the target vehicle (i.e. the cell of the parking spot), the end user 10 scans the car machine BLE to start to attempt to establish the bluetooth connection with the car machine 20, and the end device 10 may be within a certain distance (e.g. within 50 m) from the car machine 20 to successfully establish the bluetooth connection. However, the coverage of the 4G cell (e.g., within 200 m) is different from the coverage of the 5G cell (e.g., within 50 m), and therefore, whether or not the terminal device 10 enters the cell of the parking spot may be used as a trigger condition for attempting to establish the bluetooth connection with the car machine 20.

Further, after the terminal device 10 and the vehicle machine 20 successfully establish the bluetooth connection, the bluetooth multi-antenna positioning may be performed on the target vehicle based on the bluetooth connection, and the guiding direction of the guiding identifier is controlled according to the positioning data of the bluetooth multi-antenna positioning so that the guiding identifier points to the target vehicle (i.e., after the vehicle positioning information of the target vehicle is obtained through the bluetooth positioning, steps 603 to 605 are executed), and then the user is guided to find the target vehicle through the guiding identifier. Wherein navigation operations by the map software can be stopped after the bluetooth multi-antenna positioning is realized. Fig. 7 is a schematic diagram of a car-finding card according to still another embodiment of the present application, and as shown in fig. 7, the car-finding card 700 may include a guidance sign 701.

In one embodiment, the distance between the terminal and the target vehicle may be determined based on the positioning data of the bluetooth multi-antenna positioning and displayed next to the guidance sign, such as distance information 702 shown in fig. 7.

In one embodiment, the car-finding card may be generated after the car-finding program is started, and the car-finding card may be displayed on the display interface of the terminal device 10. The car searching card can comprise the guide mark and the distance information between the terminal and the target vehicle.

In one embodiment, the car searching card may further include a photo 703 provided by the car machine 20 after the car is turned off, wherein the photo may be a photo in the front direction of the car and a photo in the rear direction of the car, or a 3D panorama (not shown in the drawings) of the target car provided in the embodiment shown in fig. 3.

If the user stops for a long time, the environment around the vehicle may change, and the reference value of the photos provided by the in-vehicle unit 20 after the vehicle is turned off is reduced. For example, the parked vehicle behind the leading vehicle of the target vehicle changes, or the ambient light changes (e.g., from bright to dark, or from a clear to cloudy day). The user's judgment is affected when the above occurs.

To overcome the above technical problem, when the terminal device 10 enters the second range of the target vehicle, the terminal device 10 may be triggered to scan a Wireless Access Point (Wireless Access Point) of the vehicle machine to attempt to establish a Wireless communication connection (e.g., WIFI-P2P connection) with the vehicle machine 20 (step 609). The manner of determining whether the terminal device 10 enters the second range of the target vehicle may include whether the distance between the terminal device 10 and the car machine 20 is less than a first distance (e.g., 40 m), wherein whether the terminal device 10 enters the second range of the target vehicle may be determined based on the positioning data of the bluetooth multi-antenna positioning to determine the distance between the terminal and the target vehicle.

The terminal device 10 determines whether to scan the 20 wireless access points of the car machine (step 610), if not, continues to execute step 610 until the terminal device 10 scans the 20 wireless access points of the car machine, and if so, triggers to establish a WIFI-P2P connection between the terminal device 10 and the car machine 20, and after establishing a WIFI-P2P connection, may execute step 613 and step 614, which specifically include: the in-vehicle machine 20 may be triggered to send a second shooting instruction to the in-vehicle camera 30, so that the in-vehicle camera shoots a real-time video of the vehicle environment. And then the vehicle machine can connect the real-time video of the vehicle environment shot by the vehicle-mounted camera 30 through the WIFI-P2P and send the video to the terminal device 10, and further, after the terminal device obtains the real-time video of the vehicle environment sent by the vehicle machine 20, the photo 703 in the vehicle searching card can be replaced by the real-time video 704 of the vehicle environment, so that a user can observe the real-time environment around the vehicle through the terminal device 10, and the terminal device and the vehicle machine can cooperatively operate to facilitate the user to quickly find a target vehicle according to the real-time environment.

In one embodiment, the direction indicator may be configured in a photo of a car-finding card or a real-time video of a vehicle environment, wherein the direction indicator points to at least two directions of four directions of south, east, west and north, such as a photo 703 or a real-time video 704 of a vehicle environment shown in fig. 7, and the direction indicator 705 is configured to respectively indicate two directions of south (S) and north (N) so that a user can distinguish the directions by referring to the direction indicator 705.

In other embodiments, after it is determined that the terminal device 10 enters the third range of the target vehicle, the terminal device 10 may be triggered to stop using bluetooth multi-antenna positioning and switch to ultra-wideband positioning to perform high-precision positioning on the target vehicle, and control the guidance direction of the guidance identifier according to the positioning data of the ultra-wideband positioning so that the guidance identifier points to the target vehicle, and then guide the user to find the target vehicle through the guidance identifier. The manner of determining whether the terminal device 10 enters the third range of the target vehicle may include determining whether the distance between the terminal device 10 and the car machine 20 is less than a second distance (e.g., 10 m), and specifically, determining that the terminal device 10 enters the third range of the target vehicle if the distance between the terminal device 10 and the car machine 20 is less than 10 m.

In some embodiments, after determining that the terminal device 10 enters the third range of the target vehicle, the in-vehicle control vehicle may be triggered to flash to whistle (step 612) to prompt the user of the parking position of the target vehicle.

In some embodiments, the vehicle control card (or referred to as a vehicle seeking card) includes two parts of content for displaying vehicle control information and map positioning information respectively (the two parts of content can be displayed left and right through two display areas). And clicking the map positioning information by the user to enter a car finding page. The vehicle finding page provides a dynamic direction guide arrow and view finding contents shot by two vehicle-mounted cameras when the vehicle is parked. As the user gets closer to the vehicle, the static picture of the vehicle-mounted camera becomes a dynamic real-time video. When the distance between the mobile phone and the vehicle is far, the parking GPS coordinate and the navigation guiding arrow recorded by the mobile phone can be used. When the distance between the mobile phone and the vehicle is short, the dynamic positioning information and the navigation guiding arrow can be guided through WIFI + Bluetooth + UWB of the mobile phone and the vehicle.

For example, the navigation arrows: >50 m: honeycomb: the far-field arrow is obtained by calling a three-way navigation software interface of the mobile phone through GPS information for calculation; <15 m: short distance: the near-field arrows are acquired by bluetooth multi-antenna positioning calculations (or UWB may also be used).

Looking around pictures: more than 40 m: the all-around pictures are updated and downloaded to the mobile phone through cloud services of the two parties;

<40 m: after entering the near field, the view of the vehicle ring is changed into Live video (namely real-time video of the vehicle environment), and the flashing light is automatically notified to whistle.

Fig. 8 is a schematic structural diagram of a positioning apparatus according to still another embodiment of the present application, and as shown in fig. 8, the positioning apparatus may include a processor 801 and a memory 802, where the memory 802 is configured to store at least one instruction, and the instruction is loaded and executed by the processor 801 to implement the positioning method according to any embodiment of the present application. In one embodiment, the positioning device provided in the embodiment shown in fig. 8 may be a chip or a chip module.

Still another embodiment of the present application further provides an electronic device, which may include the positioning apparatus provided in the embodiment shown in fig. 8. In one embodiment, the positioning device may be a component of the electronic device, such as a chip or a chip module. In one embodiment, the electronic device may be a mobile phone, a tablet computer, or a smart wearable device.

Yet another embodiment of the present application further provides a co-location system, including: the above-mentioned electronic equipment and vehicle, wherein this vehicle includes on-vehicle positioner, wherein, on-vehicle positioner includes: the camera shooting unit comprises at least two cameras and is used for shooting a picture of the target vehicle in a first direction and a picture of the target vehicle in a second direction based on a first shooting instruction and shooting a real-time video of a vehicle environment based on a second shooting instruction; the vehicle machine is used for executing the following operations after the vehicle is determined to be flameout: determining a parking position through a vehicle-mounted positioning system and sending the parking position to the electronic equipment; sending the first shooting instruction to the shooting unit, and sending the picture of the target vehicle in the first direction and the picture of the target vehicle in the second direction which are shot by the shooting unit to the electronic equipment; the vehicle machine is further configured to send the second shooting instruction to the shooting unit after the electronic device establishes the WIFI-P2P connection, and send the real-time video of the vehicle environment shot by the shooting unit to the electronic device.

Yet another embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the positioning method provided in any embodiment of the present application.

It should be noted that the terminal referred to in the embodiments of the present application may include, but is not limited to, a Personal Computer (PC), a Personal Digital Assistant (PDA), a wireless handheld device, a Tablet Computer (Tablet Computer), a mobile phone, an MP3 player, an MP4 player, and the like.

It is to be understood that the application may be an application program (native app) installed on the terminal, or may also be a web page program (webApp) of a browser on the terminal, which is not limited in this embodiment of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method is applied to terminal equipment and comprises the following steps:

generating a parking card on a display interface of the terminal device based on parking information sent by a target vehicle, wherein the parking information comprises a parking position provided by the target vehicle, and the parking card comprises a static map generated based on the parking position;

generating a car searching card on a display interface of the terminal equipment in response to a car searching instruction of a user, wherein the car searching card comprises a guide identifier, a first photo and a second photo, the guide identifier points to the target vehicle, the first photo is a photo taken in a first direction when the target vehicle parks, and the second photo is a photo taken in a second direction when the target vehicle parks;

if the terminal equipment is determined to enter a first range of a target vehicle, triggering the terminal equipment to establish Bluetooth connection with the target vehicle;

if the distance between the terminal equipment and the target vehicle is determined to be smaller than a first distance, the first photo and the second photo are replaced by a vehicle environment real-time video, wherein the vehicle environment real-time video comprises a direction indicator;

if the terminal device is determined to be in the first range and the distance between the terminal device and the target vehicle is not smaller than the second distance, performing Bluetooth multi-antenna positioning on the target vehicle through the Bluetooth connection, and controlling the direction of a guide identifier according to positioning data of the Bluetooth multi-antenna positioning so that the guide identifier points to the target vehicle; and

if the distance between the terminal device and the target vehicle is determined to be smaller than the second distance, triggering the terminal device and the target vehicle to establish an ultra-wideband channel, carrying out ultra-wideband positioning on the target vehicle based on the ultra-wideband channel, and controlling the guiding direction of the guiding identification according to the positioning data of the ultra-wideband positioning so as to enable the guiding identification to point to the target vehicle.

2. The method of claim 1, wherein the parking card further comprises parking information, the parking information comprising: parking spot description information and/or parking time.

3. The method of claim 1, wherein the first photograph and/or the second photograph comprise an orientation indicator.

4. The method of claim 1, wherein the determining that the terminal device enters the first range comprises:

and determining that the terminal equipment enters the cell of the parking position of the target vehicle.

5. The method of claim 1, wherein the determining that the terminal device is less than the first distance from the target vehicle comprises:

and determining that the distance between the terminal equipment and the target vehicle is less than 40 m.

6. The method of claim 1, wherein the determining that the terminal device is less than the second distance from the target vehicle comprises:

and determining that the distance between the terminal equipment and the target vehicle is less than 10 m.

7. The method according to any one of claims 1 to 6, wherein after the display interface of the terminal device generates the car-finding card, if it is determined that the terminal device does not enter the first range of the target vehicle, a navigation route is provided by a satellite positioning navigation system based on the parking position of the target vehicle.

8. The method of claim 1, wherein if it is determined that the distance between the terminal device and the target vehicle is less than the first distance, further comprising:

triggering the terminal device to establish a wireless communication connection with the target vehicle, wherein the wireless communication connection comprises a WIFI-P2P connection;

and receiving the vehicle environment real-time video sent by the target vehicle through the wireless communication connection.

9. The method of claim 1, wherein after the terminal device establishes the bluetooth connection with the target vehicle, further comprising:

10. An electronic device, characterized in that the electronic device comprises:

a processor and a memory for storing at least one instruction which is loaded and executed by the processor to implement the positioning method of any one of claims 1-9.