CN117768851A

CN117768851A - Vehicle position determining method and device, terminal, vehicle and storage medium

Info

Publication number: CN117768851A
Application number: CN202311826338.8A
Authority: CN
Inventors: 董义魁
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2023-12-27
Filing date: 2023-12-27
Publication date: 2024-03-26

Abstract

The disclosure relates to a method, a device, a terminal, a vehicle and a storage medium for determining a vehicle position, which belong to the technical field of vehicles, and the method applied to the terminal comprises the following steps: generating a first request, the first request including an identification of a target vehicle; broadcasting the first request in a broadcasting domain of the terminal, wherein the first request is used for a first vehicle to determine whether the first vehicle is the target vehicle or not, and sending a response message of the first request to a sender of the first request when the first vehicle is the target vehicle, broadcasting the first request in the broadcasting domain of the first vehicle when the first vehicle is not the target vehicle, and sending the response message to the sender of the first request when the response message of the first request sent by other vehicles is received; the response message comprises the position information of the target vehicle, and the first vehicle is a vehicle receiving a first request; and determining the position of the target vehicle according to the received response message of the first request.

Description

Vehicle position determining method and device, terminal, vehicle and storage medium

Technical Field

The disclosure relates to the technical field of vehicles, and in particular relates to a method and device for determining a vehicle position, a terminal, a vehicle and a storage medium.

Background

When the user uses the vehicle, the position of the vehicle can be determined by the vehicle finding function. For example, vehicle whistling or flashing lights can be controlled by the vehicle seeking function to assist the user in determining his or her vehicle location. In some scenarios, however, a failure in seeking a vehicle may occur, thereby reducing the user's experience of using the vehicle.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a method, apparatus, terminal, vehicle, and storage medium for determining a vehicle position.

According to a first aspect of embodiments of the present disclosure, there is provided a method for determining a vehicle position, applied to a terminal, the method including:

generating a first request, the first request including an identification of a target vehicle;

broadcasting the first request in a broadcasting domain of a terminal, wherein the first request is used for a first vehicle to determine whether the first vehicle is the target vehicle or not, and sending a response message of the first request to a sender of the first request when the first vehicle is the target vehicle, broadcasting the first request in the broadcasting domain of the first vehicle when the first vehicle is not the target vehicle, and sending the response message to the sender of the first request when the response message of the first request sent by other vehicles is received; the response message comprises the position information of the target vehicle, and the first vehicle is a vehicle receiving a first request;

And determining the position of the target vehicle according to the received response message of the first request.

Optionally, the broadcasting the first request in a broadcast domain of the terminal includes:

determining a second vehicle located within a broadcast domain of the terminal;

performing key negotiation with the second vehicle to obtain a first key;

generating first verification information according to the first key;

and broadcasting the first request and the first verification information in a broadcasting domain of a terminal by taking the second vehicle as a receiver, wherein the first verification information and the first key are used for the second vehicle to verify the first request, the first vehicle comprises the second vehicle which successfully receives the first request, and the second vehicle responds to the first request under the condition that the first request passes the verification.

Optionally, the determining a second vehicle located in a broadcast domain of the terminal includes:

broadcasting a second request in a broadcasting domain of the terminal, the second request being used for determining vehicles that can be used for assisting in searching for vehicles;

and determining the second vehicle according to the response message of the second request.

Optionally, the determining the location of the target vehicle according to the received response message of the first request includes:

Generating a route from the terminal position to the target vehicle according to the position information of the terminal and the position information of the target vehicle in the response message;

and displaying the route on a display interface of the terminal.

Optionally, the generating the first request includes:

taking the target vehicle as a receiver, sending a vehicle searching instruction, wherein the vehicle searching instruction is used for determining the position of the target vehicle;

and generating the first request under the condition that the vehicle searching instruction responds to abnormality.

According to a second aspect of embodiments of the present disclosure, there is provided a method for determining a vehicle position, applied to a first vehicle, the first vehicle being a vehicle that receives a first request, the method including:

receiving a first request, the first request being generated by a terminal, the first request comprising an identification of a target vehicle, the first request being for the first vehicle to determine whether itself is the target vehicle;

broadcasting the first request within a broadcast domain of the first vehicle if the first vehicle is not a target vehicle;

and if the first vehicle is the target vehicle or the first vehicle receives a response message of the first request sent by other vehicles, sending a response message of the first request to a sender of the first request, wherein the response message comprises the position information of the target vehicle, and the response message is used for determining the position of the target vehicle by the terminal.

Optionally, the method comprises:

performing key negotiation with a sender of the first request to obtain a second key;

the receiving a first request includes:

receiving a first request and second verification information broadcast by the sender, wherein the second verification information is generated by the sender according to the second key;

the method further comprises the steps of:

verifying the first request according to the second key and the second verification information;

in the case of passing the verification, in response to the first request, it is determined whether or not itself is the target vehicle.

Optionally, the broadcasting the first request in the broadcast domain of the first vehicle includes:

determining a third vehicle located within a broadcast domain of the first vehicle;

performing key negotiation with the third vehicle to obtain a third key;

generating third verification information according to the third secret key;

and broadcasting the first request and the third verification information in a broadcasting domain of the first vehicle, wherein the third verification information is used for the third vehicle to verify the first request, the first vehicle comprises the third vehicle which successfully receives the first request, and the third vehicle responds to the first request when the first request passes the verification.

Optionally, the determining a third vehicle located in a broadcast domain of the first vehicle includes:

broadcasting a third request within a broadcast domain of the first vehicle, the third request for determining vehicles that can be used to assist in searching for vehicles;

and determining the third vehicle according to the response message of the third request.

Optionally, the method comprises:

turning on or off a function of assisting in searching for a vehicle of the first vehicle in response to a selection by a user;

wherein the first vehicle refuses to respond to the first request in the event that the function of assisting in searching for the vehicle is turned off.

According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle position determining apparatus, applied to a terminal, the apparatus including:

a first generation module configured to generate a first request, the first request including an identification of a target vehicle;

a first communication module configured to broadcast the first request in a broadcast domain of a terminal, the first request being used by a first vehicle to determine whether the first vehicle is the target vehicle or not, and to send a response message of the first request to a sender of the first request in a case where the first vehicle is not the target vehicle, to broadcast the first request in the broadcast domain of the first vehicle, and to send the response message to the sender of the first request in a case where the response message of the first request sent by another vehicle is received; the response message comprises the position information of the target vehicle, and the first vehicle is a vehicle receiving a first request;

A first determination module configured to determine a location of the target vehicle based on the received response message to the first request.

Optionally, the first communication module includes:

a first determination submodule configured to determine a second vehicle located within a broadcast domain of the terminal;

the first execution submodule is configured to carry out key negotiation with the second vehicle to obtain a first key;

a first generation sub-module configured to generate first authentication information from the first key;

and the first communication sub-module is configured to broadcast the first request and the first verification information in a broadcast domain of a terminal by taking the second vehicle as a receiver, wherein the first verification information and the first key are used for the second vehicle to verify the first request, the first vehicle comprises the second vehicle which successfully receives the first request, and the second vehicle responds to the first request when the first request passes the verification.

Optionally, the first determining sub-module includes:

a first communication subunit configured to broadcast a second request within a broadcast domain of the terminal, the second request being for determining vehicles that can be used to assist in searching for vehicles;

A first determination subunit configured to determine the second vehicle according to a response message of the second request.

Optionally, the first determining module includes:

a second generation sub-module configured to generate a route from a terminal position to a target vehicle according to the position information of the terminal and the position information of the target vehicle in the response message;

and the display sub-module is configured to display the route on a display interface of the terminal.

Optionally, the first generating module includes:

the first sending submodule is configured to send a vehicle searching instruction by taking the target vehicle as a receiver, wherein the vehicle searching instruction is used for determining the position of the target vehicle;

and the second generation sub-module is configured to generate the first request in the case that the vehicle searching instruction responds to an abnormality.

According to a fourth aspect of embodiments of the present disclosure, there is provided a vehicle position determining apparatus applied to a first vehicle, the first vehicle being a vehicle that receives a first request, the apparatus including:

a first receiving module configured to receive a first request, the first request being generated by a terminal, the first request including an identification of a target vehicle, the first request being for the first vehicle to determine whether itself is the target vehicle;

A second communication module configured to broadcast the first request within a broadcast domain of the first vehicle if the first vehicle is not a target vehicle;

the first sending module is configured to send a response message of the first request to a sender of the first request, where the first vehicle is the target vehicle, or the first vehicle receives a response message of the first request sent by other vehicles, the response message includes location information of the target vehicle, and the response message is used by the terminal to determine a location of the target vehicle.

Optionally, the method comprises:

the first execution module is configured to carry out key negotiation with a sender of the first request to obtain a second key;

the first receiving module includes:

a first receiving sub-module configured to receive a first request broadcast by the sender and second authentication information, the second authentication information being generated by the sender from the second key;

the apparatus further comprises:

a first authentication module configured to authenticate the first request based on the second key and the second authentication information;

And a second execution module configured to determine whether itself is the target vehicle in response to the first request in the case that the verification is passed.

Optionally, the second communication module includes:

a second determination submodule configured to determine a third vehicle located within a broadcast domain of the first vehicle;

the second execution sub-module is configured to carry out key negotiation with the third vehicle to obtain a third key;

a third generation sub-module configured to generate third authentication information from the third key;

and a second communication sub-module configured to broadcast the first request and the third verification information in a broadcast domain of the first vehicle, wherein the third verification information is used for the third vehicle to verify the first request, the first vehicle comprises a third vehicle which successfully receives the first request, and the third vehicle responds to the first request when the first request passes the verification.

Optionally, the second determining sub-module includes:

a second communication subunit configured to broadcast a third request within a broadcast domain of the first vehicle, the third request for determining vehicles that can be used to assist in searching for vehicles;

And a second determination subunit configured to determine the third vehicle according to a response message of the third request.

Optionally, the method comprises:

a third execution module configured to turn on or off a function of assisting in searching for a vehicle of the first vehicle in response to a selection by a user;

According to a fifth aspect of embodiments of the present disclosure, there is provided a terminal comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of any of the first aspects.

According to a sixth aspect of embodiments of the present disclosure, there is provided a vehicle comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of any of the second aspects.

According to a seventh aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of any one of the first to second aspects.

In the above scheme, the terminal may generate a first request including the identification of the target vehicle, and broadcast the first request in a broadcast domain of the terminal. In this way, the first vehicle that receives the first request may respond to the first request to determine whether itself is the target vehicle. And sending a response message of the first request to a sender of the first request under the condition that the first vehicle is a target vehicle. The first request is broadcast within a broadcast domain of the first vehicle if the first vehicle is not a target vehicle. And in the case of receiving a response message of the first request sent by the other vehicle, sending the response message to a sender of the first request, wherein the response message comprises the position information of the target vehicle. In this way, the terminal can determine the location of the target vehicle according to the received response message of the first request.

By adopting the scheme, the terminal can assist in finding the position of the target vehicle through other vehicles. Thus, the vehicle searching range can be enlarged, and the success rate of vehicle searching is increased. Also, this approach can be used in areas where the cellular network is not covered (or is not experienced as good), thus helping to increase the success rate of vehicle searches in these scenarios.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic diagram illustrating a vehicle finding scenario according to an example embodiment.

Fig. 2 is a flowchart illustrating a method of determining a vehicle position according to an exemplary embodiment.

Fig. 3 is a schematic diagram illustrating a vehicle finding scenario, according to an example embodiment.

Fig. 4 is a flowchart illustrating a method of determining a vehicle position according to an exemplary embodiment.

Fig. 5 is a flowchart illustrating a method of determining a vehicle position according to an exemplary embodiment.

Fig. 6 is a block diagram illustrating a vehicle position determining apparatus according to an exemplary embodiment.

Fig. 7 is a block diagram illustrating a vehicle position determining apparatus according to an exemplary embodiment.

Fig. 8 is a block diagram of a vehicle 600, according to an exemplary embodiment.

Fig. 9 is a block diagram of a terminal 900, according to an example embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

Before describing the method, the device, the terminal, the vehicle and the storage medium for determining the vehicle position of the disclosure, an application scenario of an embodiment of the disclosure is first described in an exemplary manner.

When the user uses the vehicle, the position of the vehicle can be determined by the vehicle finding function. For example, in some scenarios, a user may open an automobile App (application) in a terminal and click to open a seek function. Fig. 1 is a schematic diagram of a vehicle finding scenario according to an exemplary embodiment of the present disclosure. Referring to fig. 1, in seeking a car, the terminal 200 may connect to the user vehicle 600 through near field communication (e.g., bluetooth, radio frequency, etc.), and transmit a seeking command to the user vehicle 600. The user vehicle 600 may then feed back the vehicle-seeking command, which may be a whistle or a flashing light. However, the near field communication is applied to a short distance, and when the distance between the user terminal 200 and the user vehicle 600 is long, a failure in seeking a car may occur.

In some scenarios, the terminal may connect to the vehicle via a remote communication (e.g., a cellular network) and send a vehicle-finding instruction to the vehicle. And then, the vehicle can feed back the vehicle searching instruction, so that the vehicle searching function is realized. However, in a scene such as an underground parking garage, the cellular network may not be completely covered, and thus a phenomenon of failure in vehicle finding is also liable to occur.

For this reason, the embodiment of the disclosure provides a vehicle position determining method, which is applied to a terminal. The terminal may be, for example, a cell phone, tablet device, etc. FIG. 2 is a flow chart of a method of determining a vehicle position, as shown in FIG. 2, according to an exemplary embodiment of the present disclosure, the method comprising:

in step S21, a first request is generated, the first request including an identification of the target vehicle.

For example, in one possible implementation, the generating the first request includes:

For example, the terminal may send a vehicle seeking instruction to the target vehicle as the receiver in response to a vehicle seeking operation by the user. If the response of the vehicle searching instruction is abnormal, the first request can be generated, so that an auxiliary vehicle searching process based on other vehicles is started.

One or more rules may be set to determine whether the seek command is responsive to an anomaly. For example, in one embodiment, a seek command response exception may be determined in the event of a failure in the seek command transmission. In one embodiment, if the response message of the vehicle searching command is not received within the duration threshold, the abnormal response of the vehicle searching command can be determined.

In step S22, a first request is broadcast in the broadcast domain of the terminal, the first request being for the first vehicle to determine whether or not itself is the target vehicle. The first vehicle is a vehicle that receives the first request.

In one embodiment, the terminal and the vehicle may communicate based on bluetooth, and thus the broadcast domain may be referred to as a bluetooth broadcast domain.

In one embodiment, the terminal and the vehicle may communicate based on WIFI (Wireless Fidelity ), and thus the broadcast domain may be referred to as a WIFI broadcast domain.

The terminal broadcasts a first request in the broadcast domain to which a vehicle receiving the first request in the broadcast domain may respond. For example, the vehicle receiving the first request may be the first vehicle. The first vehicle may determine whether itself is the target vehicle in response to the first request. As an example, the first vehicle may compare whether the own vehicle identification is consistent with the identification of the target vehicle in the first request, thereby determining whether the own vehicle is the target vehicle.

When the first vehicle is not the target vehicle, the first vehicle may broadcast the first request within a broadcast domain of the first vehicle. In this way, the vehicle in the broadcast domain of the first vehicle that receives the first request may act as a new first vehicle and respond to the first request.

Fig. 3 is a schematic diagram of a vehicle finding scenario illustrated in an exemplary embodiment of the present disclosure. Referring to fig. 3, if the identification of the target vehicle is D, the terminal 200 may broadcast a first request including the identification D in a broadcast domain of the terminal 200. In this way, the vehicle a in the broadcast domain of the terminal 200 can receive the first request, i.e., as a first vehicle. The vehicle a may compare whether the vehicle identifier of the vehicle is consistent with the identifier D of the target vehicle, and determine that the vehicle is not the target vehicle when the vehicle identifier of the vehicle is inconsistent with the identifier D of the target vehicle. Referring to fig. 3, vehicle a may continue to broadcast the first request within its own broadcast domain. In this way, vehicles B and C in the vehicle a broadcast domain that received the first request may act as new first vehicles and respond to the first requests, respectively. Taking vehicle C as an example, vehicle C may broadcast the first request in the broadcast domain of vehicle C when it determines that it is not the target vehicle. In this way, the vehicles D and E in the broadcast domain of the vehicle C that receive the first request may act as new first vehicles, and respectively respond to the first request to determine whether or not they are target vehicles.

In the example of fig. 3, the vehicle D may determine itself to be the target vehicle in response to the first request.

When the first vehicle is the target vehicle, the first vehicle may send a response message of the first request to the sender of the first request. The first request received by the first vehicle may be from the terminal or from another vehicle. For example, in the example of fig. 3, the first request received by vehicle D is broadcast by vehicle C, and therefore vehicle D may send a response message to said vehicle C.

Further, in the case where the first vehicle receives a response message of the first request transmitted by the other vehicle, the response message may be transmitted to the sender of the first request. For example, in the example of fig. 3, after receiving the response message sent by vehicle D, vehicle C may send the response message to vehicle a. After the vehicle a receives the response message, the response message may be sent to the sender of the first request received by the vehicle a, that is, to the terminal 200.

Referring to fig. 2, in step S23, the position of the target vehicle is determined from the received response message of the first request.

For example, in one possible implementation, determining the location of the target vehicle according to the received response message of the first request includes:

and displaying the route on a display interface of the terminal.

That is, the terminal may acquire the position information of the target vehicle according to the response message, and generate a route from the terminal position to the target vehicle according to the position information of the terminal and the position information of the target vehicle. The terminal may also display the route on a display interface of the terminal, thereby assisting the user in finding a target vehicle based on the route. Therefore, the vehicle searching efficiency of the user can be improved.

In some embodiments, the terminal may also obtain the location information of the target vehicle according to the response message, and display the location information of the target vehicle on a map of the terminal.

In some scenarios, a verification filter flow may also be set for communication between the terminal and the vehicle.

For example, in one possible implementation, the first request is broadcast in a broadcast domain of the terminal, including:

determining a second vehicle located within a broadcast domain of the terminal;

performing key negotiation with the second vehicle to obtain a first key;

generating first verification information according to the first key;

As an example, the determining a second vehicle located in a broadcast domain of the terminal includes:

the terminal broadcasts a second request within a broadcast domain of the terminal, the second request being for determining vehicles that can be used to assist in searching for vehicles. In this way, the terminal can determine the second vehicle from the response message of the second request.

For example, in one embodiment, the terminal may determine whether the vehicle supports the function of assisting in searching for the vehicle according to a field in the response message of the second request, for example, 1 indicates that the vehicle supports the function of assisting in searching for the vehicle, and 0 indicates that the vehicle does not support the function of assisting in searching for the vehicle. These fields may be defined and set based on requirements, which are not limited by the disclosed embodiments.

In one embodiment, the vehicle may characterize the vehicle's ability to support a search-assist vehicle by sending a response message to the terminal.

The terminal can determine a second vehicle supporting a function of assisting in searching for the vehicle through the response message. The terminal may also perform a key agreement with the second vehicle to obtain a first key.

In some embodiments, the first key negotiated by the terminal with the plurality of second vehicles may be the same, i.e., the same key is used between the terminal and the plurality of vehicles.

In some embodiments, the terminal may negotiate with each second vehicle separately to obtain a different first key, i.e. different keys are used between the terminal and the different vehicles.

After determining the first key, the terminal may generate first verification information according to the first key, and broadcast the first request and the first verification information in a broadcast domain of the terminal with the second vehicle as a receiver. The first verification information and the first key are used for the second vehicle to verify the first request, wherein the first vehicle comprises the second vehicle which successfully receives the first request, and the second vehicle responds to the first request under the condition that the first request passes the verification.

In one embodiment, the first authentication information and the first request may be sent in packets, and the first authentication information may be used to verify whether the first request is authentic.

In one embodiment, the first authentication information may be generated based on a randomly generated number obtained from a second vehicle, and the terminal may encrypt the random number by a first key negotiated with the second vehicle to obtain the first authentication information. In this way, the second vehicle that receives the first request can decrypt the first authentication information by the first key that is negotiated with the terminal in advance. When the decrypted random number is consistent with the random number provided by the terminal, the first authentication information and the first request are determined to be sent by the terminal, and therefore the first request is considered to be trusted. And when the decryption fails or the random number obtained by decryption is inconsistent with the random number provided by the random number, determining that the first request is not trusted, and refusing to respond to the first request.

By the method, the safety of communication can be improved, and the effect of filtering the request can be achieved.

Based on the same inventive concept, the present disclosure also provides a method for determining a vehicle position, which is applied to a first vehicle. The first vehicle may be the first vehicle referred to in the above embodiment. Fig. 4 is a flowchart illustrating a method of determining a vehicle position according to an exemplary embodiment of the present disclosure, and referring to fig. 4, the method includes:

In step S41, a first request is received, the first request being generated by the terminal, the first request including an identification of the target vehicle, the first request being for the first vehicle to determine whether or not itself is the target vehicle.

In step S42, in the case where the first vehicle is not the target vehicle, the first request is broadcast in the broadcast domain of the first vehicle.

In step S43, when the first vehicle is the target vehicle or the first vehicle receives a response message of the first request sent by another vehicle, the response message of the first request is sent to the sender of the first request, where the response message includes location information of the target vehicle, and the response message is used by the terminal to determine the location of the target vehicle.

Referring to fig. 3, if the identification of the target vehicle is D, the terminal 200 may broadcast a first request including the identification D in a broadcast domain of the terminal 200. In this way, the vehicle a in the broadcast domain of the terminal 200 can receive the first request, i.e., as a first vehicle. The vehicle a may compare whether the vehicle identifier of the vehicle is consistent with the identifier D of the target vehicle, and determine that the vehicle is not the target vehicle when the vehicle identifier of the vehicle is inconsistent with the identifier D of the target vehicle. Referring to fig. 3, vehicle a may continue to broadcast the first request within its own broadcast domain. In this way, vehicles B and C in the vehicle a broadcast domain that received the first request may act as new first vehicles and respond to the first requests, respectively. Taking vehicle C as an example, vehicle C may broadcast the first request in the broadcast domain of vehicle C when it determines that it is not the target vehicle. In this way, the vehicles D and E in the broadcast domain of the vehicle C that receive the first request may act as new first vehicles, and respectively respond to the first request to determine whether or not they are target vehicles.

Further, in the case where the first vehicle receives a response message of the first request transmitted by the other vehicle, the response message may be transmitted to the sender of the first request. For example, in the example of fig. 3, after receiving the response message sent by vehicle D, vehicle C may send the response message to vehicle a. After the vehicle a receives the response message, the response message may be sent to the sender of the first request received by the vehicle a, that is, to the terminal 200. In this manner, the terminal 200 can determine the location of the target vehicle from the response message.

In one possible implementation, the method includes, on the basis of fig. 4:

the receiving a first request includes:

the method further comprises the steps of:

The first request received by the first vehicle may be from the terminal or from another vehicle. Thus, the sender may be a terminal or other vehicle. The sender may negotiate with the first vehicle to obtain a second key, and generate second authentication information according to the second key.

In one embodiment, the second authentication information may be generated based on a randomly generated number obtained from the first vehicle, and the sender may encrypt the random number by a second key negotiated with the first vehicle to obtain the second authentication information. In this way, the first vehicle that received the first request may decrypt the second authentication information by negotiating the second key. When the decrypted random number is consistent with the random number provided by the random number generator, the second verification information and the first request are determined to be sent by the sender, and therefore the first request is considered to be trusted. And when the decryption fails or the random number obtained by decryption is inconsistent with the random number provided by the random number, determining that the first request is not trusted, and refusing to respond to the first request.

In one possible implementation, the broadcasting the first request in the broadcast domain of the first vehicle includes:

performing key negotiation with the third vehicle to obtain a third key;

generating third verification information according to the third secret key;

As one example, the determining a third vehicle located within a broadcast domain of the first vehicle includes:

For example, in one embodiment, it may be determined whether the vehicle supports the function of assisting in searching for the vehicle according to a field in the response message of the third request, for example, 1 indicates that the vehicle supports the function of assisting in searching for the vehicle, and 0 indicates that the vehicle does not support the function of assisting in searching for the vehicle. These fields may be defined and set based on requirements, which are not limited by the disclosed embodiments.

The first vehicle may determine a third vehicle supporting a function of assisting in searching for the vehicle through the response message. The terminal may also perform a key negotiation with the third vehicle to obtain a third key.

In some embodiments, the third keys negotiated by the first vehicle and the plurality of third vehicles may be the same, i.e., the same keys are used between the first vehicle and the plurality of third vehicles.

In some embodiments, the first vehicle may negotiate with each third vehicle separately to obtain a different third key, i.e. different keys are used between the first vehicle and the different third vehicles.

After determining the third key, the first vehicle may generate third verification information according to the third key, and broadcast the first request and the third verification information in a broadcast domain of the first vehicle with the third vehicle as a receiver. The third verification information and the third key are used for the third vehicle to verify the first request, wherein the first vehicle comprises the third vehicle which successfully receives the first request, and the third vehicle responds to the first request under the condition that the first request passes the verification.

In one embodiment, the third authentication information and the first request may be sent in packets, and the third authentication information may be used to verify whether the first request is authentic.

In one embodiment, the third authentication information may be generated, for example, based on a randomly generated number obtained from a third vehicle, and the first vehicle may encrypt the random number by a first key negotiated with the third vehicle to obtain the third authentication information. In this way, the third vehicle that received the first request may decrypt the third authentication information with the third key. When the decrypted random number is consistent with the random number provided by the first vehicle, the third authentication information and the first request are determined to be sent by the first vehicle, and therefore the first request is considered to be authentic. And when the decryption fails or the random number obtained by decryption is inconsistent with the random number provided by the random number, determining that the first request is not trusted, and refusing to respond to the first request.

In one possible embodiment, the method comprises:

For example, a graphical control may be provided in the vehicle APP, which when clicked by the user, turns on or off the function of the first vehicle to assist in searching for the vehicle based on the user's selection. Therefore, the controllability of the vehicle can be improved, and the user can select to close the function of assisting in searching the vehicle, so that the energy consumption of the vehicle is reduced.

In some embodiments, the vehicle includes a communication master node and a plurality of communication slave nodes. Taking bluetooth as an example, one bluetooth master node and a plurality of bluetooth slave nodes may be included. The first vehicle is further used for waking up the plurality of auxiliary nodes when receiving a first request and/or a response message of the first request sent by other vehicles; and when the response message of the new first request and/or the first request sent by the new other vehicle is not received within the preset time period, the plurality of auxiliary nodes are dormant. Thus, by setting the sleep policy of the auxiliary node, the response delay and the vehicle energy consumption can be reduced.

Fig. 5 is a flowchart illustrating a method of determining a vehicle position according to an exemplary embodiment of the present disclosure, and referring to fig. 5, the method includes:

Responding to the vehicle searching operation of the user, and sending a vehicle searching instruction to the target vehicle by the mobile phone. And under the condition that the vehicle searching instruction is not responded, determining that the vehicle searching fails, and broadcasting a vehicle searching broadcasting field in a broadcasting field of the mobile phone, wherein the vehicle searching broadcasting field is used for determining vehicles capable of being used for assisting in vehicle searching.

After receiving the vehicle searching broadcast field, the vehicle 2 replies a feedback message of the vehicle searching broadcast field to the mobile phone, wherein the feedback message can comprise the identification of the vehicle 2, for example.

The handset may broadcast an auxiliary vehicle-finding request based on the identity of the vehicle 2, which may include the identity of the target vehicle. The vehicle 2 may receive the auxiliary vehicle locating request via a filtering operation and broadcast the vehicle locating request in a broadcast domain of the vehicle 2.

Referring to fig. 5, the vehicle 1 may receive a vehicle-seeking request of the vehicle 2 and broadcast the vehicle-seeking request in a broadcast domain of the vehicle 1. The vehicle n may receive the vehicle-seeking request of the vehicle 1 and broadcast the vehicle-seeking request in the broadcast domain of the vehicle n.

Thus, the target vehicle can receive the vehicle searching request and feed back the positioning information of the target vehicle. The positioning information may also be related information required to specify the bits. Referring to fig. 5, the target vehicle may feed back positioning-required information to the vehicle n, the vehicle n feeds back positioning-required information and a target vehicle positioning result to the vehicle 1, and the vehicle 1 feeds back positioning-required information and a target vehicle positioning result to the vehicle 2 and is transmitted from the vehicle 2 to the cellular phone. Therefore, the mobile phone can receive positioning information determined by the combination of a plurality of vehicles, and the relative position relationship between the mobile phone and the target vehicle can be described by combining the direction angle of the gyroscope of the mobile phone according to the positioning information determined by the combination of the plurality of vehicles. The mobile phone can also display the relative position relationship in the automobile APP, so that a user is assisted in searching for a target vehicle.

Based on the same inventive concept, the embodiment of the disclosure provides a vehicle position determining device, which is applied to a terminal. Fig. 6 is a block diagram of a vehicle position determining apparatus according to an exemplary embodiment of the present disclosure, and referring to fig. 6, the vehicle position determining apparatus includes:

a first generation module 601 configured to generate a first request comprising an identification of a target vehicle;

a first communication module 602 configured to broadcast the first request in a broadcast domain of a terminal, where the first request is used by a first vehicle to determine whether the first vehicle is the target vehicle, and send a response message of the first request to a sender of the first request if the first vehicle is the target vehicle, broadcast the first request in a broadcast domain of the first vehicle if the first vehicle is not the target vehicle, and send the response message to the sender of the first request if a response message of the first request sent by other vehicles is received; the response message comprises the position information of the target vehicle, and the first vehicle is a vehicle receiving a first request;

A first determining module 603 is configured to determine a location of the target vehicle according to the received response message of the first request.

Optionally, the first communication module 602 includes:

Optionally, the first determining sub-module includes:

Optionally, the first determining module 603 includes:

Optionally, the first generating module 601 includes:

Based on the same inventive concept, an embodiment of the present disclosure provides a vehicle position determining device applied to a first vehicle, the first vehicle being a vehicle that receives a first request. Fig. 7 is a block diagram of a vehicle position determining apparatus according to an exemplary embodiment of the present disclosure, and referring to fig. 7, the vehicle position determining apparatus includes:

A first receiving module 701 configured to receive a first request, the first request being generated by a terminal, the first request comprising an identification of a target vehicle, the first request being for the first vehicle to determine whether itself is the target vehicle;

a second communication module 702 configured to broadcast the first request within a broadcast domain of the first vehicle if the first vehicle is not a target vehicle;

a first sending module 703, configured to send a response message of the first request to the sender of the first request, where the first vehicle is the target vehicle, or the first vehicle receives a response message of the first request sent by another vehicle, where the response message includes location information of the target vehicle, and the response message is used by the terminal to determine a location of the target vehicle.

Optionally, the method comprises:

the first receiving module 701 includes:

the apparatus further comprises:

Optionally, the second communication module 702 includes:

Optionally, the second determining sub-module includes:

Optionally, the method comprises:

The embodiment of the disclosure provides a terminal, which comprises:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method for determining a vehicle position applied to a terminal provided in any embodiment of the present disclosure.

The disclosed embodiments provide a vehicle including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of determining a vehicle position for application to a first vehicle provided in any embodiment of the present disclosure.

The disclosed embodiments provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of determining a vehicle position applied to a terminal provided in any of the embodiments of the present disclosure.

The disclosed embodiments provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of determining a vehicle position for a first vehicle provided in any of the embodiments of the disclosure.

With respect to the vehicle position determining apparatus in the above-described embodiments, the specific manner in which the respective modules perform the operations has been described in detail in the embodiments regarding the vehicle position determining method, and will not be described in detail here.

Fig. 8 is a block diagram of a vehicle 600, according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 8, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and memory 652, the processor 651 may execute instructions 653 stored in the memory 652.

The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.

The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.

In an embodiment of the present disclosure, the processor 651 may execute the instructions 653 to perform all or part of the steps of the method of determining a vehicle position as described above as applied to the first vehicle.

Fig. 9 is a block diagram of a terminal 900, according to an example embodiment. For example, terminal 900 may be a mobile phone, tablet device, or the like.

Referring to fig. 9, a terminal 900 may include one or more of the following components: a processing component 902, a memory 904, a power component 906, a multimedia component 908, an audio component 99, an input/output interface 912, a sensor component 914, and a communication component 916.

The processing component 902 generally controls overall operation of the terminal 900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 902 may include one or more processors 920 to execute instructions to perform all or part of the steps of the method of determining a vehicle location as applied to a terminal described above. Further, the processing component 902 can include one or more modules that facilitate interaction between the processing component 902 and other components. For example, the processing component 902 can include a multimedia module to facilitate interaction between the multimedia component 908 and the processing component 902.

The memory 904 is configured to store various types of data to support operation at the terminal 900. Examples of such data include instructions for any application or method operating on terminal 900, contact data, phonebook data, messages, pictures, videos, and the like. The memory 904 may be implemented by any type of volatile or nonvolatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 906 provides power to the various components of the terminal 900. Power supply components 906 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for terminal 900.

The multimedia component 908 includes a screen between the terminal 900 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 908 includes a front-facing camera and/or a rear-facing camera. The front camera and/or the rear camera may receive external multimedia data when the terminal 900 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 99 is configured to output and/or input audio signals. For example, the audio component 99 includes a Microphone (MIC) configured to receive external audio signals when the terminal 900 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 904 or transmitted via the communication component 916. In some embodiments, audio component 99 further comprises a speaker for outputting audio signals.

The input/output interface 912 provides an interface between the processing component 902 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 914 includes one or more sensors for providing status assessment of various aspects of the terminal 900. For example, sensor assembly 914 may detect the on/off state of terminal 900, the relative positioning of the components, such as the display and keypad of terminal 900, the sensor assembly 914 may also detect the change in position of terminal 900 or a component of terminal 900, the presence or absence of user contact with terminal 900, the orientation or acceleration/deceleration of terminal 900, and the change in temperature of terminal 900. The sensor assembly 914 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 914 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 916 is configured to facilitate communication between terminal 900 and other devices, either wired or wireless. Terminal 900 can access a wireless network based on a communication standard, such as WiFi,4G, or 5G, or a combination thereof. In one exemplary embodiment, the communication component 916 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 916 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the terminal 900 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the above-described method of determining a vehicle position applied to the terminal.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as a memory 904 including instructions executable by the processor 920 of the terminal 900 to perform the above-described method of determining a vehicle location applied to the terminal. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned method of determining a vehicle position applied to a terminal when being executed by the programmable apparatus.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method of determining a vehicle position applied to a first vehicle when executed by the programmable apparatus.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining a vehicle position, the method being applied to a terminal, the method comprising:

2. The method of claim 1, wherein broadcasting the first request within a broadcast domain of a terminal comprises:

determining a second vehicle located within a broadcast domain of the terminal;

performing key negotiation with the second vehicle to obtain a first key;

generating first verification information according to the first key;

3. The method of claim 2, wherein the determining a second vehicle located within a broadcast domain of the terminal comprises:

4. A method according to any one of claims 1 to 3, wherein said determining the location of the target vehicle from the received response message to the first request comprises:

and displaying the route on a display interface of the terminal.

5. A method according to any one of claims 1 to 3, wherein the generating a first request comprises:

6. A method of determining a vehicle location, applied to a first vehicle, the first vehicle being a vehicle that receives a first request, the method comprising:

7. The method according to claim 6, comprising:

the receiving a first request includes:

the method further comprises the steps of:

8. The method of claim 6, wherein broadcasting the first request within a broadcast domain of the first vehicle comprises:

performing key negotiation with the third vehicle to obtain a third key;

generating third verification information according to the third secret key;

9. The method of claim 8, wherein the determining a third vehicle located within a broadcast domain of the first vehicle comprises:

10. The method according to any one of claims 6 to 9, comprising:

11. A vehicle position determining apparatus, characterized by being applied to a terminal, comprising:

12. A vehicle position determining apparatus, applied to a first vehicle, the first vehicle being a vehicle that receives a first request, the apparatus comprising:

13. A terminal, comprising:

A processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of any one of claims 1 to 5.

14. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of any one of claims 6 to 10.

15. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 10.