CN117970406A

CN117970406A - Vehicle positioning method

Info

Publication number: CN117970406A
Application number: CN202410191108.7A
Authority: CN
Inventors: 段立卿; 陈绍明; 黄贤坤
Original assignee: Shanghai Yingheng Electronic Co ltd
Current assignee: Shanghai Yingheng Electronic Co ltd
Priority date: 2024-02-21
Filing date: 2024-02-21
Publication date: 2024-05-03

Abstract

The invention discloses a vehicle positioning method. The method comprises the following steps: first data corresponding to the vehicle are collected through a first CPU corresponding to the MCU, and the first data at least comprise: GPS data, acceleration, and angular velocity; transmitting the first data to a second CPU corresponding to the MCU through the first CPU; and processing the first data through the second CPU to obtain positioning data, wherein the accuracy of the position corresponding to the positioning data is higher than that of the position corresponding to the first data. According to the technical scheme, the first CPU corresponding to the MCU is used for collecting the first data corresponding to the vehicle, the first data is transmitted to the second CPU, and the second CPU corresponding to the MCU is used for processing the first data, so that different tasks are processed through different CPU cores corresponding to the MCU, the work load of a single CPU core is reduced, the accuracy and efficiency of vehicle positioning are improved, and the reliability of vehicle positioning is improved.

Description

Vehicle positioning method

Technical Field

The embodiment of the invention relates to the technical field of positioning, in particular to a vehicle positioning method.

Background

Due to the shortcomings of conventional global positioning system (Global Positioning System, GPS) technology, positioning problems occur when obstacles such as walls, buildings, skyscrapers, trees, etc., block the GPS signals. With the improvement of the electronic intelligence degree of automobiles, the traditional GPS positioning can not meet the driving requirement, and a more accurate positioning system is needed.

At present, a high-precision inertial navigation, satellite navigation and real-time dynamic measurement technology (REAL TIME KINEMATIC, RTK) is independently configured for a vehicle to realize a vehicle positioning function so as to make up for the defect of GPS positioning. The scheme generally uses a single-core microcontroller (Microcontroller Unit, MCU) to process a large amount of data, realize a large amount of data interaction, operate related algorithms and the like, so that the traditional single-core MCU operates with higher apparent load, and can influence the reliability of vehicle positioning, and further influence the accuracy and efficiency of vehicle positioning.

Disclosure of Invention

The invention provides a vehicle positioning method for improving reliability of vehicle positioning.

In a first aspect, an embodiment of the present invention provides a vehicle positioning method, including:

First data corresponding to a vehicle are collected through a first central processing unit CPU corresponding to a microcontroller MCU, wherein the first data at least comprise: global positioning system GPS data, acceleration, and angular velocity;

Transmitting the first data to a second CPU corresponding to the MCU through the first CPU;

And processing the first data through the second CPU to obtain positioning data, wherein the accuracy of the position corresponding to the positioning data is higher than that of the position corresponding to the first data.

Optionally, the collecting, by the first central processing unit CPU corresponding to the microcontroller MCU, first data corresponding to the vehicle includes:

determining the acceleration and the angular velocity by an inertial measurement IMU module;

collecting the acceleration and the angular velocity through a synchronous serial bus between the first CPU and the IMU module;

determining the GPS data through a positioning module;

And acquiring the GPS data through a first universal asynchronous receiver-transmitter UART interface between the first CPU and the positioning module.

Optionally, the transmitting, by the first CPU, the first data to a second CPU corresponding to the MCU includes:

and transmitting the first data to the second CPU through a CPU internal data sharing channel between the first CPU and the second CPU.

Optionally, the processing, by the second CPU, the first data to obtain positioning data includes:

calculating the first data through the second CPU to obtain positioning data;

And transmitting the positioning data to the first CPU through a CPU internal data sharing channel between the first CPU and the second CPU.

Optionally, the method further comprises:

And transmitting the positioning data to the system-on-chip through a second UART interface between the first CPU and the system-on-chip.

Optionally, the method further comprises:

and configuring the positioning module through a third UART interface between the first CPU and the positioning module.

Optionally, the configuring the positioning module through a third UART interface between the first CPU and the positioning module includes:

and configuring the output frequency of the positioning module through a third UART interface between the first CPU and the positioning module.

In a second aspect, an embodiment of the present invention provides a vehicle positioning device, including:

The data acquisition module is used for acquiring first data corresponding to the vehicle through a first central processing unit CPU corresponding to the microcontroller MCU, and the first data at least comprises: global positioning system GPS data, acceleration, and angular velocity;

the data transmission module is used for transmitting the first data to a second CPU corresponding to the MCU through the first CPU;

The data processing module is used for processing the first data through the second CPU to obtain positioning data, and the accuracy of the position corresponding to the positioning data is higher than that of the position corresponding to the first data.

In a third aspect, an embodiment of the present invention provides an electronic device, including:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle locating method according to the first aspect.

In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing computer instructions for causing a processor to execute the vehicle positioning method according to the first aspect.

The embodiment of the invention provides a vehicle positioning method. The method comprises the following steps: first data corresponding to a vehicle are collected through a first central processing unit CPU corresponding to a microcontroller MCU, wherein the first data at least comprise: global positioning system GPS data, acceleration, and angular velocity; transmitting the first data to a second CPU corresponding to the MCU through the first CPU; and processing the first data through the second CPU to obtain positioning data, wherein the accuracy of the position corresponding to the positioning data is higher than that of the position corresponding to the first data. According to the technical scheme, the first CPU corresponding to the MCU is used for collecting the first data corresponding to the vehicle, the first data is transmitted to the second CPU, the second CPU corresponding to the MCU is used for processing the first data, different tasks are processed through different CPU cores corresponding to the MCU, the work load of a single CPU core is reduced, the accuracy and efficiency of vehicle positioning are improved, and the reliability of vehicle positioning is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a flowchart of a vehicle positioning method according to a first embodiment of the present invention;

fig. 2 is a schematic diagram of a vehicle positioning method according to a first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle positioning device according to a second embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

It should be noted that the concepts of "first," "second," and the like in the embodiments of the present invention are merely used to distinguish between different devices, modules, units, or other objects, and are not intended to limit the order or interdependence of functions performed by the devices, modules, units, or other objects.

Example 1

Fig. 1 is a flowchart of a vehicle positioning method according to an embodiment of the present invention, where the embodiment is applicable to a situation where reliability of vehicle positioning is improved. In particular, the vehicle positioning method may be performed by a vehicle positioning device, which may be implemented in software and/or hardware and integrated in an electronic device. Further, the electronic device includes, but is not limited to: desktop computers, notebook computers, smart phones, servers, and other electronic devices.

As shown in fig. 1, the method specifically includes the following steps:

S110, collecting first data corresponding to a vehicle through a first central processing unit CPU corresponding to a microcontroller MCU, wherein the first data at least comprises: global positioning system GPS data, acceleration, and angular velocity.

In this embodiment, the microcontroller (Microcontroller Unit, MCU) can be understood as a chip-level computer, which can be used for different combination control for different applications, and also can be called as a single-chip microcomputer. The MCU may have multiple (e.g., two) independent central processing unit (Central Processing Unit, CPU) cores, may allow for seamless hosting of multiple applications and operating systems on a unified platform, and may be, for example, a TC275 chip. The CPU can be understood as an operation and control core of the singlechip system and can be a final execution unit for information processing and program running. The first CPU corresponding to the MCU may be understood as one of the CPU cores in the MCU. The first data may be understood as data related to the positioning of the vehicle, such as GPS data, acceleration, angular velocity, etc. GPS data may be understood as data provided by the GPS system, which may include, for example, geographic location data of the vehicle, speed of travel, time information, and the like.

According to the operation, the first CPU in the MCU is used for collecting the first data corresponding to the vehicle so as to process different tasks through different CPU cores, so that the work load of a single CPU core can be reduced, and the reliability of vehicle positioning is improved.

S120, transmitting the first data to a second CPU corresponding to the MCU through the first CPU.

In this embodiment, the second CPU corresponding to the MCU may be understood as one of the CPU cores in the MCU, and may process different tasks with the first CPU. A data sharing channel can be arranged between the first CPU and the second CPU and can be used for data interaction.

The first data can be transmitted to the second CPU through a data sharing channel between the first CPU and the second CPU so as to be processed through the second CPU.

S130, processing the first data through the second CPU to obtain positioning data, wherein the accuracy of the position corresponding to the positioning data is higher than that of the position corresponding to the first data.

In this embodiment, the positioning data may be understood as data processed by the second CPU, where the accuracy of the positioning position corresponding to the positioning data is substantially higher than that of the positioning position corresponding to the first data, that is, the reliability of the positioning data is substantially higher than that of the first data, and the positioning position corresponding to the positioning data is more accurate and more reliable.

For example, the second CPU may perform a kalman filter algorithm using the first data, and calculate the first data to obtain the positioning data.

Specifically, the first CPU corresponding to the MCU is used for collecting first data corresponding to the vehicle, the first data are transmitted to the second CPU, the second CPU corresponding to the MCU is used for processing the first data, and the different CPU cores corresponding to the MCU are used for processing different tasks, so that the workload of a single CPU core can be reduced, the reliability of vehicle positioning can be improved, and the accuracy and efficiency of vehicle positioning can be further ensured.

It should be noted that the electronic device may be integrated in a vehicle.

The first embodiment of the invention provides a vehicle positioning method, which comprises the following steps: first data corresponding to a vehicle are collected through a first central processing unit CPU corresponding to a microcontroller MCU, wherein the first data at least comprise: global positioning system GPS data, acceleration, and angular velocity; transmitting the first data to a second CPU corresponding to the MCU through the first CPU; and processing the first data through the second CPU to obtain positioning data, wherein the accuracy of the position corresponding to the positioning data is higher than that of the position corresponding to the first data. According to the technical scheme, the first CPU corresponding to the MCU is used for collecting the first data corresponding to the vehicle, the first data is transmitted to the second CPU, the second CPU corresponding to the MCU is used for processing the first data, different tasks are processed through different CPU cores corresponding to the MCU, the work load of a single CPU core is reduced, the accuracy and efficiency of vehicle positioning are improved, and the reliability of vehicle positioning is improved.

determining the GPS data through a positioning module;

In one embodiment, an inertial measurement module (Inertial measurement unit, IMU) may be used to measure three-axis attitude angular velocity and acceleration of an object (e.g., a vehicle), and may be comprised of an accelerometer and a gyroscope, and the IMU module may be, for example, BMI160. Wherein the accelerometer is operable to measure acceleration of the object; gyroscopes may be used to measure the angular velocity of an object. The positioning module may be understood as a high-precision positioning module with a real-time differential measurement (REAL TIME KINEMATIC, RTK) module that can be used to position the vehicle via the GPS system. The synchronous serial bus may be used to connect the IMU module and the first CPU, and may be used to transfer data between various devices (e.g., between the IMU module and the first CPU), and may be, for example, an I2C bus. A universal asynchronous receiver/Transmitter (Universal Asynchronous Receiver/Transmitter, UART) may be used to transfer data from one device to another. The first UART interface may be used to transmit data of the positioning module to the first CPU. The RTK module is understood to be a measurement module that obtains centimeter-level positioning accuracy in real time in the field.

By way of example, angular velocity and acceleration are determined by the IMU module, which is read by the first CPU via the synchronous serial bus; the GPS data is determined by the positioning module, and is read by the first CPU through the first UART interface, namely the first data is acquired by the first CPU.

In one embodiment, the CPU internal data sharing channel may be understood as a channel for user transmission data between the first CPU and the second CPU.

For example, the first data may be shared and sent from the first CPU to the second CPU through the internal data sharing channel of the CPU, so that the second CPU processes the first data to obtain the positioning data.

calculating the first data through the second CPU to obtain positioning data;

Illustratively, the second CPU performs kalman filtering or the like Guan Suanfa on the first data to complete the calculation of the first data, obtain the positioning data, and send the positioning data sharing in the second CPU to the first CPU through the internal data sharing channel of the CPU for use by the first CPU.

Optionally, the method further comprises:

In one embodiment, a System On Chip (SOC) may be understood as a Chip with a dedicated target, a programmable Chip capable of integrating multiple functions, and various functions such as communication, calculation, and control, for example, may be used to perform map navigation. The second UART interface may be configured to connect the first CPU with the system on chip.

For example, the positioning data can be sent to the SOC chip for use through the second UART interface, and the SOC can use the positioning data output by the MCU for map navigation or further calculation of position information.

Optionally, the method further comprises:

In an embodiment, the third UART interface is configured to connect the first CPU and the positioning module, and complete data transmission between the first CPU and the positioning module.

For example, the first CPU may configure the processing positioning module through the third UART interface to adapt the positioning module to the MCU.

For example, the first CPU may process the NMEA statement and the output frequency output by the positioning module through the third UART interface configuration. The NMEA sentence may be in a standard GPS data format, which includes information such as location, speed, and heading.

It should be noted that, the first CPU corresponding to the MCU may also be used to process various peripheral modules (such as an electronic control unit) and control the power on and off of the SOC chip. The singlechip TC275TP can reach the functional safety ASIL-D level, and can meet the requirement of high reliability of automobile electronics.

Fig. 2 is a schematic diagram of a vehicle positioning method according to an embodiment of the invention. As shown in fig. 2, the singlechip takes a TC275TP chip as an example. The TC275TP comprises 3 cores, 2 cores are lockstep cores, one core is not provided with lockstep, and the invention uses the 2 cores with lockstep to execute corresponding functions so as to meet the requirement of high reliability of vehicle positioning. The following describes the tasks executed by the 2 lockstep cores of the MCU:

1. The first CPU collects various GPS data output by the positioning module through a first UART interface, such as a UART1 interface, and the first CPU is used for configuring and processing the GPS data output by the positioning module and the output frequency through a third UART interface, such as a UART3 interface.

2. The IMU module selects the BMI160, and the first CPU reads the acceleration and angular velocity of 3 axes output by the BMI160 through a synchronous serial bus, such as an I2C bus, that is, the first data acquisition is completed.

3. GPS data output by the positioning module is acquired by the first CPU, the acceleration and the angular speed of the IMU module are first data, and the first data are sent to a corresponding memory for calculation by the second CPU through a CPU internal data sharing channel.

4. The second CPU executes a Kalman filtering algorithm by using the first data acquired by the first CPU, and transmits the calculated positioning data to the first CPU for use through a CPU internal data sharing channel.

5. The first CPU sends the positioning data obtained by the second CPU through a second UART interface, such as a UART2 interface, to the SOC chip for use, and the SOC can use the positioning data output by the MCU for map navigation or further calculation of position information.

6. The first CPU outputs positioning data and other messages to other ECUs through a CAN bus.

Example two

Fig. 3 is a schematic structural diagram of a vehicle positioning device according to a second embodiment of the present invention, where the device may execute the vehicle positioning method according to the second embodiment of the present invention. The vehicle positioning device provided in this embodiment includes:

The data collection module 210 is configured to collect, by using a first central processing unit CPU corresponding to the microcontroller MCU, first data corresponding to the vehicle, where the first data at least includes: global positioning system GPS data, acceleration, and angular velocity;

A data transmission module 220, configured to transmit, by using the first CPU, the first data to a second CPU corresponding to the MCU;

the data processing module 230 is configured to process the first data through the second CPU to obtain positioning data, where the accuracy of the position corresponding to the positioning data is higher than the accuracy of the position corresponding to the first data.

Optionally, based on the above embodiment, the data acquisition module 210 includes:

A speed data determining unit for determining the acceleration and the angular velocity by inertial measurement IMU module;

The speed data transmission unit is used for acquiring the acceleration and the angular speed through a synchronous serial bus between the first CPU and the IMU module;

the GPS data determining unit is used for determining the GPS data through the positioning module;

and the GPS data transmission unit is used for acquiring the GPS data through a first universal asynchronous receiving and transmitting UART interface between the first CPU and the positioning module.

Optionally, based on the above embodiment, the data transmission module 220 includes:

And the data transmission unit is used for transmitting the first data to the second CPU through a CPU internal data sharing channel between the first CPU and the second CPU.

Optionally, based on the above embodiment, the data processing module 230 includes:

the positioning data calculation unit is used for calculating the first data through the second CPU to obtain positioning data;

and the positioning data transmission unit is used for transmitting the positioning data to the first CPU through a CPU internal data sharing channel between the first CPU and the second CPU.

Optionally, on the basis of the foregoing embodiment, the apparatus further includes:

And the positioning data transmission module is used for transmitting the positioning data to the system-on-chip through a second UART interface between the first CPU and the system-on-chip.

The configuration module is used for configuring the positioning module through a third UART interface between the first CPU and the positioning module.

Optionally, on the basis of the foregoing embodiment, the configuration module includes:

The frequency configuration unit is used for configuring the output frequency of the positioning module through a third UART interface between the first CPU and the positioning module.

The vehicle positioning device provided by the second embodiment of the invention can be used for executing the vehicle positioning method provided by any embodiment, and has corresponding functions and beneficial effects.

Example III

Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 10 may also represent various forms of mobile equipment, such as personal digital assistants, cellular telephones, smartphones, user equipment, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing equipment. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks, wireless networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle positioning method.

In some embodiments, the vehicle positioning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. One or more steps of the methods described above may be performed when the computer program is loaded into RAM 13 and executed by processor 11. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle positioning method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device 10, the electronic device 10 having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the electronic device 10. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle positioning method, characterized by comprising:

2. The method according to claim 1, wherein the collecting, by the first central processing unit CPU corresponding to the micro controller MCU, the first data corresponding to the vehicle includes:

determining the GPS data through a positioning module;

3. The method according to claim 1, wherein the transmitting, by the first CPU, the first data to the second CPU corresponding to the MCU includes:

4. The method of claim 1, wherein the processing, by the second CPU, the first data to obtain positioning data comprises:

calculating the first data through the second CPU to obtain positioning data;

5. The method as recited in claim 1, further comprising:

6. The method as recited in claim 1, further comprising:

7. The method of claim 1, wherein configuring the positioning module via a third UART interface between the first CPU and the positioning module comprises:

8. A vehicle positioning device, characterized by comprising:

9. An electronic device, the electronic device comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle localization method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle locating method of any one of claims 1-7.