WO2018214587A1

WO2018214587A1 - In-vehicle positioning method and apparatus

Info

Publication number: WO2018214587A1
Application number: PCT/CN2018/073826
Authority: WO
Inventors: 连荣刚; 张勇; 张亚兵; 朱小三
Original assignee: 中兴通讯股份有限公司
Priority date: 2017-05-22
Filing date: 2018-01-23
Publication date: 2018-11-29
Also published as: CN109246584A

Abstract

An in-vehicle positioning method and apparatus. The method comprises: a mobile terminal acquiring parameter information required for positioning, wherein the parameter information comprises at least one of the following: a sound signal received by the mobile terminal and emitted by a vehicle-mounted device, an acceleration of the mobile terminal when a vehicle swerves, and an operation behaviour of the mobile terminal; determining, according to the parameter information, at least one positioning result of the mobile terminal; and determining the location, in the vehicle, of a holder of the mobile terminal according to the at least one positioning result of the mobile terminal.

Description

In-vehicle positioning method and device

Technical field

The present disclosure relates to in-vehicle positioning technology, for example, to an in-vehicle positioning method and apparatus.

Background technique

In the field of indoor positioning, due to problems in actual application scenarios (such as signal problems), it is impossible to apply such as Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Beidou satellite navigation system. Satellite positioning systems are not suitable for industry-specific navigation systems that require high cost and require infrastructure support, such as Very High Frequency Omnidirectional Radio Range (VOR) and Instrument Landing System (Instrument Landing System). ILS) and so on. Moreover, indoor positioning has higher requirements on positioning accuracy, and the accuracy of positioning technologies such as GPS positioning and wireless network base station positioning cannot meet the requirements. The positioning accuracy of civil GPS is generally about 10 meters, while the positioning accuracy of indoor navigation requires at least 1 meter.

The positioning technology for the in-vehicle scene is not proposed in the related art, that is, how to position the in-vehicle personnel for the in-vehicle scene.

Summary of the invention

The present disclosure provides an in-vehicle positioning method and apparatus for solving the problem of how to perform person positioning for an in-vehicle scene existing in the related art.

The present disclosure proposes an in-vehicle positioning method, the method comprising:

The mobile terminal acquires parameter information required for positioning; the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration of the mobile terminal when the vehicle turns, and an operation of the mobile terminal behavior;

Determining, according to the parameter information, at least one positioning result of the mobile terminal;

Determining a location of the mobile terminal holder in the vehicle based on the at least one positioning result of the mobile terminal.

Optionally, the determining, according to the parameter information, the at least one positioning result of the mobile terminal includes:

When the parameter information includes a sound signal emitted by the in-vehicle device received by the mobile terminal, determining a relative distance between the mobile terminal and the in-vehicle device according to the sound signal, according to the predetermined in-vehicle device in the vehicle The location within the location and the relative distance determine a first location result of the mobile terminal.

Optionally, determining, according to the sound signal, a relative distance between the mobile terminal and the in-vehicle device, including:

Determining, according to the sound signal received by the mobile terminal for the jth time, a j-th relative distance between the mobile terminal and the in-vehicle device, where j ranges from 1 to n, and n is an integer greater than 0;

Determining the first positioning result of the mobile terminal according to the predetermined location of the in-vehicle device in the vehicle and the relative distance, including:

Forming a matrix Aj of the j-th relative distance between the mobile terminal in the vehicle and the in-vehicle device and the j-th relative distance of each of the other mobile terminals and the in-vehicle device, and obtaining an average value of the matrix A1 to the matrix An, Determining a first positioning result of the mobile terminal and the other mobile terminal in the vehicle according to an average value of the matrix A1 to the matrix An and a predetermined position of the in-vehicle device in the vehicle; Determining a first positioning result of the mobile terminal in a first positioning result of the mobile terminal and the other mobile terminal.

Determining a steering radius of the mobile terminal according to an acceleration of the mobile terminal when the vehicle is turning; and determining, according to a steering radius of the mobile terminal, when the parameter information includes an acceleration of the mobile terminal when the vehicle is turning a second positioning result of the mobile terminal.

Determining, according to the operation behavior of the mobile terminal and a historical statistical database set in advance, the role of the mobile terminal holder, according to the mobile terminal holder, when the parameter information includes an operation behavior of the mobile terminal The role of determining the third positioning result of the mobile terminal; wherein the historical statistical database is used to characterize the relationship between the mobile terminal operating behavior and the role of the mobile terminal holder.

Optionally, before determining the role of the mobile terminal holder, the method further includes:

Obtaining, in advance, an operation behavior set of the mobile terminal, where the operation behavior set includes multiple types of operation behaviors;

Determining a prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a driver, and a prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger;

Setting the historical statistics according to a prior probability that each type of operation behavior occurs when the mobile terminal holder is a driver and a prior probability of each type of operation behavior of the mobile terminal when the mobile terminal holder is a passenger database.

Optionally, after determining the role of the mobile terminal holder, the method further includes: when the operation behavior of the mobile terminal meets a preset update condition, the operation behavior set, the mobile terminal The prior probability of each type of operational behavior of the mobile terminal when the holder is the driver and the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger are updated.

Optionally, the operating behavior of the mobile terminal meets preset update conditions, including:

Determining whether the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule according to at least one of the following information: feedback information of the mobile terminal holder and log information of the mobile terminal;

When it is determined that the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule, and the operation behavior of the mobile terminal passes the audit, it is determined that the operation behavior of the mobile terminal satisfies a preset update condition.

Optionally, the determining, according to at least one of the following information, whether the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule: feedback information of the mobile terminal holder and the mobile terminal The steps of the log information, including:

Determining that the mobile terminal needs to follow a predefined audit rule when at least one of the feedback information of the mobile terminal holder and the log information of the mobile terminal includes the new operation behavior of the mobile terminal The operation behavior is reviewed, wherein the new operation behavior of the mobile terminal does not belong to the operation behavior set;

The predefined audit rules include:

Determining a category of the new operational behavior of the mobile terminal, determining that the new operation of the mobile terminal passes the audit when the probability density of the determined operational behavior of the category is greater than or equal to the set probability density threshold.

Optionally, determining, according to the at least one positioning result of the mobile terminal, the location of the mobile terminal holder in the vehicle, including:

When the number of the positioning results of the mobile terminal is 1, determining a corresponding positioning result as a position of the mobile terminal holder in the vehicle;

When the number of the positioning results of the mobile terminal is greater than 1, a positioning result of the plurality of positioning results is determined as a position of the mobile terminal holder in the vehicle; or, according to a preset selection rule, One positioning result is selected from the positioning results, and the selected positioning result is determined as the position of the mobile terminal holder in the vehicle.

Optionally, after determining the location of the mobile terminal holder in the vehicle, the method further includes at least one of the following steps:

Determining a service that the mobile terminal is allowed to provide according to a location of the mobile terminal holder in the vehicle; and transmitting the location of the mobile terminal holder in the vehicle to the external device.

The present disclosure also proposes another in-vehicle positioning method, the method comprising:

The in-vehicle device acquires parameter information required for positioning the mobile terminal in the vehicle, and the parameter information includes at least one of the following: an acoustic signal sent by the in-vehicle device to the mobile terminal, and an acceleration of the mobile terminal when the vehicle is turning And an operation behavior of the mobile terminal;

When the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal, determining a relative distance between the mobile terminal and the in-vehicle device according to the sound signal, according to the predetermined in-vehicle device in the vehicle The location, and the relative distance, determine a first positioning result of the mobile terminal.

The parameter information includes an acceleration of the mobile terminal when the vehicle is turning, determining a steering radius of the mobile terminal according to an acceleration of the mobile terminal when the vehicle is turning; determining a location according to a steering radius of the mobile terminal The second positioning result of the mobile terminal.

When the parameter information includes an operation behavior of the mobile terminal, determining a role of the mobile terminal holder according to an operation behavior of the mobile terminal and a preset historical statistical database, according to the mobile terminal holder a role determining a third positioning result of the mobile terminal; wherein the historical statistical database is used to characterize a relationship between a mobile terminal operating behavior and a role of a mobile terminal holder.

A historical statistical database is set according to a prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is the driver and a prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger.

Determining whether the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule according to at least one of feedback information of the mobile terminal holder and log information of the mobile terminal;

Optionally, the determining, according to at least one of the feedback information of the mobile terminal holder and the log information of the mobile terminal, whether the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule, include:

Determining that the mobile terminal needs to follow a predefined audit rule when at least one of the feedback information of the mobile terminal holder and the log information of the mobile terminal includes the new operation behavior of the mobile terminal The operation behavior is audited, and the new operation behavior of the mobile terminal does not belong to the operation behavior set;

Accordingly, the predefined audit rules include:

The present disclosure also provides an in-vehicle positioning device, which is located in a mobile terminal in a vehicle, the device comprising: a first acquisition module and a first determination module; wherein

a first acquiring module, configured to acquire parameter information required for positioning; the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration of the mobile terminal when the vehicle is turned, a The operational behavior of the mobile terminal;

The first determining module is configured to determine, according to the parameter information, at least one positioning result of the mobile terminal; and determine, according to the at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.

Optionally, the first determining module is configured to determine, when the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal, the mobile terminal and the in-vehicle device according to the sound signal. The relative distance of the mobile terminal is determined according to a predetermined position of the in-vehicle device in the vehicle and the relative distance.

Optionally, the first determining module is configured to determine, according to an acceleration of the mobile terminal when the vehicle is turning, when the parameter information includes an acceleration of the mobile terminal when the vehicle is turning, determining the mobile terminal a steering radius; determining a second positioning result of the mobile terminal according to a steering radius of the mobile terminal.

Optionally, the first determining module is configured to: when the parameter information includes an operation behavior of the mobile terminal, determine the mobile terminal according to an operation behavior of the mobile terminal and a preset historical statistical database. a role of the holder, determining a third positioning result of the mobile terminal according to the role of the mobile terminal holder; wherein the historical statistical database is used to characterize the operation behavior of the mobile terminal and the role of the mobile terminal holder Relationship.

Optionally, the first determining module is configured to determine, according to the number of the positioning results of the mobile terminal, that the corresponding positioning result is the position of the mobile terminal holder in the vehicle; When the number of the positioning results of the mobile terminal is greater than 1, a positioning result of the plurality of positioning results is determined as a position of the mobile terminal holder in the vehicle; or, according to a preset selection rule, multiple locations are used. A positioning result is selected from the positioning result, and the selected positioning result is determined as the position of the mobile terminal holder in the vehicle.

The present disclosure also provides another in-vehicle positioning device, which is located in an in-vehicle device, the device comprising: a second acquisition module and a second determination module; wherein

a second acquiring module, configured to acquire parameter information required for positioning the mobile terminal in the vehicle, where the parameter information includes at least one of the following: a sound signal sent by the vehicle-mounted device to the mobile terminal, and the mobile terminal is Acceleration when the vehicle is turning and operational behavior of the mobile terminal;

The second determining module is configured to determine, according to the parameter information, at least one positioning result of the mobile terminal; and determine, according to the at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.

Optionally, the second determining module is configured to determine, according to the sound signal, the mobile terminal and the in-vehicle device when the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal. The relative distance of the mobile terminal is determined according to a predetermined position of the in-vehicle device in the vehicle and the relative distance.

Optionally, the second determining module is configured to determine, according to an acceleration of the mobile terminal when the vehicle is turning, when the parameter information includes an acceleration of the mobile terminal when the vehicle is turning, determining the mobile terminal a steering radius; determining a second positioning result of the mobile terminal according to a steering radius of the mobile terminal.

Optionally, the second determining module is configured to determine, when the parameter information includes an operation behavior of the mobile terminal, the mobile terminal according to an operation behavior of the mobile terminal and a historical statistical database set in advance. a role of the holder, determining a third positioning result of the mobile terminal according to the role of the mobile terminal holder; wherein the historical statistical database is used to characterize the operation behavior of the mobile terminal and the role of the mobile terminal holder Relationship.

Optionally, the second determining module is configured to determine, according to the number of the positioning results of the mobile terminal, that the corresponding positioning result is the position of the mobile terminal holder in the vehicle; When the number of the positioning results of the mobile terminal is greater than 1, a positioning result of the plurality of positioning results is determined as a position of the mobile terminal holder in the vehicle; or, according to a preset selection rule, multiple locations are used. A positioning result is selected from the positioning result, and the selected positioning result is determined as the position of the mobile terminal holder in the vehicle.

The present disclosure also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, Having the computer perform any of the methods described above.

The in-vehicle positioning method and apparatus provided by the present disclosure acquires parameter information required for positioning; the parameter information includes at least one of the following: a sound signal emitted by the in-vehicle device received by each mobile terminal, and each mobile terminal is Acceleration when the vehicle turns, operation behavior of each mobile terminal; determining at least one positioning result of each mobile terminal according to the parameter information; determining, according to at least one positioning result of each mobile terminal, that the mobile terminal holds The position of the person in the vehicle; thus, using the corresponding data acquired by the mobile terminal located in the vehicle, the position of the mobile terminal holder in the vehicle can be determined, that is, the positioning of the person inside the vehicle is realized.

DRAWINGS

1 is a flow chart of a first embodiment of an in-vehicle positioning method.

FIG. 2 is a schematic diagram showing the principle of positioning a person in a vehicle by using a sound localization technique in an embodiment.

3 is a schematic view of an interior region of a vehicle having two rows of front and rear seats in an embodiment.

FIG. 4 is a schematic diagram showing the principle of positioning an in-vehicle person by using an acceleration comparison positioning method in an embodiment.

FIG. 5 is a schematic structural diagram of an in-vehicle hybrid positioning system in an embodiment.

FIG. 6 is a schematic diagram showing the internal structure of a basic management system in an embodiment.

FIG. 7 is a schematic diagram showing the relationship of each subsystem of the vehicle hybrid positioning system in an embodiment.

FIG. 8 is a schematic diagram showing the workflow of each unit of the basic management system in an embodiment.

FIG. 9 is a schematic diagram of positioning using the TOA algorithm in an embodiment.

Figure 10 is a schematic diagram of a normal distribution GD3 involved in an embodiment.

FIG. 11 is a schematic diagram of an update process of a behavior operation set involved in an embodiment.

Figure 12 is a flow chart showing the review of feedback information on the vehicle side in an embodiment.

FIG. 13 is a schematic diagram of different service sets corresponding to different roles in an embodiment.

Figure 14 is a schematic view showing the structure of an in-vehicle positioning device of an embodiment.

FIG. 15 is a schematic diagram showing the hardware structure of a mobile terminal carried by a person in a vehicle according to an embodiment.

Fig. 16 is a schematic view showing another structure of the in-vehicle positioning device of an embodiment.

FIG. 17 is a schematic diagram showing the hardware structure of an in-vehicle device according to an embodiment.

detailed description

The present application will be described below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

The embodiment of the present application discloses an in-vehicle positioning method, which can be applied to positioning a person in a vehicle. In actual implementation, the vehicle is provided with an in-vehicle device, and the in-vehicle device can emit a sound signal to the surroundings, for example, The in-vehicle device includes a sounding device such as a speaker; the in-vehicle device can know whether the vehicle is steering, and the direction in which the vehicle is turning (left or right) through the in-vehicle navigation system or the like; the in-vehicle device can further include a processor and the like, and thus, Data operations are possible.

Personnel within the vehicle may carry mobile terminals including, but not limited to, smart phones, tablets, personal digital assistant devices, and the like. A device for receiving sound such as a microphone may be disposed in the mobile terminal; the mobile terminal may detect its current linear acceleration through a device such as a gyroscope or an acceleration sensor; the mobile terminal may acquire its own operation behavior, where the operation behavior may include at least one of the following Item: controlling the mobile terminal to be in a dormant state, controlling a screen display state of the mobile terminal, controlling an application running state of the mobile terminal, collecting network data acquired by the mobile terminal (eg, data from a mobile Internet), acquiring a mobile terminal Device posture information.

Here, the in-vehicle device can form a wireless communication connection with the mobile terminal. In this way, the in-vehicle device can perform data interaction with the mobile terminal. In the embodiment of the present application, the communication connection manner between the mobile terminal and the in-vehicle device is not limited.

Based on the above proposed vehicle, in-vehicle device, and mobile terminal, the following embodiments are proposed.

First embodiment

1 is a flow chart showing a first embodiment of the in-vehicle positioning method of the present application, including: Step 11, Step 12, and Step 13, as follows:

Step 11: The mobile terminal acquires parameter information required for positioning; the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration of the mobile terminal when the vehicle is turned, and the movement The operational behavior of the terminal.

Here, the mobile terminal can be located within the vehicle.

Step 12: Determine at least one positioning result of the mobile terminal according to the parameter information.

Optionally, the determining, according to the parameter information, the at least one positioning result of the mobile terminal, that is, step 12 includes:

Determining, according to the sound signal, a relative distance between the mobile terminal and the in-vehicle device, and determining the mobile terminal according to the relative distance, when the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal. The first positioning result.

Optionally, step 12 includes:

When the parameter information includes an acceleration of the mobile terminal when the vehicle is turning, determining a second positioning result of the mobile terminal according to an acceleration of the mobile terminal when the vehicle turns.

Optionally, step 12 includes:

When the parameter information includes an operation behavior of the mobile terminal, determining a role of the mobile terminal holder according to an operation behavior of the mobile terminal, and determining, according to the role of the mobile terminal holder, the mobile terminal Third positioning result.

That is, the first positioning result of the mobile terminal may be determined by using a sound positioning method, the second positioning result of the mobile terminal is determined by using an acceleration comparison positioning method, and the mobile terminal is determined by using a positioning method based on an operation behavior of the mobile terminal. The third positioning result.

Illustratively, determining the first positioning result of the mobile terminal by using a sound localization method may include the following steps:

Step A1: The sound signal emitted by the in-vehicle device is received in real time by using the mobile terminal carried by each in-vehicle personnel.

Here, the in-vehicle device includes a sounding device (such as a speaker) that can emit sound, and the in-vehicle device can be disposed in a fixed position in the vehicle, and the in-vehicle device or the mobile terminal carried by each in-vehicle person can know in advance that the sounding device is in the vehicle. s position.

Step A2: The first positioning result of the mobile terminal is obtained according to the parameter that the mobile terminal receives the sound signal and adopts a sound positioning technology based on ranging.

Correspondingly, the first positioning result of the mobile terminal is obtained according to the parameter that the mobile terminal receives the sound signal and uses the sound localization technology of the ranging, that is, the step A2 may include:

Receiving, according to the parameter of the sound signal, the mobile terminal, and using the sound localization technology, obtaining a relative distance between the mobile terminal and the in-vehicle device; according to the pre-known position of the in-vehicle device in the vehicle, And determining, by the relative distance between the mobile terminal and the in-vehicle device, a first positioning result of the mobile terminal, where the first positioning result of the mobile terminal is used to indicate a location of the mobile terminal in the vehicle.

Here, the sound localization technology described above may include at least one of: sound localization technology based on Time of Arrival (TOA), sound localization technology based on Time Difference of Arrival (TDOA), and signal-based arrival. Phase difference of Arrival (PDOA) sound localization technology.

Here, the parameter that the mobile terminal receives the sound signal is determined by the adopted sound localization technology. For example, when the TOA-based sound localization technology or the TDOA-based sound localization technology is adopted, the mobile terminal receives the parameter of the sound signal. The arrival time of the sound signal may be included; when the PDOA-based sound localization technique is employed, the parameter that the mobile terminal receives the sound signal may include the arrival phase of the sound signal.

Obtaining an implementation manner of the first positioning result of the mobile terminal according to the parameter that the mobile terminal receives the sound signal, and using a sound localization technology. In an optional embodiment, the mobile terminal is configured according to an Receiving, by the mobile terminal, a parameter of the sound signal, and using the sound localization technology, obtaining a distance between the mobile terminal and the vehicle-mounted device; according to a pre-known position of the vehicle-mounted device in the vehicle, and The distance between the mobile terminal and the in-vehicle device determines a first positioning result of the mobile terminal. In another optional embodiment, the mobile terminal sends a parameter for receiving a sound signal to the in-vehicle device, and the in-vehicle device receives the parameter of the sound signal according to the mobile terminal, and adopts the sound positioning technology to obtain Determining a distance between the mobile terminal and the in-vehicle device; determining a first location of the mobile terminal according to a previously known location of the in-vehicle device in the vehicle and a distance between the mobile terminal and the in-vehicle device The result; thereafter, the in-vehicle device can transmit the first positioning result of the mobile terminal to the mobile terminal.

2 is a schematic diagram of a principle for positioning a person in a vehicle by using a sound localization technology in the embodiment of the present application. As shown in FIG. 2, the vehicle-mounted device 21 adopts an acoustic positioning method (Acoustic Ranging) to first generate a set of audio signals as test reference pulses. (Reference Beep), and played by itself or by controlling other devices. After receiving the sound signal, the mobile terminal 22 carried by the in-vehicle personnel detects the sound signal and obtains the parameters of the sound signal received by the mobile terminal 22. After that, the mobile terminal 22 can receive the parameters of the sound signal according to the mobile terminal 22 and The preset algorithm calculates the distance between the mobile terminal 22 and the in-vehicle device 21. Alternatively, after the mobile terminal 22 transmits the corresponding parameters to the in-vehicle device 21, the in-vehicle device 21 calculates the distance between the mobile terminal 22 and the in-vehicle device 21 according to the parameters of the sound signal received by the mobile terminal 22 and the preset algorithm.

Here, the in-vehicle area may be divided into a plurality of areas according to the seat, and thus, after the distance between the mobile terminal 22 and the in-vehicle device 21 is derived, the position of the in-vehicle device 21 in the vehicle and the mobile terminal 22 may be A distance from the in-vehicle device 21 determines a first positioning result of the mobile terminal 22. Illustratively, FIG. 3 is a schematic diagram of an in-vehicle area having two rows of front and rear seats in the embodiment of the present application. As shown in FIG. 3, the front front area of the vehicle is divided into a front left (Front Left, FL) area and a front In the Front Right (FR) area, the rear area of the car is divided into the Rear Left (RL) area and the Rear Right (RR) area.

2 and 3, it can be seen that if the position of the in-vehicle device in the vehicle is fixed, after determining the distance between the mobile terminal and the in-vehicle device, the approximate area of the mobile terminal in the vehicle can be determined. For example, the mobile terminal is located in an FL area, an FR area, an RL area, or an RR area. Here, the position of the mobile terminal in the vehicle can be used as the position of the mobile terminal holder in the vehicle, so that the positioning of the person in the vehicle can be realized based on the rigid positioning technology.

In order to improve the effect of the sound localization technique, it is necessary to avoid placing the in-vehicle device at a central axis position of the in-vehicle region (for example, the cross axis in FIG. 3).

For how to set the frequency of the test reference pulse described above, in an alternative embodiment, the frequency of the test reference pulse cannot be too low or too high, and the following basic principles can be followed:

1) The positioning accuracy should be at the level of Yami (ie less than 1 meter).

2) The detection range covers the space of the vehicle (such as a car), that is, the degree of attenuation of the sound in the air.

3) Avoid interference from low frequency noise in the vehicle.

4) Within the range detectable by the microphones included in general consumer electronic devices (such as mobile phones).

5) The tone and frequency should not be too high to avoid discomfort to the insiders.

6) Facilitate feature analysis and identification.

In actual implementation, in order to improve the positioning accuracy of the above described sound localization technique, multiple measurements can be taken and then averaged.

Optionally, after the first positioning result of the mobile terminal is obtained, the method further includes: determining, according to a preset first validity determining rule, validity of the first positioning result of the mobile terminal; When the first positioning result of the mobile terminal is valid, retaining the first positioning result of the mobile terminal; when the first positioning result of the mobile terminal is invalid, discarding the first positioning result of the mobile terminal, and performing re Positioning.

Optionally, the first validity determining rule includes: determining that the first positioning result of the mobile terminal is valid when the preset first determining condition is met; and determining, when the preset first determining condition is not met, determining The first positioning result of the mobile terminal is invalid.

The preset first determination condition includes at least one of: the current distance between the in-vehicle device and the mobile terminal is within a first setting range, and the current in-vehicle device and each mobile terminal in the vehicle The difference between the maximum value and the minimum value of the distance is within the second set range, and the currently obtained first positioning result of the mobile terminal is consistent with the first positioning result of the mobile terminal obtained by the previous Q times. And the currently obtained first positioning result of the mobile terminal is not ambiguous (ie, the currently obtained first positioning result of the mobile terminal does not contradict the first positioning result of another mobile terminal in the vehicle) ;Q is an integer greater than zero.

Here, when the distance between the in-vehicle device and the mobile terminal is within the first setting range, it indicates that the distance between the in-vehicle device and the mobile terminal is within a reasonable range, and when the distance is not within the first setting range, the vehicle is described. The distance between the device and the mobile terminal is not within a reasonable range. When the difference between the maximum value and the minimum value of the distance between the in-vehicle device and each mobile terminal in the vehicle is within the second setting range, the maximum value of the distance between the in-vehicle device and each mobile terminal in the vehicle is If the difference between the minimum values is within a reasonable range and is not within the second set range, the difference between the maximum value and the minimum value in the distance between the in-vehicle device and each mobile terminal in the vehicle is not within a reasonable range. If the currently obtained first positioning result of the mobile terminal is consistent with the first positioning result of the mobile terminal obtained in the previous Q times, the first positioning result of the mobile terminal is stable. If it is determined that the mobile terminal is in the same location area as another mobile terminal in the vehicle according to the currently obtained first positioning result of the mobile terminal and the first positioning result of another mobile terminal in the vehicle (for example, both locations are In the FR area, it is indicated that the currently obtained first positioning result of the mobile terminal conflicts with the first positioning result of another mobile terminal in the vehicle, that is, the currently obtained first positioning result of the mobile terminal exists. Ambiguity. When the mobile terminal is in a different location area from another mobile terminal in the vehicle, it is indicated that the currently obtained first positioning result of the mobile terminal does not contradict the first positioning result of another mobile terminal in the vehicle, that is, the current The obtained first positioning result of the mobile terminal is not ambiguous.

Here, the first setting range and the second setting range are both related to the size of the interior area of the vehicle, for example, the first setting range is less than 1.6 m; and the second setting range is less than 1.3 m.

For example, determining the second positioning result of the mobile terminal by using an acceleration comparison positioning method may include:

Step B1: After receiving the steering indication information indicating that the vehicle is turning, the mobile terminal carried by each in-vehicle personnel acquires the acceleration of the mobile terminal when the vehicle turns.

Optionally, after receiving the steering indication information, the mobile terminal carried by each in-vehicle personnel may further acquire a vehicle steering parameter, where the vehicle steering parameter includes: a third indication for indicating that the vehicle is performing a right turn or is performing a left turn A parameter, the angular velocity at which the vehicle turns, the current azimuth of the vehicle, and the like.

In actual implementation, vehicle navigation information may be obtained from a vehicle system, a Hotspot or an equivalent in-vehicle system, and vehicle steering information may be carried in the vehicle navigation information. The acceleration of the mobile terminal as the vehicle turns can be obtained by the built-in gyroscope device.

Step B2: According to the acceleration of the mobile terminal when the vehicle turns, the second positioning result of the mobile terminal is obtained.

Optionally, according to the acceleration of the mobile terminal when the vehicle is turning and the vehicle steering parameter, the second positioning result of the mobile terminal is obtained, including:

Determining a current steering radius of the mobile terminal according to an acceleration of the mobile terminal when the vehicle is turning; determining a current second mobile terminal in the vehicle according to the current steering radius of the mobile terminal and the current vehicle steering parameter As a result of the positioning, the second positioning result of the mobile terminal is used to indicate the location of the mobile terminal within the vehicle.

Obtaining an implementation manner of the second positioning result of the mobile terminal according to the acceleration of the mobile terminal when the vehicle is turning and the vehicle steering parameter. In an optional embodiment, the mobile terminal is according to the moving The acceleration of the terminal when the vehicle is turned, determining the current steering radius of the mobile terminal; determining the second positioning result of the current mobile terminal in the vehicle according to the current steering radius of the mobile terminal and the current vehicle steering parameter. In another optional embodiment, the mobile terminal transmits its own acceleration when the vehicle is turned to the in-vehicle device, and the in-vehicle device receives the acceleration of the mobile terminal when the vehicle is turning and acquires the vehicle steering parameter, after which the in-vehicle device is Determining, by the current steering radius of the mobile terminal and the current vehicle steering parameter, a second positioning result of the current mobile terminal in the vehicle; after that, the in-vehicle device may send the second positioning result of the mobile terminal to the mobile terminal.

FIG. 4 is a schematic diagram of the principle of positioning the vehicle personnel by using the acceleration comparison positioning method in the embodiment of the present application. As shown in FIG. 4, when the vehicle performs steering, the azimuth of the vehicle changes. When the change amplitude of the azimuth of the vehicle exceeds the set threshold, the acceleration component on the steering plane of the current moment of the mobile terminal carried by the personnel in each vehicle can be obtained; here, the vehicle as a whole can be regarded as a fixed-axis rotating rigid body of a uniform speed, Different areas in the car are approximated as points on the concentric circle, and they have different turning radii. Because the angular velocity is constant, the acceleration component on the steering plane is proportional to the turning radius. The position of the mobile terminal can also be approximated as its The position of the holder, combined with the acquired vehicle steering information, can roughly determine the size of the mobile terminal to the steering center, thereby determining that the mobile terminal is in that area of the vehicle. Referring to FIG. 4, the correspondence relationship between the steering radius of the mobile terminal and each region in the vehicle when the vehicle turns right is illustrated, and R1 (corresponding to the FL region) and R2 (corresponding to the RR region) represent two different turning radii, a _n And a _r is the acceleration component corresponding to the FL region.

Optionally, after the second positioning result of the mobile terminal is obtained, the method further includes:

Determining the validity of the second positioning result of the mobile terminal according to a preset second validity determination rule. When the second positioning result of the mobile terminal is valid, retaining the second positioning result of the mobile terminal; when the second positioning result of the mobile terminal is invalid, discarding the second positioning result of the mobile terminal, and performing re-locate.

The second validity determination rule includes: determining that the second positioning result of the mobile terminal is valid when the preset second determination condition is met; and determining the mobile terminal when the preset second determination condition is not met The second positioning result is invalid.

The preset second determination condition includes at least one of the following: the acceleration of the mobile terminal when the vehicle is turning is within a third set range, and the maximum of each mobile terminal in the vehicle when the vehicle is turning The difference between the value and the minimum value is within the fourth setting range, and the currently obtained second positioning result of the mobile terminal is consistent with the second positioning result of the mobile terminal obtained by the previous m times and is currently obtained. The second positioning result of the mobile terminal is not ambiguous (that is, the currently obtained second positioning result of the mobile terminal does not contradict the second positioning result of another mobile terminal in the vehicle); m is greater than 0. The integer.

Here, when the acceleration of the mobile terminal when the vehicle is turned is within the third set range, the acceleration of the mobile terminal when the vehicle is turned is within a reasonable range, and the acceleration of the mobile terminal when the vehicle is turned is not in the third setting. When the range is within, it is stated that the acceleration of the mobile terminal when the vehicle is turning is not within a reasonable range. The maximum value and the minimum of each mobile terminal in the vehicle when the vehicle is turning, when the difference between the maximum value and the minimum value in the acceleration of the vehicle when the vehicle is turned is within the fourth setting range. The difference between the values is within a reasonable range, and the difference between the maximum value and the minimum value of the acceleration of each mobile terminal in the vehicle when the vehicle is turning is not within the fourth set range, indicating that each mobile terminal in the vehicle is turning in the vehicle The difference between the maximum value and the minimum value in the acceleration is not within a reasonable range. If the currently obtained second positioning result of the mobile terminal is consistent with the second positioning result of the mobile terminal obtained in the previous m times, the second positioning result of the mobile terminal is stable.

If it is determined that the mobile terminal is in the same location area as another mobile terminal in the vehicle according to the currently obtained second positioning result of the mobile terminal and the second positioning result of another mobile terminal in the vehicle (for example, both are located) In the FL area, it is indicated that the currently obtained second positioning result of the mobile terminal conflicts with the second positioning result of another mobile terminal in the vehicle, that is, the currently obtained second positioning result of the mobile terminal exists. Ambiguity; when the mobile terminal and another mobile terminal in the vehicle are in different location areas, it indicates that the currently obtained second positioning result of the mobile terminal does not exist with the second positioning result of another mobile terminal in the vehicle. Contradiction, that is, the currently obtained second positioning result of the mobile terminal is not ambiguous.

Here, the third setting range and the fourth setting range may be determined by historical data of the acceleration of the vehicle.

Illustratively, determining a third positioning result of the mobile terminal by using a positioning method based on an operation behavior of the mobile terminal may include the following steps:

Step C1: The mobile terminal carried by each person in the vehicle acquires its own operation behavior.

Here, the operation behavior of the mobile terminal may be filtered by a certain screening condition, including but not limited to: controlling the mobile terminal to be in a dormant state, controlling a screen display state of the mobile terminal, and controlling an application running state of the mobile terminal. And collecting network data (data from the mobile Internet) acquired by the mobile terminal, and acquiring device posture information of the mobile terminal, and the like.

In actual implementation, the mobile terminal can periodically acquire its own operation behavior, and can also acquire its own operation behavior in real time.

Step C2: Determine a role of the mobile terminal holder according to the acquired operation behavior of the mobile terminal, and determine a third positioning result of the mobile terminal holder according to the role of the mobile terminal holder.

For an implementation manner of step C2, in an optional embodiment, the mobile terminal determines the role of the mobile terminal holder according to the acquired operational behavior of the mobile terminal, according to the role of the mobile terminal holder Determining a third positioning result of the mobile terminal holder. In another optional embodiment, the mobile terminal sends the acquired operation behavior of the mobile device to the in-vehicle device, and after receiving the operation behavior of the mobile terminal, the in-vehicle device determines, according to the received operation behavior of the mobile terminal, Determining, by the mobile terminal holder, a third positioning result of the mobile terminal holder according to the role of the mobile terminal holder; after that, the in-vehicle device may set a third positioning result of the mobile terminal Send to the mobile terminal.

Optionally, determining the role of the mobile terminal holder according to the obtained operation behavior of the mobile terminal may further include: determining, according to the operation behavior and a preset historical statistical database, that the mobile terminal holds The role of the person; wherein the historical statistical database is used to characterize the relationship between the mobile terminal's operational behavior and the role of the mobile terminal holder.

It will be appreciated that the role of the mobile holder can be the driver or the passenger. After determining the role of the mobile terminal holder, the approximate location area of the mobile terminal holder in the vehicle may be determined according to the role of the mobile terminal holder. For example, for the in-vehicle area shown in FIG. 3, the FL area is the location area where the driver is located, and the FR area, the RL area, and the RR area are all the location areas where the passenger is located; if the role of the mobile terminal holder is driving The mobile terminal holder is in the FL area; if the mobile terminal holder's role is a passenger, the mobile terminal holder is in the FR area, the RL area, or the RR area.

In actual implementation, the mobile terminal or the in-vehicle device may periodically or dynamically determine the role of the mobile terminal holder.

Optionally, before determining the role of the mobile terminal holder according to the acquired operation behavior, the operation behavior set of the mobile terminal may be acquired in advance, where the operation behavior set includes multiple types of operation behaviors; determining that the mobile terminal holds The a priori probability of each type of operational behavior of the mobile terminal when the driver is a human driver, and the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger; the mobile terminal occurs when the mobile terminal holder is the driver A historical statistical database is set for the prior probability of each type of operational behavior and the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger. Here, the above two prior probabilities can be derived based on historical data.

Optionally, after determining the role of the mobile terminal holder according to the obtained operation behavior of the mobile terminal, when the acquired operation behavior of the mobile terminal satisfies a preset update condition, the operation behavior may be performed. The set, the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is the driver, and the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger are updated.

For determining whether the operation behavior of the mobile terminal satisfies the preset update condition, in an optional embodiment, at least one of the feedback information of the mobile terminal holder and the log information of the mobile terminal may be used. Determining whether the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule; determining that the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule, and the operation behavior of the mobile terminal When the audit is performed, it is determined that the operation behavior of the mobile terminal satisfies a preset update condition.

That is to say, the historical statistical database can calculate the probability result (driver or passenger) of the person character in the vehicle according to a series of prior probabilities described above and according to a given probability and statistics algorithm. At the same time, in the process of determining the role of the person in the vehicle, the new operation behavior data of the mobile terminal can be added to the historical statistical database, the sample space is increased, and the accuracy of the role determination is improved.

Accordingly, the predefined audit rules include:

Optionally, when determining the role of the mobile terminal holder according to the obtained operation behavior of the mobile terminal, the distance between the mobile terminal and the in-vehicle device obtained in step A2 may also be referred to.

Step 13: Determine, according to at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.

When the number of the positioning results of the mobile terminal is greater than 1, the positioning result of the at least one positioning result is determined as the position of the mobile terminal holder in the vehicle; or, according to a preset selection rule A positioning result is selected from the at least one positioning result, and the selected positioning result is determined as a position of the mobile terminal holder in the vehicle.

In actual implementation, the selection rule may be flexibly configured; for example, when the determined positioning result of the mobile terminal holder includes the first positioning result, the second positioning result, and the third positioning result, the selected selection rule includes But not limited to:

1) when the first positioning result and the second positioning result produce a result conflict at the driver position, that is, one of the first positioning result and the second positioning result indicates that the mobile terminal holder is at the driver position Another positioning result indicates that when the mobile terminal holder is in the passenger position, the third positioning result is used as arbitration, that is, whether the first positioning result or the second positioning result is selected according to the third positioning result.

2) when the first positioning result and the second positioning result produce a conflict of results on the passenger position, that is, the first positioning result and the second positioning result respectively indicate that the mobile terminal holder is in two different passenger positions ( For example, if the first positioning result indicates that the mobile terminal holder is in the FL area and the second positioning result indicates that the mobile terminal holder is in the RL area, the first positioning result is directly selected.

3) If the first positioning result and the second positioning result match the result of the driver position, but conflict with the third positioning result, the first positioning result or the second positioning result is selected.

4) If the three positioning results are different, no positioning result is selected until the next positioning result is selected.

This step can be implemented by a mobile terminal or by an in-vehicle device.

Optionally, after determining the location of the mobile terminal holder in the vehicle, the method may further include at least one of the following steps: determining, according to the location of the mobile terminal holder in the vehicle, The mobile terminal allows the provided service; and transmits the location of the mobile terminal holder in the vehicle to the external device.

For example, an in-vehicle device is provided with an application service unit for controlling a mobile terminal carried by a person in the vehicle, and the application service unit may implement different localities on the mobile terminal according to the location of the mobile terminal holder in the vehicle. Service policies, functional limitations, and quality of service; the location or role determination results of the mobile terminal holder in the vehicle may also be sent to an authorized remote application or external system for use.

The related technologies include the following indoor positioning technologies:

1. Wireless Access Point (AP) positioning: The AP location database is used to determine the approximate location of the wireless terminal accessing an AP.

2. Inertial Reference System (IRS): A special sensor is installed on the measured object, using a complex inertial navigation algorithm.

3. Bluetooth-based positioning technology, wireless local area network (WLAN)-based positioning technology, radio frequency identification (RFID) technology, digital enhanced Cordless Telecommunications (DECT) system based positioning Technology, Ultra-Wideband (UWB)-based positioning technology, ultrasonic positioning technology, infrared positioning technology: Take Bluetooth-based positioning technology as an example, deploy Bluetooth base station as a beacon, and measure received signal strength (Received Signal Strength, RSS) ), Time Difference of Arrival (TDOA) or Phase Difference of Arrival (PDOA), using a polygon algorithm, a weighted centroid algorithm, etc. to calculate the position of the object under test.

4. Positioning technology based on the received signal angle: Calculate the position using the received signal angle and geometric formula.

5. Based on the near-field Electromagnetic Ranging (NFER) or the distribution of the Earth's electromagnetic field information, the position is calculated by the fingerprint method.

6. Network hop count and reference node estimation method.

7. Approximate triangle inner point test method.

8. The fusion of several of the above-mentioned positioning techniques in 7.

When applying the above existing indoor positioning technology to a vehicle, there are the following problems: First, the positioning accuracy is not up to the requirement, and in addition to the large public vehicle, the accuracy of the sub-meter (less than 1 meter) is required for the positioning of the person in the general vehicle. The indoor positioning based on proprietary microwave such as UWB, ultrasonic, infrared and other technologies can reach less than 1 meter, but requires special hardware facilities. The positioning technology based on Bluetooth and RFID can also achieve positioning accuracy of several tens of centimeters, but it also needs to set up multiple letters. Labels combined with complex algorithm support are not suitable for in-vehicle scenarios. Second, if the indoor positioning technology is directly applied to the in-vehicle scene, it is impossible to reflect the characteristics of the vehicle scene that the vehicle can turn and the people in the vehicle have different roles.

Correspondingly, the in-vehicle positioning method of the first embodiment of the present application first acquires parameter information required for positioning; and then determines at least one positioning result of each mobile terminal according to the parameter information; according to each mobile terminal At least one positioning result determines a position of the mobile terminal holder in the vehicle; thus, using the corresponding data acquired by the mobile terminal located in the vehicle, the position of the mobile terminal holder in the vehicle can be determined, that is, The positioning of the person in the vehicle is realized, and the positioning accuracy can be improved; at least one of the following may be included in the parameter information: an acoustic signal emitted by the in-vehicle device received by each mobile terminal, an acceleration of each mobile terminal when the vehicle is turned, The operation behavior of each mobile terminal can be seen that the parameter information can reflect that the vehicle is turning, and can also reflect the role of the mobile terminal holder. Therefore, when determining the positioning result according to the parameter information, the characteristics of the vehicle scene can be reflected.

Optionally, with the positioning method in the vehicle of the first embodiment of the present application, the role of the person in the vehicle can be distinguished, and the function of the mobile device carried by the driver can be restrained and enhanced. For example, the data connection of the social network software is turned off, the voice message broadcast is started, the voice service is automatically connected to the vehicle Bluetooth, and the priority of the navigation service data traffic is improved; secondly, the location information of the person in the vehicle can also be sent to the remotely authorized. A device or application, such as an APP on a mobile terminal of another person, an insurance company database, a public security department monitoring server, and the like.

Second embodiment

Further illustrations are made on the basis of the first embodiment of the present application.

The second embodiment of the present application provides an in-vehicle personnel positioning method based on an On-board Hybrid Positioning System, which is a hybrid positioning method of a vehicle (Hybrid Positioning Technique of On -board Personnel).

5 shows the structure of a vehicle hybrid positioning system in a second embodiment of the present application. The vehicle hybrid positioning system includes the following subsystems: a base management system (Basevisor), a group of proxy clients (Agents), and a behavior statistics cloud server. (Statistic Cloud) and Configuration & Management Interface (Configuration & Management Interface), the above group of proxy clients include a plurality of proxy clients, each of which is used in a mobile terminal carried by a person in the vehicle.

The basic management system is disposed on the vehicle, and may include the in-vehicle device in the first embodiment of the present application, and the function is to initiate positioning-related operations, and collect and calculate data returned by the proxy client. In actual implementation, the basic management system can generally be implemented by using front/rear car navigation systems, car hotspots, and vehicle T-BOX devices, so the basic management system can utilize navigation, networking, etc. of the navigator or T-BOX device itself. Features.

Each proxy client can receive commands from the underlying management system, receive and identify the positioning signals, provide acceleration data of the device, monitor and report the user behavior of the device.

The behavior statistics cloud server is located in the cloud of the Internet of Vehicles, and is used to manage and maintain a historical statistical database, and is responsible for performing calculation analysis according to the user behavior provided by the basic management system, and returning the result to the basic management system; The update and release of behavior.

The user can configure and manage the vehicle hybrid positioning system through the configuration management interface, including but not limited to the vehicle model and the seat distribution setting, the starting position of the host device where the basic management system is located, the initialization parameters of the related positioning, and the cloud server address. Information, management selection rules for selection results, cancellation of application services automatically initiated by the hybrid hybrid positioning system, submission of feedback information, and so on.

Optionally, FIG. 6 is a schematic diagram showing the internal structure of the basic management system described above. Referring to FIG. 5 and FIG. 6, the basic management system described above may further include the following components: a synchronization unit (Synchronizer) and a first positioning unit ( 1st Positioning Unit), 2nd Positioning Unit, 3rd Positioning Unit, Analysis&Decision, and Application Services.

The synchronization unit is used to implement Timing Synchronization between the basic management system and the proxy client; for example, the synchronization unit of the basic management system communicates with the proxy client in the nearby device through the local area network, and simultaneously measures the reference time and Activate the microphone and associated sensor of the device where the proxy client is located. The first positioning unit is configured to initiate a positioning operation based on the sound localization technology, collect the positioning original information from the proxy client, and calculate a first positioning result of the generated mobile terminal. The second positioning unit is configured to collect acceleration of the vehicle at a certain moment by using an acceleration sensor or the like provided in the mobile terminal when the device where the basic management system is located, and obtain a second positioning result of the mobile terminal. The third positioning unit is configured to collect the operation behavior of the user on the mobile terminal, provide the behavior statistics cloud server, and obtain the calculation result from the behavior statistics cloud server, and complete the relative position or role of the person in the vehicle (is the driver Still the passengers). The analysis decision unit is configured to analyze information from the first positioning unit, the second positioning unit, and the third positioning unit, and output the decision result supply using the service unit. The application service unit may be set in the vehicle network, and the application service unit presets a plurality of different services or service sets, and controls the mobile terminal to implement one or more services (services) according to the decision result of the analysis decision unit. .

FIG. 7 shows the relationship of each subsystem of the vehicle hybrid positioning system. The relationship of each subsystem of the vehicle hybrid positioning system can be described as: the user directly configures and manages the basic management system itself through the configuration management interface, and utilizes the basic management. The system communicates with each proxy client (such as proxy client 1, proxy client 2, ..., proxy client N in Figure 7), and the user can also indirectly configure each proxy client through the configuration management interface. For management operations, users generally cannot perform remote configuration and management operations on the behavior statistics cloud server. The configuration management interface can also be connected to the host device or the vehicle system of the basic management system. The user manages and configures the basic management system by means of the host device of the basic management system or the man-machine interface of the vehicle system; the basic management system performs the positioning function. Communicate with each proxy client, exchange control commands and locate related data; each proxy client may also communicate with each other in scenarios such as measurement reference time synchronization; the basic management system communicates remotely with the behavior statistics cloud server , submit behavior, feedback and other data and receive statistical results. Fig. 7 shows the above relationship. In Fig. 7, "the host device or the vehicle system in which the basic management system is located" belongs to the external system and is not an integral part of the in-vehicle hybrid positioning system.

In an optional embodiment, the scenario in which the basic management system runs on the in-vehicle hotspot is taken as an example. The basic management system interacts with each proxy client through the WLAN function of the in-vehicle hotspot, and passes the 3G/4G network of the in-vehicle hotspot. Behavior statistics cloud server interaction information, the basic management system uses the processor core of the car hotspot for data calculation and logic analysis, and the basic management system also uses the gyroscope function of the car hotspot to obtain the change of the azimuth of the vehicle. The car hotspot should also have a Digital to Analog Converter (DAC) and speaker device, and have the function of generating and transmitting sound signals.

The application scenario of the second embodiment of the present application may adopt the scenario of the four-seat vehicle shown in FIG. 3. The driver's position is in the FL area, and the passenger is located in the FR area, the RL area, or the RR area. Here, the FR area may be referred to as the first-drive position area. . The second embodiment of the present application is intended to achieve positional positioning and character recognition of in-vehicle personnel.

8 shows the workflow of the synchronization unit, the first positioning unit, the second positioning unit, and the third positioning unit of the basic management system; here, the first positioning unit, the second positioning unit, and the third positioning unit do not have a function. The strong dependency, that is, the workflow of each positioning unit can be performed simultaneously or separately; when one of the positioning units fails to work, it does not affect the normal operation of other positioning units.

Referring to FIG. 8, the workflow of the synchronization unit may include:

S801: The synchronization unit establishes a connection with each proxy client.

Here, the i-th proxy client is recorded as the proxy client i.

S802: The corresponding proxy client returns its own identification information to the synchronization unit.

For example, the identification information of the i-th proxy client is Agent-IDi, and i is an integer greater than 0.

S803: Start the time synchronization process of each proxy client.

Exemplarily, in this step, time synchronization of each proxy client may be implemented by using a simplified Network Time Protocol (NTP) or Global Clock Synchronization (GCS) diffusion method.

S804: The time synchronization of each proxy client is completed.

S805: Activate the corresponding function and device of each proxy client.

It is necessary to activate a recording device such as a microphone of the corresponding proxy client, so that the corresponding proxy client can collect the sound signal; activate the acceleration sensor corresponding to the proxy client, so that the corresponding proxy client can collect its own acceleration data; and activate the operation behavior of the corresponding proxy client. Monitoring or logging capabilities that enable the corresponding proxy client to monitor or record its own operational behavior.

S806: The activation is completed.

Here, if there are one or several functions of the proxy client (such as the function of monitoring or recording the operation behavior) or a device (such as a microphone or an acceleration sensor), the workflow of the corresponding positioning unit is interrupted, for example, the corresponding proxy client is in progress. When the call is in progress, the microphone is occupied, and at this time, the workflow of the first positioning unit can be interrupted.

Optionally, after interrupting the workflow of the corresponding positioning unit, after waiting for a period of time, returning to S803.

Referring to FIG. 8, the workflow of the first positioning unit may include:

S807-1: The sound signal is transmitted by the car sounding device.

Here, the sound signal can be repeatedly transmitted by the in-vehicle sounding device. Alternatively, it is repeated 3 times or more.

S808-1: The corresponding proxy client performs sound signal feature analysis and recognition when receiving the sound signal.

In actual implementation, the sound signal feature analysis and recognition can be performed based on the sound localization technique described in the first embodiment of the present application.

S809-1: The corresponding proxy client sends a parameter for receiving the sound signal by itself to the first positioning unit.

Here, the parameter of the corresponding proxy client receiving the sound may be the arrival time i.

S810-1: The first positioning unit calculates a parameter from each proxy client, and obtains a corresponding positioning result.

Referring to FIG. 8, the workflow of the second positioning unit may include:

S807-2: The second positioning unit sends a request for acquiring acceleration data to the corresponding proxy client.

S808-2: The corresponding proxy client acquires an acceleration sampling value of the mobile terminal when the vehicle turns.

Here, the current acceleration sample value of the mobile terminal may be acquired by accessing an acceleration sensor management program of the mobile terminal.

S809-2: The corresponding proxy client sends the acquired acceleration sample value to the second positioning unit.

S810-2: The second positioning unit performs an operation according to the received acceleration sampling value to obtain a corresponding second positioning result.

Referring to FIG. 8, the workflow of the third positioning unit may include:

S807-3: The corresponding proxy client periodically sends the operation behavior of the mobile terminal to the third positioning unit.

S808-3: Acquire a historical operation behavior set of the mobile terminal.

S809-3: Send the operation behavior of the mobile terminal to the behavior statistics cloud server.

S810-3: Receive the third positioning result returned by the behavior statistics cloud server.

The following describes the working principle and workflow of each unit of the basic management system.

Synchronization unit

The synchronization unit of the basic management system can establish contact with the mobile phone of the vehicle inside the WLAN network to obtain the identification information of the proxy client running on each mobile phone. For the i-th proxy client, the identification information is recorded as Agent-Idi. The synchronization unit acquires the IP address of the mobile device such as the currently accessed mobile phone from the WLAN management module of the vehicle hotspot, requests a specific port from the IP address, and acquires the Agent-ID of each mobile phone when the connection is established, and the synchronization unit measures The reference time synchronization message is sent to the proxy client on the mobile phone, and the latter creates or synchronizes the measurement time, activates the microphone on the mobile phone to prepare for the subsequent work of the first positioning unit, and activates the acceleration sensor set on the mobile phone as the second positioning unit. Prepare for follow-up work; activate the mobile phone operation behavior monitoring and recording function to prepare for the subsequent work of the third positioning unit; after completion, reply to the synchronization unit, and the synchronization process ends. For example, the measurement reference time synchronization message may adopt a simplified version of NTP, and the fields included in the synchronization message may be as shown in Table 1:

Table 1

As shown in Table 1, the synchronization packet can include at least the following fields: the transmission time of the packet on the sender (Originate Time), the transmission delay (Transmission Delay Time), the reception time of the packet at the receiving end (Receive Time), and the response packet. Send Time.

In addition, considering the special vehicle environment of the embodiment of the present application, the GCS diffusion mechanism may also be adopted, that is, the method of averaging multiple rounds of diffusion, so that the measurement reference time of all mobile phones and the like in the vehicle is synchronized to a final convergence. On average.

First positioning unit

For an acoustic signal transmitted by the first positioning unit, in an alternative embodiment, a high frequency BEEP tone between 10 KHz and 16 KHz is selected for a total of n plays, n being an integer greater than one. Here, the TOA algorithm can be used for sound localization; the speed of sound propagation in the air is 340 m/s, and the clock accuracy of the TOA algorithm is 1 millisecond, and the range accuracy is 34 cm; Alternatively, optimization can provide tens of microseconds of precision when both software and hardware meet the requirements.

During the sound localization, after the car hotspot emits a sound signal, the microphone on the i-th mobile phone receives the sound signal, and the i-th agent client analyzes the received sound signal after a series of acquisition, filtering, feature recognition, and the like. Is the sound signal from the first positioning unit. Since it is not necessary to know the actual distance between the first positioning unit and the mobile phone carried by the in-vehicle personnel in the embodiment of the present application, only the actual distance of the first positioning unit to the mobile phone carried by each in-vehicle personnel needs to be known, so only It is necessary to compare the arrival time difference of the sound signal. For example, there are 4 people in the car, and the proxy clients of the mobile phones carried by the 4 in-vehicle personnel are marked as Agent-ID1, Agent-ID2, Agent-ID3 and Agent-ID4 respectively; the time when the first positioning unit emits a sound signal For T0, the time at which the sound signal reaches the handset of each in-vehicle is T1, T2, T3, and T4, respectively.

FIG. 9 is a schematic diagram showing positioning using the TOA algorithm in the second embodiment of the present application. It is assumed that the first positioning unit is located in front of the FL area by comparing T1-T0, T2-T0, T3-T0, and T4-T0. Size relationship, resulting in:

(T1-T0)<(T2-T0)<(T3-T0)<(T4-T0)

In this way, the location of the mobile phone corresponding to each proxy client can be inferred; in FIG. 9, the mobile phone corresponding to Agent-ID1 is located in the FL area, the mobile phone corresponding to Agent-ID2 is located in the FR area, and the mobile phone corresponding to Agent-ID3 is located in the RL. In the area, the mobile phone corresponding to Agent-ID4 is located in the RR area.

Here, the positioning result obtained by the first positioning unit can be regarded as a matrix A of size 2x2 (may be a matrix of other ranks according to the vehicle model and the seat distribution),

Wherein, a11 represents the identification information of the proxy client of the mobile phone located in the FL area, a12 represents the identification information of the proxy client of the mobile phone located in the FR area, a21 represents the identification information of the proxy client of the mobile phone located in the RL area, and a22 represents the identifier information of the proxy client located in the RR area. The identification information of the proxy client of the mobile phone. Assuming that Agent-ID1=1, Agent-ID2=2, Agent-ID3=3 and Agent-ID4=4, the number of possible outcomes of matrix A is 1, 2, 3 and 4 in matrix A. The number of arbitrarily arranged, the number of possible results of matrix A is 4! (24), that is, the factorial of 4, here, the matrix A corresponding to the positioning result obtained by the jth sound localization technique is denoted as Aj, and the matrix A corresponding to the positioning result obtained by the n-time sound localization technique is added ,get:

It can be seen that when n is infinite, the matrix addition result necessarily tends to multiply a result of the above 24 matrix A by n. For example, the actual location of each proxy client corresponds to the following:

Then there are:

Therefore, as long as the preliminary positioning results obtained by the n sound localization techniques are converted into a matrix and summed in the above manner, and then compared with each arrangement of the matrix, the final first positioning result can be obtained.

Second positioning unit

The second positioning unit adopts the acceleration comparison positioning method to perform positioning of the in-vehicle personnel. Firstly, when the navigation function of the in-vehicle device is used, when the horizontal direction angle exceeding a certain threshold is detected, for example, the horizontal direction from the time T _{0 to the} time T ₀₊₁ When the angular change value Δφ exceeds the preset threshold φ (that is, the vehicle has turned over the angle φ), the second positioning unit requests each proxy client to acquire the acceleration in the corresponding time, and the corresponding proxy client receives the request. Obtaining the data collected by the acceleration sensor of the mobile phone, and obtaining the acceleration sampling value of the mobile phone in the steering plane in the corresponding time; sending the obtained acceleration sampling value to the second positioning unit; the second positioning unit is compared with the different proxy client The acceleration sample value returned. Since the vehicle as a whole can be regarded as a nearly constant fixed-axis rotating rigid body, and the different areas in the vehicle are approximated as points on concentric circles of different radii, the mobile phones carried by each vehicle have different turning radii r because of the angular velocity. Constant, so the acceleration value on the steering plane has the following relationship with the steering radius:

a _r =rε

a _n =rω ²

Where a _r represents the tangential acceleration of the mobile phone, the direction is the tangential direction of the steering arc, r represents the steering radius of the mobile phone, ε represents the angular acceleration of the vehicle, ε is equal to 0 when the angular velocity is constant; a _n represents normal acceleration, direction is steering The normal direction of the arc, ω is the angular velocity of the vehicle.

It can be seen that the acceleration of the mobile phone is proportional to the turning radius of the vehicle, so by comparing the acceleration sampling values corresponding to each proxy client, the regional location of each person in the vehicle can be inferred.

Optionally, the second positioning unit may obtain the preliminary positioning result by using the acceleration comparison positioning method multiple times, and then, the final second positioning result may be obtained by using the matrix summation method described above.

Third positioning unit

The third positioning unit periodically collects the operation behavior of the mobile terminal monitored by each proxy client, and submits the behavior to the behavior statistics cloud server. In order to simplify the calculation, the set of operational behavior is defined as “general operation + special operation under the vehicle scene”; the selection of “general operation” adopts the pre-statistical normal distribution GD1, and the selection of “special operation under the vehicle scene” adopts pre-statistics. The normal distribution GD2, the GD1 and GD2 are merged into the normal distribution GD3 by the maximum likelihood method or the Ricatti equation, and the curve of the normal distribution GD3 is obtained, and the operation of the peak interval is selected to generate the final set of operational behavior. 10 is a schematic diagram of a normal distribution GD3 in the second embodiment of the present application. In FIG. 10, the horizontal axis represents the operation behavior, and the vertical axis represents the probability density corresponding to each type of operation behavior (used to indicate each type of operation behavior for a period of time) The probability of occurrence), the peak area identified by the slash in Figure 10 identifies the qualifying operational behavior.

It can be understood that the operation behavior set is generated during the continuous use process of the user and the continuous development process of the market. After the update is performed, it is first configured to the behavior statistics cloud server side, and then the behavior statistics cloud server side synchronizes to the third positioning unit and Each proxy client. Each agent client operates in a set according to this behavior, and monitors and records the operation behavior of the mobile phone or the mobile device. The third positioning unit periodically obtains these operation behavior records, and after being identified by the Agent-ID, it is sent to the behavior statistics cloud server.

In actual implementation, the behavioral statistics cloud server of the embodiment of the present application uses a Bayesian Inference principle to create a statistical decider to determine whether the role of a vehicle inside a proxy client is a driver or a passenger. Judging; first defining the prior probability representation of the following events in the statistical decider:

(1) P(d): The probability that a person in the car is the driver is obviously equal to 50% (d indicates the driver).

(2) P(p): The probability that a person in the car is a passenger (that is, the probability of not being the driver, obviously equal to 50% (p means passenger).

(3) P(ops|d): The probability of a certain type of operational behavior when a person inside the vehicle is a driver.

(4) P(ops|p): The probability of a certain type of operational behavior when a person inside the vehicle is a passenger.

(5) P(d|ops): The probability that a person in the car is the driver when each type of operational behavior occurs (ops means Operations).

Here, the historical statistical database of the above (4) and (5) can be established by the online behavior statistics cloud server in advance, for example, taking 5000 real samples to obtain P(ops|d) and P(ops|p). Then, according to Bayes' theorem, P(d|ops) is obtained;

That is, the statistical decider can calculate P(d|ops) based on the samples of the historical statistical database shown.

When establishing a historical statistical database, it is possible to classify the operational behaviors that occur in a certain mobile terminal within a certain period of time, and classify the related large operational actions into the same class. For example, the operational behaviors of the intensive interactive operation games can be divided into chats. Application corresponding operation behavior, one-hand operation operation behavior, two-hand operation operation behavior, navigation operation behavior, and horizontal screen operation behavior, and the like. In order to simplify the calculation, it can be considered that the operational behaviors of these categories are independent and irrelevant, that is, the probability that a mobile terminal may have a class M operational behavior (which may be P(ops|d) or P(ops|p)) respectively. For: ops ₍₁₎ , ops _{( 2 )} , ... ops _{( k )} ... ops _(M) ; M is an integer greater than 1, k is 1 to M, and the M probabilities are independent of each other. Thus, M P(d|ops) can be obtained, and these M P(d|ops) are respectively recorded as P ₁ to P _M ; after that, the joint probability P of P ₁ to P _M is obtained by calculation,

Here, the joint probability is that the mobile terminal is the final probability value of the driver or the passenger. Finally, the behavior statistics cloud server can use the above method to obtain the final probability corresponding to each mobile terminal and send it to the analysis decision unit of the basic management system.

Based on the finite sample space (in this case, 5000), the final probability may have a low accuracy. In order to improve the accuracy of the role determination, the third positioning unit collects the user's effective feedback (including the artificial correction of the positioning result) and the log. Records (such as new operational behaviors), after which the collected information can be submitted to the Behavior Statistics cloud server. On the behavior statistics cloud server, use the internal review mechanism of the behavior statistics cloud server to discard invalid data and information, add valid data and information to the historical statistics database, and add effective new operation behaviors to the behavior operation set. Thus, behavior statistics The cloud server will continuously increase the effective sample space, continuously update the behavioral operation set and adjust P(ops|d) and P(ops|p), so that the overall statistics and decision functions form a closed loop.

FIG. 11 is a schematic diagram showing an update process of a behavior operation set involved in the embodiment of the present application, and the update process may include:

S1101: The third positioning unit reports the operation behavior.

Here, the vehicle networking communication server for realizing communication between the basic management system and the cloud may be preset in the behavior statistics cloud server, and the third positioning unit may report the operation behavior to the vehicle network communication server, after which the vehicle network communication server will The operational behavior is sent to the statistical decider located in the cloud.

S1102: The car networking communication server sends the operational behavior to a statistical decider located in the cloud.

S1103: The statistical decider calculates a role determination result of the mobile terminal holder according to the acquired operation behavior and data in the historical statistical database.

S1104: The statistical decider delivers the role determination result to the car network communication server for packaging and issuance.

S1105: The vehicle networking communication server transmits the role determination result to the third positioning unit on the vehicle side.

S1106: The third positioning unit sends information such as user feedback, log record, and the like to the vehicle networking communication server.

S1107: After the user feedback, log record and other information described above are validated, the information is sent to the historical statistical database, and the corresponding prior probability value is adjusted according to the valid information of the audit.

S1108: After the information such as the user feedback and the log record described above is validated, the operation behavior set is updated based on the information validated by the audit (corresponding to the operation behavior set update in FIG. 11).

S1107 and S1108 may be executed at the same time, or may be performed in sequence. The embodiment of the present application does not limit the execution order of the two.

S1109: After the operation behavior set is updated, the historical statistics database is adjusted based on the updated operation behavior set.

Adjusting the historical statistics database includes operations such as cleaning, maintenance, and updating. This step can also be initiated by the administrator on a regular basis.

S1110: After the updated behavior operation set reaches a certain number, the OTA (Over the Air) server is submitted to be delivered.

S1111: The OTA server sends the updated behavior operation set to the third positioning unit through the vehicle networking communication server.

S1112: The third positioning unit updates the set of behavior operations stored by itself according to the received updated behavior operation set.

FIG. 12 is a schematic flowchart showing the review of the feedback information of the vehicle side in the embodiment of the present application, and the process may include:

S1201: The mobile terminal holder adopts direct feedback, and sends direct feedback information to the third positioning unit through the mobile terminal, and the third positioning unit reports the direct feedback information to the S1205.

Here, the direct feedback information may be used to indicate that the user approves the third positioning result obtained this time, or that the user does not approve the third positioning result that is obtained this time.

S1202: The mobile terminal holder uses the indirect feedback mode, and sends the indirect feedback information to the third positioning unit by using the mobile terminal, and the third positioning unit reports the indirect feedback information to the S1205.

Here, the indirect feedback information may be used to indicate that the user approves the positioning result obtained this time, or that the user does not approve the positioning result obtained this time; the indirect feedback manner includes but is not limited to: the user cancels the service implemented by the application service unit Or business, indicating that the user may not recognize the positioning result obtained this time.

S1203: The mobile terminal reports the log information to the third positioning unit.

Exemplarily, if the log information includes an event record that contradicts the current positioning result, it indicates that the positioning result obtained this time is wrong. At this time, the process jumps to S1205; if the log information includes a new operation behavior, this When, go to S1206.

S1204: If the operation behavior reported by the third positioning unit includes a new operation behavior, the process proceeds to step S1206.

S1201, S1202, S1203, and S1204 may be executed at the same time, or may be performed in sequence. The embodiment of the present application does not limit the execution order of the two.

S1205: Obtain valid feedback information and log information through smart screening and manual auditing, and go to step S1207.

In actual implementation, you can first use the calculation to perform intelligent screening according to the predefined screening rules, including but not limited to eliminating confusing, unreasonable, obviously contradictory and small probability isolated event information, and eliminating illegal users. Information, etc.; afterwards, effective information is obtained through manual audits.

S1206: Determine whether the new operation behavior satisfies the preset operation behavior adding condition, and skip to S1208 when the preset operation behavior adding condition is met.

Optionally, the new operational behavior must reach a certain probability of occurrence to be added to the behavioral operation set. Here, the new operational behavior is first classified into the corresponding operational behavior category by the K-NN classification algorithm or other equivalent algorithm, and then based on the entire behavior. The operation set statistics its probability density distribution, only the new operation behavior within the probability interval for the slash identification in Figure 10 can be added to the behavior operation set; that is, the preset operation behavior addition conditions include: new The operational behavior falls within the probability interval for the slash identification in Figure 10.

S1207: Add valid information obtained after intelligent screening and manual auditing to the historical statistical database.

S1208: Add new operational behavior to the set of operational behaviors.

Analysis decision unit

The positioning result of the first positioning unit, the second positioning unit and the third positioning unit is input into the value analysis decision unit, and in the analysis decision unit, a positioning result is selected in each determined positioning result by using a preset selection rule. The selected positioning result is determined as: the location of the mobile terminal holder in the vehicle; the setting manner of the selection rule has been described in the first embodiment of the present application, and details are not described herein again.

Application service unit

The analysis decision unit sends the finally obtained location of the mobile terminal holder in the vehicle to the application service unit, and the application service unit implements different services and services (sets) for the mobile terminal according to the result. After the location of the mobile terminal holder in the vehicle is obtained, the role of the mobile terminal holder can be directly determined, and then the application service unit is targeted according to the role of the mobile terminal holder. The mobile terminal implements different services and services (sets).

FIG. 13 is a schematic diagram showing different service sets corresponding to different roles in the embodiment of the present application, and it is assumed that the mobile terminal holder corresponding to Agent-ID1 is the driver, and the movements corresponding to Ageng-ID2, Ageng-ID3, and Ageng-ID4 are determined. The terminal holder is a passenger. For example, the locations of the mobile terminals corresponding to the Ageng-ID2, the Ageng-ID3, and the Ageng-ID4 are respectively the FR area, the RL area, and the RR area, and the application service unit can perform the mobile terminal corresponding to the Agent-ID1. The pre-defined service set 1 can also execute a predefined service set 2 for the mobile terminals corresponding to Ageng-ID2, Ageng-ID3 and Ageng-ID4.

Optionally, the predefined service set 1 includes, but is not limited to, cutting off the social network data connection, opening the short message voice broadcast, automatically connecting the voice service to the Bluetooth device set on the vehicle, automatically answering the call, and improving the navigation service data traffic. Priority (navigation service data traffic priority) and so on.

The pre-defined set of services 2 includes, but is not limited to, issuing passenger in-vehicle information for authorized access (authorized applications or devices can obtain location information of corresponding passengers), seat belt reminders for passengers, WLAN load balancing between passengers and WLAN QoS, proprietary services for passengers in specific areas (for example, heating a specific passenger seat by commanding an in-vehicle system).

Optionally, the application service unit may also publish location information of all in-vehicle personnel to an authorized remote application or an external system (public security or insurance, etc.).

It should be noted that when the vehicle hybrid positioning system is misjudged, for example, it is determined that a mobile terminal holder is a driver, but in fact, the mobile terminal holder is not a driver, the user can pass the configuration management interface. Manually cancel the services and services implemented by the application service unit and submit feedback.

Third embodiment

Based on the first embodiment and the second embodiment of the present application, the third embodiment of the present application provides an in-vehicle positioning device, which is located in a mobile terminal carried by any one of the in-vehicle personnel;

14 is a schematic structural diagram of a vehicle interior positioning device according to a third embodiment of the present invention. As shown in FIG. 14, the device includes: a first acquisition module 1401 and a first determination module 1402;

The first obtaining module 1401 is configured to acquire parameter information required for positioning, where the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration of the mobile terminal when the vehicle is turned, and The operating behavior of the mobile terminal;

The first determining module 1402 is configured to determine, according to the parameter information, at least one positioning result of the mobile terminal; and determine, according to the at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.

Optionally, the first determining module 1402 is configured to determine, according to the sound signal, the mobile terminal and the vehicle when the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal. The relative distance of the device determines a first positioning result of the mobile terminal according to the predetermined position of the in-vehicle device in the vehicle and the relative distance.

Optionally, the first determining module 1402 is configured to determine, according to the acceleration of the mobile terminal when the vehicle is turning, when the parameter information includes the acceleration of the mobile terminal when the vehicle is turning, determine the mobile terminal. a steering radius; determining a second positioning result of the mobile terminal according to a steering radius of the mobile terminal.

Optionally, the first determining module 1402 is configured to determine the mobile according to an operation behavior of the mobile terminal and a preset historical statistical database when the parameter information includes an operation behavior of the mobile terminal. Determining, by the role of the terminal holder, a third positioning result of the mobile terminal according to the role of the mobile terminal holder; wherein the historical statistical database is used to represent the mobile terminal operating behavior and the mobile terminal holder The relationship of the characters.

Optionally, the first determining module 1402 is configured to determine, according to the number of the positioning results of the mobile terminal, that the corresponding positioning result is the position of the mobile terminal holder in the vehicle; When the number of the positioning results of the mobile terminal is greater than 1, the positioning result of the at least one positioning result is determined as the position of the mobile terminal holder in the vehicle; or, according to a preset selection rule A positioning result is selected from the at least one positioning result, and the selected positioning result is determined as the position of the mobile terminal holder in the vehicle.

In a practical application, the first obtaining module 1401 and the first determining module 1402 may each be a Central Processing Unit (CPU), a Micro Processor Unit (MPU), and a digital signal processor located in the mobile terminal. Digital Signal Processor (DSP), or Field Programmable Gate Array (FPGA) implementation.

In addition, each functional module in this embodiment may be integrated into one processing unit, or a single unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software function module.

The integrated unit may be stored in a computer readable storage medium if it is implemented in the form of a software function module and is not sold or used as a stand-alone product. Based on such understanding, the technical solution of the embodiment is essentially Said that the part contributing to the prior art or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium, comprising a plurality of instructions for making a computer device (may It is a personal computer, a server, or a network device, etc. or a processor that performs all or part of the steps of the method described in this embodiment. The foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

The computer program instructions corresponding to the in-vehicle positioning method in this embodiment may be stored on a storage medium such as an optical disc, a hard disk, a U disk, or the like, and the storage medium is located in any terminal in the vehicle, when the storage medium When the computer program instructions corresponding to the in-vehicle positioning method are read or executed by an electronic device, the following steps are included:

Obtaining parameter information required for positioning; the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration of the mobile terminal when the vehicle turns, and an operation behavior of the mobile terminal;

Determining, according to the parameter information, at least one positioning result of the mobile terminal; determining, according to the at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.

Optionally, the storage medium further stores an instruction to: when the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal, determining, according to the sound signal, the mobile terminal and the The relative distance of the in-vehicle device determines the first positioning result of the mobile terminal according to the predetermined position of the in-vehicle device in the vehicle and the relative distance.

Optionally, the storage medium further stores an instruction to: when the parameter information includes an acceleration of the mobile terminal when the vehicle is turning, determining the movement according to an acceleration of the mobile terminal when the vehicle turns a steering radius of the terminal; determining a second positioning result of the mobile terminal according to a turning radius of the mobile terminal.

Optionally, the storage medium further stores an instruction for performing, when the parameter information includes an operation behavior of the mobile terminal, determining, according to an operation behavior of the mobile terminal and a preset historical statistical database. a role of the mobile terminal holder, determining a third positioning result of the mobile terminal according to the role of the mobile terminal holder; wherein the historical statistical database is used to represent the mobile terminal operating behavior and the mobile terminal holder The relationship of the role.

Optionally, the storage medium further includes an instruction to: when the number of the positioning results of the mobile terminal is 1, determining a corresponding positioning result as a location of the mobile terminal holder in the vehicle; When the number of the positioning results of the mobile terminal is greater than 1, the positioning result of the at least one positioning result is determined as the position of the mobile terminal holder in the vehicle; or, according to a preset selection rule A positioning result is selected from the at least one positioning result, and the selected positioning result is determined as a position of the mobile terminal holder in the vehicle.

Fourth embodiment

Based on the same technical concept of the foregoing embodiment, referring to FIG. 15 , the mobile terminal carried by the in-vehicle personnel provided by the embodiment of the present application may include: a first communication interface 1501, a first memory 1502, and a first process. And a first bus 1504; wherein

The first bus 1504 is configured to connect the first communication interface 1501, the first processor 1503, the first memory 1502, and mutual communication between the devices;

The first communication interface 1501 is configured to perform data transmission with an external network element;

The first memory 1502 is configured to store instructions and data;

The first processor 1503 is configured to execute the instruction for acquiring parameter information required for positioning; the parameter information includes at least one of: a sound signal sent by the in-vehicle device received by the mobile terminal, the mobile terminal The acceleration when the vehicle is turning, the operating behavior of the mobile terminal.

In a practical application, the first memory 1502 may be a volatile memory, such as a random access memory (RAM), or a non-volatile memory, such as only Read memory (ROM, Read-Only Memory), flash memory, hard disk (HDD, Hard Disk Drive) or solid state drive (SSD, Solid-State Drive); or a combination of the above types of memory, and A processor 1503 provides instructions and data.

The first processor 1503 may be an Application Specific Integrated Circuit (ASIC), a DSP, a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), an FPGA, or the like. At least one of a CPU, a controller, a microcontroller, and a microprocessor. It is to be understood that, for different devices, the electronic device for implementing the functions of the first processor may be other, which is not specifically limited in the embodiment of the present application.

Exemplarily, the first processor 1503 can be configured to:

When the parameter information includes an acceleration of the mobile terminal when the vehicle is turning, determining a steering radius of the mobile terminal according to an acceleration of the mobile terminal when the vehicle is turning; determining, according to a steering radius of the mobile terminal, a second positioning result of the mobile terminal.

Exemplarily, the first processor 1503 can be configured to:

When the number of the positioning results of the mobile terminal is 1, the corresponding positioning result is determined as the position of the mobile terminal holder in the vehicle; when the number of the positioning results of the mobile terminal is greater than 1, the Determining, according to a preset selection rule, a positioning result of the mobile terminal holder in the vehicle, or selecting a positioning result according to a preset selection rule, and selecting the selected one of the positioning results of the at least one positioning result; The positioning result is determined as the location of the mobile terminal holder in the vehicle.

Fifth embodiment

Based on the first embodiment and the second embodiment of the present application, the fifth embodiment of the present application provides an in-vehicle positioning device, which is located in an in-vehicle device;

FIG. 16 is a schematic structural diagram of a vehicle interior positioning device according to a fifth embodiment of the present invention. As shown in FIG. 16, the device includes: a second acquisition module 1601 and a second determination module 1602;

The second obtaining module 1601 is configured to acquire parameter information required for positioning the mobile terminal in the vehicle, where the parameter information includes at least one of the following: a sound signal sent by the in-vehicle device to the mobile terminal, and the mobile terminal Acceleration when the vehicle is turning and operational behavior of the mobile terminal;

The second determining module 1602 is configured to determine, according to the parameter information, at least one positioning result of the mobile terminal; and determine, according to the at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.

Optionally, the second determining module 1602 is configured to determine, according to the sound signal, the mobile terminal and the vehicle when the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal. The relative distance of the device determines a first positioning result of the mobile terminal according to the predetermined position of the in-vehicle device in the vehicle and the relative distance.

Optionally, the second determining module 1602 is configured to determine, according to the acceleration of the mobile terminal when the vehicle is turning, when the parameter information includes the acceleration of the mobile terminal when the vehicle is turning, determine the mobile terminal. a steering radius; determining a second positioning result of the mobile terminal according to a steering radius of the mobile terminal.

Optionally, the second determining module 1602 is configured to determine the mobile according to an operation behavior of the mobile terminal and a preset historical statistical database when the parameter information includes an operation behavior of the mobile terminal. Determining, by the role of the terminal holder, a third positioning result of the mobile terminal according to the role of the mobile terminal holder; wherein the historical statistical database is used to represent the mobile terminal operating behavior and the mobile terminal holder The relationship of the characters.

Optionally, the second determining module 1602 is configured to determine, according to the number of the positioning results of the mobile terminal, that the corresponding positioning result is the position of the mobile terminal holder in the vehicle; When the number of the positioning results of the mobile terminal is greater than 1, the positioning result of the at least one positioning result is determined as the position of the mobile terminal holder in the vehicle; or, according to a preset selection rule A positioning result is selected from the at least one positioning result, and the selected positioning result is determined as the position of the mobile terminal holder in the vehicle.

In practical applications, the second obtaining module 1601 and the second determining module 1602 can be implemented by a CPU, an MPU, a DSP, an FPGA, or the like located in the in-vehicle device.

The computer program instructions corresponding to the in-vehicle personnel positioning method in this embodiment may be stored on a storage medium such as an optical disc, a hard disk, a U disk, etc., and the storage medium is located in the in-vehicle device, when the storage medium is in a vehicle When the computer program instruction corresponding to the personnel positioning method is read or executed by an electronic device, the following steps are included:

Acquiring parameter information required for positioning the mobile terminal in the vehicle, the parameter information comprising at least one of: an acoustic signal sent by the in-vehicle device to the mobile terminal, an acceleration and a movement of the mobile terminal when the vehicle is turning The operational behavior of the mobile terminal;

Optionally, the storage medium further stores an instruction for performing the following steps:

Sixth embodiment

Based on the same technical concept of the foregoing embodiment, referring to FIG. 17, an in-vehicle device according to an embodiment of the present application may be provided, which may include: a second communication interface 1701, a second memory 1702, a second processor 1703, and a second Bus 1704; wherein

The second bus 1704 is configured to connect the second communication interface 1701, the second processor 1703, and the second memory 1702 and mutual communication between the devices;

The second communication interface 1701 is configured to perform data transmission with an external network element;

The second memory 1702 is configured to store instructions and data;

The second processor 1703 executes the instruction set to:

Exemplarily, the second processor 1703 is configured to:

Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Accordingly, the application can take the form of a hardware embodiment, a software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

Industrial applicability

The present disclosure provides an in-vehicle positioning method and apparatus that can determine the position of a mobile terminal holder in a vehicle by using corresponding data acquired by a mobile terminal located in the vehicle, thereby realizing positioning of the in-vehicle personnel.

Claims

An in-vehicle positioning method includes:

The mobile terminal acquires parameter information required for positioning; the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration of the mobile terminal when the vehicle turns, and an operation of the mobile terminal behavior;

Determining, according to the parameter information, at least one positioning result of the mobile terminal;

Determining a location of the mobile terminal holder in the vehicle based on the at least one positioning result of the mobile terminal.
The method of claim 1, wherein the determining the at least one positioning result of the mobile terminal according to the parameter information comprises:

When the parameter information includes a sound signal sent by the in-vehicle device received by the mobile terminal, determining a relative distance between the mobile terminal and the in-vehicle device according to the sound signal, according to the predetermined in-vehicle device in the vehicle The location, and the relative distance, determine a first positioning result of the mobile terminal.
The method of claim 2, wherein the determining the relative distance of the mobile terminal from the in-vehicle device based on the sound signal comprises:

Determining, according to the sound signal received by the mobile terminal for the jth time, a j-th relative distance between the mobile terminal and the in-vehicle device, where j ranges from 1 to n, and n is an integer greater than 0;

The step of determining the first positioning result of the mobile terminal according to the predetermined position of the in-vehicle device in the vehicle and the relative distance includes:

Forming a matrix Aj of the j-th relative distance between the mobile terminal in the vehicle and the in-vehicle device and the j-th relative distance of each of the other mobile terminals and the in-vehicle device, and obtaining an average value of the matrix A1 to the matrix An, Determining a first positioning result of the mobile terminal and the other mobile terminal in the vehicle according to an average value of the matrix A1 to the matrix An and a predetermined position of the in-vehicle device in the vehicle; Determining a first positioning result of the mobile terminal in a first positioning result of the mobile terminal and the other mobile terminal.
The method according to claim 1, wherein the determining, according to the parameter information, the at least one positioning result of the mobile terminal comprises:

Determining, according to the acceleration of the mobile terminal when the vehicle is turning, determining a steering radius of the mobile terminal according to the acceleration of the mobile terminal when the vehicle is turning; determining the location according to the steering radius of the mobile terminal The second positioning result of the mobile terminal.
The method according to claim 1, wherein the determining, according to the parameter information, the at least one positioning result of the mobile terminal comprises:

Determining, according to the operation behavior of the mobile terminal and a historical statistical database set in advance, the role of the mobile terminal holder, according to the mobile terminal holder, when the parameter information includes an operation behavior of the mobile terminal a role of determining a third positioning result of the mobile terminal; wherein the historical statistical database includes a relationship between an operational behavior of the mobile terminal and a role of the mobile terminal holder.
The method of claim 5, wherein prior to the step of determining the role of the mobile terminal holder, the method further comprises:

Obtaining, in advance, an operation behavior set of the mobile terminal, where the operation behavior set includes multiple types of operation behaviors;

Determining a prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a driver, and a prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger;

Setting the historical statistics according to a prior probability that each type of operation behavior occurs when the mobile terminal holder is a driver and a prior probability of each type of operation behavior of the mobile terminal when the mobile terminal holder is a passenger database.
The method according to claim 6, wherein after the step of determining the role of the mobile terminal holder, the method further comprises: when the operational behavior of the mobile terminal satisfies a preset update condition, The operational behavior set, the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is the driver, and the prior probability of each type of operational behavior of the mobile terminal when the mobile terminal holder is a passenger are updated.
The method according to claim 7, wherein the operating behavior of the mobile terminal satisfies a preset update condition comprises:

Determining whether the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule according to at least one of the following information: feedback information of the mobile terminal holder and log information of the mobile terminal;

When it is determined that the operation behavior of the mobile terminal needs to be audited according to a predefined audit rule, and the operation behavior of the mobile terminal passes the audit, it is determined that the operation behavior of the mobile terminal satisfies a preset update condition.
The method according to claim 8, wherein said determining, according to at least one of the following information, whether an operation behavior of said mobile terminal needs to be audited according to a predefined audit rule: feedback from said mobile terminal holder The information and the step of the log information of the mobile terminal include:

Determining that the mobile terminal needs to follow a predefined audit rule when at least one of the feedback information of the mobile terminal holder and the log information of the mobile terminal includes the new operation behavior of the mobile terminal The operation behavior is reviewed, wherein the new operation behavior of the mobile terminal does not belong to the operation behavior set;

The predefined audit rules include:

Determining a category of the new operational behavior of the mobile terminal, determining that the new operational behavior of the mobile terminal passes the audit when the probability density of the determined operational behavior of the category is greater than or equal to the set probability density threshold.
The method of claim 1, wherein the determining the location of the mobile terminal holder in the vehicle based on the at least one positioning result of the mobile terminal comprises:

When the number of the positioning results of the mobile terminal is 1, determining a corresponding positioning result as a position of the mobile terminal holder in the vehicle;

When the number of the positioning results of the mobile terminal is greater than 1, a positioning result of the plurality of positioning results is determined as a position of the mobile terminal holder in the vehicle; or, according to a preset selection rule, One of the plurality of positioning results selects a positioning result, and the selected positioning result is determined as the position of the mobile terminal holder in the vehicle.
The method of claim 1, wherein after determining the location of the mobile terminal holder in the vehicle, the method further comprises at least one of the following steps:

Determining a service that the mobile terminal is allowed to provide according to a location of the mobile terminal holder in the vehicle; and transmitting the location of the mobile terminal holder in the vehicle to the external device.
An in-vehicle positioning device, the device is located in a mobile terminal, the device includes: a first acquiring module and a first determining module; wherein

a first acquiring module, configured to acquire parameter information required for positioning; the parameter information includes at least one of: a sound signal emitted by the in-vehicle device received by the mobile terminal, an acceleration and a position of the mobile terminal when the vehicle is turned The operational behavior of the mobile terminal;

The first determining module is configured to determine, according to the parameter information, at least one positioning result of the mobile terminal; and determine, according to the at least one positioning result of the mobile terminal, a location of the mobile terminal holder in the vehicle.
The apparatus according to claim 12, wherein said first determining module is configured to determine said movement based on said sound signal when said parameter information includes a sound signal emitted by said in-vehicle device received by said mobile terminal The relative distance between the terminal and the in-vehicle device determines a first positioning result of the mobile terminal according to a predetermined position of the in-vehicle device in the vehicle and the relative distance.
The apparatus according to claim 12, wherein said first determining module is configured to set an acceleration according to said mobile terminal when the vehicle is turned when said parameter information includes an acceleration of said mobile terminal when the vehicle is turning Determining a steering radius of the mobile terminal; determining a second positioning result of the mobile terminal according to a steering radius of the mobile terminal.
The apparatus according to claim 12, wherein the first determining module is configured to set an operation behavior according to the mobile terminal and a preset historical statistic when the parameter information includes an operation behavior of the mobile terminal a database, determining a role of the mobile terminal holder, determining a third positioning result of the mobile terminal according to the role of the mobile terminal holder; wherein the historical statistical database includes a mobile terminal operating behavior and a mobile terminal The relationship of the role of the holder.
The apparatus according to claim 12, wherein the first determining module is configured to determine a corresponding positioning result as the mobile terminal holder when the number of positioning results of the mobile terminal is 1. a position in the vehicle; when the number of the positioning results of the mobile terminal is greater than 1, a positioning result of the plurality of positioning results is determined as a position of the mobile terminal holder in the vehicle; or, according to the preset The selection rule selects one positioning result among the plurality of positioning results, and determines the selected positioning result as the position of the mobile terminal holder in the vehicle.
A computer readable storage medium storing computer executable instructions for performing the method of any of claims 1-11.