WO2020029723A1 - 定位方法、相关设备以及计算机可读存储介质 - Google Patents

定位方法、相关设备以及计算机可读存储介质 Download PDF

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Publication number
WO2020029723A1
WO2020029723A1 PCT/CN2019/094405 CN2019094405W WO2020029723A1 WO 2020029723 A1 WO2020029723 A1 WO 2020029723A1 CN 2019094405 W CN2019094405 W CN 2019094405W WO 2020029723 A1 WO2020029723 A1 WO 2020029723A1
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WIPO (PCT)
Prior art keywords
vehicle terminal
wireless device
message
ranging
wireless
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PCT/CN2019/094405
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English (en)
French (fr)
Inventor
柯世兴
胡亚东
Original Assignee
Oppo广东移动通信有限公司
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Filing date
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Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Publication of WO2020029723A1 publication Critical patent/WO2020029723A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention relates to the technical field of mobile terminals, and in particular, to a positioning method, a related device, and a computer-readable storage medium.
  • the positioning cannot be performed and the position information of the vehicle cannot be obtained.
  • the embodiments of the present application provide a positioning method, a related device, and a computer-readable storage medium, which can locate the position of a vehicle terminal through NAN.
  • a first aspect of the embodiments of the present application provides a positioning method.
  • the method is applied to a vehicle terminal that joins a proximity-aware NAN network.
  • the method includes:
  • the vehicle terminal Receiving, by the vehicle terminal, a first reply message to the first broadcast message sent by a first wireless device in the NAN, the first reply message including location information of the first wireless device;
  • the first The wireless device is any one of N wireless devices that sends a reply message to the vehicle terminal for the first broadcast message, where N is an integer greater than or equal to 1;
  • the vehicle terminal determines the location information of the vehicle terminal according to the location information of the N wireless devices.
  • a second aspect of the embodiments of the present application provides a positioning device.
  • the device is applied to a vehicle terminal that joins a proximity-aware NAN network.
  • the device includes a first sending unit, a first receiving unit, and a determining unit. Among them:
  • the first sending unit is configured to send a first broadcast message to a wireless device in the NAN, where the first broadcast message is used to request location information;
  • the first receiving unit is configured to receive a first reply message for the first broadcast message sent by a first wireless device in the NAN, where the first reply message includes location information of the first wireless device
  • the first wireless device is any one of N wireless devices that sends a reply message to the vehicle terminal for the first broadcast message, where N is an integer greater than or equal to 1;
  • the determining unit is configured to determine position information of the vehicle terminal according to the position information of the N wireless devices.
  • a third aspect of the embodiments of the present application provides a mobile terminal, including a processor and a memory, where the memory is configured to store one or more programs, and the one or more programs are configured to be executed by the processor.
  • the program includes steps for performing some or all of the steps as described in any method in the first aspect of the embodiments of the present application.
  • a fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program for electronic data exchange, wherein the computer program causes a computer to execute the first aspect of the embodiment of the present application Some or all of the steps described in either method.
  • a fifth aspect of the embodiments of the present application provides a computer program product.
  • the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the program as described in the first embodiment of the present application. Some or all of the steps described in any method in one aspect.
  • the vehicle terminal sends a first broadcast message to a wireless device in the NAN, and the first broadcast message is used to request location information; the vehicle terminal receives the first broadcast message sent by the first wireless device in the NAN.
  • a reply message the first reply message contains the location information of the first wireless device; the first wireless device is any of the N wireless devices that sends a reply message for the first broadcast message to the vehicle terminal, where N is greater than or equal to 1 The integer of the vehicle terminal; the vehicle terminal determines the location information of the vehicle terminal according to the location information of the N wireless devices.
  • the position of the vehicle terminal can be located by using the NAN. For a vehicle terminal without a positioning function, the position of the vehicle can be quickly located by using the NAN.
  • FIG. 1 is a schematic diagram of a NAN network architecture disclosed in an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a positioning method disclosed in an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of another positioning method disclosed in an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a positioning device disclosed in an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of another mobile terminal disclosed in an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of still another mobile terminal disclosed in an embodiment of the present application.
  • an embodiment herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
  • the mobile terminals involved in the embodiments of the present application may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, and various forms of user equipment (User Equipment (UE), mobile station (MS), terminal device (terminal), and so on.
  • UE User Equipment
  • MS mobile station
  • terminal terminal device
  • mobile terminals the devices mentioned above are collectively referred to as mobile terminals.
  • FIG. 1 is a schematic structural diagram of a NAN network disclosed in an embodiment of the present application.
  • Neighbor Awareness Network is a network based on Wireless-Fidelity (Wi-Fi) technology.
  • the NAN network has the characteristics of real-time performance and low power consumption.
  • the NAN network includes at least two NAN devices.
  • A, B, C, D, and E are all wireless devices in the NAN network.
  • the NAN device may include an electronic device with a communication function, such as a vehicle terminal, a user equipment (User Equipment), a mobile station (Mobile Station, MS), or a terminal device (terminal device).
  • a communication function such as a vehicle terminal, a user equipment (User Equipment), a mobile station (Mobile Station, MS), or a terminal device (terminal device).
  • NAN networks can be used to connect nearby devices together using certain Internet protocols.
  • NAN devices in a NAN may belong to different proprietary network infrastructures (eg, different mobile carriers). Even if the two NAN devices are geographically close, the communication path between them may actually go through a long distance, depart from the local area network (LAN) through the Internet, and reach the other LAN.
  • NAN networks focus on two-way communication between NAN devices within a certain distance (such as the distance of a WiFi connection) with each other.
  • the discovery protocol used in WiFi networks enables NAN devices to advertise themselves (e.g., by sending discovery packets or messages) and discover services provided by other NAN devices (e.g., by sending pages or query packets or messages), while ensuring that Safe communication and / or low power consumption.
  • the NAN device is able to send service-specific information (eg, a website address, photos, videos, etc.) to other NAN devices.
  • service-specific information eg, a website address, photos, videos, etc.
  • One or more NAN devices in the NAN network may send synchronization messages to coordinate one or more availability windows of communication between the NAN devices in the NAN network.
  • a discovery window is generally set every 512 time units (TU). Among them, the duration of a TU is about 1024 ⁇ s, and the duration of DW is generally 16 TU. One DW is set every 496 TUs.
  • the NAN device may send a sync beacon message during the DW to enable the devices in the NAN network to synchronize.
  • NAN devices can complete service discovery, that is, new NAN devices can be added to the NAN network.
  • a wireless device receives a synchronous beacon frame message sent by one or more other NAN devices in the NAN network, it can choose whether to join the other's NAN network.
  • the synchronization beacon frame message generally includes identification information of the NAN network, network information (for example, the number of devices in the NAN network), and the like.
  • the NAN device in the NAN network does not have a strict master-slave relationship.
  • one NAN device in the NAN network can be selected to broadcast synchronization beacon frame messages to other NAN devices and other wireless devices in the NAN network to enable the devices in the NAN network to synchronize and complete service discovery.
  • the network architecture disclosed in the embodiments of the present application can implement data sharing through the NAN.
  • the NAN can be used to quickly locate its own position.
  • FIG. 2 is a schematic flowchart of a positioning method disclosed in an embodiment of the present application. As shown in FIG. 2, the positioning method includes the following steps.
  • a vehicle terminal sends a first broadcast message to a wireless device in the NAN, where the first broadcast message is used to request location information.
  • the vehicle terminal has joined the NAN network, and the vehicle terminal may also join other NAN networks. That is, the number of NAN networks that the vehicle terminal joins may be one or more.
  • the vehicle terminal sending the first broadcast message to the wireless device in the NAN may be sent within a discovery window (DW), or may be sent at another time period.
  • the vehicle terminal may send a first broadcast message to all wireless devices in the NAN.
  • the first broadcast message includes a location request message, and the location request message is used to request a wireless device in the NAN to report its location information to the vehicle terminal.
  • the wireless device that received the first broadcast message in the NAN can determine whether it has a positioning function. If there is a positioning function, it reports its location information to the vehicle terminal. If there is no positioning function, no feedback is made.
  • a vehicle terminal receives a first reply message for a first broadcast message sent by a first wireless device in a NAN, where the first reply message includes location information of the first wireless device.
  • the first wireless device is any of N wireless devices that send a reply message to the vehicle terminal for the first broadcast message, and N is an integer greater than or equal to 1.
  • the location information of the first wireless device may be longitude and latitude information of the first wireless device, or may be a location periodically acquired by a Global Positioning System (GPS) of the first wireless device.
  • GPS Global Positioning System
  • the vehicle terminal determines the location information of the vehicle terminal according to the location information of the N wireless devices.
  • the vehicle terminal after the vehicle terminal sends the first broadcast message to the wireless device in the NAN, it detects whether a reply message sent by the wireless device in the NAN is received within a preset time. If the reply message sent by the N wireless devices is received within the preset time, the position information of the N wireless devices is obtained from the N wireless devices.
  • the preset time may be set in advance and stored in a memory (for example, a non-volatile memory) of the vehicle terminal.
  • a memory for example, a non-volatile memory
  • the preset time may be set to 512 TUs or an integer multiple of 512 TUs.
  • the vehicle terminal determines the location information of the vehicle terminal according to the location information of the N wireless devices, which are specifically:
  • the vehicle terminal selects position information of one wireless device among the N wireless devices as the position information of the vehicle terminal.
  • the vehicle terminal may randomly select one wireless device from the N wireless devices, and use the location information of the wireless device as its own location information.
  • the vehicle terminal may select one wireless device from N wireless devices according to a certain filtering condition, and use the location information of the wireless device as its own location information.
  • step 203 may specifically include the following steps:
  • the vehicle terminal measures the distance to N wireless devices respectively;
  • the vehicle terminal determines a first target wireless device closest to the vehicle terminal among the N wireless devices;
  • the vehicle terminal determines that the location information of the first target wireless device is the location information of the vehicle terminal.
  • a vehicle terminal may negotiate a ranging principle, a ranging protocol, and a ranging parameter requirement with N wireless devices, and measure the vehicle terminal and N radios according to the negotiated ranging principle, ranging protocol, and ranging parameter requirements. The distance between the devices.
  • the ranging principle may include a fine time measurement (FTM) principle, a triangular ranging principle, and the like, and a ranging parameter requirement may include a ranging range, a ranging accuracy, and the like.
  • FTM fine time measurement
  • a ranging parameter requirement may include a ranging range, a ranging accuracy, and the like.
  • the vehicle terminal measures the distance between itself and N wireless devices, and uses the position information of the wireless device closest to itself among the N wireless devices as its own position information.
  • the vehicle terminal may select the location information of the wireless device closest to its own location in the NAN as its own location information, thereby improving the positioning accuracy of the vehicle terminal.
  • step 203 may specifically include the following steps:
  • the vehicle terminal performs distance measurement interaction with the first wireless device to obtain distance information between the vehicle terminal and the first wireless device;
  • the vehicle terminal calculates the position information of the vehicle terminal according to the distance information between the vehicle terminal and the first wireless device and the position information of the first wireless device.
  • the distance between the vehicle terminal and the first wireless device can be obtained by performing a ranging interaction between the vehicle terminal and the first wireless device.
  • the vehicle terminal calculates the location information of the vehicle terminal based on the distance information between the vehicle terminal and the first wireless device and the location information of the first wireless device, which are specifically:
  • the vehicle terminal obtains the position information of the first wireless device, and the position of the first wireless device is a circle.
  • the distance between the vehicle terminal and the first wireless device forms a circle.
  • the vehicle terminal selects a point on the circumference as the position of the vehicle terminal. .
  • the vehicle terminal performs the ranging interaction with the first wireless device, and obtaining the distance information between the vehicle terminal and the first wireless device may specifically include the following steps:
  • the vehicle terminal sends a distance measurement request to the first wireless device;
  • the first wireless device is configured to send a ranging response message for the distance measurement request to the vehicle terminal after receiving the distance measurement request, and the first wireless device is further configured to record A first moment when the first wireless device sends a ranging response message to the vehicle terminal;
  • the vehicle terminal determines to receive the ranging reply message sent by the first wireless device, and records the second moment when the ranging reply message is received;
  • the vehicle terminal sends a confirmation response message for the ranging response message to the first wireless device, and records the third time when the confirmation response message is sent; the first wireless device is further configured to record the time when the first wireless device receives the confirmation response message. At the fourth moment, the first wireless device is further configured to send a ranging message to the vehicle terminal, and the ranging message includes the first moment and the fourth moment;
  • the vehicle terminal determines the distance between the vehicle terminal and the first wireless device according to the first time, the second time, the third time, the fourth time, and the signal propagation speed.
  • determining the distance between the vehicle terminal and the first wireless device according to the first time, the second time, the third time, the fourth time, and the signal propagation speed is specifically:
  • the vehicle terminal calculates the distance between the vehicle terminal and the first wireless device according to the following formula:
  • t 1 is the first time
  • t 2 is the second time
  • t 3 is the third time
  • t 4 is the fourth time
  • c is the signal propagation speed
  • S is the distance between the vehicle terminal and the first wireless device.
  • the above steps 201 to 203 may be performed periodically, and the vehicle terminal may obtain its own position information in real time.
  • the position of the vehicle terminal can be located by using the NAN.
  • a vehicle terminal without a positioning function it can quickly locate its own position by using other wireless devices in the NAN.
  • FIG. 3 is a schematic flowchart of another positioning method disclosed in an embodiment of the present application. As shown in FIG. 3, the positioning method includes the following steps.
  • the vehicle terminal sends a first broadcast message to a wireless device in the NAN, where the first broadcast message is used to request location information.
  • the vehicle terminal receives a first reply message for the first broadcast message sent by the first wireless device in the NAN, where the first reply message includes location information of the first wireless device.
  • the vehicle terminal determines the location information of the vehicle terminal according to the location information of the N wireless devices.
  • steps 301 to 303 may refer to steps 201 to 203 shown in FIG. 2, and details are not described herein again.
  • the vehicle terminal sends a second broadcast message to N wireless devices, where the second broadcast message is used to request destination information.
  • the second broadcast message includes a destination request message
  • the destination request message is used to request N wireless devices to report their destination information to the vehicle terminal.
  • N wireless devices can choose whether to report their own destination information. Since reporting destination information involves privacy, the N wireless devices themselves can choose whether to report their destination information.
  • the vehicle terminal receives a second reply message for the second broadcast message sent by the second wireless device, where the second reply message includes the destination information of the second wireless device; the second wireless device sends a second broadcast message to the vehicle terminal. Any one of the M wireless devices in the reply message, where M is an integer less than or equal to N.
  • the vehicle terminal determines a second target wireless device closest to the destination of the vehicle terminal among the M wireless devices according to the destination information of the M wireless devices.
  • N wireless devices After N wireless devices receive the second broadcast message sent by the vehicle terminal, it is assumed that M wireless devices among the N wireless devices return a second reply message containing the destination information to the vehicle terminal.
  • the destination information of the M wireless devices determines a second target wireless device closest to the destination of the vehicle terminal among the M wireless devices.
  • the destination of the vehicle terminal may be input by a user in advance and stored in a memory of the vehicle terminal.
  • the vehicle terminal sends a navigation following request to the second target wireless device.
  • the vehicle terminal If the vehicle terminal receives a follow-up permission message returned by the second target wireless device, the vehicle terminal follows the second target wireless device.
  • the vehicle terminal traveling with the second target wireless device is specifically:
  • the vehicle terminal and the second target wireless device perform real-time ranging interaction to measure the distance between the vehicle terminal and the second target wireless device in real time.
  • the vehicle is considered to be
  • the terminal is close to the second target wireless device, and the vehicle terminal may follow the second target wireless device to implement the navigation function of the vehicle terminal.
  • the position of the vehicle terminal can be located through the NAN.
  • the position of the vehicle can be quickly located by using other wireless devices in the NAN, and navigation can also be performed by using other wireless devices in the NAN. .
  • the mobile terminal includes a hardware structure and / or a software module corresponding to each function.
  • the present invention can be implemented in the form of hardware or a combination of hardware and computer software by combining the units and algorithm steps of each example described in the embodiments disclosed herein. Whether a certain function is performed by hardware or computer software-driven hardware depends on the specific application of the technical solution and design constraints. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation should not be considered outside the scope of the present invention.
  • the embodiments of the present application may divide the functional units of the mobile terminal according to the foregoing method examples.
  • each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit.
  • the above integrated unit may be implemented in the form of hardware or in the form of software functional unit. It should be noted that the division of the units in the embodiments of the present application is schematic, and is only a logical function division. There may be another division manner in actual implementation.
  • FIG. 4 is a schematic structural diagram of a positioning device disclosed in an embodiment of the present application.
  • the positioning device is applied to a vehicle terminal that joins a proximity-aware NAN network.
  • the positioning device 400 includes a first sending unit 401, a first receiving unit 402, and a determining unit 403, where:
  • a first sending unit 401 configured to send a first broadcast message to a wireless device in the NAN, where the first broadcast message is used to request location information;
  • a first receiving unit 402 is configured to receive a first reply message for a first broadcast message sent by a first wireless device in a NAN, where the first reply message includes location information of the first wireless device; the first wireless device is a vehicle terminal Any one of the N wireless devices sending the reply message for the first broadcast message, where N is an integer greater than or equal to 1;
  • the determining unit 403 is configured to determine the position information of the vehicle terminal according to the position information of the N wireless devices.
  • the determining unit 403 determines the location information of the vehicle terminal according to the location information of the N wireless devices, specifically:
  • the determining unit 403 measures the distances to the N wireless devices, determines a first target wireless device closest to the vehicle terminal among the N wireless devices, and determines that the position information of the first target wireless device is the position information of the vehicle terminal.
  • the determining unit 403 determines the location information of the vehicle terminal according to the location information of the N wireless devices, specifically:
  • the determining unit 403 performs ranging interaction with the first wireless device to obtain distance information between the vehicle terminal and the first wireless device; and calculates the vehicle based on the distance information between the vehicle terminal and the first wireless device and the position information of the first wireless device. Location information of the terminal.
  • the determining unit 403 performs ranging interaction with the first wireless device to obtain distance information between the vehicle terminal and the first wireless device, including:
  • the determining unit 403 sends a distance measurement request to the first wireless device; the first wireless device is configured to send a ranging response message for the distance measurement request to the vehicle terminal after receiving the distance measurement request, and the first wireless device is further configured to record the first The first moment when the wireless device sends a ranging response message to the vehicle terminal;
  • the determining unit 403 determines that a ranging reply message sent by the first wireless device is received, and records a second moment when the ranging reply message is received;
  • the determining unit 403 sends a confirmation response message for the ranging response message to the first wireless device, and records a third time when the confirmation response message is sent; the first wireless device is further configured to record a fourth time when the first wireless device receives the confirmation response message. At the time, the first wireless device is further configured to send a ranging message to the vehicle terminal, and the ranging message includes the first time and the fourth time;
  • the determining unit 403 determines the distance between the vehicle terminal and the first wireless device according to the first time, the second time, the third time, the fourth time, and the signal propagation speed.
  • the positioning device 400 further includes a second sending unit 404, a second receiving unit 405, a third sending unit 406, and a following unit 407, where:
  • a second sending unit 404 configured to send a second broadcast message to N wireless devices, where the second broadcast message is used to request destination information
  • the second receiving unit 405 is configured to receive a second reply message for the second broadcast message sent by the second wireless device, where the second reply message includes the destination information of the second wireless device; Any one of the M wireless devices in the reply message of the second broadcast message, where M is an integer less than or equal to N;
  • the determining unit 403 is further configured to determine a second target wireless device closest to the destination of the vehicle terminal among the M wireless devices according to the destination information of the M wireless devices;
  • a third sending unit 406, configured to send a navigation following request to the second target wireless device
  • the following unit 407 is configured to follow the second target wireless device when the vehicle terminal receives the following permission message returned by the second target wireless device.
  • the position of the vehicle terminal can be located through the NAN.
  • the position of the vehicle terminal can quickly locate its own position by using other wireless devices in the NAN.
  • FIG. 5 is a schematic structural diagram of another mobile terminal disclosed in an embodiment of the present application.
  • the mobile terminal 500 includes a processor 501 and a memory 502.
  • the mobile terminal 500 may further include a bus 503.
  • the processor 501 and the memory 502 may be connected to each other through the bus 503, and the bus 503 may be a peripheral component to each other.
  • PCI Peripheral Component Interconnect
  • EISA extended industry standard architecture
  • the bus 503 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 5, but it does not mean that there is only one bus or one type of bus.
  • the mobile terminal 500 may further include an input-output device 504, and the input-output device 504 may include a display screen, such as a liquid crystal display screen.
  • the memory 502 is configured to store one or more programs containing instructions; the processor 501 is configured to call the instructions stored in the memory 502 to execute some or all of the method steps in FIG. 1 to FIG. 3 described above.
  • the position of the vehicle terminal can be located through the NAN.
  • a vehicle terminal without a positioning function it can quickly locate its own position by using other wireless devices in the NAN.
  • the mobile terminal may be any terminal device including a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), and a vehicle-mounted computer. Taking the mobile terminal as a mobile phone as an example:
  • FIG. 6 is a block diagram showing a partial structure of a mobile phone related to a mobile terminal according to an embodiment of the present application.
  • the mobile phone includes: a radio frequency (RF) circuit 910, a memory 920, an input unit 930, a display unit 940, a sensor 950, an audio circuit 960, a wireless fidelity (WiFi) module 970, and a processor 980 , And power supply 990 and other components.
  • RF radio frequency
  • the RF circuit 910 can be used for receiving and transmitting information.
  • the RF circuit 910 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like.
  • the RF circuit 910 can also communicate with a network and other devices through wireless communication.
  • the above wireless communication can use any communication standard or protocol, including but not limited to Global System of Mobile (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (Code Division Multiple Access) Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), E-mail, Short Messaging Service (SMS), etc.
  • GSM Global System of Mobile
  • GPRS General Packet Radio Service
  • CDMA Code Division Multiple Access
  • WCDMA Wideband Code Division Multiple Access
  • LTE Long Term Evolution
  • E-mail Short Messaging Service
  • the memory 920 may be used to store software programs and modules.
  • the processor 980 executes various functional applications and data processing of the mobile phone by running the software programs and modules stored in the memory 920.
  • the memory 920 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the mobile phone, and the like.
  • the memory 920 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage device.
  • the input unit 930 may be used to receive inputted numeric or character information, and generate key signal inputs related to user settings and function control of the mobile phone.
  • the input unit 930 may include a fingerprint recognition module 931 and other input devices 932.
  • the fingerprint identification module 931 can collect fingerprint data on the user.
  • the input unit 930 may also include other input devices 932.
  • the other input devices 932 may include, but are not limited to, one or more of a touch screen, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
  • the display unit 940 may be used to display information input by the user or information provided to the user and various menus of the mobile phone.
  • the display unit 940 may include a display screen 941.
  • the display screen 941 may be configured by using a liquid crystal display (Liquid Crystal Display, LCD), an organic or inorganic light emitting diode (Organic Light-Emitting Diode, OLED), and the like.
  • LCD Liquid Crystal Display
  • OLED Organic Light-Emitting Diode
  • the mobile phone may further include at least one sensor 950, such as a light sensor, a motion sensor, a pressure sensor, a temperature sensor, and other sensors.
  • the light sensor may include an ambient light sensor (also referred to as a light sensor) and a proximity sensor.
  • the ambient light sensor may adjust the brightness of the backlight of the mobile phone according to the brightness of the ambient light, and then adjust the brightness of the display screen 941.
  • the proximity sensor may When the mobile phone is moved to the ear, the display 941 and / or the backlight are turned off.
  • the accelerometer sensor can detect the magnitude of acceleration in various directions (usually three axes), and can detect the magnitude and direction of gravity when it is stationary.
  • the mobile phone can be used to identify the attitude of mobile phones (such as horizontal and vertical screen switching, magnetic force Calibration of the meter), vibration recognition related functions (such as pedometer, tap), etc.
  • the mobile phone can also be equipped with gyroscope, barometer, hygrometer, thermometer, infrared sensor and other sensors, will not repeat them here.
  • the audio circuit 960, the speaker 961, and the microphone 962 can provide an audio interface between the user and the mobile phone.
  • the audio circuit 960 may transmit the received electrical data converted electrical signals to a speaker 961, which is converted into a sound signal for playback; on the other hand, the microphone 962 converts the collected sound signal into an electrical signal, and the audio circuit 960 After receiving, it is converted into audio data, and then processed by the audio data playback processor 980, and then sent to, for example, another mobile phone via the RF circuit 910, or the audio data is played to the memory 920 for further processing.
  • WiFi is a short-range wireless transmission technology.
  • the mobile phone can help users send and receive emails, browse web pages, and access streaming media through the WiFi module 970. It provides users with wireless broadband Internet access.
  • FIG. 6 shows the WiFi module 970, it can be understood that it does not belong to the necessary structure of the mobile phone, and can be omitted as needed without changing the essence of the invention.
  • the processor 980 is the control center of the mobile phone. It uses various interfaces and lines to connect various parts of the entire mobile phone.
  • the processor 980 runs or executes software programs and / or modules stored in the memory 920 and calls data stored in the memory 920 to execute.
  • Various functions and processing data of the mobile phone so as to monitor the mobile phone as a whole.
  • the processor 980 may include one or more processing units; preferably, the processor 980 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and an application program, etc.
  • the modem processor mainly handles wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 980.
  • the mobile phone also includes a power supply 990 (such as a battery) for supplying power to various components.
  • a power supply 990 (such as a battery) for supplying power to various components.
  • the power supply can be logically connected to the processor 980 through the power management system, so as to implement functions such as managing charging, discharging, and power consumption management through the power management system.
  • the mobile phone may further include a camera 9100, which is used to capture images and videos, and transmit the captured images and videos to the processor 980 for processing.
  • a camera 9100 which is used to capture images and videos, and transmit the captured images and videos to the processor 980 for processing.
  • the mobile phone can also have a Bluetooth module, etc., which is not repeated here.
  • the method flow of each step may be implemented based on the structure of the mobile phone.
  • An embodiment of the present application further provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes a computer to execute a part of any one of the positioning methods described in the foregoing method embodiments or All steps.
  • An embodiment of the present application further provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the operations described in the foregoing method embodiments Part or all of the steps of any positioning method.
  • the disclosed device may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division.
  • multiple units or components may be combined or may be combined. Integration into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware or in the form of software functional unit.
  • the integrated unit When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable memory.
  • the technical solution of the present invention essentially or part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory.
  • a computer device which may be a personal computer, a server, or a network device, etc.
  • the foregoing memories include: U disks, Read-Only Memory (ROM), Random Access Memory (RAM), mobile hard disks, magnetic disks, or optical disks and other media that can store program codes.
  • the program may be stored in a computer-readable memory, and the memory may include a flash disk.
  • ROM Read-only memory
  • RAM Random Access Memory
  • magnetic disks or optical disks etc.

Abstract

本申请实施例公开了一种定位方法、相关设备以及计算机可读存储介质，该方法应用于车辆终端，该车辆终端加入邻近感知NAN网络，该方法包括：车辆终端向NAN内的无线设备发送第一广播消息，第一广播消息用于请求位置信息；车辆终端接收NAN内的第一无线设备发送的针对第一广播消息的第一回复消息，第一回复消息包含第一无线设备的位置信息；第一无线设备为向车辆终端发送针对第一广播消息的回复消息的N个无线设备中的任一个；车辆终端根据N个无线设备的位置信息确定车辆终端的位置信息。本申请实施例可以通过NAN定位车辆终端的位置。

Description

定位方法、相关设备以及计算机可读存储介质 技术领域
本发明涉及移动终端技术领域，具体涉及一种定位方法、相关设备以及计算机可读存储介质。
背景技术
目前，车辆在行驶过程中，如果车辆本身没有定位功能或者定位功能失效，则无法进行定位，无法获取自身的位置信息。
发明内容
本申请实施例提供了一种定位方法、相关设备以及计算机可读存储介质，可以通过NAN定位车辆终端的位置。
本申请实施例第一方面提供一种定位方法，所述方法应用于车辆终端，所述车辆终端加入邻近感知NAN网络，所述方法包括：
所述车辆终端向所述NAN内的无线设备发送第一广播消息，所述第一广播消息用于请求位置信息；
所述车辆终端接收所述NAN内的第一无线设备发送的针对所述第一广播消息的第一回复消息，所述第一回复消息包含所述第一无线设备的位置信息；所述第一无线设备为向所述车辆终端发送针对所述第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数；
所述车辆终端根据所述N个无线设备的位置信息确定所述车辆终端的位置信息。
本申请实施例第二方面提供一种定位装置，所述装置应用于车辆终端，所述车辆终端加入邻近感知NAN网络，所述装置包括第一发送单元、第一接收单元和确定单元；其中：
所述第一发送单元，用于向所述NAN内的无线设备发送第一广播消息，所述第一广播消息用于请求位置信息；
所述第一接收单元，用于接收所述NAN内的第一无线设备发送的针对所述第一广播消息的第一回复消息，所述第一回复消息包含所述第一无线设备的位置信息；所述第一无线设备为向所述车辆终端发送针对所述第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数；
所述确定单元，用于根据所述N个无线设备的位置信息确定所述车辆终端的位置信息。
本申请实施例第三方面提供一种移动终端，包括处理器以及存储器，所述存储器用于存储一个或多个程序，所述一个或多个程序被配置成由所述处理器执行，所述程序包括用于执行如本申请实施例第一方面任一方法中所描述的部分或全部步骤。
本申请实施例第四方面提供一种计算机可读存储介质，所述计算机可读存储介质用于存储电子数据交换的计算机程序，其中，所述计算机程序使得计算机执行如本申请实施例第一方面任一方法中所描述的部分或全部步骤。
本申请实施例第五方面提供一种计算机程序产品，所述计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，所述计算机程序可操作来使计算机执行如本申请实施例第一方面任一方法中所描述的部分或全部步骤。
本申请实施例中，车辆终端向NAN内的无线设备发送第一广播消息，该第一广播消息用于请求位置信息；车辆终端接收NAN内的第一无线设备发送的针对第一广播消息的第一回复消息，第一回复消息包含第一无线设备的位置信息；第一无线设备为向车辆终端发送针对第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数；车 辆终端根据N个无线设备的位置信息确定车辆终端的位置信息。本申请实施例可以通过NAN定位车辆终端的位置，对于没有定位功能的车辆终端而言，可以借助NAN快速定位自身的位置。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例公开的NAN网络架构示意图；
图2是本申请实施例公开的一种定位方法的流程示意图；
图3是本申请实施例公开的另一种定位方法的流程示意图；
图4是本申请实施例公开的一种定位装置的结构示意图；
图5是本申请实施例公开的另一种移动终端的结构示意图；
图6是本申请实施例公开的又一种移动终端的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
本申请实施例所涉及到的移动终端可以包括各种具有无线通信功能的手持设备、车载设备、可穿戴设备、计算设备或连接到无线调制解调器的其他处理设备，以及各种形式的用户设备(User Equipment，UE)，移动台(Mobile Station，MS)，终端设备(terminal device)等等。为方便描述，上面提到的设备统称为移动终端。
下面对本申请实施例进行详细介绍。
请参阅图1，图1是本申请实施例公开的NAN网络的结构示意图。
邻近感知网络(Neighbor Awareness Network，NAN)是基于无线保真(Wireless-Fidelity，Wi-Fi)技术的网络，NAN网络具有实时性和功耗低的特点。如图1所示，该NAN网络至少包含两个NAN设备，如图1所示，A、B、C、D、E都是NAN网络中的无线设备。
NAN设备可以包括车辆终端、用户设备(User Equipment，UE)、移动台(Mobile Station，MS)、终端设备(terminal device)等具有通信功能的电子设备。
NAN网络可以用于使用某些互联网协议将附近的设备连接到一起。NAN中的NAN设备可以属于不同的专有网络基础设施(例如，不同的移动载波)。即使两个NAN设备在地理上靠近，它们之间的通信路径可能实际上也经过长距离，从局域网(Local Area Network， LAN)出发通过互联网，并且到达另一LAN。NAN网络关注于彼此在某个距离(比如，WiFi连接的距离)内的NAN设备之间的双向通信。
在WiFi网络中使用的发现协议使得NAN设备能够通告它们自身(例如，通过发送发现分组或者消息)以及发现由其它NAN设备供的服务(例如，通过发送寻呼或者查询分组或者消息)，同时确保安全通信和/或低功率消耗。此外，NAN设备能够将服务特定信息(例如，网址、照片、视频等)发送给其它NAN设备。NAN网络中的一个或多个NAN设备可以发送同步消息，以协调NAN网络中的NAN设备之间通信的一个或多个可用性窗口。
在NAN网络中，一般每512个时间单元(time unit，TU)内设置一个发现窗口(discovery window，DW)，其中，一个TU的持续时长大约为1024μs，DW的持续时长一般为16TU，一般每隔496个TU设置一个DW。NAN设备可以在DW期间发送同步信标帧(sync beacon)消息，以使NAN网络中的设备实现同步。
在DW期间，NAN设备可以完成服务发现，即可以在NAN网络中加入新的NAN设备。当一个无线设备接收到一个或多个其他NAN网络中的NAN设备发送的同步信标帧消息时，即可选择是否要加入对方的NAN网络。同步信标帧消息中，一般包含NAN网络的标识信息、网络信息(比如，NAN网络中的设备数量)等。
其中，NAN网络中的NAN设备并没有严格的主从关系。在DW期间，可以选择NAN网络中的一个NAN设备向NAN网络中的其他NAN设备以及其他无线设备广播同步信标帧消息，以使NAN网络中的设备实现同步，以及完成服务发现。
本申请实施例公开的网络架构，可以通过NAN实现数据分享，对于NAN中没有定位功能的车辆终端而言，可以借助NAN快速定位自身的位置。
请参阅图2，图2是本申请实施例公开的一种定位方法的流程示意图，如图2所示，该定位方法包括如下步骤。
201，车辆终端向NAN内的无线设备发送第一广播消息，该第一广播消息用于请求位置信息。
本申请实施例中，车辆终端已经加入NAN网络，车辆终端还可以加入其它的NAN网络。也即，车辆终端加入的NAN网络的数量可以为一个或多个。
车辆终端向NAN内的无线设备发送第一广播消息可以是在发现窗口(discovery window，DW)内发送，也可以在其他时间段发送。车辆终端可以向NAN内的所有无线设备都发送第一广播消息。第一广播消息包含位置请求消息，位置请求消息用于请求NAN内的无线设备向该车辆终端上报自身的位置信息。NAN内接收到该第一广播消息的无线设备可以判断自身是否具有定位功能，若有定位功能，则向该车辆终端上报自身的位置信息，若无定位功能，则不做任何反馈。
202，车辆终端接收NAN内的第一无线设备发送的针对第一广播消息的第一回复消息，该第一回复消息包含第一无线设备的位置信息。
其中，第一无线设备为向车辆终端发送针对第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数。
本申请实施例中，第一无线设备的位置信息可以是第一无线设备的经纬度信息，也可以是由第一无线设备的全球定位系统(Global Positioning System，GPS)周期性获取的位置。
203，车辆终端根据N个无线设备的位置信息确定车辆终端的位置信息。
本申请实施例中，车辆终端在向NAN内的无线设备发送第一广播消息之后，在预设时间内检测是否收到NAN内的无线设备发送的回复消息。如果在预设时间内收到N个无线设备发送的回复消息，从N个无线设备中获取N个无线设备的位置信息。
预设时间可以预先设定并存储在车辆终端的存储器(例如，非易失性存储器)，比如， 预设时间可以设置为512个TU或者512个TU的整数倍。
其中，车辆终端根据N个无线设备的位置信息确定车辆终端的位置信息，具体为：
车辆终端选择N个无线设备中的一个无线设备的位置信息作为车辆终端的位置信息。
例如，车辆终端可以从N个无线设备中随机选择一个无线设备，并将该无线设备的位置信息作为自身的位置信息。又例如，车辆终端可以按照一定筛选条件从N个无线设备中选择一个无线设备，并将该无线设备的位置信息作为自身的位置信息。
可选的，步骤203具体可以包括如下步骤：
(11)车辆终端分别测量与N个无线设备之间的距离；
(12)车辆终端确定N个无线设备中与车辆终端距离最近的第一目标无线设备；
(13)车辆终端确定第一目标无线设备的位置信息为车辆终端的位置信息。
本申请实施例中，车辆终端可以与N个无线设备协商测距原理、测距协议、测距参数需求，根据协商的测距原理、测距协议、测距参数需求测量车辆终端与N个无线设备之间的距离。
其中，测距原理可以包括精确时间测量(fine timing measurement，FTM)原理、三角测距原理等，测距参数需求可以包括测距范围、测距精度等。
车辆终端分别测量自身与N个无线设备的距离，将N个无线设备中与自身距离最近的无线设备的位置信息作为自身的位置信息。
本申请实施例中，车辆终端可以选择NAN中与自身位置最近的无线设备的位置信息作为自身的位置信息，从而提高车辆终端的定位精度。
可选的，步骤203具体可以包括如下步骤：
(21)车辆终端与第一无线设备进行测距交互，得到车辆终端与第一无线设备之间的距离信息；
(22)车辆终端根据车辆终端与第一无线设备之间的距离信息、第一无线设备的位置信息计算车辆终端的位置信息。
本申请实施例中，车辆终端与第一无线设备进行测距交互可以得到车辆终端与第一无线设备之间的距离。
车辆终端根据车辆终端与第一无线设备之间的距离信息、第一无线设备的位置信息计算车辆终端的位置信息，具体为：
车辆终端获取第一无线设备的位置信息，以第一无线设备的位置为圆形，车辆终端与第一无线设备之间的距离为半径形成圆周，车辆终端选取圆周上的一点为车辆终端的位置。
可选的，上述步骤(21)车辆终端与第一无线设备进行测距交互，得到车辆终端与第一无线设备之间的距离信息具体可以包括如下步骤：
(211)车辆终端向第一无线设备发送距离测量请求；第一无线设备用于在接收到距离测量请求之后向车辆终端发送针对距离测量请求的测距回复消息，第一无线设备还用于记录第一无线设备向车辆终端发送测距回复消息的第一时刻；
(212)车辆终端确定接收到第一无线设备发送的测距回复消息，并记录接收到测距回复消息的第二时刻；
(213)车辆终端向第一无线设备发送针对测距回复消息的确认应答消息，并记录发送确认应答消息的第三时刻；第一无线设备还用于记录第一无线设备接收到确认应答消息的第四时刻，第一无线设备还用于向车辆终端发送测距消息，测距消息包含第一时刻和第四时刻；
(214)车辆终端根据第一时刻、第二时刻、第三时刻、第四时刻以及信号传播速度确定车辆终端与第一无线设备之间的距离。
本申请实施例中，车辆终端根据第一时刻、第二时刻、第三时刻、第四时刻以及信号 传播速度确定车辆终端与第一无线设备之间的距离具体为：
车辆终端按照如下公式计算车辆终端与第一无线设备之间的距离：
S＝[(t 2-t 1)+(t 4-t 3)]×c/2；
其中，t 1为第一时刻，t 2为第二时刻，t 3为第三时刻，t 4为第四时刻，c为信号传播速度，S为车辆终端与第一无线设备之间的距离。
其中，上述步骤201至步骤203可以周期性的执行，车辆终端可以实时获取自身的位置信息。
本申请实施例中，可以通过NAN定位车辆终端的位置，对于没有定位功能的车辆终端而言，可以借助NAN中的其他无线设备快速定位自身的位置。
请参阅图3，图3是本申请实施例公开的另一种定位方法的流程示意图，如图3所示，该定位方法包括如下步骤。
301，车辆终端向NAN内的无线设备发送第一广播消息，该第一广播消息用于请求位置信息。
302，车辆终端接收NAN内的第一无线设备发送的针对第一广播消息的第一回复消息，该第一回复消息包含第一无线设备的位置信息。
303，车辆终端根据N个无线设备的位置信息确定车辆终端的位置信息。
本申请实施例中，步骤301至步骤303可以参见图2所示的步骤201至步骤203，此处不再赘述。
304，车辆终端向N个无线设备发送第二广播消息，该第二广播消息用于请求目的地信息。
本申请实施例中，第二广播消息包含目的地请求消息，目的地请求消息用于请求N个无线设备向该车辆终端上报自身的目的地信息。N个无线设备可以选择是否上报自身的目的地信息。由于上报目的地信息涉及到隐私，N个无线设备自身可以选择是否上报自身的目的地信息。
305，车辆终端接收第二无线设备发送的针对第二广播消息的第二回复消息，第二回复消息包含第二无线设备的目的地信息；第二无线设备为向车辆终端发送针对第二广播消息的回复消息的M个无线设备中的任一个，M为小于或等于N的整数。
306，车辆终端根据M个无线设备的目的地信息确定M个无线设备中与车辆终端的目的地最近的第二目标无线设备。
本申请实施例中，N个无线设备接收到车辆终端发送的第二广播消息后，假设N个无线设备中有M个无线设备向车辆终端返回包含目的地信息的第二回复消息，车辆终端根据M个无线设备的目的地信息确定M个无线设备中与车辆终端的目的地最近的第二目标无线设备。
其中，车辆终端的目的地可以预先由用户输入并存储在车辆终端的存储器中。
307，车辆终端向第二目标无线设备发送导航跟随请求。
308，若车辆终端接收到第二目标无线设备返回的允许跟随消息，车辆终端跟随第二目标无线设备行驶。
本申请实施例中，车辆终端跟随第二目标无线设备行驶，具体为：
车辆终端与第二目标无线设备进行实时测距交互以实时测量车辆终端与第二目标无线设备的距离，当检测到车辆终端与第二目标无线设备的距离缩小到预设距离时，则认为车辆终端靠近第二目标无线设备，车辆终端可以跟随第二目标无线设备行驶，以实现车辆终端的导航功能。
本申请实施例中，可以通过NAN定位车辆终端的位置，对于没有定位功能的车辆终端 而言，可以借助NAN中的其他无线设备快速定位自身的位置，还可以借助NAN中的其他无线设备进行导航。
上述主要从方法侧执行过程的角度对本申请实施例的方案进行了介绍。可以理解的是，移动终端为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本发明能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
本申请实施例可以根据上述方法示例对移动终端进行功能单元的划分，例如，可以对应各个功能划分各个功能单元，也可以将两个或两个以上的功能集成在一个处理单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。需要说明的是，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
请参阅图4，图4是本申请实施例公开的一种定位装置的结构示意图。该定位装置应用于车辆终端，该车辆终端加入邻近感知NAN网络，如图4所示，该定位装置400包括第一发送单元401、第一接收单元402以及确定单元403，其中：
第一发送单元401，用于向NAN内的无线设备发送第一广播消息，第一广播消息用于请求位置信息；
第一接收单元402，用于接收NAN内的第一无线设备发送的针对第一广播消息的第一回复消息，第一回复消息包含第一无线设备的位置信息；第一无线设备为向车辆终端发送针对第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数；
确定单元403，用于根据N个无线设备的位置信息确定车辆终端的位置信息。
可选的，确定单元403根据N个无线设备的位置信息确定车辆终端的位置信息，具体为：
确定单元403分别测量与N个无线设备之间的距离；确定N个无线设备中与车辆终端距离最近的第一目标无线设备；确定第一目标无线设备的位置信息为车辆终端的位置信息。
可选的，确定单元403根据N个无线设备的位置信息确定车辆终端的位置信息，具体为：
确定单元403与第一无线设备进行测距交互，得到车辆终端与第一无线设备之间的距离信息；根据车辆终端与第一无线设备之间的距离信息、第一无线设备的位置信息计算车辆终端的位置信息。
可选的，确定单元403与第一无线设备进行测距交互，得到车辆终端与第一无线设备之间的距离信息，包括：
确定单元403向第一无线设备发送距离测量请求；第一无线设备用于在接收到距离测量请求之后向车辆终端发送针对距离测量请求的测距回复消息，第一无线设备还用于记录第一无线设备向车辆终端发送测距回复消息的第一时刻；
确定单元403确定接收到第一无线设备发送的测距回复消息，并记录接收到测距回复消息的第二时刻；
确定单元403向第一无线设备发送针对测距回复消息的确认应答消息，并记录发送确认应答消息的第三时刻；第一无线设备还用于记录第一无线设备接收到确认应答消息的第四时刻，第一无线设备还用于向车辆终端发送测距消息，测距消息包含第一时刻和第四时刻；
确定单元403根据第一时刻、第二时刻、第三时刻、第四时刻以及信号传播速度确定 车辆终端与第一无线设备之间的距离。
可选的，定位装置400还包括第二发送单元404、第二接收单元405、第三发送单元406和跟随单元407，其中：
第二发送单元404，用于向N个无线设备发送第二广播消息，第二广播消息用于请求目的地信息；
第二接收单元405，用于接收第二无线设备发送的针对第二广播消息的第二回复消息，第二回复消息包含第二无线设备的目的地信息；第二无线设备为向车辆终端发送针对第二广播消息的回复消息的M个无线设备中的任一个，M为小于或等于N的整数；
确定单元403，还用于根据M个无线设备的目的地信息确定M个无线设备中与车辆终端的目的地最近的第二目标无线设备；
第三发送单元406，用于向第二目标无线设备发送导航跟随请求；
跟随单元407，用于当车辆终端接收到第二目标无线设备返回的允许跟随消息时，跟随第二目标无线设备行驶。
实施图4所示的定位装置，可以通过NAN定位车辆终端的位置，对于没有定位功能的车辆终端而言，可以借助NAN中的其他无线设备快速定位自身的位置。
请参阅图5，图5是本申请实施例公开的另一种移动终端的结构示意图。如图5所示，该移动终端500包括处理器501和存储器502，其中，移动终端500还可以包括总线503，处理器501和存储器502可以通过总线503相互连接，总线503可以是外设部件互连标准(Peripheral Component Interconnect，简称PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture，简称EISA)总线等。总线503可以分为地址总线、数据总线、控制总线等。为便于表示，图5中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。其中，移动终端500还可以包括输入输出设备504，输入输出设备504可以包括显示屏，例如液晶显示屏。存储器502用于存储包含指令的一个或多个程序；处理器501用于调用存储在存储器502中的指令执行上述图1至图3中的部分或全部方法步骤。
实施图5所示的移动终端，可以通过NAN定位车辆终端的位置，对于没有定位功能的车辆终端而言，可以借助NAN中的其他无线设备快速定位自身的位置。
本申请实施例还提供了另一种移动终端，如图6所示，为了便于说明，仅示出了与本申请实施例相关的部分，具体技术细节未揭示的，请参照本申请实施例方法部分。该移动终端可以为包括手机、平板电脑、PDA(Personal Digital Assistant，个人数字助理)、POS(Point of Sales，销售终端)、车载电脑等任意终端设备，以移动终端为手机为例：
图6示出的是与本申请实施例提供的移动终端相关的手机的部分结构的框图。参考图6，手机包括：射频(Radio Frequency，RF)电路910、存储器920、输入单元930、显示单元940、传感器950、音频电路960、无线保真(Wireless Fidelity，WiFi)模块970、处理器980、以及电源990等部件。本领域技术人员可以理解，图6中示出的手机结构并不构成对手机的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
下面结合图6对手机的各个构成部件进行具体的介绍：
RF电路910可用于信息的接收和发送。通常，RF电路910包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器(Low Noise Amplifier，LNA)、双工器等。此外，RF电路910还可以通过无线通信与网络和其他设备通信。上述无线通信可以使用任一通信标准或协议，包括但不限于全球移动通讯系统(Global System of Mobile communication，GSM)、通用分组无线服务(General Packet Radio Service，GPRS)、码分多址(Code Division Multiple Access，CDMA)、宽带码分多址(Wideband Code Division Multiple Access,WCDMA)、长期演进(Long Term Evolution，LTE)、电子邮件、短消息 服务(Short Messaging Service，SMS)等。
存储器920可用于存储软件程序以及模块，处理器980通过运行存储在存储器920的软件程序以及模块，从而执行手机的各种功能应用以及数据处理。存储器920可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序等；存储数据区可存储根据手机的使用所创建的数据等。此外，存储器920可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
输入单元930可用于接收输入的数字或字符信息，以及产生与手机的用户设置以及功能控制有关的键信号输入。具体地，输入单元930可包括指纹识别模组931以及其他输入设备932。指纹识别模组931，可采集用户在其上的指纹数据。除了指纹识别模组931，输入单元930还可以包括其他输入设备932。具体地，其他输入设备932可以包括但不限于触控屏、物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆等中的一种或多种。
显示单元940可用于显示由用户输入的信息或提供给用户的信息以及手机的各种菜单。显示单元940可包括显示屏941，可选的，可以采用液晶显示器(Liquid Crystal Display，LCD)、有机或无机发光二极管(Organic Light-Emitting Diode,OLED)等形式来配置显示屏941。
手机还可包括至少一种传感器950，比如光传感器、运动传感器、压力传感器、温度传感器以及其他传感器。具体地，光传感器可包括环境光传感器(也称为光线传感器)及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节手机的背光亮度，进而调节显示屏941的亮度，接近传感器可在手机移动到耳边时，关闭显示屏941和/或背光。作为运动传感器的一种，加速计传感器可检测各个方向上(一般为三轴)加速度的大小，静止时可检测出重力的大小及方向，可用于识别手机姿态的应用(比如横竖屏切换、磁力计姿态校准)、振动识别相关功能(比如计步器、敲击)等；至于手机还可配置的陀螺仪、气压计、湿度计、温度计、红外线传感器等其他传感器，在此不再赘述。
音频电路960、扬声器961，传声器962可提供用户与手机之间的音频接口。音频电路960可将接收到的音频数据转换后的电信号，传输到扬声器961，由扬声器961转换为声音信号播放；另一方面，传声器962将收集的声音信号转换为电信号，由音频电路960接收后转换为音频数据，再将音频数据播放处理器980处理后，经RF电路910以发送给比如另一手机，或者将音频数据播放至存储器920以便进一步处理。
WiFi属于短距离无线传输技术，手机通过WiFi模块970可以帮助用户收发电子邮件、浏览网页和访问流式媒体等，它为用户提供了无线的宽带互联网访问。虽然图6示出了WiFi模块970，但是可以理解的是，其并不属于手机的必须构成，完全可以根据需要在不改变发明的本质的范围内而省略。
处理器980是手机的控制中心，利用各种接口和线路连接整个手机的各个部分，通过运行或执行存储在存储器920内的软件程序和/或模块，以及调用存储在存储器920内的数据，执行手机的各种功能和处理数据，从而对手机进行整体监控。可选的，处理器980可包括一个或多个处理单元；优选的，处理器980可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器980中。
手机还包括给各个部件供电的电源990(比如电池)，优选的，电源可以通过电源管理系统与处理器980逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。
手机还可以包括摄像头9100，摄像头9100用于拍摄图像与视频，并将拍摄的图像和 视频传输到处理器980进行处理。
手机还可以蓝牙模块等，在此不再赘述。
前述图1～图3所示的实施例中，各步骤方法流程可以基于该手机的结构实现。
本申请实施例还提供一种计算机存储介质，其中，该计算机存储介质存储用于电子数据交换的计算机程序，该计算机程序使得计算机执行如上述方法实施例中记载的任何一种定位方法的部分或全部步骤。
本申请实施例还提供一种计算机程序产品，所述计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，所述计算机程序可操作来使计算机执行如上述方法实施例中记载的任何一种定位方法的部分或全部步骤。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储器包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储器中，存储器可以包括：闪存盘、只读存储器(英文：Read-Only Memory，简称：ROM)、随机存取器(英文：Random Access Memory，简称：RAM)、磁盘或光盘等。
以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (20)

  1. 一种定位方法，其特征在于，所述方法应用于车辆终端，所述车辆终端加入邻近感知NAN网络，所述方法包括：
    所述车辆终端向所述NAN内的无线设备发送第一广播消息，所述第一广播消息用于请求位置信息；
    所述车辆终端接收所述NAN内的第一无线设备发送的针对所述第一广播消息的第一回复消息，所述第一回复消息包含所述第一无线设备的位置信息；所述第一无线设备为向所述车辆终端发送针对所述第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数；
    所述车辆终端根据所述N个无线设备的位置信息确定所述车辆终端的位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述车辆终端根据所述N个无线设备的位置信息确定所述车辆终端的位置信息，包括：
    所述车辆终端分别测量与所述N个无线设备之间的距离；
    所述车辆终端确定所述N个无线设备中与所述车辆终端距离最近的第一目标无线设备；
    所述车辆终端确定所述第一目标无线设备的位置信息为所述车辆终端的位置信息。
  3. 根据权利要求2所述的方法，其特征在于，所述车辆终端分别测量与所述N个无线设备之间的距离，包括：
    所述车辆终端分别与所述N个无线设备协商测距原理、测距协议和测距参数需求，根据协商的测距原理、测距协议、测距参数需求分别测量所述车辆终端与所述N个无线设备之间的距离。
  4. 根据权利要求1所述的方法，其特征在于，所述车辆终端根据所述N个无线设备的位置信息确定所述车辆终端的位置信息，包括：
    所述车辆终端与所述第一无线设备进行测距交互，得到所述车辆终端与所述第一无线设备之间的距离信息；
    所述车辆终端根据所述车辆终端与所述第一无线设备之间的距离信息、所述第一无线设备的位置信息计算所述车辆终端的位置信息。
  5. 根据权利要求4所述的方法，其特征在于，所述车辆终端与所述第一无线设备进行测距交互，得到所述车辆终端与所述第一无线设备之间的距离信息，包括：
    所述车辆终端向所述第一无线设备发送距离测量请求；所述第一无线设备用于在接收到所述距离测量请求之后向所述车辆终端发送针对所述距离测量请求的测距回复消息，所述第一无线设备还用于记录所述第一无线设备向所述车辆终端发送所述测距回复消息的第一时刻；
    所述车辆终端确定接收到所述第一无线设备发送的所述测距回复消息，并记录接收到所述测距回复消息的第二时刻；
    所述车辆终端向所述第一无线设备发送针对所述测距回复消息的确认应答消息，并记录发送所述确认应答消息的第三时刻；所述第一无线设备还用于记录所述第一无线设备接收到所述确认应答消息的第四时刻，所述第一无线设备还用于向所述车辆终端发送测距消息，所述测距消息包含所述第一时刻和所述第四时刻；
    所述车辆终端根据所述第一时刻、所述第二时刻、所述第三时刻、所述第四时刻以及信号传播速度确定所述车辆终端与所述第一无线设备之间的距离。
  6. 根据权利要求5所述的方法，其特征在于，所述车辆终端根据所述第一时刻、所述第二时刻、所述第三时刻、所述第四时刻以及信号传播速度确定所述车辆终端与所述第一无线设备之间的距离，包括：
    所述车辆终端按照如下公式计算所述车辆终端与所述第一无线设备之间的距离：
    S＝[(t 2-t 1)+(t 4-t 3)]×c/2；
    其中，t 1为第一时刻，t 2为第二时刻，t 3为第三时刻，t 4为第四时刻，c为信号传播速度，S为所述车辆终端与所述第一无线设备之间的距离。
  7. 根据权利要求4所述的方法，其特征在于，所述车辆终端根据所述车辆终端与所述第一无线设备之间的距离信息、所述第一无线设备的位置信息计算所述车辆终端的位置信息，包括：
    所述车辆终端获取所述第一无线设备的位置信息，以所述第一无线设备的位置为圆形，所述车辆终端与所述第一无线设备之间的距离为半径形成圆周，所述车辆终端选取所述圆周上的一点为所述车辆终端的位置。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述车辆终端根据所述N个无线设备的位置信息确定所述车辆终端的位置信息之后，所述方法还包括：
    所述车辆终端向所述N个无线设备发送第二广播消息，所述第二广播消息用于请求目的地信息；
    所述车辆终端接收第二无线设备发送的针对所述第二广播消息的第二回复消息，所述第二回复消息包含所述第二无线设备的目的地信息；所述第二无线设备为向所述车辆终端发送针对所述第二广播消息的回复消息的M个无线设备中的任一个，M为小于或等于N的整数；
    所述车辆终端根据所述M个无线设备的目的地信息确定M个无线设备中与所述车辆终端的目的地最近的第二目标无线设备；
    所述车辆终端向所述第二目标无线设备发送导航跟随请求；
    若所述车辆终端接收到所述第二目标无线设备返回的允许跟随消息，所述车辆终端跟随所述第二目标无线设备行驶。
  9. 根据权利要求1所述的方法，其特征在于，所述车辆终端向所述NAN内的无线设备发送第一广播消息，包括：
    所述车辆终端在所述NAN的发现窗口向所述NAN内的无线设备发送第一广播消息。
  10. 一种定位装置，其特征在于，所述装置应用于车辆终端，所述车辆终端加入邻近感知NAN网络，所述装置包括第一发送单元、第一接收单元和确定单元；其中：
    所述第一发送单元，用于向所述NAN内的无线设备发送第一广播消息，所述第一广播消息用于请求位置信息；
    所述第一接收单元，用于接收所述NAN内的第一无线设备发送的针对所述第一广播消息的第一回复消息，所述第一回复消息包含所述第一无线设备的位置信息；所述第一无线设备为向所述车辆终端发送针对所述第一广播消息的回复消息的N个无线设备中的任一个，N为大于或等于1的整数；
    所述确定单元，用于根据所述N个无线设备的位置信息确定所述车辆终端的位置信息。
  11. 根据权利要求10所述的装置，其特征在于，所述确定单元根据所述N个无线设备的位置信息确定所述车辆终端的位置信息，具体为：
    所述确定单元分别测量与所述N个无线设备之间的距离；确定所述N个无线设备中与所述车辆终端距离最近的第一目标无线设备；确定所述第一目标无线设备的位置信息为所述车辆终端的位置信息。
  12. 根据权利要求11所述的装置，其特征在于，所述确定单元分别测量与所述N个无线设备之间的距离，具体为：
    所述确定单元分别与所述N个无线设备协商测距原理、测距协议和测距参数需求，根据协商的测距原理、测距协议、测距参数需求分别测量所述车辆终端与所述N个无线设备之间的距离。
  13. 根据权利要求10所述的装置，其特征在于，所述确定单元根据所述N个无线设备的位置信息确定所述车辆终端的位置信息，具体为：
    所述确定单元与所述第一无线设备进行测距交互，得到所述车辆终端与所述第一无线设备之间的距离信息；根据所述车辆终端与所述第一无线设备之间的距离信息、所述第一无线设备的位置信息计算所述车辆终端的位置信息。
  14. 根据权利要求13所述的装置，其特征在于，所述确定单元与所述第一无线设备进行测距交互，得到所述车辆终端与所述第一无线设备之间的距离信息，具体为：
    所述确定单元向所述第一无线设备发送距离测量请求；所述第一无线设备用于在接收到所述距离测量请求之后向所述车辆终端发送针对所述距离测量请求的测距回复消息，所述第一无线设备还用于记录所述第一无线设备向所述车辆终端发送所述测距回复消息的第一时刻；确定接收到所述第一无线设备发送的所述测距回复消息，并记录接收到所述测距回复消息的第二时刻；向所述第一无线设备发送针对所述测距回复消息的确认应答消息，并记录发送所述确认应答消息的第三时刻；所述第一无线设备还用于记录所述第一无线设备接收到所述确认应答消息的第四时刻，所述第一无线设备还用于向所述车辆终端发送测距消息，所述测距消息包含所述第一时刻和所述第四时刻；根据所述第一时刻、所述第二时刻、所述第三时刻、所述第四时刻以及信号传播速度确定所述车辆终端与所述第一无线设备之间的距离。
  15. 根据权利要求14所述的装置，其特征在于，所述确定单元根据所述第一时刻、所述第二时刻、所述第三时刻、所述第四时刻以及信号传播速度确定所述车辆终端与所述第一无线设备之间的距离，具体为：
    所述确定单元按照如下公式计算所述车辆终端与所述第一无线设备之间的距离：
    S＝[(t 2-t 1)+(t 4-t 3)]×c/2；
    其中，t 1为第一时刻，t 2为第二时刻，t 3为第三时刻，t 4为第四时刻，c为信号传播速度，S为所述车辆终端与所述第一无线设备之间的距离。
  16. 根据权利要求13所述的装置，其特征在于，所述确定单元根据所述车辆终端与所述第一无线设备之间的距离信息、所述第一无线设备的位置信息计算所述车辆终端的位置信息，具体为：
    所述确定单元获取所述第一无线设备的位置信息，以所述第一无线设备的位置为圆形，所述车辆终端与所述第一无线设备之间的距离为半径形成圆周，选取所述圆周上的一点为所述车辆终端的位置。
  17. 根据权利要求10-16任一项所述的装置，其特征在于，所述装置还包括第二发送单元、第二接收单元、第三发送单元和跟随单元；其中：
    所述第二发送单元，用于在所述确定单元根据所述N个无线设备的位置信息确定所述车辆终端的位置信息之后，向所述N个无线设备发送第二广播消息，所述第二广播消息用于请求目的地信息；
    所述第二接收单元，用于接收第二无线设备发送的针对所述第二广播消息的第二回复消息，所述第二回复消息包含所述第二无线设备的目的地信息；所述第二无线设备为向所述车辆终端发送针对所述第二广播消息的回复消息的M个无线设备中的任一个，M为小于或等于N的整数；
    所述确定单元，还用于根据所述M个无线设备的目的地信息确定M个无线设备中与所述车辆终端的目的地最近的第二目标无线设备；
    所述第三发送单元，用于向所述第二目标无线设备发送导航跟随请求；
    所述跟随单元，用于当所述车辆终端接收到所述第二目标无线设备返回的允许跟随消息时，跟随所述第二目标无线设备行驶。
  18. 根据权利要求10所述的装置，其特征在于，所述第一发送单元向所述NAN内的无线设备发送第一广播消息，包括：
    所述第一发送单元在所述NAN的发现窗口向所述NAN内的无线设备发送第一广播消息。
  19. 一种移动终端，其特征在于，包括处理器以及存储器，所述存储器用于存储一个或多个程序，所述一个或多个程序被配置成由所述处理器执行，所述程序包括用于执行如权利要求1-9任一项所述的方法。
  20. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质用于存储电子数据交换的计算机程序，其中，所述计算机程序使得计算机执行如权利要求1-9任一项所述的方法。
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