WO2022135196A1

WO2022135196A1 - Terminal positioning method and terminal

Info

Publication number: WO2022135196A1
Application number: PCT/CN2021/137279
Authority: WO
Inventors: 王思善
Original assignee: 华为技术有限公司
Priority date: 2020-12-22
Filing date: 2021-12-11
Publication date: 2022-06-30
Also published as: CN114727214A

Abstract

Embodiments of the present application relate to the technical field of positioning, and provide a terminal positioning method and a terminal. The method is applied to a terminal having a positioning function, and comprises: receiving a positioning trigger message sent by a vehicle; in response to the positioning trigger message, obtaining first positioning information of a position where the terminal is currently located, the first positioning information being used for indicating the current position of the vehicle; and instructing, according to the first positioning information and second positioning information of the terminal, the vehicle to execute a target operation, the second positioning information being real-time position information measured by the terminal during a positioning operation. According to the present application, by dominating a positioning operation on a terminal side, the terminal can match or be compatible with multiple positioning technologies by taking advantage of the fast iteration speed of the terminal, and the optionality of positioning technology can be increased and the accuracy of vehicle control can be improved without relying on vehicle hardware.

Description

Terminal positioning method and terminal

This application claims the priority of the Chinese patent application with the application number 202011530023.5 and the application title "Method and Terminal for Terminal Positioning" submitted to the State Intellectual Property Office on December 22, 2020, the entire contents of which are incorporated into this application by reference .

technical field

The present application relates to the field of positioning technologies, and in particular, to a terminal positioning method and terminal.

Background technique

With the popularization of car networking, digital car key (or "digital key") products have emerged, which can unlock the car, start the engine and other functions through user terminals (such as mobile phones, wearable devices, etc.), and use The wireless communication module of the intelligent connected car realizes the functions of remote management of the life cycle of the digital car key and sharing of the key. At present, the passive entry passive start (PEPS) function of the digital key can bring the best user experience to the user. This function uses the car to locate the terminal. Within the range, related processes such as car unlocking can be triggered without the need for users to perform management operations on the terminal.

The effect of the sensorless key function depends on the accuracy of the positioning information. However, in the current sensorless key architecture, operations such as terminal positioning and identification of the terminal entering a specific area are performed by the vehicle side, which needs to be implemented by the software and hardware of the vehicle. Compared with the rapidly developing positioning technology, There are many shortcomings in positioning by the vehicle end, which will affect the accuracy of positioning.

On the one hand, the received signal strength indication (RSSI) scheme used in vehicle positioning has poor anti-interference ability, and the subsequent high-precision Bluetooth positioning technology and ultra-wide band (UWB) technology cannot realize the stock equipment. However, the R&D cycle of vehicle hardware is relatively long. For example, it can only be mass-produced after 2 years of early hardware selection, resulting in poor performance of the hardware during mass production. It is difficult to ensure that it matches the latest positioning technology at that time. In addition, the life cycle of the vehicle is long, and users usually replace the new car after many years, which makes the improvement process of the sensorless key experience very slow for users. On the other hand, in order to meet the requirement of positioning accuracy of 20cm, it is usually necessary to deploy multiple ranging nodes on the vehicle end to realize the positioning of the key end, which increases the cost and complexity of deployment.

SUMMARY OF THE INVENTION

This application provides a method for terminal positioning. By leading the positioning process in the terminal and realizing the interaction between the terminal and the vehicle based on the positioning result, it solves the problem that the accuracy of positioning technology is limited by the update of vehicle hardware when the current positioning is performed by the vehicle terminal. slow, resulting in the problem of low vehicle control accuracy.

In a first aspect, a method for positioning a terminal is provided. When a trigger event occurs in a vehicle, the terminal performs a first positioning operation on the position of the terminal itself, obtains first positioning information indicating the current position of the terminal, and converts the current position of the terminal to the terminal. The position is regarded as the position of the vehicle when the trigger event occurs (such as the parking position); then, the terminal can perform a second positioning operation on the real-time position of the terminal to obtain, for example, the real-time position of the terminal during the movement process after getting off the car (the real-time position can be used in the first position). Then, the terminal uses the first positioning information and the second positioning information to judge the relative distance between the terminal and the vehicle position, and based on the relative distance (such as comparing the relative distance and the preset distance, or comparing The relative distance and the relative position of the geofence), control the vehicle to perform the corresponding operation.

Through the above method, the terminal can start the positioning process according to the positioning trigger message of the vehicle, and determine whether the terminal enters the preset range of the vehicle based on the positioning result, which can avoid the positioning process relying on the vehicle to complete, and the selection of positioning technology is limited by the vehicle. end hardware. With the fast iteration speed of the terminal, the terminal can match or be compatible with a variety of positioning technologies, which increases the optionality of the positioning technology and improves the user experience.

The terminals involved in this application may include devices with positioning functions, such as electronic key devices, mobile phones, tablet computers, and wearable devices. The terminal has a digital key function or is installed with a vehicle digital key application, etc., and can be used as a vehicle's smart key.

In an implementation manner, when the vehicle receives a trigger event, such as the vehicle changes from a running state to a stopped state or the vehicle and the terminal establish a connection and pass the authentication, a positioning trigger message will be generated. The vehicle may send the positioning trigger message to the terminal, and after receiving the positioning trigger message, the terminal performs the first positioning operation in response to the positioning trigger message. The first positioning operation is used to locate the current position of the terminal, and obtain first positioning information indicating the current position of the terminal.

In another implementation manner, the terminal may set a reminder message for a trigger event, when a trigger event occurs in the vehicle, the terminal will generate the reminder message, and the terminal may perform the first positioning operation in response to the reminder message.

For example, the destination address of the vehicle can be set on the terminal according to a third-party application. When the vehicle arrives at the destination address, the third-party application can generate a reminder message (for example, the vehicle arrives at the destination address; after that, the terminal can execute the operation according to the reminder message. The first positioning operation.

In other words, when a trigger event occurs in the vehicle, the terminal may perform the first positioning operation under the instruction of the vehicle, or may perform the first positioning operation spontaneously.

It should be understood that when the vehicle stops, the terminal is still in the vehicle or the distance between the terminal and the vehicle is very small. At this time, the distance between the terminal and the vehicle is less than the first threshold, and the first positioning information can be used to indicate the parking of the vehicle. Position, in other words, the position indicated by the first positioning information may serve as an anchor point for terminal positioning.

In an implementation manner, after the terminal performs the first positioning operation, the user leaves the vehicle with the terminal, and the second positioning operation may be performed while the terminal is moving away from the vehicle or approaching the vehicle again. The second positioning operation is used for positioning the real-time position of the terminal during the moving process.

Optionally, the second positioning operation may periodically monitor its own moving position during the process of the terminal leaving the vehicle and approaching the vehicle again; When the terminal is far from the vehicle and the wireless connection is disconnected, the terminal can stop the second positioning operation, and when the terminal approaches the vehicle again and the two are wirelessly connected again, the terminal can perform the second positioning operation again.

In an implementation manner, the terminal may determine the relative distance between the terminal and the vehicle according to the first positioning information and the second positioning information during the movement of the terminal, and then instruct the vehicle to perform the corresponding target operation according to the relative distance.

It should be understood that in the scenario where the terminal interacts with the vehicle, since the sensorless interaction experience between the two depends on the precise positioning result, the flexible selection of the positioning method is essential for the accurate interaction between the terminal and the vehicle. important role.

According to the terminal positioning method provided in this application, the terminal can judge the relative distance between the terminal and the vehicle through its own real-time positioning information and the vehicle reference position information, and instruct the vehicle to perform corresponding operations according to the relationship between the relative distance and the preset distance. . In this process, the terminal performs the positioning operation, and controls the vehicle to perform the corresponding operation based on the positioning information. There is no need to update the software and hardware on the vehicle side frequently, and there is no need for human participation. The terminal can automatically control the vehicle, ensuring vehicle control. On the premise of convenience, the accuracy of vehicle control and the user's senseless operation experience are improved.

With reference to the first aspect, in some implementations of the first aspect, the terminal may instruct the vehicle to perform a target operation according to the first positioning information and the second positioning information, which specifically includes: the terminal according to the first positioning information and the second positioning information. information to determine the relative distance between the terminal and the vehicle; wherein, when the relative distance between the terminal and the vehicle is greater than the preset distance, the vehicle is instructed to perform the first target operation; when the relative distance between the terminal and the vehicle is less than or When equal to the preset distance, the vehicle is instructed to perform the second target operation.

Through the above method, the terminal can automatically control the vehicle to perform corresponding operations based on the positioning information obtained by the terminal itself. This process does not require the vehicle side to perform positioning operations, nor does the user need to perform management operations on the terminal, thereby avoiding vehicle-side hardware on the positioning accuracy. Limits, while improving the user's senseless operation experience.

Wherein, when the relative distance between the terminal and the vehicle is greater than the preset distance, the terminal instructs the vehicle to perform the first target operation. Specifically, when the relative distance between the terminal and the vehicle changes from small to large, when the terminal and the vehicle When the relative distance between them is greater than the preset distance, the terminal instructs the vehicle to perform the first target operation. Similarly, when the relative distance between the terminal and the vehicle is less than or equal to the preset distance, the terminal instructs the vehicle to perform the second target operation. Specifically, when the relative distance between the terminal and the vehicle changes from large to small, when When the relative distance between the terminal and the vehicle is less than or equal to the preset distance, the terminal instructs the vehicle to perform the second target operation.

It should be understood that the preset distance can be flexibly set according to the actual needs of the user, which is not limited in this application.

In one implementation, the target operation may include related operations that the vehicle can perform under the instruction of the terminal, such as unlocking the door, locking the door; or unlocking the window, locking the window; or unlocking the trunk of the vehicle, unlocking The trunk of the vehicle, allowing the engine to be started, etc.

It should be understood that allowing the engine to be started in the embodiment of the present application means that when the terminal enters the preset distance or geo-fence corresponding to the target action of allowing the engine to be started, the vehicle can enter the state of allowing the engine to start under the instruction of the terminal, In this state, if the user performs a trigger operation, such as pressing the start button, the engine of the vehicle can be started, otherwise there is no response.

In an implementation manner, different target operations may correspond to different preset distances. For example, when the above-mentioned first target operation is to lock the door or unlock the door, the corresponding first preset distance; when the above-mentioned first target operation is to lock the trunk of the vehicle or unlock the trunk, it corresponds to the first preset distance. Two preset distances. The first preset distance and the second preset distance may be different.

In one implementation, for example, for the target action of unlocking the trunk, the corresponding preset distance may be that the distance between the terminal and the rear of the vehicle is less than a certain threshold, for example, when the distance between the terminal and the rear of the vehicle is less than 0.5m, or When the terminal is within a certain range directly above the trunk, the trunk of the vehicle will automatically open when it detects the user's trigger action; and when the terminal is 0.5m away from the rear of the vehicle, or a certain range directly above the trunk, the vehicle's back-up The box will automatically lock.

It should be understood that, in the embodiment of the present application, the size of the preset distance and the like may be flexibly set according to the characteristics of different target actions, which is not limited in the present application.

With reference to the first aspect, in some implementation manners of the first aspect, another specific implementation manner may also be adopted for the terminal to instruct the vehicle to perform a corresponding operation based on the positioning information, that is, the terminal sends the position indicated by the first positioning information (for example, the vehicle the parking position) as the reference position, the preset distances in different directions are used as the radius in this direction (the distance between the boundary and the reference position in this direction) to generate the geo-fence of the vehicle, and then enter the geo-fence by judging the terminal, Or leave the geofence to instruct the vehicle to perform the corresponding action.

It should be understood that the first positioning information is used to indicate the parking position of the vehicle, and the geo-fence of the vehicle can generally be determined by using the parking position as the reference position, so the position indicated by the first positioning information can be used as the reference position of the geo-fence of the vehicle, and then Combined with the geofence boundary distance (preset distance), get the geofence of the vehicle. The reference position of the geo-fence may be the center position of the geo-fence area, or may not be the center position of the geo-fence, which is not limited here.

Exemplarily, the terminal may calculate the information of the geo-fence of the vehicle according to the acquired preset vehicle geo-fence calculation strategy and algorithm, and use the position indicated by the first positioning information (which can be regarded as the parking position of the vehicle) as the reference position. Specifically, the terminal can obtain the geofence generation strategies or algorithms of different vehicle models in advance from the server, and the server can continuously upgrade and optimize the generation algorithm of the vehicle fence, and deliver it to the terminal in a safe way; the terminal can store the data of multiple vehicles. Algorithms for geo-fencing and distinguishing based on vehicle identification, etc. The terminal is associated with the digital car key application. When the terminal detects that a certain key has completed key authentication, it uses the algorithm corresponding to the key to generate a fence in subsequent positioning.

In an implementation manner, the terminal may obtain other parameter information for calculating the geofence of the vehicle in advance, such as the distance parameter between the geofence boundary and the reference position, or the size parameter of the geofence, the shape parameter of the geofence area, etc.; Then, the terminal determines the information of the geo-fence, such as the boundary coordinates of the geo-fence, according to the first positioning information and other parameter information of the geo-fence, and then obtains the geo-fence of the vehicle.

In an implementation manner, the terminal can mark the geo-fence area of the vehicle on the map page, so that the user can obtain the relative position of the vehicle and the geo-fence more intuitively.

With reference to the first aspect, in some implementations of the first aspect, instructing the vehicle to perform the target operation based on the terminal's own real-time location and the vehicle's geo-fence may include: according to the second positioning information and the geo-fence, determining the distance between the terminal and the geo-fence. Location relationship (the location relationship includes, for example, that the terminal enters the geo-fence area, or the terminal leaves the geo-fence area); when it is determined that the terminal leaves the geo-fence area according to the location relationship, the vehicle is instructed to perform the first target operation; When the terminal enters the geo-fenced area, the vehicle is instructed to perform the second target operation.

According to the above method, by judging that the terminal leaves or enters the geo-fenced area of the vehicle, and instructing the vehicle to perform the corresponding target operation, the terminal does not need to continuously compare the relative distance between the terminal and the vehicle and the preset distance, and the terminal can pass the terminal's The real-time location and the boundary position of the geo-fence can more intuitively and conveniently know the location relationship between the terminal and the geo-fence, so as to bring the user a good non-sensing experience, save the computing resources of the terminal, and ensure the performance of the terminal.

It should be understood that in addition to judging the relative distance between the terminal and the vehicle based on the first positioning information and the second positioning information of the terminal, the distance between the terminal and the vehicle can also be judged according to the positional relationship between the terminal and the vehicle's geo-fence.

In one implementation, the geo-fenced area may be the same as the sensorless operating area of the vehicle. The distance between the geo-fence boundary and the vehicle reference point may be the above-mentioned preset distance. In other words, the distance between each location of the geo-fence boundary and the reference position may be equivalent to the preset distance corresponding to each direction.

In an implementation manner, the terminal leaving the geo-fence area and the terminal entering the geo-fence area respectively correspond to different target operations of the vehicle.

In an implementation manner, different target operations correspond to different geo-fences. For example, the geo-fences corresponding to different target operations may have different shapes and sizes. For example, when the above-mentioned first target operation is to lock the door or unlock the door, it corresponds to the first geo-fence; when the above-mentioned first target operation is to lock the trunk of the vehicle or unlock the trunk, it corresponds to the first geo-fence. 2. Geofencing. The boundaries of the first geofence and the second geofence may have different distances from the reference location.

In an implementation manner, the terminal instructing the vehicle to perform the target operation may include: the terminal sending an instruction message to the vehicle. Specifically, the terminal may encrypt the instruction message by using an authentication key of the terminal, and the authentication key may be used to encrypt the instruction message. used for the terminal to authenticate with the vehicle; sending an encrypted instruction message to the vehicle.

According to the terminal positioning method provided by the embodiment of the present application, the terminal starts the positioning process according to the positioning trigger message of the vehicle, and determines whether the terminal enters the preset range of the vehicle based on the positioning result. The choice of positioning technology is limited by the hardware on the vehicle side. With the fast iteration speed of the terminal, the terminal can match or be compatible with a variety of positioning technologies, which increases the optionality of the positioning technology and improves the user experience.

In combination with the first aspect, in some implementations of the first aspect, when the vehicle also has a positioning function, the vehicle can also send the positioning reference information measured by the vehicle to the terminal, so that the terminal can use the positioning reference information of the vehicle to obtain the terminal from the terminal. The information (for example, the second positioning information or the information of the geo-fence) is corrected to overcome the influence of environmental factors that change over time on the accuracy of the positioning information. Specifically, the terminal may receive the first positioning reference information and the second positioning reference information sent by the vehicle, where the first positioning reference information is measured by the vehicle during the process of the terminal performing the first positioning operation. parking position information, the second positioning reference information is the parking position information measured by the vehicle when the terminal performs the second positioning operation; according to the first positioning reference information and the second positioning reference information, correcting the information of the geo-fence of the vehicle or the second positioning information.

According to the terminal positioning method provided by the embodiment of the present application, by using the positioning information measured by the vehicle itself, the vehicle position information and the geo-fence positioning information obtained by the terminal are corrected, so that the terminal positioning information can be corrected to the same error environment, thereby Overcome the positioning deviation caused by external conditions such as environmental changes at different times, improve the accuracy of the relative position of the terminal and the vehicle, and then improve the accuracy of the vehicle when performing related operations within a preset range.

In an implementation manner, when the vehicle has a positioning function, the vehicle may measure the first positioning reference information of the vehicle when the vehicle is parked. The first positioning reference information may be the parking position measured by the vehicle when the terminal performs the first positioning operation. Specifically, when the vehicle receives a trigger event (such as a change in the driving state of the vehicle, a wireless connection between the vehicle and the terminal is established and the authentication is passed, etc.), or when the vehicle sends a trigger message to the terminal, the vehicle also performs a positioning operation, and obtains the first Positioning reference information.

In an implementation manner, the second positioning reference information may be the parking position measured by the vehicle during the process of the terminal performing the second positioning operation. For example, when the terminal is approaching the vehicle again, after the terminal and the vehicle establish a wireless connection again and pass the authentication, the vehicle can measure the parking position at this time and obtain the second positioning reference information; or, when the terminal is moving away from the vehicle, If the terminal moves to the preset distance or the boundary of the geo-fence, the position information measured by the vehicle is the second positioning reference information.

In an implementation manner, the vehicle may send the first positioning reference information and the second positioning reference information to the terminal; the terminal may use the first positioning reference information and the second positioning reference information to correct the geo-fence or the second positioning information, for more accurate location information.

Optionally, the vehicle may send the first positioning reference information and the second positioning reference information to the terminal at the same time; or, the vehicle may first send the first positioning reference information to the terminal, and the terminal will store the first positioning reference information. After the second positioning reference information is measured, the second positioning reference information is sent to the terminal.

With reference to the first aspect, in some implementations of the first aspect, when the vehicle also has a positioning function, the vehicle can calculate the positioning error correction information based on the positioning reference information measured by the vehicle itself, and the positioning error correction information can be used to indicate The influence of environmental factors over time on the positioning information; the vehicle can send the positioning error information to the terminal, so that the terminal can correct the information obtained by the terminal according to the positioning error information (for example, the second positioning information or the information of the geo-fence). ) is corrected to overcome the influence of time-varying environmental factors on the accuracy of the positioning information. Specifically, the terminal may receive positioning error correction information sent by the vehicle, where the positioning error correction information is generated by the vehicle based on first positioning reference information and second positioning reference information acquired by the vehicle itself, and the first positioning reference information the parking position measured by the vehicle when the terminal performs the first positioning operation, and the second positioning reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation ; According to the positioning error correction information, correct the information of the geo-fence of the vehicle or the second positioning information.

It should be understood that the method for locating the terminal provided in this embodiment is based on the premise that the vehicle is in a stopped state and the actual position will not change. The information is corrected to eliminate the influence of the environment and different times, and the reference point of the geo-fence or the second positioning information is corrected to obtain a more accurate relative position between the two.

In an implementation manner, the vehicle may also generate positioning error correction information based on the first positioning reference information and the second positioning reference information.

In an implementation manner, the vehicle may send the positioning error correction information to the terminal, and the terminal uses the positioning error correction information to correct the information of the geo-fence or the second positioning information of the terminal.

With reference to the first aspect, in some implementations of the first aspect, when the relative distance is greater than a preset distance, first indication information is sent to the vehicle, where the first indication information is used to instruct the vehicle to execute the first target action; or, when the relative distance is less than or equal to a preset distance, send second indication information to the vehicle, where the second indication information is used to instruct the vehicle to execute the second target action.

It should be understood that according to the above method, the vehicle can be automatically locked when the user carries the terminal and leaves the sensorless operation area corresponding to the vehicle lock; or, the vehicle is automatically unlocked when the user brings the terminal into the sensorless operation area corresponding to the vehicle unlock. Alternatively, when the user carries the terminal into the interior of the vehicle, the vehicle is allowed to start the engine under the trigger of the user. The convenience and accuracy of controlling the vehicle can be improved.

In an implementation manner, when the terminal leaves the geo-fence, first indication information may be sent to the vehicle, where the first indication information is used to instruct the vehicle to perform the first target operation; or, when the terminal enters the geo-fence When the geo-fence is established, the terminal may send second indication information to the vehicle, where the second indication information is used to instruct the vehicle to perform the second target operation.

Optionally, the first target operation includes at least one of the following: door locking, window locking, and trunk locking of the vehicle; and the second target operation includes at least one of the following: door unlocking, window unlocking, trunk unlocking, The engine is allowed to start.

With reference to the first aspect, in some implementations of the first aspect, the trigger event includes at least one of the following: the vehicle changes from a running state to a parked state; or, the vehicle passes the authentication of the terminal; or , the vehicle arrives at the preset destination address.

With reference to the first aspect, in some implementations of the first aspect, the performing a first positioning operation when a trigger event occurs on the vehicle specifically includes: when a trigger event occurs on the vehicle, receiving a positioning trigger message sent by the vehicle , the positioning trigger message is used to instruct the terminal to perform the first positioning operation; in response to the positioning trigger message, the first positioning operation is performed.

In an implementation manner, when a trigger event occurs in the vehicle, such as when the driving state of the vehicle changes and the vehicle passes the terminal authentication, the vehicle can generate a positioning trigger message, and send the positioning trigger message to the terminal to instruct the terminal to execute the first Positioning operation.

With reference to the first aspect, in some implementations of the first aspect, the performing a first positioning operation when the vehicle sends a trigger event specifically includes: setting a reminder message for the trigger event; responding to the reminder message , and perform the first positioning operation.

In an implementation manner, the terminal may set a reminder message for a trigger event of the vehicle, and when the reminder message is generated, it indicates that a trigger event occurs in the vehicle, and the terminal may spontaneously perform the first positioning operation.

With reference to the first aspect, in some implementations of the first aspect, the method further includes: judging whether the current positioning condition meets the requirement for the terminal to perform positioning; wherein, when the positioning condition does not meet the terminal-based positioning requirement When required, the vehicle is notified to perform the target operation through at least one of a received signal strength indication RSSI, near field communication NFC or manual user operation or other vehicle positioning parameters.

The positioning condition may be, for example, whether there is currently a condition for performing terminal-based positioning.

It should be understood that before the terminal performs the positioning operation, it can be judged whether its positioning conditions can meet the positioning requirements. If the positioning requirements cannot be met, it will fall back to the conventional operation scheme, such as using RSSI ranging, NFC, or manual intervention by users and other existing schemes. achieve the target action.

With reference to the first aspect, in some implementations of the first aspect, the judging whether the positioning condition of the terminal meets the positioning requirement includes: judging whether a positioning signal is received; or, judging whether the quality of the received positioning signal meets the requirements the positioning requirements. For example, when using the carrier phase differential RTK technology for positioning, it is judged whether the signal of the RTK reference station can be received.

In conjunction with the first aspect, in some implementations of the first aspect, the method further comprises: sending the information of the geo-fence to the vehicle.

With reference to the first aspect, in some implementations of the first aspect, the sending the information of the geo-fence to the vehicle includes: performing encryption processing on the information of the geo-fence, and the encryption processing includes a key Encrypt and sign; send encrypted geofence information to the vehicle.

In an implementation manner, the terminal sends the information of the geo-fence to the vehicle, and the vehicle stores it in the local safe storage space. If the user shares the control authority of the vehicle with another terminal (such as the first terminal), then When the first terminal is close to or away from the vehicle or approaching the vehicle, the geo-fence or the first positioning information can also be safely obtained, and the terminal positioning method provided by the embodiment of the present application can be executed. Encrypting the information of the geo-fence can ensure that the information of the geo-fence can be safely transmitted to the first terminal that has passed the authentication or authorization and be parsed and used, thereby improving the security of the information transmission process and the reliability of the data source.

In an implementation manner, after the terminal encrypts the information of the geo-fence, the encryption key of the geo-fence can be obtained by using cloud security, or a secret key can be shared among devices with vehicle control authority (such as the first terminal) The encryption key for the geofence is derived from this shared key.

According to the above method, by sending the generated geofence information to the vehicle, the vehicle can store the information in the local safe space, and when the terminal needs the geofence information again, the vehicle can obtain the information. In this way, the solution in the present application can be used even when the second terminal with vehicle control authority is close to the vehicle.

With reference to the first aspect, in some implementations of the first aspect, the positioning method used by the terminal includes at least one of the following: carrier phase differential RTK technology, global navigation and positioning system GNSS technology, wireless local area network Wi-Fi positioning, cellular Network positioning, based on Internet big data fusion positioning.

In a second aspect, a method for locating a terminal is provided, and the method can be executed by a vehicle, including: when a trigger event occurs in the vehicle, the vehicle can generate a positioning trigger message in response to the trigger event, where the positioning trigger message is used to indicate the The terminal performs the first positioning operation; after that, the vehicle may send the positioning trigger message to the terminal, and the terminal performs the first positioning operation in response to the positioning trigger message.

It should be understood that the positioning trigger message may be indication information that instructs the terminal to perform the first positioning operation; or, the initial positioning message may also be indication information that a trigger event occurs in the vehicle. After receiving the positioning trigger message, the terminal may perform the first positioning operation under the instruction of the positioning trigger message; or, may also perform the first positioning operation autonomously in response to the positioning trigger message.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving an indication message sent by the terminal, where the indication message is used to instruct the vehicle to perform a target operation, the target The operation corresponds to a preset distance between the terminal and the vehicle, or to the positional relationship between the terminal and the geo-fence; and the target operation is performed according to the instruction message.

In the embodiment of the present application, the terminal determines to send an instruction message to the vehicle according to the relationship between the relative distance and the preset distance between the terminal and the vehicle, so as to control the vehicle to perform the corresponding operation; The relative position relationship, such as being within the geo-fence of the vehicle or outside the geo-fence of the vehicle, determines to send an instruction message to the vehicle to control the vehicle to perform a corresponding operation.

According to the terminal positioning method provided in this application, the terminal can determine the relative distance between the terminal and the vehicle or the relative positional relationship with the geofence through its own real-time positioning information and the acquired vehicle position information or geo-fence information, and then instruct the vehicle to Relevant operations corresponding to the relative distance or relative positional relationship. This process does not require the user to operate on the terminal. Since the terminal can be adapted to a variety of positioning technologies, this process can improve the accuracy of judging the relative positions of the terminal and the vehicle, thereby improving the accuracy of the interaction between the two.

It should be understood that different target operations may correspond to different preset distances or geo-fences. For example, the door lock corresponds to a first preset distance, and the trunk lock corresponds to a second preset distance, and the first preset distance and the second preset distance may be different; or, the door lock corresponds to the first geo-fence, and the trunk is locked Corresponding to the second geofence, the first geofence and the second geofence may be different.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: acquiring first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is executed by the terminal During the first positioning operation, the parking position measured by the vehicle, and the second positioning reference information is the parking position measured by the vehicle during the second positioning operation performed by the terminal; The first positioning reference information and the second positioning reference information are sent.

According to the terminal positioning method provided by the embodiment of the present application, the terminal can correct the positioning information obtained by the terminal and the geo-fence positioning information by using the positioning information measured by the vehicle itself, so that the terminal positioning information can be corrected to the same error environment, Thereby, the positioning deviation caused by environmental changes at different times can be overcome, the accuracy of the relative position of the terminal and the vehicle is improved, and the accuracy of the terminal instructing the vehicle to perform related operations is further improved.

With reference to the second aspect, in some implementations of the second aspect, first positioning reference information and second positioning reference information of the vehicle are acquired, and the first positioning reference information is for the terminal to perform the first positioning operation is the parking position measured by the vehicle, and the second positioning reference information is the parking position measured by the vehicle when the terminal performs a second positioning operation; according to the first positioning reference information and the first positioning reference information Two positioning reference information, determine the positioning error correction information; send the positioning error correction information to the terminal.

It should be understood that the vehicle may generate positioning error correction information based on the positioning reference information measured at different times, so as to overcome the different error environments of the positioning information at different times caused by environmental changes. For example, the vehicle uses the positioning reference information at the time of parking and the terminal to approach the vehicle again, communicates with the vehicle and passes the authentication after the positioning reference information calculates the error value between the positioning information at two times, and sends it to the terminal, so that the terminal The second positioning information or the information of the geofence is corrected.

Further, the vehicle may send the positioning error correction information to the terminal, and the terminal uses the positioning error correction information to correct the information of the geo-fence or the second positioning information.

In an implementation manner, the positioning error correction information sent by the vehicle may also include other vehicle information required by the terminal to perform error correction, which is not limited in this application.

According to the terminal positioning method provided by the embodiment of the present application, the terminal can correct the vehicle position information and the geo-fence positioning information obtained by the terminal by using the positioning information measured by the vehicle itself, so that the terminal positioning information can be corrected to the same error environment. , so as to overcome the positioning deviation caused by environmental changes at different times, improve the accuracy of the relative position of the terminal and the vehicle, and further improve the accuracy of the terminal instructing the vehicle to perform related operations.

With reference to the second aspect, in some implementations of the second aspect, the first target operation includes at least one of door locking, window locking, and trunk locking; the second target operation includes door unlocking, vehicle At least one of window unlocking, trunk unlocking, and engine running.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving the information of the geo-fence sent by the terminal.

In a third aspect, a terminal is provided, comprising a communication interface, a processor, a memory, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program , so that the terminal realizes the following function: when a trigger event occurs in the vehicle, a first positioning operation is performed, and the first positioning operation is used to obtain first positioning information, and the first positioning information is used to indicate the current location of the terminal. position; perform a second positioning operation, the second positioning operation is used to obtain second positioning information, and the second positioning information is used for the real-time positioning information of the terminal; according to the first positioning information and the second positioning information that instructs the vehicle to perform the target operation.

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the terminal is made to implement the following function: according to the first positioning information and the second positioning information to determine the relative distance between the terminal and the vehicle; when the relative distance is greater than the preset distance, instruct the vehicle to perform the first target operation; when the relative distance is less than or equal to the preset distance, The vehicle is instructed to perform a second target operation.

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the terminal is made to implement the following function: according to the first positioning information and the preset distance , determine the geo-fence of the vehicle; wherein, the reference position of the geo-fence is the position indicated by the first positioning information, and the distance between the boundary of a certain direction of the geo-fence and the reference position is equal to the The preset distance corresponding to a certain direction.

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the terminal enables the terminal to implement the following function: according to the second positioning information and the location of the geofence information to determine the location relationship between the terminal and the geo-fence; wherein, when it is determined that the terminal leaves the geo-fence area according to the location relationship, the vehicle is instructed to perform the first target operation; The location relationship, when it is determined that the terminal enters the geo-fence area, instructing the vehicle to perform the second target operation.

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the terminal is made to implement the following functions: receiving the first positioning reference information and the first positioning reference information sent by the vehicle. Two positioning reference information, the first positioning reference information is the parking position measured by the vehicle during the process of the terminal executing the first positioning operation, and the second positioning reference information is the terminal executing the first positioning operation. During the second positioning operation, the parking position measured by the vehicle; according to the first positioning reference information and the second positioning reference information, the information of the geo-fence of the vehicle or the second positioning information is corrected .

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the terminal is made to implement the following functions: receiving the positioning error correction information sent by the vehicle, the The positioning error correction information is generated by the vehicle based on the first positioning reference information and the second positioning reference information obtained by the vehicle itself. The measured parking position, the second positioning reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation; according to the positioning error correction information, the information of the geo-fence or the second positioning information.

With reference to the third aspect, in some implementations of the third aspect, the trigger event includes at least one of the following: the vehicle changes from a running state to a parked state; or, the vehicle passes the authentication of the terminal; or , the vehicle arrives at the preset destination address.

With reference to the third aspect, in some implementations of the third aspect, the performing a first positioning operation when a trigger event occurs on the vehicle specifically includes: when a trigger event occurs on the vehicle, receiving a positioning trigger message sent by the vehicle , the positioning trigger message is used to instruct the terminal to perform the first positioning operation; in response to the positioning trigger message, the first positioning operation is performed.

With reference to the third aspect, in some implementations of the third aspect, performing the first positioning operation when the vehicle sends a trigger event specifically includes: setting a reminder message for the trigger event; responding to the reminder message , and perform the first positioning operation.

With reference to the third aspect, in some implementations of the third aspect, the first target operation includes at least one of the following: door locking, window locking, and trunk locking of the vehicle; the second target operation includes At least one of the following: unlocking the doors of the vehicle, unlocking the windows, unlocking the trunk, and allowing the engine to be started.

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the processor enables the terminal to implement the following function: judging whether the current positioning condition meets the requirements for the terminal to perform positioning ; wherein, when the positioning condition does not meet the positioning requirements, the vehicle is notified to perform the target operation through at least one of the received signal strength indication RSSI, near field communication NFC or user manual operation.

With reference to the third aspect, in some implementations of the third aspect, when the processor is executing the computer program, the terminal enables the terminal to implement the following functions: judging whether a positioning signal is received; or, judging whether the received signal is received Whether the quality of the positioning signal meets the positioning requirement.

In conjunction with the third aspect, in some implementations of the third aspect, the method further comprises: sending the information of the geo-fence to the vehicle.

With reference to the third aspect, in some implementations of the third aspect, the positioning method used by the terminal includes at least one of the following: carrier phase differential RTK technology, global navigation and positioning system GNSS, wireless fidelity Wi-Fi positioning, cellular Network positioning, based on Internet big data fusion positioning.

In a fourth aspect, there is provided a vehicle comprising a communication interface, a processor, a memory, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program , so that the vehicle realizes the following functions: acquiring a trigger event; generating a positioning trigger message in response to the trigger event, where the positioning trigger message is used to instruct the terminal to perform a first positioning operation; sending the positioning trigger to the terminal information.

With reference to the fourth aspect, in some implementations of the fourth aspect, the method further includes: receiving an instruction message from the terminal, where the instruction message instructs the vehicle to perform a target action, where the target action is a preset distance away Corresponding; in response to the indication message, executing the target action.

With reference to the fourth aspect, in some implementations of the fourth aspect, when the processor executes the computer program, the vehicle enables the vehicle to implement the following functions: acquiring first positioning reference information and second positioning of the vehicle reference information, the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation, and the second positioning reference information is the terminal performing the second positioning operation During the process, the parking position measured by the vehicle; send the first positioning reference information and the second positioning reference information to the terminal.

With reference to the fourth aspect, in some implementations of the fourth aspect, when the processor executes the computer program, the vehicle enables the vehicle to implement the following functions: acquiring first positioning reference information and second positioning of the vehicle reference information, the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation, and the second positioning reference information is the terminal performing the second positioning operation During the process, the parking position measured by the vehicle; the positioning error correction information is determined according to the first positioning reference information and the second positioning reference information; and the positioning error correction information is sent to the terminal.

With reference to the fourth aspect, in some implementations of the fourth aspect, when the processor is executing the computer program, the vehicle is made to implement the following function: receiving the information of the geo-fence sent by the terminal.

In a fifth aspect, a terminal is provided, the terminal establishes short-range wireless communication with a vehicle, including: a receiving module configured to receive a positioning trigger message sent by the vehicle, where the positioning trigger message is used to instruct the terminal to execute A positioning operation; a positioning module, used for acquiring first positioning information of the current location of the terminal in response to the positioning trigger message, where the first positioning information is used to indicate the reference position of the vehicle; a processing module, used for According to the second positioning information of the terminal and the first positioning information, the vehicle is instructed to perform the target operation, and the second positioning information is the real-time position information in the process of the terminal performing the positioning operation.

With reference to the fifth aspect, in some implementations of the fifth aspect, the processing module is further configured to determine the relative distance between the terminal and the vehicle according to the second positioning information and the first positioning information ; when the relative distance is greater than a preset distance, instruct the vehicle to perform a first target operation; when the relative distance is less than or equal to the preset distance, instruct the vehicle to perform a second target operation.

With reference to the fifth aspect, in some implementations of the fifth aspect, the processing module is further configured to determine the information of the geo-fence of the vehicle according to the first positioning information and the preset distance.

With reference to the fifth aspect, in some implementations of the fifth aspect, the processing module is further configured to determine the location of the terminal and the geo-fence according to the second positioning information and the information of the geo-fence relationship; when it is determined according to the position relationship that the terminal leaves the geo-fence area, the vehicle is instructed to perform the first target operation; when it is determined according to the position relationship that the terminal enters the geo-fence area, The vehicle is instructed to perform a second target operation.

With reference to the fifth aspect, in some implementations of the fifth aspect, the terminal further includes a receiving module and a positioning information correction module, wherein: the receiving module is configured to receive the first positioning reference information sent by the vehicle and second positioning reference information, the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation, and the second positioning reference information is the During the second positioning operation, the parking position measured by the vehicle; according to the first positioning reference information and the second positioning reference information, correct the information of the geo-fence of the vehicle or the second positioning information.

With reference to the fifth aspect, in some implementations of the fifth aspect, the processing module is further configured to receive positioning error correction information sent by the vehicle, where the positioning error correction information is obtained by the vehicle based on the first positioning obtained by itself Reference information and second positioning reference information are generated, where the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation, and the second positioning reference information is the During the process of executing the second positioning operation by the terminal, the parking position measured by the vehicle; according to the positioning error correction information, the information of the geo-fence of the vehicle or the second positioning information is corrected.

With reference to the fifth aspect, in some implementations of the fifth aspect, the terminal may further include a sending module, which is specifically configured to: when the relative distance is greater than a preset distance, send first indication information to the vehicle, the The first instruction information is used to instruct the vehicle to perform the first target action; or, when the relative distance is less than or equal to a preset distance, send second instruction information to the vehicle, the second instruction information using instructing the vehicle to perform the second target action.

With reference to the fifth aspect, in some implementations of the fifth aspect, the first target operation includes at least one of the following: door locking, window locking, and trunk locking; the second target operation includes at least one of the following Items: Unlock doors, unlock windows, unlock trunk, allow engine start.

With reference to the fifth aspect, in some implementations of the fifth aspect, the terminal further includes a judgment module for judging whether the current positioning condition meets the requirements for the terminal to perform positioning; wherein the indication module is further used for When the positioning condition does not meet the positioning requirement, the vehicle is notified to perform the target operation through at least one of RSSI, near field communication, NFC, or user manual operation indicated by the received signal strength.

With reference to the fifth aspect, in some implementations of the fifth aspect, the determining module is specifically configured to: determine whether a positioning signal is received; or, determine whether the quality of the received positioning signal meets the positioning requirement.

With reference to the fifth aspect, in some implementations of the fifth aspect, the terminal further includes a sending module, configured to send the information of the geo-fence to the vehicle.

With reference to the fifth aspect, in some implementations of the fifth aspect, the terminal further includes an encryption module, configured to perform encryption processing on the information of the geo-fence, and the encryption processing includes key encryption and signature; the A sending module, configured to send the encrypted geo-fence information to the vehicle.

With reference to the fifth aspect, in some implementations of the fifth aspect, the positioning method adopted by the terminal includes at least one of the following: carrier phase differential RTK technology, global navigation and positioning system GNSS, wireless local area network Wi-Fi positioning, cellular network Positioning, based on Internet big data fusion positioning.

A sixth aspect provides a vehicle, characterized by comprising: a receiving unit, configured to acquire a trigger event; and a processing unit, configured to generate a positioning trigger message in response to the trigger event, where the positioning trigger message is used to indicate the The terminal performs positioning; a sending unit is configured to send the positioning trigger message to the terminal.

With reference to the sixth aspect, in some implementations of the sixth aspect, the vehicle further includes a positioning module for acquiring first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is: When the terminal performs the first positioning operation, the parking position measured by the vehicle, and the second positioning reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation. position, the sending module is further configured to send the first positioning reference information and the second positioning reference information to the terminal.

With reference to the sixth aspect, in some implementations of the sixth aspect, the vehicle further includes a positioning module that acquires first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is the The parking position measured by the vehicle during the terminal performing the first positioning operation, and the second positioning reference information is the parking position measured by the vehicle during the terminal performing the second positioning operation; The processing module is configured to generate positioning error correction information according to the first positioning information and the second positioning information, and the positioning error correction information is used for the terminal to correct the information of the geo-fence of the vehicle or the second positioning information; The sending unit is configured to send the positioning error correction information to the terminal.

With reference to the sixth aspect, in some implementations of the sixth aspect, the vehicle further includes an operation module, and the receiving module is further configured to receive an indication message sent by the terminal, where the indication message is used to indicate The vehicle executes the target operation, and the target operation corresponds to a preset distance between the terminal and the vehicle, or corresponds to the positional relationship between the terminal and the geo-fence; the operation module, using to perform the target operation according to the instruction message.

With reference to the sixth aspect, in some implementations of the sixth aspect, the target operation includes at least one of the following: door locking, window locking, and trunk locking of the vehicle; or, door unlocking, The windows are unlocked, the trunk is unlocked, and the engine is allowed to start.

With reference to the sixth aspect, in some implementations of the sixth aspect, the receiving module is further configured to receive the information of the geo-fence sent by the terminal.

In a seventh aspect, a system for locating a terminal is provided, including a terminal and a vehicle, wherein the terminal is configured to execute the method for locating a terminal according to any implementation manner of the first aspect, and the vehicle is configured to execute the method as described in any implementation manner of the first aspect. The method for terminal positioning according to any implementation manner of the second aspect.

In an eighth aspect, a computer-readable storage medium is provided, including computer instructions, which, when the computer instructions are executed on a computer, cause the computer to execute the terminal described in any one of the first aspect and the second aspect. method of positioning.

In a ninth aspect, a computer product is provided, comprising computer instructions, which, when the computer instructions are executed on a computer, cause the computer to execute the method for locating a terminal according to any implementation manner of the first aspect and the second aspect .

Description of drawings

FIG. 1 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

FIG. 2 shows a schematic diagram of a software structure of an electronic device provided by an embodiment of the present application.

FIG. 3A to FIG. 3D are schematic diagrams showing some possible application scenarios of the method for terminal positioning provided by the embodiments of the present application.

4A to 4D show schematic diagrams of graphical user interfaces in a terminal positioning process provided by an embodiment of the present application.

FIG. 5 shows a schematic diagram of a graphical user interface in another terminal positioning process provided by an embodiment of the present application.

FIG. 6 shows a schematic flowchart of a method for locating a terminal provided by an embodiment of the present application.

FIG. 7 shows a schematic flowchart of another method for locating a terminal provided by an embodiment of the present application.

FIG. 8 shows a schematic diagram of information correction of a geofence provided by an embodiment of the present application.

FIG. 9 shows a schematic flowchart of still another method for locating a terminal provided by an embodiment of the present application.

FIG. 10 shows a schematic flowchart of still another method for locating a terminal provided by an embodiment of the present application.

FIG. 11 shows a schematic flowchart of still another terminal positioning method provided by an embodiment of the present application.

FIG. 12 shows a schematic flowchart of another method for locating a terminal provided by an embodiment of the present application.

FIG. 13 is a schematic structural diagram of a terminal according to an embodiment of the present application.

FIG. 14 shows a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Detailed ways

The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The terms used in the implementation part of the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. Wherein, in the description of the embodiments of the present application, unless otherwise stated, “/” means or means, for example, A/B can mean A or B; “and/or” in this document is only a description of the associated object The association relationship of , indicates that there can be three kinds of relationships, for example, A and/or B, can indicate that A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" refers to two or more than two.

The method for terminal positioning in the embodiments of the present application may be applied to a scenario where a terminal controls a vehicle based on positioning information. For ease of understanding, concepts and related technologies that may be involved in the embodiments of the present application are first introduced.

1. Digital car key

In terms of function, digital keys can be divided into remote keyless entry (RKE) function, near field communication (NFC) key function and passive key function according to the short-range communication technology used and user experience. entry passive start, PEPS). Among them, the remote control key function requires the user to initiate management operations in the application (APP) after establishing short-distance communication with the vehicle through the terminal, and the whole process can be independent of the network; the NFC key function does not require the user to perform operations on the mobile terminal Operation, you only need to place the terminal in the NFC card reading area of the vehicle to trigger the relevant process; the sensorless key function provides the best experience. Set the range to trigger the relevant process. From the perspective of the development history and user experience of physical keys, sensorless keys may become the mainstream digital key solutions in the industry.

At present, the core of the digital key is the vehicle's identification of the mobile terminal and the judgment of the corresponding conditions of the relevant operations. For example, the vehicle's sensorless key authentication usually includes conditions such as key authentication, positioning, and anti-relay authentication. The judgments of these conditions are independent of each other. When the vehicle recognizes that there is a valid key in the connected terminal, the mobile terminal is in the preset state. When the vehicle is within the range and there is no relay attack, the vehicle determines that the conditions are met, and then it can automatically perform vehicle operations such as unlocking and entering a startable state. For the remote control key, the vehicle usually needs to confirm that the key authentication is passed, the user verification is passed, and the corresponding vehicle control instruction is verified, and then the operation corresponding to the vehicle control instruction is executed.

2. Sensorless key/keyless entry and start system

According to the application scenario, the sensorless key function can usually be further divided into a sensorless entry scenario and a sensorless startup scenario. Take the sensorless entry scenario as an example: the user brings a terminal (such as a mobile phone) with the digital key function enabled close to the vehicle. After the vehicle and the terminal establish a Bluetooth connection, the authentication key of the terminal is authenticated, and the terminal is located at the same time; when the vehicle detects When the terminal enters the preset sensorless operating range, the doors of the vehicle are automatically unlocked.

It should be understood that the core of vehicle sensorless operation is to solve the problem of ranging and positioning accuracy between the vehicle and the terminal. Whether it is user experience or safety, there are certain requirements for ranging accuracy.

3. Real-time dynamic carrier phase difference technology (real-time kinematic, RTK)

Global Navigation Satellite System (GNSS) generally refers to all satellite navigation systems, which can include Global Positioning System (GPS), Beidou positioning system, etc. Taking GPS as an example, the basic principle of positioning is: measure the distance between a satellite with a known position and a ground GPS receiver, and then the receiver communicates with at least 4 satellites to calculate the distance between it and these satellites, The exact location of the receiver on Earth can then be determined. The positioning accuracy of ordinary GPS is not less than 1m, and the signal error has about 50% probability of reaching more than 2m, while the differential global positioning system (DGPS) uses differential technology on the basis of GPS to enable users to obtain more accurate information. High positioning accuracy.

RTK technology is the one with the highest positioning accuracy in DGPS. In RTK operation mode, the ground reference coordinate reference station (hereinafter collectively referred to as "reference station") transmits its observations and station coordinate information to a rover (such as a user terminal) through a data link. The rover not only receives data from the base station through the data link, but also collects satellite positioning observation data, and forms differential observations in the system for real-time processing to give centimeter-level positioning results, which lasts less than a second. The key of RTK technology lies in data processing technology and data transmission technology. RTK positioning requires the base station receiver to transmit the observation data (pseudorange observation value, phase observation value) and known data to the rover receiver in real time.

When RTK technology is used for positioning, the receiver can correct the positioning result according to the error reference information provided by the base station, eliminate the positioning error, and then improve the positioning accuracy. The error reference information is caused by the ionosphere and the troposphere. At present, the main application scenarios of RTK applications include: automatic driving, lane-level navigation maps, drones, and positioning of children's watches.

4. Geo-fencing

Geofencing technology is a new application of location based service (LBS), which encloses a virtual geographic boundary with a virtual fence. When a terminal enters, leaves, or is active in a specific geographic area, the terminal can receive automatic notifications and alerts.

As described in the background art, the current vehicle hardware update cycle is long, and the development of hardware and positioning technology does not match, resulting in that the positioning accuracy cannot meet the requirements of sensorless operation. In view of the above problems, the embodiments of the present application provide a method for locating a terminal, in which the key-side terminal dominates the locating operation, and utilizes the characteristics of high-speed iteration of the terminal to realize the application of different locating technologies, thereby improving the accuracy of locating, thereby rapidly promoting the non-sensing Enhanced experience.

The terminal involved in the terminal positioning method provided by the embodiment of the present application has a positioning function. Exemplarily, the terminal may support multiple positioning methods, for example including: RTK positioning technology, GNSS positioning technology, wireless fidelity (Wi-Fi) positioning technology, cellular network positioning technology (positioning based on base stations) or Internet big data fusion positioning technology, etc. In addition, the terminal can also use RTK technology as the core, combined with base station, Wi-Fi, Bluetooth, GPS, assisted global positioning system (AGPS), historical data, 5G and other optimized positioning methods. And the terminal can establish wireless communication with the vehicle, for example, the terminal can perform Bluetooth connection, Wi-Fi connection, etc. with the vehicle. The terminal can be used as a digital key of the vehicle, and has a sensorless key function, such as having a digital key function or a vehicle digital key application installed. The terminal may be, for example, a mobile phone, a tablet computer, a wearable device, a vehicle-mounted device, an augmented reality (AR)/virtual reality (VR) device, a notebook computer, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook, personal digital assistant (personal digital assistant, PDA) and other electronic devices, the embodiment of the present application does not impose any restrictions on the specific type of the terminal.

Exemplarily, FIG. 1 is a schematic structural diagram of an electronic device 100 according to an embodiment of the present application. The electronic device 100 is the terminal mentioned in the embodiments of this application.

The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2 , mobile communication module 150, wireless communication module 160, audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone jack 170D, sensor module 180, buttons 190, motor 191, indicator 192, camera 193, display screen 194, and Subscriber identification module (subscriber identification module, SIM) card interface 195 and so on. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, and ambient light. Sensor 180L, bone conduction sensor 180M, etc.

It can be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the electronic device 100 . In other embodiments of the present application, the electronic device 100 may include more or less components than shown, or combine some components, or separate some components, or arrange different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), controller, memory, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural-network processing unit (NPU) Wait. Wherein, different processing units may be independent devices, or may be integrated in one or more processors.

The controller may be the nerve center and command center of the electronic device 100 . The controller can generate an operation control signal according to the instruction operation code and timing signal, and complete the control of fetching and executing instructions.

A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in processor 110 is cache memory. This memory may hold instructions or data that have just been used or recycled by the processor 110 . If the processor 110 needs to use the instruction or data again, it can be called directly from the memory. Repeated accesses are avoided and the latency of the processor 110 is reduced, thereby increasing the efficiency of the system.

In some embodiments, the processor 110 may include one or more interfaces. The interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous transceiver (universal asynchronous transmitter) receiver/transmitter, UART) interface, mobile industry processor interface (MIPI), general-purpose input/output (GPIO) interface, subscriber identity module (SIM) interface, and / or universal serial bus (universal serial bus, USB) interface, etc.

The I2C interface is a bidirectional synchronous serial bus that includes a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may contain multiple sets of I2C buses. The processor 110 can be respectively coupled to the touch sensor 180K, the charger, the flash, the camera 193 and the like through different I2C bus interfaces. For example, the processor 110 may couple the touch sensor 180K through the I2C interface, so that the processor 110 and the touch sensor 180K communicate with each other through the I2C bus interface, so as to realize the touch function of the electronic device 100 .

The I2S interface can be used for audio communication. In some embodiments, the processor 110 may contain multiple sets of I2S buses. The processor 110 may be coupled with the audio module 170 through an I2S bus to implement communication between the processor 110 and the audio module 170 . In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 through the I2S interface, so as to realize the function of answering calls through a Bluetooth headset.

The PCM interface can also be used for audio communications, sampling, quantizing and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 may be coupled through a PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 through the PCM interface, so as to realize the function of answering calls through the Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

The UART interface is a universal serial data bus used for asynchronous communication. The bus may be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, a UART interface is typically used to connect the processor 110 with the wireless communication module 160 . For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 through the UART interface to implement the Bluetooth function. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 through the UART interface, so as to realize the function of playing music through the Bluetooth headset.

The MIPI interface can be used to connect the processor 110 with peripheral devices such as the display screen 194 and the camera 193 . MIPI interfaces include camera serial interface (CSI), display serial interface (DSI), etc. In some embodiments, the processor 110 communicates with the camera 193 through a CSI interface, so as to realize the photographing function of the electronic device 100 . The processor 110 communicates with the display screen 194 through the DSI interface to implement the display function of the electronic device 100 .

The GPIO interface can be configured by software. The GPIO interface can be configured as a control signal or as a data signal. In some embodiments, the GPIO interface may be used to connect the processor 110 with the camera 193, the display screen 194, the wireless communication module 160, the audio module 170, the sensor module 180, and the like. The GPIO interface can also be configured as I2C interface, I2S interface, UART interface, MIPI interface, etc.

The USB interface 130 is an interface that conforms to the USB standard specification, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, and the like. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transmit data between the electronic device 100 and peripheral devices. It can also be used to connect headphones to play audio through the headphones. This interface can also be used to connect other terminals, such as AR devices, etc.

It can be understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is only a schematic illustration, and does not constitute a structural limitation of the electronic device 100 . In other embodiments of the present application, the electronic device 100 may also adopt different interface connection manners in the foregoing embodiments, or a combination of multiple interface connection manners.

The charging management module 140 is used to receive charging input from the charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from the wired charger through the USB interface 130 . In some wireless charging embodiments, the charging management module 140 may receive wireless charging input through a wireless charging coil of the electronic device 100 . While the charging management module 140 charges the battery 142 , it can also supply power to the terminal through the power management module 141 .

The power management module 141 is used for connecting the battery 142 , the charging management module 140 and the processor 110 . The power management module 141 receives input from the battery 142 and/or the charging management module 140 and supplies power to the processor 110 , the internal memory 121 , the external memory, the display screen 194 , the camera 193 , and the wireless communication module 160 . The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle times, battery health status (leakage, impedance). In some other embodiments, the power management module 141 may also be provided in the processor 110 . In other embodiments, the power management module 141 and the charging management module 140 may also be provided in the same device.

The wireless communication function of the electronic device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modulation and demodulation processor, the baseband processor, and the like.

Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 may be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, the antenna 1 can be multiplexed as a diversity antenna of the wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

The mobile communication module 150 may provide wireless communication solutions including 2G/3G/4G/5G etc. applied on the electronic device 100 . The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), and the like. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, filter and amplify the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and then turn it into an electromagnetic wave for radiation through the antenna 1 . In some embodiments, at least part of the functional modules of the mobile communication module 150 may be provided in the processor 110 . In some embodiments, at least part of the functional modules of the mobile communication module 150 may be provided in the same device as at least part of the modules of the processor 110 .

The modem processor may include a modulator and a demodulator. Wherein, the modulator is used to modulate the low frequency baseband signal to be sent into a medium and high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low frequency baseband signal. Then the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing. The low frequency baseband signal is processed by the baseband processor and passed to the application processor. The application processor outputs sound signals through audio devices (not limited to the speaker 170A, the receiver 170B, etc.), or displays images or videos through the display screen 194 . In some embodiments, the modem processor may be a stand-alone device. In other embodiments, the modem processor may be independent of the processor 110, and may be provided in the same device as the mobile communication module 150 or other functional modules.

The wireless communication module 160 can provide applications on the electronic device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellites Wireless communication solutions such as global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared technology (IR). The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2 , frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110 . The wireless communication module 160 can also receive the signal to be sent from the processor 110 , perform frequency modulation on it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2 .

In some embodiments, the antenna 1 of the electronic device 100 is coupled with the mobile communication module 150, and the antenna 2 is coupled with the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technologies may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), broadband Code Division Multiple Access (WCDMA), Time Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BT, GNSS, WLAN, NFC , FM, and/or IR technology, etc. The GNSS may include a global positioning system (global positioning system, GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (quasi -zenith satellite system, QZSS) and/or satellite based augmentation systems (SBAS).

The electronic device 100 implements a display function through a GPU, a display screen 194, an application processor, and the like. Display screen 194 is used to display images, videos, and the like.

The electronic device 100 may implement a shooting function through an ISP, a camera 193, a video codec, a GPU, a display screen 194, an application processor, and the like.

A digital signal processor is used to process digital signals, in addition to processing digital image signals, it can also process other digital signals. For example, when the electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy and so on. Video codecs are used to compress or decompress digital video. NPU is a neural-network (NN) computing processor. By borrowing the structure of biological neural network, such as the transfer mode between neurons in the human brain, it can quickly process the input information and can continuously learn by itself.

The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 100 . The external memory card communicates with the processor 110 through the external memory interface 120 to realize the data storage function. For example to save files like music, video etc in external memory card. Internal memory 121 may be used to store computer executable program code, which includes instructions.

The electronic device 100 may implement audio functions through an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, an application processor, and the like. Such as music playback, recording, etc.

The pressure sensor 180A is used to sense pressure signals, and can convert the pressure signals into electrical signals. The gyro sensor 180B may be used to determine the motion attitude of the electronic device 100 . The magnetic sensor 180D includes a Hall sensor. The electronic device 100 can detect the opening and closing of the flip holster using the magnetic sensor 180D. The acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in various directions (generally three axes). The magnitude and direction of gravity can be detected when the electronic device 100 is stationary. It can also be used to identify the terminal posture, and can be used in horizontal and vertical screen switching, pedometer and other applications. Proximity light sensor 180G may include, for example, light emitting diodes (LEDs) and light detectors, such as photodiodes. The light emitting diodes may be infrared light emitting diodes. The electronic device 100 emits infrared light to the outside through the light emitting diode. The ambient light sensor 180L is used to sense ambient light brightness. The electronic device 100 can adaptively adjust the brightness of the display screen 194 according to the perceived ambient light brightness. The fingerprint sensor 180H is used to collect fingerprints. The temperature sensor 180J is used to detect the temperature. Touch sensor 180K, also called "touch panel". The touch sensor 180K may be disposed on the display screen 194 , and the touch sensor 180K and the display screen 194 form a touch screen, also called a “touch screen”. The touch sensor 180K is used to detect a touch operation on or near it. The bone conduction sensor 180M can acquire vibration signals.

In addition, the electronic device 100 further includes an air pressure sensor 180C and a distance sensor 180F. Among them, the air pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist in positioning and navigation.

Distance sensor 180F for measuring distance. The electronic device 100 can measure the distance through infrared or laser. In some embodiments, when shooting a scene, the electronic device 100 can use the distance sensor 180F to measure the distance to achieve fast focusing.

In this embodiment of the present application, the terminal may measure the distance from the terminal to the vehicle through the distance sensor, so as to realize the positioning between the terminal and the vehicle.

The software system of the electronic device 100 may adopt a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture. The embodiments of the present application take an Android system with a layered architecture as an example to exemplarily describe the software structure of the electronic device 100 .

FIG. 2 is a block diagram of the software structure of the electronic device 100 according to the embodiment of the present application.

The layered architecture divides the software into several layers, and each layer has a clear role and division of labor. Layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, which are, from top to bottom, an application layer, an application framework layer, an Android runtime (Android runtime) and a system library, and a kernel layer.

The application layer can include a series of application packages.

As shown in Figure 2, the application package can include applications such as camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message and so on.

The application framework layer provides an application programming interface (application programming interface, API) and a programming framework for applications in the application layer. The application framework layer includes some predefined functions.

As shown in Figure 2, the application framework layer may include window managers, content providers, view systems, telephony managers, resource managers, notification managers, and the like.

A window manager is used to manage window programs. The window manager can get the size of the display screen, determine whether there is a status bar, lock the screen, take screenshots, etc.

Content providers are used to store and retrieve data and make these data accessible to applications. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phone book, etc.

The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, and so on. View systems can be used to build applications. A display interface can consist of one or more views. For example, the display interface including the short message notification icon may include a view for displaying text and a view for displaying pictures.

The phone manager is used to provide the communication function of the electronic device 100 . For example, the management of call status (including connecting, hanging up, etc.).

The resource manager provides various resources for the application, such as localization strings, icons, pictures, layout files, video files and so on.

The notification manager enables applications to display notification information in the status bar, which can be used to convey notification-type messages, and can disappear automatically after a brief pause without user interaction. For example, the notification manager is used to notify download completion, message reminders, etc. The notification manager can also display notifications in the status bar at the top of the system in the form of graphs or scroll bar text, such as notifications of applications running in the background, and notifications on the screen in the form of dialog windows. For example, text information is prompted in the status bar, a prompt tone is issued, the terminal vibrates, and the indicator light flashes.

Android Runtime includes core libraries and a virtual machine. Android runtime is responsible for scheduling and management of the Android system.

The core library consists of two parts: one is the function functions that the java language needs to call, and the other is the core library of Android.

The application layer and the application framework layer run in virtual machines. The virtual machine executes the java files of the application layer and the application framework layer as binary files. The virtual machine is used to perform functions such as object lifecycle management, stack management, thread management, safety and exception management, and garbage collection.

A system library can include multiple functional modules. For example: surface manager (surface manager), media library (Media Libraries), 3D graphics processing library (eg: OpenGL ES), 2D graphics engine (eg: SGL), etc.

The Surface Manager is used to manage the display subsystem and provides a fusion of 2D and 3D layers for multiple applications.

The media library supports playback and recording of a variety of commonly used audio and video formats, as well as still image files. The media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

2D graphics engine is a drawing engine for 2D drawing.

Exemplarily, in this embodiment of the present application, a 2D graphics engine may be used to draw a geofence of a vehicle.

The kernel layer is the layer between hardware and software. The kernel layer contains at least display drivers, camera drivers, audio drivers, and sensor drivers.

Exemplarily, with reference to the structures of the terminals shown in FIG. 1 and FIG. 2 , the following describes the application scenarios and processes of the terminal positioning provided by the embodiments of the present application with reference to the accompanying drawings.

As shown in FIG. 3A and FIG. 3B , some possible application scenarios of the method for terminal positioning provided by the embodiments of the present application are shown.

In one of the possible scenarios, taking the geofence in FIG. 3A as an example of the geofence corresponding to the target operation of door locking, when the vehicle reaches the destination, the vehicle stops, and its state changes from the running state to the stopped state (or Turn off state), the state change will trigger the vehicle to send a positioning trigger message to the terminal. In response to the positioning trigger message, the terminal performs a positioning operation on the current position of the terminal (referred to as the first positioning operation). At this time, since the terminal may be in the vehicle, or at least the distance from the vehicle is less than the first threshold, therefore, The current position of the terminal (corresponding to the first positioning information) may be used as the parking position, and optionally, the terminal may also acquire the geo-fence of the vehicle according to the position. Then, the user carries the terminal away from the vehicle. During the user's movement, the terminal can perform real-time positioning (referred to as the second positioning operation) to obtain the real-time position of the terminal during the movement (corresponding to the second positioning information). After that, the terminal can obtain the relative distance from the vehicle based on the first positioning information (for example, corresponding to the parking position in FIG. 3A ) and the second positioning information (for example, corresponding to the position 1 and position 2 in FIG. 3A ), for example, When the user reaches position 1, the distance between the terminal and the vehicle is relative distance 1, and when the user reaches position 2, the distance between the terminal and the vehicle is relative distance 2, and at this time, the relative distance between the terminal and the vehicle is equal to the preset distance; The terminal may instruct the vehicle to perform the target operation of door locking; or, the terminal may obtain the positional relationship between the terminal and the geo-fence of the vehicle based on the first positioning information and the second positioning information. For example, when the user arrives at position 1, the user is in the Within the range of the geo-fence, when the user moves to position 2, the user reaches the boundary of the range of the geo-fence, and in response to the user leaving the geo-fence, the terminal may instruct the vehicle to perform the target operation of door locking.

In the above process, the user does not need to perform management operations on the terminal, the terminal dominates the positioning operation, and uses the positioning information to control the vehicle to perform the target operation, so as to achieve the effect of the vehicle automatically making adaptive operations when the user approaches or leaves the vehicle.

As shown in FIG. 3B , it is a schematic diagram of a scene when the user approaches the vehicle again.

Taking the geofence in FIG. 3B as an example of the geofence corresponding to the target operation of unlocking the door, in this process, when the user arrives at position 3, the distance between the terminal and the vehicle is relative distance 3, which is within the range of the geofence of the vehicle. In addition, the terminal will not instruct the vehicle to perform related operations; when the user continues to approach the vehicle and moves to position 4, the distance between the terminal and the vehicle is relative distance 4, entering the geo-fence range of the vehicle. After the terminal detects that the relative distance between it and the vehicle is less than the preset distance, or enters the geo-fence range, it can automatically instruct the vehicle to perform the target operation of unlocking the door.

It should be understood that, in this embodiment of the present application, the preset distance may refer to the distance that is preset in different directions with the position indicated by the first positioning information (generally regarded as the parking position) as the reference position; the geofence refers to the parking position As the reference position, the preset distance in the corresponding direction is used as the radius to obtain the area. In other words, the relationship between the preset distance of the same target action and the geo-fence may be: the distance between the boundary of the geo-fence in a certain direction and the reference position of the geo-fence (usually the parking position) is equivalent to the preset distance in the direction. Set distance. For example, in Fig. 3A, when the user walks to position 2, the user reaches the boundary position of the geo-fence in this direction corresponding to the target action of locking the door. At this time, the relative distance 2 between the terminal and the parking position is also It is equal to the preset distance corresponding to the target action of locking the door in this direction.

In some embodiments, the terminal leaving the geo-fence area and the terminal entering the geo-fence area respectively correspond to different target operations of the vehicle.

In some embodiments, the preset distances or geo-fence ranges corresponding to different target actions may be different. Exemplarily, the geofences corresponding to different target operations have different shapes and sizes.

In some embodiments, the preset distances in different directions corresponding to the same target operation may be different; or, the distances from the geofence boundary to the reference position in different directions corresponding to the same target operation are different.

For example, when the above-mentioned first target operation is to lock or unlock the vehicle door, it corresponds to the first geo-fence; when the above-mentioned first target operation is to lock or unlock the trunk of the vehicle, it corresponds to the second geo-fence. The boundaries of the first geofence and the second geofence may have different distances from the reference location.

The area of the first geo-fence may also be, as shown in FIG. 3C , a fan-shaped area corresponding to a certain angle range with the door of the vehicle as the reference position. Wherein, the angle range can be set flexibly, which is not limited in this application. The second geo-fence area may be as shown in FIG. 3D , which is a fan-shaped area corresponding to a certain angle range with the trunk as a reference position.

For another example, for the operation of allowing the vehicle to start the engine, the corresponding geo-fence range is less than or equal to the range of the vehicle. Only when the user enters the vehicle with the terminal, the terminal instructs the vehicle to allow the engine to be started in response to the user's triggering operation. Otherwise the engine is not allowed to be started.

It should be understood that, in this embodiment of the present application, the preset distance and the boundary distance thresholds in each direction of the geo-fence can be flexibly set according to the characteristics of different target actions, which are not limited in the present application.

With the terminal positioning method provided in the embodiment of the present application, when the vehicle leaves the vehicle or approaches the vehicle, the terminal can automatically control the vehicle to perform related operations based on the positioning information, and act as a smart vehicle key, without requiring manual operations by the user, which increases the complexity of vehicle operation. Convenience and enhance the user's senseless experience.

The above embodiments in conjunction with the accompanying drawings mainly relate to a scenario in which one terminal is used as the digital key of one vehicle. However, in practical applications, one terminal can also be used as the digital key of multiple vehicles, or multiple terminals can be used as the digital key at the same time. A digital key for a vehicle.

For example, in a possible scenario, a terminal can be associated with multiple vehicles through a digital car key application, such as receiving registration information of the vehicle in advance. Vehicle permissions, and authentication information, etc. When the terminal receives the positioning trigger message of the vehicle, the terminal can use the information corresponding to the vehicle according to the vehicle identification carried in the positioning trigger message of the vehicle, execute the positioning process and control the vehicle to perform corresponding operations.

As shown in Table 1, it is the vehicle ID of multiple vehicles corresponding to the terminal, the short-range communication (such as Bluetooth communication, etc.) addresses of different vehicles, and the vehicle control authority of different vehicles.

Table 1

It should be understood that the arrangement order of the vehicles in Table 1 may be arranged in descending order of priority. In practical application, it is assumed that the vehicle 1 and the vehicle 2 are parked in a similar position at the same time, and the terminal can initiate the control of the vehicle 1 preferentially.

In addition, the vehicle control authority corresponding to different vehicles in Table 1 is only an example. In practical applications, the user can set the vehicle control authority for different vehicles as required, which is not limited here.

For another example, in another possible scenario, the registration information of a certain vehicle may be shared among multiple terminals, for example, the vehicle owner, family members, etc. may control the vehicle to perform corresponding operations through different terminals. Exemplarily, as shown in Table 2, it is the terminal ID, corresponding authentication information and authority that can control the vehicle.

Table 2

It should be understood that the arrangement order of the terminals in Table 1 may be arranged in descending order of priority. In practical applications, assuming that terminal 1 (vehicle owner) and terminal 2 (family 1) simultaneously control the vehicle to perform corresponding operations through the terminal, the vehicle may only respond to terminal 1 and ignore messages from terminal 2.

In addition, the vehicle control permissions corresponding to different terminals in Table 1 are only examples. In practical applications, the user can set the vehicle control permissions corresponding to different terminals as needed. For example, terminal 2 and terminal 3 can request terminal 1 for certain Vehicle control authority, terminal 1 (vehicle owner) agrees or rejects some of the other vehicle control authority according to actual needs. There is no limitation here.

Through the above method, one-to-many or many-to-one interaction can be realized between the terminal and the vehicle, which facilitates the user to flexibly control the vehicle as required, and improves the user experience.

In a possible implementation manner, after the terminal controls the vehicle to automatically perform the target operation, the vehicle can send a notification message to the terminal; when the terminal receives the notification message, a prompt message indicating that the target operation is completed can be displayed on the interface.

Exemplarily, taking the terminal as a mobile phone as an example, FIG. 4 shows a schematic diagram of a graphical user interface (graphical user interface, GUI) in some terminal positioning processes provided in the embodiments of the present application.

The interface in FIG. 4 takes the drop-down interface of the mobile phone system bar as an example. The interface includes control icons, such as a WLAN icon, a Bluetooth icon, a flashlight icon, an incoming call notification mode (such as vibration) icon, and an auto-rotation icon. The interface can also It includes other more controls or application programs, which is not limited in this application.

In one implementation, as shown in FIG. 4A , when the user carries the terminal away from the preset distance or geo-fence corresponding to the door lock, the vehicle can complete the target action of the door lock based on the terminal's instruction; after that, the vehicle sends a message to the terminal. The notification message that the door is locked; after receiving the notification message, the terminal can display the notification message in the status bar pulled down on the interface in the form of text. For example, when the user pulls down the status bar, the prompt message 401 of “door is locked” of the digital car key application is displayed, and the display time of the notification message (for example, 1 minute ago) can also be displayed. And the content of the notification message to know the status of the vehicle.

Optionally, the user can set the vehicle control authority corresponding to the terminal in advance. For example, based on the user's settings, the terminal can also automatically control the vehicle to open doors, open windows, and automatically ignite to start the vehicle.

In another implementation, when the user enters the preset distance or geo-fence corresponding to the door unlocking with the terminal again, the vehicle can complete the target action of unlocking the door based on the terminal's instruction; after that, the vehicle sends a notification that the door has been opened to the terminal message; after receiving the notification message, the terminal can display the notification message in the form of text in the status bar pulled down on the interface. For example, when the user pulls down the status bar, a prompt message 402 of "the door is unlocked" is displayed (as shown in FIG. 4B ). Optionally, pulling down the status bar at this time can still display the notification message that the vehicle is locked and the corresponding time, such as the notification message that the door has been locked 30 minutes ago as shown in FIG. state.

After that, the user continues to approach the vehicle. When the distance between the terminal and the vehicle is less than the preset distance for opening the window, the terminal instructs the vehicle to automatically open the window. After the vehicle opens the window, it can send a notification message that the window has been opened to the terminal. ; After receiving the notification message, the terminal can display the notification message in the form of text on the pull-down status bar interface. For example, when the user pulls down the status bar, a prompt message 403 of "the window is open" is displayed (as shown in FIG. 4C ). Optionally, pulling down the status bar at this time can still display the door lock, door unlock notification message and the corresponding time, as shown in FIG. Notification messages, so that the user can know the specific status of the vehicle at different times.

When the user opens the door and enters the cab, the terminal instructs the vehicle to ignite the vehicle based on the positioning information. After the vehicle is turned on, it can send a notification message that the vehicle has been turned on to the terminal. After receiving the notification message, the terminal can display the text on the interface in the form of a scroll bar. The top status bar displays the notification message. For example, when the user pulls down the status bar, a prompt message 404 of "the vehicle has been ignited and started" is displayed (as shown in FIG. 4D ). Similarly, pulling down the status bar at this time can still display the door lock, door unlock and window open notification messages and the corresponding time. As shown in Figure 4D, the notification message that the door is locked 33 minutes ago is displayed, respectively, 3 minutes The notification message that the front door has been unlocked, and the notification message that the window has been opened 2 minutes ago, allows the user to know the specific status of the vehicle at different times.

In practical applications, the notification message of the state change of the vehicle is not limited to the above-mentioned display methods. For example, it can also be displayed on the negative screen of the terminal. As shown in Figure 5, the mobile phone displays the state of the vehicle at different time points on the negative screen. Diagram of a change notification message. Wherein, the negative screen in FIG. 5 may include greetings preset according to time, displaying a search box (for searching local or online content) and a notification message of a digital car key. In practical applications, the negative one-screen interface in FIG. 5 may further include various display messages, which are not limited in this application.

Exemplarily, the notification message of the digital car key includes the state change of the vehicle and the corresponding time. As shown in Figure 5, the notification message of the digital car key includes: 8:00, the door is locked; 8:30, the door is unlocked; 8:31, the window is opened; and 8:33, the vehicle is ignited and turned on.

According to the above method, by displaying the state change of the vehicle and the corresponding time on the terminal, it is convenient for the user to understand the state of the vehicle, thereby improving the user experience.

In addition, in practical applications, the specific time shown in Figure 5 can also be used to represent the time when a certain state changes, or the current time shown in Figure 4 can be used as the benchmark, and a certain state occurred before a certain period of time. The mode of change indicates the time when the state changes, which is not limited in this application.

It should be understood that, through the above method, the user can be informed of the state of the vehicle in time to ensure the safety of the vehicle. The following describes the terminal positioning method provided by the embodiments of the present application with reference to the accompanying drawings.

Exemplarily, FIG. 6 shows a schematic flowchart of a method for locating a terminal provided by an embodiment of the present application. The method for locating the terminal may be performed by the terminal shown in FIG. 1 and FIG. 2 , and may specifically include the following steps:

S601 , when a trigger event occurs in the vehicle, perform a first positioning operation, where the first positioning operation is used to obtain first positioning information, where the first positioning information is used to indicate the current location of the terminal.

In an implementation manner, when the vehicle receives a trigger event, it may generate a trigger message and send the positioning trigger message to the terminal. Optionally, the positioning trigger message may be used to instruct the terminal to perform a positioning operation; After the positioning trigger message is received, the positioning operation is carried out autonomously.

In another implementation manner, the terminal may set a reminder message for the occurrence of a trigger event in the vehicle, and when the trigger event occurs in the vehicle, the terminal may perform the first positioning operation in response to the reminder message. For example, the destination address of the vehicle can be set on the terminal according to a third-party application. When the vehicle reaches the destination address, the third-party application can generate a reminder message (for example, the vehicle arrives at the destination address); Perform the first positioning operation.

The triggering events may include, for example, events such as: the running state of the vehicle itself changes, the vehicle establishes a connection with the terminal, the terminal is authenticated at the vehicle end, and the vehicle receives other trigger notifications.

Exemplarily, the change of the running state of the vehicle itself may include: the vehicle changes from the running state to the stopped state, such as the vehicle is turned off or the vehicle is in the parking (P) gear, etc.; the authentication passed by the vehicle and the terminal may include, for example: The terminal digital car key key authentication is passed, etc.; the vehicle receives other trigger notifications, for example, it may include: the vehicle determines to arrive at the destination according to the navigation information, etc.

In addition, before the terminal performs the positioning operation, the terminal can establish wireless communication with the vehicle, and send an authentication message generated based on the digital car key key to the vehicle through a wireless signal for authentication. The terminal may encrypt the authentication message, and send the encrypted authentication message to the vehicle. The terminal may use the authentication key to perform encryption processing (such as encryption, signature, etc.) on the authentication message, and this application does not limit the specific encryption method.

After the vehicle generates the positioning trigger message based on the trigger event, the positioning trigger message can be sent to the terminal through a wireless signal. Optionally, the positioning trigger message can be used to indicate that a trigger event occurs in the vehicle (for example, the running state of the vehicle itself changes, etc.), and the terminal can automatically perform the positioning process after receiving the positioning trigger message; To explicitly instruct the terminal to perform the positioning operation, the terminal performs the positioning operation according to the instruction of the positioning trigger message.

S602, in response to the positioning trigger message, perform a first positioning operation, where the first positioning operation is used to obtain first positioning information corresponding to the current location of the terminal.

In an implementation manner, after receiving the positioning trigger message sent by the vehicle, the terminal may determine whether the current positioning conditions meet the requirements for the terminal to perform positioning. The requirements for positioning may include, for example: whether the terminal receives a positioning signal, such as a satellite signal (such as a GPS signal, Beidou signal, etc.) or a fifth-generation wireless communication technology (the 5th-generation, 5G) signal, etc.; or, whether the terminal receives Whether the quality of the received positioning signal supports accurate positioning of the terminal, etc.

For example, when the terminal uses RTK positioning technology for positioning, the positioning conditions may include: whether the terminal can receive RTK positioning signals, or whether the strength of the RTK positioning signals meets the signal strength requirements of RTK positioning; when the terminal uses satellite positioning When , the positioning condition may include: whether the terminal can receive a satellite positioning signal, or whether the strength of the satellite positioning signal meets the positioning signal strength requirement, and the like.

When the terminal determines that the current positioning conditions meet the terminal positioning requirements, that is, the terminal positioning can be performed, the subsequent positioning operation is performed; when the terminal determines that its positioning conditions do not meet the current positioning requirements, such as the terminal cannot receive the positioning signal or the strength of the positioning signal is insufficient In order to support precise positioning, the vehicle is notified to fall back to normal operations, such as adopting RSSI ranging, enabling users to manually operate on the terminal APP, or using NFC to achieve interaction. The following mainly describes the situation in which the current positioning condition satisfies the terminal to perform the positioning operation.

When the current positioning condition meets the requirement of the terminal for performing the positioning operation, the terminal may perform the first positioning operation in response to the trigger message sent by the vehicle. The first positioning operation mentioned in the embodiment of the present application refers to that when the vehicle is parked and the position between the terminal and the vehicle is smaller than the first threshold, the terminal performs positioning measurement on its current position under the trigger of the vehicle, and obtains the current location of the terminal. The first positioning information corresponding to the location.

It should be understood that the distance between the current location of the terminal and the vehicle is less than the first threshold. Wherein, the first threshold value may be, when the vehicle stops, the terminal is still in the vehicle or the distance between the terminal and the vehicle is very small, the value of the distance between the terminal and the vehicle. Since the distance between the terminal and the vehicle is very small when parking (for example, the terminal is located inside the vehicle), the first positioning information can be used to indicate the parking position of the vehicle. In other words, the position indicated by the first positioning information can be used as The anchor point for subsequent terminal positioning is used to judge the relative distance between the terminal and the vehicle during the movement process.

In an implementation manner, the terminal may perform independent positioning based on its own positioning function, calculate the precise information of the current position of the terminal, and obtain the first positioning information of the current position of the terminal. The first positioning information may be absolute geographic location information of the terminal, such as geographic coordinates of the location where the terminal is located.

In this solution, the terminal can use a variety of positioning technologies to achieve positioning, such as: RTK positioning technology, GNSS positioning technology, Wi-Fi positioning technology, cellular network positioning technology (based on base station positioning), or Internet-based big data fusion positioning technology Wait. In addition, the terminal can also use RTK technology as the core, combined with base station, Wi-Fi, Bluetooth, GPS, AGPS, historical data, 5G and other optimized positioning methods.

When the terminal adopts RTK positioning technology for positioning, it can locate independently and obtain positioning information with high accuracy. When the terminal adopts cellular network positioning technology, GNSS positioning technology, Wi-Fi or positioning technology based on big data, optionally, in order to ensure more accurate positioning results, if the vehicle also has the positioning function, the vehicle can be used. The positioning information of the terminal is used to correct the positioning information of the terminal. The specific correction process will be described in detail below.

S603: Execute a second positioning operation, where the second positioning operation is used to obtain second positioning information corresponding to the real-time position of the terminal during the moving process.

In an implementation manner, after the terminal performs the first positioning operation, the user leaves the vehicle with the terminal, and the second positioning operation may be performed while the terminal is moving away from the vehicle or approaching the vehicle again. The second positioning operation mentioned in the embodiment of the present application refers to positioning the real-time position of the terminal during the movement process. Optionally, in the process of moving, the terminal may periodically monitor its own moving position, and periodically acquire second positioning information corresponding to the moving position of the terminal.

For example, the second positioning operation may continuously monitor the moving position of the terminal during the process of the terminal leaving the vehicle and approaching the vehicle again; or, the second positioning operation may only be performed during the process of maintaining the wireless connection between the terminal and the vehicle, if the terminal is far away from the vehicle When the terminal is far away and the wireless connection is disconnected, the terminal can stop the second positioning operation, and when the terminal approaches the vehicle again, establishes a wireless connection with the vehicle again or passes the authentication, the terminal can perform the second positioning operation again.

S604, instruct the vehicle to perform the target operation according to the first positioning information and the second positioning information of the terminal.

It can be known from step S602 and step S603 that the first positioning information can be used to indicate the parking position of the vehicle, and the second positioning information is the position information corresponding to the current moment of the terminal during the movement of the terminal. Therefore, according to the first positioning information and the second positioning information The positioning information can determine the distance between the terminal and the vehicle.

After that, the terminal can instruct the vehicle to perform the corresponding target operation according to the distance between it and the vehicle.

According to the terminal positioning method provided by the embodiment of the present application, the terminal starts the positioning process according to the positioning trigger message of the vehicle, and determines whether the terminal enters the preset range of the vehicle based on the positioning result. This process does not require the user to perform management operations, and positioning can be avoided. The process relies on the vehicle side to complete, resulting in the choice of positioning technology is limited by the vehicle side hardware. With the fast iteration speed of the terminal, the terminal can match or be compatible with a variety of positioning technologies, which increases the optionality of the positioning technology and improves the user experience.

For the above-mentioned step S604, according to the first positioning information and the second positioning information of the terminal, the vehicle is instructed to perform the target operation, and there may be different specific implementation manners. The following describes the two different implementation manners provided by the embodiments of the present application respectively.

Manner 1: The terminal may determine the relative distance between it and the vehicle according to the second positioning information and the first positioning information, and instruct the vehicle to perform the corresponding target operation by comparing the relationship between the relative distance and the preset distance. For example, when the relative distance is greater than the preset distance, the vehicle is instructed to perform the first target operation; when the relative distance is less than or equal to the preset distance, the vehicle is instructed to perform the second target operation.

Exemplarily, when the relative distance is greater than the preset distance, the terminal may send first indication information to the vehicle, where the first indication information is used to instruct the vehicle to perform the first target operation; or, when the relative distance is less than or equal to the preset distance , the terminal may send second instruction information to the vehicle, where the second instruction information is used to instruct the vehicle to perform the second target action.

Optionally, the preset distance mentioned in this application may be the distance between the vehicle and the center point in a 360° direction around the vehicle, and the preset distance may be flexibly set according to the actual needs of the user. This is not limited.

The first target operation may be, for example, a relevant operation when the terminal is far away from the vehicle, such as door locking, window locking, trunk lock, etc.; the second target operation may be, for example, a corresponding operation when the terminal is close to the vehicle, such as door unlocking , window unlocking, trunk unlocking, engine startable state, etc.

It should be understood that the specific types of the first target operation and the second target operation listed above are only examples. In practical applications, the user can also independently set certain instructions as needed, such as turning on or off the vehicle wipers, etc. This is not limited.

In addition to using the method of method 1 to realize the control of the vehicle by the terminal, the comparison of the distance between the terminal and the vehicle can also be further converted into a comparison of the location relationship between the terminal and the vehicle's geo-fence (that is, method 2), which also realizes the control of the vehicle. control.

Mode 2: The terminal can use the position indicated by the first positioning information (the parking position of the vehicle) as the reference position of the geo-fence, and the preset distance is the distance between the boundary of the geo-fence and the reference point, then when the terminal enters the geo-fence area , which can be equivalent to a scene where the relative distance between the terminal and the vehicle is less than or equal to the preset distance; when the terminal leaves the geo-fence area, it can be equivalent to a scene where the relative distance between the terminal and the vehicle is greater than the preset distance. In this way, the terminal can instruct the vehicle to perform the corresponding target operation according to its relationship with the vehicle geo-fence.

Compared with the terminal positioning process in the first mode, in the second mode, the terminal can obtain the information of the geo-fence of the vehicle in advance according to the first positioning information. Geo-fenced area, thereby instructing the vehicle to perform the corresponding target action. In mode 1, the terminal needs to calculate the relationship between the position of the user and the vehicle and the preset distance according to the real-time position of the user, so as to instruct the vehicle to perform the corresponding target operation; while in mode 2, the terminal does not need to calculate the user and the parking position multiple times. It only needs to judge whether it enters the geo-fenced area. Therefore, the second method can save the computing resources of the terminal, reduce the load of the terminal, and ensure the use performance of the terminal.

The following describes the process of implementing the vehicle control using the second method in more detail with reference to FIG. 7 .

FIG. 7 shows a schematic diagram of a method for locating a terminal provided by an embodiment of the present application. In this method, the terminal mainly instructs the vehicle to perform corresponding operations according to its positional relationship with the vehicle geo-fence, which specifically includes the following steps:

S701: Determine a geo-fence of a vehicle according to the first positioning information and a preset distance.

In an implementation manner, the terminal may obtain algorithms for geo-fencing of different vehicles in advance from the server. The server can continuously upgrade and optimize the generation algorithm of the vehicle fence, and send it to the terminal in a safe way; the terminal can store different algorithms corresponding to different vehicle types, and distinguish them according to the identification of the vehicle.

In some embodiments, the terminal may be associated with a digital car key application, and when the terminal detects that a certain key has been authenticated at the vehicle end, it uses an algorithm corresponding to the vehicle to generate a geo-fence during subsequent positioning.

In an implementation manner, the terminal may obtain other parameter information for calculating the geo-fence of the vehicle in advance, such as a preset distance, where the preset distance may be the distance between the boundary of the geo-fence and the reference position in different directions; or Geo-fence size parameters, shape parameters of the geo-fence area, etc.; then, the terminal determines the information of the geo-fence, such as the boundary coordinates of the geo-fence, according to the first positioning information and other parameter information of the geo-fence, and then obtains the geo-fence of the vehicle.

Among them, different types of vehicles may correspond to different parameter information of the geo-fence, for example, vehicles of different sizes or shapes have different parameter information of the corresponding geo-fence; in addition, the shape of the geo-fence may also be related to the orientation of the vehicle, etc. , such as the coordinate points of the boundary of the geofence in different directions can be determined by the heading angle of the vehicle. In other words, different types of vehicles may correspond to geofenced areas of different sizes and/or shapes.

In an implementation manner, the terminal can mark the geo-fence area of the vehicle on the map page, so that the user can obtain the positional relationship between the vehicle and the geo-fence more intuitively.

It should be understood that since the first positioning information measured by the terminal can be used to indicate the parking position of the vehicle, the terminal can generate the information of the geo-fence according to the position indicated by the first positioning information as the reference position of the geo-fence.

In an implementation manner, the distances between the boundaries of different directions of the geo-fence and the reference position may be equal to the preset distances in the corresponding directions. Optionally, the reference position of the geofence can be used as the position of the center point of the geofence.

In a possible implementation manner, if the vehicle itself has a high-precision positioning function, the vehicle can also generate a geo-fence based on its own location. For example, when the vehicle supports the RTK function, the vehicle can generate its own geo-fence and send the information of the geo-fence to the terminal; or, when the terminal supports the RTK function, the terminal itself can generate the information of the geo-fence.

Optionally, the information of the geo-fence may include: boundary coordinates of the geo-fence, the area corresponding to the geo-fence on the map, and the size and shape of the geo-fence area.

In an implementation manner, after the terminal determines the information of the geo-fence of the vehicle, the terminal may store the information of the geo-fence locally in the terminal.

In another implementation manner, the terminal can also perform encryption processing on the information of the geo-fence, such as encryption or signature with an authentication key; after that, the encrypted information of the geo-fence is sent to the vehicle, and the vehicle stores it in the local Safe storage space. The encryption key may be an authentication key between the vehicle and the terminal/first terminal, or an encryption key shared by the terminal and at least one first terminal.

In a possible scenario, when the information of the geo-fence is stored in the vehicle, if the user shares the control authority of the vehicle with another terminal (referred to as the first terminal), then when the first terminal approaches and leaves the vehicle or approaches When the vehicle is a vehicle, after the vehicle has passed the authentication of the first terminal, the vehicle can send the information of the geo-fence to the first terminal, so that the first terminal can also execute the terminal positioning method provided by the embodiment of the present application. Encrypting the information of the geo-fence can ensure that the information of the geo-fence can be safely transmitted to the first terminal that has passed the authentication or authorization and be parsed and used, thereby improving the security of the information transmission process and the reliability of the data source.

S702, according to the second positioning information and the geo-fence, determine the positional relationship between the terminal and the geo-fence.

In an implementation manner, after determining the first positioning information, the terminal performs a second positioning operation to obtain real-time position information of the terminal during the movement process.

The location relationship between the terminal and the geofence may include: the terminal is within the geofence or the terminal is outside the geofence.

S703, when it is determined that the terminal leaves the geo-fence area according to the location relationship, instruct the vehicle to perform the first target operation; when it is determined that the terminal enters the geo-fence area according to the location relationship, instruct the vehicle to perform the second target operation.

In an implementation manner, when the location relationship of the terminal changes from within the geofence to outside the geofence, it may indicate that the terminal leaves the geofence area; or, when the location relationship of the terminal changes from outside the geofence to inside the geofence When , it can indicate that the terminal enters the geo-fenced area.

The terminal may send a corresponding instruction message to the vehicle based on its departure or entry into the geo-fence, where the instruction message is used to instruct the vehicle to perform a corresponding operation.

Specifically, when the terminal leaves the geo-fence, the first indication information may be sent to the vehicle, where the first indication information is used to instruct the vehicle to perform the first target operation; or, when the terminal enters the geo-fence, the first indication information may be sent to the vehicle. Second instruction information, the second instruction information is used to instruct the vehicle to perform the second target operation.

Among them, the first target operation includes door lock, window lock, trunk lock and other operations corresponding to the terminal moving away from the vehicle; the second target operation includes door unlocking, window unlocking, trunk unlocking, allowing the engine to be started, etc. and the terminal is close to the vehicle corresponding operation.

Optionally, the terminal may encrypt the above instruction message, and send the encrypted instruction message to the vehicle. The encryption process may include, for example, encryption of a key and adding a signature, where the key may be an authentication key used in the authentication process of the terminal and the vehicle.

It should be understood that by encrypting the instruction message, the security during the transmission of the instruction message can be improved, and the message can be prevented from being maliciously copied and repeatedly sent to the vehicle for attack.

In an implementation manner, the terminal may send the indication message to the vehicle as a separate message, or may be carried in other notification messages and sent to the vehicle. For example, when the terminal leaves the geo-fence area, the terminal sends a notification message to the vehicle to notify the vehicle that the terminal leaves the geo-fence area, and the notification message may carry the above-mentioned indication information or the above-mentioned encrypted indication information; When a fenced area is present, the terminal sends a notification message to the vehicle to notify the vehicle that the terminal enters the geo-fenced area, and the notification message may carry the above-mentioned indication message or the above-mentioned encrypted indication message.

In an implementation manner, in the scenario where the keyless terminal performs positioning, the relative distance between the terminal and the vehicle does not need to be calculated based on the absolute precise geographic location of the two, but only the precise relative distance between the terminal and the vehicle needs to be calculated. That's it. However, it takes a while for the user to leave the vehicle and return to the vehicle. Due to changes in environmental factors, etc., there may be a discrepancy between the first positioning information measured by the terminal when it is parked and the second positioning information measured later, so that the terminal cannot obtain an accurate relative distance between it and the vehicle, and thus cannot accurately indicate The vehicle performs the corresponding target operation.

Considering that after the vehicle is parked, its position will generally not change. Therefore, on the premise that the vehicle supports the positioning function, the terminal can use the positioning reference information measured by the vehicle to measure the positioning information (such as the second positioning information) of the terminal itself. Or the information of the geo-fence is corrected; or, the vehicle obtains the positioning error correction information according to its own positioning reference information, and the terminal uses the positioning error correction information to correct the positioning information of the geo-fence and the terminal to eliminate the different moments caused by environmental factors. The positioning information measures the deviation of the value, and then obtains a more accurate relative position between the two.

It should be understood that when the terminal uses different positioning methods for positioning, the obtained positioning accuracy is also different. Therefore, according to the different positioning methods adopted by the terminal, the positioning result of the terminal can be selectively modified by using the positioning reference information of the vehicle. . For example, when the terminal adopts a positioning method with high positioning accuracy such as RTK positioning, it is not necessary to use the positioning correction information to correct the geo-fence and terminal positioning information; and when the terminal adopts the GNSS positioning method, Wi-Fi positioning method, and cellular network positioning method Or based on the Internet big data fusion positioning method, etc., the geo-fence and terminal positioning information can be corrected based on the positioning correction information of the vehicle.

The following further describes the process and principle of the terminal using the vehicle terminal information to correct the information of the geo-fence or the real-time location information of the terminal with reference to FIG. 8 .

In an implementation manner, as shown in FIG. 8 , when the vehicle is parked, the information of the parking position measured by the vehicle may be recorded as first positioning reference information, and the position coordinates corresponding to the first positioning reference information are represented by A. At this time, the coordinate of the vehicle geo-fence calculated by the terminal based on the first positioning information is marked as B.

When the user leaves the vehicle and returns to the vehicle, it takes some time in between. When the user returns to the vehicle, after the terminal establishes a connection with the vehicle and passes the authentication, the terminal can perform the second positioning operation. At this time, the second positioning reference information measured by the vehicle is denoted as A'. Due to changes in environmental factors, etc., the measured values of A and A' may be different. However, because the vehicle does not move during the stop phase, the actual positions corresponding to the two are actually the same, so the error value ΔA between A and A' can represent the deviation of the positioning information caused by environmental factors.

In order to make the information of the geofence also overcome the influence of the external environment and other factors, that is, to overcome the error environment when the terminal measures the first positioning information to generate the geofence, and the error environment when measuring the second positioning information and judging whether to enter the geofence is different. If the location information of the terminal and the vehicle location information are corrected to an error environment, the information B of the geo-fence generated by the terminal when parking is corrected to the error environment at the time of returning to the vehicle, and the error value ΔA can be used to determine the coordinate B Correction is made. At this time, the second positioning information of the terminal and the coordinates of the geo-fence are measured under the error condition of the time when the terminal returns to the vehicle, the influence of the external environment and other conditions is eliminated, and a more accurate relative relationship between the two can be obtained. distance.

Alternatively, the terminal can also correct its own second positioning information based on the error value ΔA, overcome the influence of environmental factors during the period when the terminal leaves and returns, and correct it to the error environment of the vehicle parking time. At this time, under the condition that the coordinates of the geo-fence and the second positioning information are both at the first moment, a more accurate relative distance between the terminal and the vehicle can be obtained by performing position comparison.

Similarly, when the vehicle sends its own positioning information at different times to the terminal, and the terminal calculates the positioning error correction information, the above process can also be used to correct the geo-fence information or the second positioning information. It will not be repeated here.

It should be understood that the use of the difference between the first positioning reference information and the second positioning reference information to correct the second positioning information or the geo-fence described in this embodiment is only an example, and in practical applications, it may also be based on the positioning of the vehicle. Other methods for correcting the positioning information of the terminal or the geo-fence error are designed with reference to the information, which is not limited in this application.

Exemplarily, as shown in FIG. 9 , it is a schematic diagram of the terminal using the positioning reference information measured by the vehicle to correct the information of the geo-fence or the second positioning information. The process can include the following steps:

S901: Receive first positioning reference information and second positioning reference information sent by the vehicle, where the first positioning reference information is the parking position measured by the vehicle when the terminal performs the first positioning operation, and the second positioning reference information is the terminal performing the second positioning When in operation, the vehicle's measured parking position.

In an implementation manner, when the vehicle has a positioning function (for example, the vehicle supports RTK positioning or GNSS positioning, etc.), in order to make the positioning information of the geo-fence obtained by the terminal more accurate, the vehicle can send the positioning reference information measured by itself to the The terminal uses the positioning reference information to correct the geo-fence and its own positioning information.

Exemplarily, the vehicle may measure the first positioning reference information when the vehicle is parked. The first positioning reference information may be the vehicle's own parking position measured when the terminal performs the first positioning operation. For example, when the vehicle receives a trigger event, or when the vehicle sends a positioning trigger message to the terminal, the vehicle itself also performs a positioning operation, and obtains first positioning reference information indicating the current parking position of the vehicle.

Afterwards, the vehicle may measure its current parking position to obtain the second positioning reference information during the process of the terminal performing the second positioning operation. For example, when the terminal approaches the vehicle again, after the terminal and the vehicle establish a wireless connection again and pass the authentication, the vehicle can measure the parking position at this time and obtain the second positioning reference information; or, when the terminal is away from the vehicle, if the terminal During the process of moving to the preset distance or the boundary of the geo-fence, the position information measured by the vehicle at this time is the second positioning reference information.

S902, according to the first positioning reference information and the second positioning reference information, correct the information of the geo-fence of the vehicle or the second positioning information.

In an implementation manner, the vehicle can send the first positioning reference information and the second positioning reference information to the terminal; the terminal uses the first positioning reference information and the second positioning reference information to run an error correction algorithm to correct the geo-fence of the vehicle. information or second positioning information to overcome the positioning deviation caused by environmental factors.

Exemplarily, as shown in FIG. 10 , for the terminal to use the vehicle to generate the positioning error correction information to correct the information of the geo-fence or the second positioning information, the process may include the following steps:

S1001: Receive positioning error correction information sent by the vehicle, where the positioning error correction information is generated by the vehicle based on first positioning reference information and second positioning reference information obtained by the vehicle itself, and the first positioning reference information is that when the terminal performs a first positioning operation, the vehicle detects The second positioning reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation.

In an implementation manner, when the vehicle has a positioning function (for example, the vehicle supports RTK positioning or GNSS positioning, etc.), in order to make the positioning information of the geo-fence obtained by the terminal more accurate, the vehicle can use the positioning information obtained by itself to obtain the positioning error. Correction information, the terminal uses the positioning error correction information to correct the geo-fence and its own positioning information.

It should be understood that since changes in the surrounding environment may have different degrees of influence on the measurement value of the positioning information, the measurement value of the positioning information at different times is different. Therefore, the vehicle can calculate the error value according to the first positioning reference information and the second positioning reference information, and send it to the terminal as the positioning error correction information, so that the terminal can correct the geo-fence information or the second positioning information.

S1002, according to the positioning error correction information, correct the information of the geo-fence of the vehicle or the second positioning information.

The terminal can run an error correction algorithm according to the positioning error correction information to correct the information of the vehicle's geo-fence or the second positioning information, so as to overcome the positioning deviation caused by environmental factors.

According to the terminal positioning method provided by the embodiment of the present application, by using the positioning information measured by the vehicle itself, the vehicle position information and the geo-fence positioning information obtained by the terminal are corrected, so that the terminal positioning information, the vehicle parking position or the geo-fence can be corrected to In the error environment at the same time/environment, the positioning deviation caused by environmental changes at different times is overcome, the accuracy of the relative position of the terminal and the vehicle is improved, and the accuracy of the terminal instructing the vehicle to perform related operations is improved.

In the scenario of this embodiment, the terminal and the vehicle can establish short-distance communication. When the vehicle stops, the terminal uses the positioning function to locate its own position. Since the terminal and the vehicle are relatively close, the positioning information can be used to indicate the parking of the vehicle. Location. The terminal can draw the geo-fence of the vehicle based on the location information and the obtained vehicle geo-fence parameter information and algorithm strategy, etc., and control the vehicle to perform corresponding operations based on the geo-fence information and subsequent terminal positioning information. The specific process may include the following steps.

S1101, the vehicle detects a trigger event.

Wherein, the trigger event may include a change in the state of the vehicle, the authentication between the vehicle and the terminal, or the arrival of the destination determined by the vehicle volume terminal according to the navigation result, and the like. Wherein, the vehicle state change may include the vehicle changing from the running state to the flameout state, the P-gear state and other parking states; the authentication between the vehicle and the terminal may be, for example, digital car key key authentication, establishment of a wireless communication connection between the vehicle and the terminal, etc.

S1102, the vehicle sends a positioning trigger message to the terminal.

Wherein, after a trigger event occurs in the vehicle, the vehicle generates a positioning trigger message, and the positioning trigger message is used to instruct the terminal to perform a positioning operation.

S1103, the terminal determines whether terminal positioning can be performed.

After receiving the positioning trigger message, the terminal may judge whether the terminal positioning requirement is met based on the current positioning condition. For example, the terminal can determine whether positioning information (such as satellite signals or 5G signals, etc.) can be received, or the terminal can determine whether the quality of the currently received positioning signal can meet the positioning requirements, etc.

If the current positioning condition can satisfy the terminal positioning, step S1103(a) is executed, the current position information of the terminal is calculated, and the geo-fence of the vehicle is drawn.

If the terminal positioning cannot be performed, step S1103(b) is performed to return to the normal interaction process. The conventional interaction process may be to fall back to an existing solution according to a preset policy, for example, a vehicle based on RSSI positioning, a user's active control through an App, or an NFC solution.

It should be understood that, in addition to supporting the manner in which the terminal controls the vehicle in the embodiments of the present application, the vehicle may also be compatible with various existing manners to perform corresponding operations. For example, in the scenario where the positioning conditions of some terminals do not meet the requirements for terminal positioning (for example, the terminal cannot receive positioning signals), and the terminal determines that terminal positioning cannot be performed at present, the terminal can send a notification message to the vehicle to notify the vehicle to use the vehicle supported by the vehicle. Other ways to complete the corresponding operation. For example, let the vehicle locate the vehicle and the terminal based on RSSI, and then perform corresponding operations based on the distance between the terminal and the vehicle. For another example, when the terminal determines that the terminal positioning cannot be performed currently, the terminal can display a prompt message to the user, such as "the current positioning signal is weak, and the terminal positioning cannot be performed", etc. After that, the user can use the digital car key application on the terminal. Manually click on the corresponding operation option (such as an option instructing the vehicle to lock the door, etc.), so that the vehicle performs the corresponding operation. Among them, the process for some vehicles to perform corresponding operations based on the existing method can refer to the existing process, which will not be described in detail here, and the following only introduces the situation that the terminal satisfies the positioning performed by the terminal.

S1104, the terminal determines the interaction mode when the terminal is far away from the vehicle or when the terminal approaches the vehicle again.

The interaction mode here may include instructing the vehicle to perform a corresponding operation by using a terminal positioning method, or causing the vehicle to perform a corresponding operation according to other existing methods. Wherein, when the terminal can perform terminal positioning, the terminal determines that the terminal interacts with the vehicle during the current process of moving away from the vehicle or when the terminal approaches the vehicle again as the terminal controls the vehicle based on the positioning information.

It should be understood that after the vehicle is parked, the terminal interacts with the vehicle based on the positioning information. Since the position of the vehicle generally does not change after the vehicle is parked, when the terminal approaches the vehicle again, the positioning conditions generally do not change significantly. Use the terminal's previous sensorless interaction with the vehicle based on positioning information.

S1105, the terminal sends the information of the geo-fence to the vehicle.

Wherein, after the terminal determines the information of the geo-fence of the vehicle, the information of the geo-fence can be stored in the terminal; the information of the geo-fence can also be sent to the vehicle, and the vehicle can store the information in a safe storage space.

In an implementation manner, if the user shares the control authority of the vehicle with another terminal (referred to as the first terminal), then when the first terminal is wirelessly connected to the vehicle and authenticated, the vehicle can send the geo-fence information The first terminal enables the first terminal to also execute the terminal positioning method provided by the embodiment of the present application.

Further, the terminal can encrypt the information of the geo-fence, and send the encrypted information of the geo-fence to the vehicle. For example, the terminal can use the key of the terminal to encrypt the information of the geo-fence, or the Add a signature to the information to improve the security of the information transmission process and the reliability of the source, wherein the key of the terminal can be the key used in the authentication process between the terminal and the vehicle, or the terminal and at least one first terminal. encryption key.

S1106, when the terminal enters the geo-fence again, the vehicle triggers terminal positioning.

When the user brings the terminal close to the vehicle again, the terminal can locate its own position in real time; when the terminal is close to the vehicle position, it can establish wireless communication with the vehicle again, and can also key with the vehicle based on the digital car key key Certification. When the terminal establishes a wireless connection with the vehicle or passes the authentication, the vehicle can trigger the terminal to perform a positioning operation, and the terminal can detect whether a positioning trigger message has been received.

Optionally, the event that triggers the positioning of the terminal may be, for example, a separate positioning trigger message sent by the vehicle to the terminal; or, an authentication pass message sent by the vehicle to the terminal, and the authentication pass message carries information indicating the terminal to perform subsequent positioning, etc. .

S1107, the terminal determines whether terminal positioning can be performed.

S1108, the terminal performs terminal positioning, and based on the information of the geo-fence, continuously monitors and determines whether the terminal enters the geo-fence.

Wherein, the terminal may obtain the information of the geo-fence of the vehicle from its own safe storage space or from the vehicle exit.

In the process of the terminal approaching the vehicle, the terminal can perform high-precision positioning, continuously monitor its position, and determine whether the terminal enters the geo-fence.

S1109: After the terminal enters the geo-fence, it sends an instruction message to the vehicle.

The instruction message may be used to notify the vehicle that the terminal enters the geo-fence area, and the instruction message may carry a control instruction generated by the terminal to instruct the vehicle to perform a corresponding operation.

The instruction message or control instruction can be encrypted and protected based on the key of the terminal to prevent interception and use by other devices. The key of the terminal may be the key used in the authentication process between the terminal and the vehicle.

S1110, the vehicle performs a corresponding target operation according to the instruction message.

The corresponding control operation may be an operation corresponding to the event that the terminal enters the geo-fence, such as unlocking the door of the vehicle.

It should be understood that the terminal positioning method provided in the embodiments of the present application may include various methods for terminal positioning, such as Bluetooth, UWB, or RTK as the core, combined with base station, Bluetooth, GPS, Beidou positioning technology, AGPS, historical data, 5G and other optimized positioning methods. In the embodiment of the present application, the positioning method of the terminal only needs to meet the accuracy requirement of the terminal positioning, and the specific positioning method adopted by the terminal is not limited in the present application.

According to the terminal positioning method provided by the embodiment of the present application, the terminal starts the positioning process according to the positioning trigger message of the vehicle, and determines whether the terminal enters the preset range of the vehicle based on the positioning result. The choice of positioning technology is limited by the hardware on the vehicle side. With the fast iteration speed of the terminal, the terminal can match or be compatible with a variety of positioning technologies, which increases the optionality of the positioning technology and improves the user experience. FIG. 12 shows a schematic flowchart of another terminal positioning method provided by an embodiment of the present application.

Compared with the embodiment shown in FIG. 11 , in the scenario of this embodiment, the vehicle can cooperate with the terminal to perform positioning to complete the judgment of the relative distance, wherein the vehicle can be used as the reference point of the terminal positioning and provide the positioning error correction information to the terminal. , so that the terminal can accurately calculate the relative position between it and the vehicle. The specific process may include the following steps.

S1201, the vehicle detects a trigger event.

S1202, the vehicle sends a positioning trigger message to the terminal.

S1203, the terminal determines whether terminal positioning can be performed.

S1204, the terminal determines the interaction mode when the terminal is far away from the vehicle or the terminal approaches the vehicle again.

S1205, the vehicle sends the first positioning reference information to the terminal.

Specifically, when the terminal performs the first positioning operation, the vehicle also performs the positioning operation, and obtains the first positioning reference information indicating the parking position of the vehicle. After that, the vehicle sends the first positioning reference information to the terminal, and the terminal can store the first positioning reference information in a local storage space, so as to use the information to perform positioning error correction subsequently.

S1206, the terminal performs a first positioning operation, and generates a geo-fence of the vehicle.

S1207, the terminal sends the information of the geofence to the vehicle.

S1208, when the terminal enters the geo-fence again, the vehicle triggers terminal positioning.

S1209, the terminal determines whether terminal positioning can be performed.

S1210, the vehicle sends the second positioning reference information to the terminal.

In an implementation manner, after the terminal determines that the terminal positioning can be performed, it can feedback to the vehicle. After that, the vehicle can send the second positioning reference information to the terminal.

S1211, the terminal performs a second positioning operation; the terminal corrects the second positioning information or the information of the geo-fence; and the terminal determines that the terminal has entered the geo-fence.

The second positioning operation performed by the terminal here is to locate the moving position of the terminal in the process of approaching the vehicle.

In an implementation manner, the terminal may use the first positioning reference information and the second positioning reference information to modify the second positioning information or the information of the geo-fence.

In an implementation manner, the terminal determines that the terminal enters the geo-fence area based on the revised second positioning information or the information of the geo-fence.

S1212, after the terminal enters the geo-fence, it sends an instruction message to the vehicle.

S1213, the vehicle performs the corresponding target operation according to the instruction message.

It should be understood that the terminal positioning method provided in the embodiments of the present application may include various terminal positioning methods, such as RTK technology, Beidou positioning technology, GPS positioning technology, etc., as long as the accuracy requirements of terminal positioning are met. The specific positioning method adopted by the terminal is not limited.

In addition, it should be understood that the methods provided in the embodiments of the present application are not only applicable to vehicles, but also applicable to various devices that can apply the positioning method, such as smart door locks, smart home appliances, and the like.

It can be understood that, in order to realize the above functions, the terminal includes corresponding hardware and/or software modules for executing each function. The positioning steps of each example described in conjunction with the embodiments disclosed herein can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functionality for each particular application in conjunction with the embodiments, but such implementations should not be considered beyond the scope of this application.

In this embodiment of the present application, the terminal may be divided into functional modules according to the foregoing method examples. For example, each functional module may be divided into each function corresponding to each function, such as a positioning unit, a processing unit, a sending unit, etc., or two or more functions may be divided into integrated in a processing module. The above-mentioned integrated modules can be implemented in the form of hardware. It should be noted that, the division of modules in the embodiments of the present application is schematic, and is only a logical function division, and there may be other division manners in actual implementation.

It should be noted that, all relevant contents of the steps involved in the above method embodiments can be cited in the functional description of the corresponding functional module. The following describes the functions of each module with reference to the accompanying drawings.

FIG. 13 is a schematic structural diagram of a terminal according to an embodiment of the present application. The terminal 1300 includes: a receiving module 1301 , a positioning module 1302 and an indicating module 1303 .

In one embodiment, the receiving module 1301 is configured to receive a positioning trigger message sent by the vehicle, where the positioning trigger message is used to instruct the terminal to perform a positioning operation.

The positioning module 1302 is configured to perform a first positioning operation in response to the positioning trigger message, where the first positioning operation is used to obtain first positioning information corresponding to the current location of the terminal, and the current location of the terminal is the same as the current location of the terminal. The distance between the vehicles is less than a first threshold; a second positioning operation is performed, and the second positioning operation is used to obtain second positioning information corresponding to the real-time position of the terminal during the movement.

The instructing module 1303 is configured to instruct the vehicle to perform a target operation according to the first positioning information and the second positioning information.

In one embodiment, the terminal 1300 may further include a processing module configured to determine the relative distance between the terminal and the vehicle according to the first positioning information and the second positioning information; wherein, when the relative distance is When the distance is greater than the preset distance, the vehicle is instructed to perform the first target operation; when the relative distance is less than or equal to the preset distance, the vehicle is instructed to perform the second target operation.

In one embodiment, the processing module is further configured to determine the geo-fence of the vehicle according to the first positioning information.

In one embodiment, the processing module is further configured to determine the positional relationship between the terminal and the geofence according to the second positioning information and the information of the geofence; when determining the positional relationship according to the positional relationship When the terminal leaves the geo-fence area, the vehicle is instructed to perform the first target operation; when it is determined according to the location relationship that the terminal enters the geo-fence area, the vehicle is instructed to perform the second target operation.

In one embodiment, the receiving module 1301 is further configured to receive first positioning reference information and second positioning reference information sent by the vehicle, where the first positioning reference information is for the terminal to perform the first positioning operation is the parking position measured by the vehicle, and the second positioning reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation.

The processing module is further configured to correct the information of the geo-fence of the vehicle or the second positioning information according to the first positioning reference information and the second positioning reference information.

In one embodiment, the receiving module 1301 is further configured to receive the positioning error correction information sent by the vehicle, where the positioning error correction information is obtained by the vehicle based on the first positioning reference information and the second positioning reference information based on itself generating, the first positioning reference information is the parking position measured by the vehicle when the terminal performs the first positioning operation, and the second positioning reference information is when the terminal performs the second positioning operation , the measured parking position of the vehicle.

The processing module is further configured to correct the information of the geo-fence of the vehicle or the second positioning information according to the positioning error correction information.

In one of the embodiments, the first target operation includes at least one of the following: door locking, window locking, and trunk locking of the vehicle;

The second target operation includes at least one of the following: unlocking the doors of the vehicle, unlocking the windows, unlocking the trunk, and starting the engine.

In one embodiment, the processing module is further configured to determine whether the current positioning condition meets the requirements for the terminal to perform positioning; wherein, when the positioning conditions do not meet the positioning requirements, notify the vehicle to pass the received The signal strength indicates at least one of RSSI, near field communication, NFC, or manual user action to perform the target operation.

In one embodiment, the processing module is further configured to determine whether a positioning signal is received; or, determine whether the quality of the received positioning signal meets the positioning requirement.

In one of the embodiments, the terminal 1300 may further include a sending module, configured to send the information of the geo-fence to the vehicle.

In one of the embodiments, the terminal 1300 may further include an encryption module for encrypting the information of the geo-fence, and the encryption method includes key encryption and signature encryption.

The sending module can also be used to send encrypted geo-fence information to the vehicle.

In one of the embodiments, the receiving module can also be used to receive the geo-fence information sent by the vehicle.

The processing unit may also be configured to determine the positional relationship between the terminal and the geofence according to the second positioning information and the information of the geofence.

In one embodiment, the positioning method adopted by the terminal includes at least one of the following: carrier phase differential RTK technology, global navigation and positioning system GNSS, wireless fidelity Wi-Fi positioning, cellular network positioning, and Internet-based big data fusion positioning.

FIG. 14 shows a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle 1400 includes: a receiving module 1401 , a processing module 1402 and a sending module 1403 .

In one of the embodiments, the receiving module 1401 can be used to acquire the trigger event.

The processing module 1402 may be configured to generate a positioning trigger message in response to the trigger event, where the positioning trigger message is used to instruct the terminal to perform positioning.

The sending module 1403 may be configured to send a positioning trigger message to the terminal.

In one embodiment, the vehicle 1400 further includes a positioning module, configured to acquire first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is for the terminal to perform the first positioning operation is the parking position measured by the vehicle, and the second positioning reference information is the parking position measured by the vehicle when the terminal performs a second positioning operation.

The sending module 1403 is configured to send the first positioning reference information and the second positioning reference information to the terminal.

In one embodiment, the positioning module is configured to acquire first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is when the terminal performs the first positioning operation, the The parking position measured by the vehicle, and the second positioning reference information is the parking position measured by the vehicle when the terminal performs a second positioning operation.

a processing module 1402, configured to determine positioning error correction information according to the first positioning reference information and the second positioning reference information;

The sending module 1403 is configured to send the positioning error correction information to the terminal.

In one embodiment, the vehicle 1400 may further include a receiving module and an operation module, wherein the receiving module may be configured to receive an instruction message sent by the terminal, wherein the instruction message is used to instruct the vehicle to perform a target operation , the target operation corresponds to the relative distance between the terminal and the vehicle, or the positional relationship between the terminal and the geo-fence.

The operation module can be used to execute the target operation according to the instruction message.

In one of the embodiments, the target operation includes at least one of the following: door locking, window locking, and trunk locking of the vehicle; or, door unlocking, window unlocking, trunk unlocking, opening of the vehicle engine.

In one of the embodiments, the receiving module may also be configured to receive the geofence information sent by the terminal.

An embodiment of the present application further provides a system for positioning a terminal, including a terminal and a vehicle for executing the method for positioning a terminal according to the embodiment of the present application.

Embodiments of the present application further provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, when the computer or the processor is run on the computer, the computer or the processor causes the computer or the processor to execute any one of the above methods. or multiple steps.

Embodiments of the present application also provide a computer program product including instructions. The computer program product, when run on a computer or processor, causes the computer or processor to perform one or more steps of any of the above methods.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions can be sent from one website site, computer, server, or data center to another website site, computer, server or data center for transmission. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

Those of ordinary skill in the art can understand that to realize all or part of the processes in the above embodiments, the process can be completed by instructing the relevant hardware by a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, The process of each method embodiment described above may be included. The aforementioned storage medium includes: ROM or random storage memory RAM, magnetic disk or optical disk and other mediums that can store program codes.

The above are only specific implementations of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application shall be covered by this within the protection scope of the application examples. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

A method for locating a terminal, characterized in that it is applied to a terminal, and the method includes:

When a trigger event occurs in the vehicle, a first positioning operation is performed, and the first positioning operation is used to obtain first positioning information, and the first positioning information is used to indicate the current location of the terminal;

performing a second positioning operation, where the second positioning operation is used to obtain second positioning information of the terminal, where the second positioning information is real-time positioning information of the terminal;

According to the first positioning information and the second positioning information, the vehicle is instructed to perform a target operation.
The method according to claim 1, wherein the instructing the vehicle to perform a target operation according to the first positioning information and the second positioning information comprises:

determining the relative distance between the terminal and the vehicle according to the first positioning information and the second positioning information;

When the relative distance is greater than a preset distance, instructing the vehicle to perform a first target operation;

When the relative distance is less than or equal to the preset distance, the vehicle is instructed to perform a second target operation.
The method according to claim 2, wherein the method further comprises:

Determine the geo-fence of the vehicle according to the first positioning information and the preset distance; wherein:

The reference position of the geofence is the position indicated by the first positioning information, and the distance between the boundary of the geofence in any direction and the reference position is equal to the preset distance corresponding to the any direction .
The method according to claim 3, wherein the method further comprises:

According to the second positioning information and the geo-fence, determine the location relationship between the terminal and the geo-fence; wherein:

Instructing the vehicle to perform a first target operation when it is determined according to the location relationship that the terminal leaves the geo-fence area;

When it is determined that the terminal enters the geo-fence area according to the positional relationship, the vehicle is instructed to perform the second target operation.
The method according to claim 3 or 4, wherein the method further comprises:

Receive first positioning reference information and second positioning reference information sent by the vehicle, where the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation. The second positioning reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation;

According to the first positioning reference information and the second positioning reference information, the geo-fence of the vehicle or the second positioning information is corrected.
The method according to claim 3 or 4, wherein the method further comprises:

Receive the positioning error correction information sent by the vehicle, where the positioning error correction information is generated by the vehicle based on the first positioning reference information and the second positioning reference information obtained by the vehicle itself, and the first positioning reference information is executed by the terminal The parking position measured by the vehicle during the first positioning operation, and the second positioning reference information is the parking position measured by the vehicle during the terminal performing the second positioning operation;

According to the positioning error correction information, the geo-fence of the vehicle or the second positioning information is corrected.
The method according to any one of claims 1-6, wherein the performing the first positioning operation when a trigger event occurs in the vehicle, specifically includes:

When a trigger event occurs in the vehicle, receive a positioning trigger message sent by the vehicle, where the positioning trigger message is used to instruct the terminal to perform the first positioning operation;

The first positioning operation is performed in response to the positioning trigger message.
The method according to any one of claims 1-6, wherein the performing the first positioning operation when the vehicle sends a trigger event, specifically includes:

setting a reminder message for the trigger event;

The first positioning operation is performed in response to the reminder message.
The method according to any one of claims 1-8, wherein the trigger event comprises at least one of the following:

The vehicle changes from a running state to a parked state; or,

The vehicle has passed the authentication of the terminal; or,

The vehicle arrives at the preset destination address.
The method according to any one of claims 2-9, wherein the first target operation comprises at least one of the following:

Door lock, window lock and trunk lock of the vehicle;

The second target operation includes at least one of the following:

The doors of the vehicle are unlocked, the windows are unlocked, the trunk is unlocked, and the engine is allowed to be started.
The method according to any one of claims 1-10, wherein the method further comprises:

Judging whether the current positioning conditions meet the requirements for the terminal to perform positioning; wherein:

When the positioning conditions do not meet the positioning requirements, the vehicle is notified to perform the target operation through at least one of signal strength indication RSSI, near field communication NFC, or user manual operation.
A method for locating a terminal, wherein the method is applied to a vehicle, comprising:

Get trigger event;

generating a positioning trigger message in response to the trigger event, where the positioning trigger message is used to instruct the terminal to perform a positioning operation;

Send the positioning trigger message to the terminal.
The method of claim 12, wherein the method further comprises:

Receive an instruction message sent by the terminal, where the instruction message is used to instruct the vehicle to perform a target operation, and the target operation corresponds to a preset distance between the terminal and the vehicle, or the target The operation corresponds to the location relationship of the terminal and the geo-fence of the vehicle;

The target operation is performed according to the instruction message.
The method according to claim 12 or 13, wherein the method further comprises:

Obtain first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation, and the second positioning The reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation;

The first positioning reference information and the second positioning reference information are sent to the terminal.
The method according to claim 12 or 13, wherein the method further comprises:

Obtain first positioning reference information and second positioning reference information of the vehicle, where the first positioning reference information is the parking position measured by the vehicle during the process of the terminal performing the first positioning operation, and the second positioning The reference information is the parking position measured by the vehicle when the terminal performs the second positioning operation;

determining positioning error correction information according to the first positioning reference information and the second positioning reference information;

Send the positioning error correction information to the terminal.
The method according to any one of claims 12-15, wherein the trigger event comprises at least one of the following:

The vehicle changes from a running state to a parked state; or,

The vehicle has passed the authentication of the terminal; or,

The vehicle arrives at the preset destination address.
The method according to any one of claims 13-16, wherein the first target operation comprises at least one of the following:

Door lock, window lock and trunk lock of the vehicle;

The second target operation includes at least one of the following:

The doors of the vehicle are unlocked, the windows are unlocked, the trunk is unlocked, and the engine is allowed to be started.
A terminal, characterized by comprising a communication interface, a processor, a memory, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program, the The terminal implements the method for terminal positioning according to any one of claims 1 to 11.
A vehicle, characterized by comprising a communication interface, a processor, a memory, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program, causing The vehicle implements the method for terminal positioning according to any one of claims 12 to 17 .
A computer-readable storage medium, characterized in that it includes computer instructions, which, when the computer instructions are executed on a computer, cause the terminal to execute the terminal positioning method according to any one of claims 1 to 17 .