WO2024067078A1

WO2024067078A1 - Vehicle positioning method and electronic device

Info

Publication number: WO2024067078A1
Application number: PCT/CN2023/118393
Authority: WO
Inventors: 吴谋炎; 肖洋; 黄国胜; 金乐; 史翔; 李文懿
Original assignee: 华为技术有限公司
Priority date: 2022-09-30
Filing date: 2023-09-12
Publication date: 2024-04-04
Also published as: CN117809463A

Abstract

A vehicle positioning method and an electronic device, relating to the technical field of terminals. When parking position information cannot be acquired by means of a conventional positioning technology, reckoning is performed according to walking posture data after a user leaves a target vehicle and accurate positioning information acquired by means of delay, and the parking position information is acquired, so that the accuracy of acquiring the parking position information is improved. The method is applied to the electronic device, and comprises: acquiring walking posture data of the electronic device when it is detected that the target vehicle is in a parked state and parking position information cannot be acquired; acquiring target positioning information corresponding to a first position in the moving process of the electronic device; and acquiring parking position information of the target vehicle according to the walking posture data and the target positioning information, and displaying the parking position information on a vehicle positioning interface.

Description

Vehicle positioning method and electronic equipment

This application claims the priority of the Chinese patent application filed with the State Intellectual Property Office on September 30, 2022, with application number 202211214580.5 and application name “Vehicle Positioning Method and Electronic Device”, all contents of which are incorporated by reference in this application.

Technical Field

The present application relates to the field of terminal technology, and in particular to a vehicle positioning method and electronic equipment.

Background technique

Generally, when the vehicle is not in use, the user parks the vehicle in an underground garage. As the number of vehicles increases, the garage area required for the same area also increases, especially for areas with high parking demand such as shopping malls, airports and railway stations. As a result, the underground garage includes more parking spaces and more complicated driving routes, which makes it difficult for users to find the parked vehicle after parking. Therefore, it is necessary to obtain parking location information when entering the underground parking lot to facilitate finding the parked vehicle in the underground garage.

In related technologies, the vehicle can be positioned by the driver using a mobile phone (it should be noted that the driver and the mobile phone are in the same position by default). After entering the underground garage, the mobile phone's Global Navigation Satellite System (GNSS) positioning module usually cannot receive satellite signals and cannot locate the vehicle's position information through conventional positioning methods such as satellite positioning. The mobile phone can obtain parking position information through vehicle dead reckoning (VDR) recursion based on the sensor data detected by the inertial measurement unit (IMU) sensor.

However, due to the unstable placement of the mobile phone and the performance constraints of the IMU, the obtained parking position information may be inaccurate, or even deviate greatly from the actual parking position information, making it impossible to find the parked vehicle through the obtained parking position information.

Summary of the invention

The embodiments of the present application provide a vehicle positioning method and electronic device, which can obtain the parking position information by calculating based on the walking posture data of the user after leaving the target vehicle and the accurate positioning information obtained with delay, when the parking position information cannot be obtained through conventional positioning technology, thereby improving the accuracy of obtaining the parking position information.

To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

In the first aspect, a vehicle positioning method is provided, which can be applied to an electronic device capable of acquiring posture data, such as a mobile phone, for a scenario where a target vehicle enters a parking area (such as an underground garage) that cannot be accurately located by conventional positioning technologies such as satellites. In this method, an electronic device detects whether the target vehicle is in a parked state, and when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, the walking posture data of the electronic device is obtained. Next, the target positioning information corresponding to the first position during the movement of the electronic device is obtained. Finally, the parking position information of the target vehicle is obtained based on the walking posture data and the target positioning information corresponding to the first position.

The first position is the position where the electronic device can be located for the first time using the preset positioning technology during the movement. The first position that can be located for the first time may be different due to different walking routes of the user carrying the electronic device after leaving the target vehicle, different walking posture data obtained, or different preset positioning technologies used.

In the present application, the electronic device detects that the target vehicle is parked in at least one of the following ways: detecting that the target vehicle is turned off in a preset manner, detecting that the target vehicle is stopped in the parking space, receiving a preset voice message (the preset voice message can be a voice message played by a reversing radar), etc.

In this way, when the target vehicle is in a parked state and the parking position information cannot be obtained through conventional technologies such as satellite positioning technology, the walking posture data of the electronic device is used as the travel-related data, and the target positioning information (that is, the position information corresponding to the position that the user can first locate using the preset positioning technology during walking) is used as the destination position to calculate the initial position (that is, the position where the electronic device leaves the vehicle, that is, the parking position of the target vehicle), that is, the parking position information is obtained through reverse positioning and calculation. In this way, the parking position of the target vehicle can be obtained when the parking position of the target vehicle cannot be located, and by ensuring that the target positioning information corresponding to the first position is accurate, and the walking posture data of the electronic device is accurate, the accuracy of the parking position information can be improved.

In a possible implementation of the first aspect, in response to a user's triggering operation, the location information of the target vehicle is displayed on the vehicle positioning interface, so that the user can be prompted with the location information of the target vehicle, so as to improve the user's perception of the location information of the target vehicle.

In a possible implementation of the first aspect, after obtaining the parking location information of the target vehicle, the parking location information is displayed on the vehicle positioning interface. In this way, the parking location information is displayed on the vehicle positioning interface, so that a navigation path for finding the target vehicle is generated with the parking location information as the destination, thereby improving the speed of finding the target vehicle.

In a possible implementation of the first aspect, when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, positioning indication information and reference position information of the target vehicle are displayed on the vehicle positioning interface. The positioning indication information is used to indicate that the parking position information of the target vehicle is being positioned, and the positioning indication information can be indicated in at least one of the following ways: prompt text, text prompt box, image prompt box, and prompt mark.

In the present application, if the positioning indication information is displayed on the vehicle positioning interface, then in response to the user operation, the vehicle positioning interface is set to be in the background running state, and the positioning indication information is displayed in a floating window until the parking location information is obtained.

In this application, when the vehicle positioning interface displays positioning indication information, a positioning prompt sound can also be played, such as locating the parking position of the vehicle for you.

It is understandable that the reference position information may be marked by a preset mark, and the preset mark may be a circle mark, a rectangle mark or a triangle mark that can cover a certain range.

In this way, the positioning indication information and the reference position information of the target vehicle are simultaneously displayed on the vehicle positioning interface to remind the user that the target vehicle parking information is not obtained, and the user can also be reminded that the current position cannot be accurately positioned. Displaying the reference position information can mark the approximate position of the target vehicle, avoiding the difficulty in finding the target vehicle due to the user forgetting the parking position of the target vehicle and being unable to locate the target vehicle through GPS.

In a possible implementation of the first aspect, in the process of displaying the positioning indication information and the reference position information of the target vehicle on the vehicle positioning interface, the reference position information of the target vehicle may be first acquired. Then, the positioning indication information and the map information are displayed on the vehicle positioning interface, the geographical range corresponding to the map information includes the reference position information of the target vehicle, and then the reference position information is marked on the map information according to a preset identifier.

Among them, the reference position information of the target vehicle includes any of the following items: estimated position information obtained based on the positioning information of the second position of the target vehicle and the vehicle driving posture data, the vehicle driving posture data including the driving posture data obtained after the target vehicle fails to obtain the parking position information using the preset positioning technology, and the second position is the last position located by the user using the preset positioning technology before leaving the vehicle; or, the first range position information determined with the position corresponding to the estimated position information as the center and the preset deviation range as the radius; or, the second range position information determined with the second position as the center and the second preset deviation range as the radius.

In the present application, the electronic device can determine the area range corresponding to the map information based on the reference location information, the zoom ratio, and the position of the current location in the map information. It is understandable that the electronic device can change the area range corresponding to the map information in response to user operations (such as dragging, zooming, etc.).

In the present application, the electronic device can also display a navigation planning route, the origin of the navigation planning route is the initial position of the target vehicle to the current vehicle driving posture data, and the destination of the navigation planning route is the reference position information. Accordingly, in the process of determining the area range corresponding to the map information, the navigation planning route is also required as a basis so that the entire navigation planning route can be displayed in the map information.

In this way, the positioning indication information and the reference position information of the target vehicle are simultaneously displayed on the vehicle positioning interface to remind the user that the vehicle parking information of the target vehicle is not obtained, and the user can also be reminded that the current position cannot be accurately positioned. By marking the reference position information according to the preset mark based on the map information, the approximate position of the target vehicle can be marked, avoiding the difficulty in finding the target vehicle due to the user forgetting the parking position of the target vehicle and being unable to locate the target vehicle through GPS.

In a possible implementation of the first aspect, the vehicle positioning method further includes: when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, and when it is detected that the electronic device has left the target vehicle, acquiring the walking posture data of the electronic device. In this way, after the electronic device leaves the target vehicle, the walking posture data of the electronic device is acquired, which can reduce the amount of the walking posture data and improve the speed of obtaining the parking position information of the target vehicle.

In a possible implementation of the first aspect, the detecting that the electronic device leaves the target vehicle includes at least one of the following: detecting that the connection with the target vehicle changes from a connected state to a disconnected state; or receiving preset sensor information, and using the sensor information to detect that the connection with the target vehicle changes from a connected state to a disconnected state; to indicate that a seat belt of a user on the target vehicle changes from a worn state to an unfastened state; or, the detected walking posture data includes initial posture data and indicated posture data; wherein the initial posture data refers to the walking posture data corresponding to the first time period, and the start time of the first time period is the time when the target vehicle is detected to be in a parked state and the parking position information cannot be obtained; the difference between the indicated posture data and the initial posture data is greater than a first preset threshold.

The connection method between the electronic device and the target vehicle includes wireless connection methods such as Bluetooth, infrared, Wi-Fi hotspot, etc., and wired connection methods such as optical fiber, twisted pair, etc. The preset sensing information can be pressure sensing information obtained by a pressure sensor.

It is understandable that after the electronic device detects that the target vehicle is parked, the walking posture data obtained during the time period of staying in the vehicle (the time period spent by the user in the vehicle to organize the things he carries with him, dress himself, etc.) is determined as the initial posture data. The indicated posture data refers to the posture data that is significantly different from the initial posture data. The acquisition of the indicated posture data indicates that the user has left the target vehicle with the electronic device and started walking.

In the present application, the electronic device can determine that the electronic device has left the target vehicle only when it is determined in at least two ways that the electronic device has left the target vehicle, thereby improving the accuracy of determining whether the electronic device has left the vehicle.

In this way, by setting up multiple methods to determine whether the electronic device has left the target vehicle, the influence of the environment of the target vehicle or the hardware status of the electronic device on the judgment result can be avoided, thereby improving the accuracy of whether the electronic device has left the target vehicle.

In a possible implementation of the first aspect, the above-mentioned acquisition of target positioning information corresponding to the first position of the electronic device during movement can be implemented in the following manner: if the electronic device leaves the target vehicle, then after a preset delay time, the target positioning information corresponding to the first position of the electronic device during movement is acquired.

The preset delay time may be pre-set based on experience, or may be obtained in response to a user operation, or may be obtained through a preset acquisition method. The preset acquisition method may include: after the target vehicle enters the underground garage, counting the length of time during which the preset positioning technology cannot be used for positioning, and then calculating the preset delay time for the electronic device to move to the edge of the underground garage or the wireless signal source based on the length of time, the driving posture data, and the size of the underground garage.

In this way, by setting the time when the target positioning information corresponding to the first position of the electronic device during its movement is obtained after determining that the electronic device has left the target vehicle for a preset delay time, it is possible to avoid executing an invalid operation of obtaining the target positioning information corresponding to the first position when it is impossible to obtain the target positioning information or the possibility of obtaining the positioning information is low, thereby avoiding wasting system resources of the electronic device.

In a possible implementation of the first aspect, after the walking posture data of the electronic device is obtained, the first walking path is first displayed on the vehicle positioning interface according to the walking posture data of the electronic device. Next, after obtaining the target positioning information corresponding to the first position, the target positioning information of the first position is displayed on the vehicle positioning interface, and the first position is on the first walking path.

The first walking path starts from the position indicated by the reference position information and extends in the walking direction of the electronic device, and the first walking path is gradually displayed as the walking posture data of the electronic device after leaving the vehicle increases. The walking posture data of the electronic device after leaving the vehicle can be detected by a sensor on the electronic device carried by the user when walking. For example, the sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor, an acceleration sensor, and a magnetic sensor. Based on this, the walking posture data includes angular velocity, acceleration, and magnetic signal strength in multiple directions.

In this way, when the electronic device leaves the target vehicle and the parking location information is not obtained, once the user suddenly finds that he needs to return to the target vehicle to pick up something or drive the target vehicle away, the user can perform walking navigation according to the first walking path displayed on the vehicle positioning interface, or directly return to the target vehicle location according to the first walking path, thereby reducing the time required for the user to return to the target vehicle and improving the speed of finding the target vehicle. Displaying the target positioning information on the vehicle positioning interface can determine the relative position of the target positioning information in the map information, so as to prompt the user's location.

In a possible implementation of the first aspect, the above-mentioned vehicle positioning method also includes: after obtaining target positioning information corresponding to the first position during the movement of the electronic device, displaying a second walking path on the vehicle positioning interface according to the walking posture data and the target positioning information.

The second walking path ends at the target positioning information and extends in the opposite direction of the walking direction of the electronic device. The location information corresponding to the starting point of the second walking path is the vehicle parking information.

In this way, by displaying the second walking path on the vehicle positioning interface, the user can intuitively perceive the parking position information of the target vehicle, the target positioning information, and the second walking path, which helps the user to enhance the sense of direction and improve the user's understanding of their location.

In a possible implementation of the first aspect, the vehicle positioning method further includes: during the movement of the electronic device, The walking process track of the electronic device is determined according to the walking posture data. On this basis, the first position is used as the end position of the walking process track to determine the starting position of the walking process track, and the starting position is the parking position information of the target vehicle.

Among them, the calculation method of the walking process trajectory includes step frequency detection, step length estimation, heading estimation, etc., and the user's first walking path is calculated by recursion.

In this way, the walking process trajectory of the electronic device can be determined according to the walking posture data without using the preset positioning technology, and the starting position of the walking process trajectory is determined by taking the first position as the end position of the walking trajectory, that is, the parking position information of the target vehicle, so that the parking position information of the target vehicle can still be obtained when the target vehicle cannot be positioned by the preset positioning technology. At the same time, using the walking posture data to determine the walking process trajectory can avoid the problem that the accuracy of the parking position information obtained by the VDR inference method is significantly reduced due to the performance constraints of the IMU of the electronic device, and it can even be used as a reference position for parking.

In a possible implementation of the first aspect, the vehicle positioning method further includes: when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, the geomagnetic sequence data of the electronic device is obtained; and during the movement of the electronic device, the walking process trajectory of the electronic device is determined according to the walking posture data and the geomagnetic sequence data. Then, a preset positioning technology is used to obtain the target positioning information corresponding to the first position during the movement of the electronic device, wherein the preset positioning technology at least includes geomagnetic matching technology. Finally, the first position is used as the end position of the walking process trajectory, and the starting position of the walking process trajectory is determined, and the starting position is the parking position information of the target vehicle.

In this way, the walking process trajectory of the electronic device can be determined according to the walking posture data and the geomagnetic sequence data without the need for a preset positioning technology, and the starting position of the walking process trajectory is determined with the first position as the end position of the walking trajectory, that is, the parking position information of the target vehicle, so that the parking position information of the target vehicle can still be obtained when the target vehicle cannot be positioned by the preset positioning technology. At the same time, the use of walking posture data to determine the walking process trajectory can avoid the problem that the accuracy of the parking position information obtained by the VDR inference method due to the IMU performance constraints of the electronic device is significantly reduced, and even cannot be used as a reference position for parking. At the same time, since the geomagnetic sequence data is highly correlated with the environment in which the target vehicle is located, the accuracy of the walking process trajectory determined by adding the geomagnetic sequence data can be improved, and the accuracy of the target positioning information corresponding to the first position obtained by using the geomagnetic matching technology can also be improved.

In a possible implementation of the first aspect, in the above-mentioned vehicle positioning method, when the vehicle positioning interface displays the first walking path, the first walking path is obtained by the device movement parameters represented by the walking process trajectory, and the first walking path starts from the position represented by the reference position information and extends in the user's walking direction, and the device movement parameters include the walking direction and the walking speed.

In this way, by obtaining the first walking path and the walking process trajectory based on the walking posture data, the consistency of the target positioning information, the vehicle parking information and the first walking path is ensured, thereby ensuring the accuracy of the obtained vehicle parking information.

In a possible implementation of the first aspect, the above-mentioned obtaining the parking position information of the target vehicle based on the walking posture data and the target positioning information corresponding to the first position includes: after obtaining the target positioning information corresponding to the first position, determining the trajectory position of the electronic device before it moves to the first position according to the target positioning information corresponding to the first position and the walking posture data, until the starting position of the electronic device's movement is determined, and the starting position is the parking position of the target vehicle.

In this way, without using the preset positioning technology, the trajectory position of the electronic device before it moves to the first position can be determined based on the target positioning information corresponding to the first position and the walking posture data of the user after leaving the vehicle, until the starting position of the electronic device is determined. The starting position is the parking position of the target vehicle. This can avoid the problem that the accuracy of the parking position information obtained by VDR inference is significantly reduced due to the IMU performance constraints of the electronic device, and it may even be unable to be used as a reference position for parking, that is, the accuracy of the parking position information is improved.

In a possible implementation of the first aspect, the vehicle positioning method further includes: when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, obtaining geomagnetic sequence data of the electronic device. On this basis, after obtaining the target positioning information corresponding to the first position, according to the target positioning information corresponding to the first position, the walking posture data and the geomagnetic sequence data, the trajectory position of the electronic device before moving to the first position is determined, until the starting position of the electronic device is determined, and the starting position is the parking position of the target vehicle.

In this way, without using the preset positioning technology, the trajectory position of the electronic device before it moves to the first position can be determined according to the target positioning information, walking posture data and geomagnetic sequence data corresponding to the first position, until the starting position of the electronic device is determined. The starting position is the parking position of the target vehicle, which can avoid the error caused by the IMU performance constraint of the electronic device through VDR inference. The accuracy of the parking position information obtained by the interruption method is significantly reduced, and it may even be unable to be used as a reference position for parking.

In a possible implementation of the first aspect, in the above-mentioned vehicle positioning method, when the vehicle positioning interface displays the second walking path, the second walking path includes a track position, and the second walking path ends at the target positioning information and extends in the opposite direction of the walking direction of the electronic device.

In this way, a second walking path including a trajectory position is obtained based on the walking posture data, and the second walking path ends at the target positioning information and extends in the opposite direction of the walking direction of the electronic device, that is, the trajectory position of the second walking path includes the vehicle parking information. In this way, it can be ensured that the position corresponding to the target positioning information and the position corresponding to the vehicle parking information belong to the trajectory position, thereby ensuring the accuracy of the acquired vehicle parking information.

In a possible implementation of the first aspect, after obtaining the parking position information of the target vehicle based on the walking posture data and the target positioning information corresponding to the first position, the walking posture data of the electronic device after leaving the first position can also be obtained first. Then, the correction positioning information corresponding to the third position is obtained, wherein the third position is the position where the electronic device reaches the positioning position after leaving the first position after a preset distance. Then, with the target positioning information as the starting position and the correction positioning information as the ending position, the walking posture data of the electronic device after leaving the first position is corrected to obtain the correction compensation parameters. Next, according to the correction compensation parameters, the walking posture data is corrected and updated. Next, according to the updated walking posture data and the target positioning information, the updated parking position information is obtained. Finally, the updated parking position information is displayed on the vehicle positioning interface.

In this way, since the target positioning information corresponding to the first position and the correction positioning information corresponding to the third position are accurate, the target positioning information is used as the starting position and the correction positioning information is used as the ending position. The walking posture data of the electronic device after leaving the first position is corrected, and the correction compensation parameters are obtained. The walking posture data of the electronic device after leaving the vehicle (until the user arrives at the first position) can be corrected, thereby improving the accuracy of the acquired parking position information.

In a possible implementation of the first aspect, the above-mentioned acquisition of the parking position information of the target vehicle based on the walking posture data and the target positioning information corresponding to the first position can also be implemented in the following manner: First, the walking posture data and the target positioning information corresponding to the first position are acquired. Then, the walking posture data after the electronic device leaves the first position is acquired. Furthermore, the correction positioning information corresponding to the third position is acquired, and the third position is the position where the user reaches the positioning position after leaving the first position and passing a preset distance. Next, with the target positioning information as the starting position and the correction positioning information as the ending position, the walking posture data after the correction point device leaves the first position is corrected to acquire the correction compensation parameters. Next, according to the correction compensation parameters, the walking posture data is corrected and updated. Finally, according to the updated walking posture data and the target positioning information, the parking position information is acquired.

In this way, since the target positioning information corresponding to the first position and the correction positioning information corresponding to the third position are accurate, the target positioning information is used as the starting position and the correction positioning information is used as the ending position. The walking posture data of the user after leaving the first position is corrected, and the correction compensation parameters are obtained. The walking posture data of the electronic device (until the user arrives at the first position) can be corrected, thereby improving the accuracy of the obtained parking position information.

In a possible implementation of the first aspect, the vehicle positioning method further includes: after obtaining the parking position information according to the walking posture data and the target positioning information, in response to the user's vehicle search request, generating a navigation path with the parking position information as the target position and the current real-time positioning position as the starting position. It can be understood that the current real-time positioning position is obtained by positioning the electronic device through a preset positioning technology.

In this way, when positioning can be performed using the preset positioning technology, a navigation path is generated, so that navigation can also be performed when positioning cannot be performed using the preset positioning technology, thereby improving the efficiency of finding the target vehicle.

In a possible implementation manner of the first aspect, in the above-mentioned vehicle positioning method, the preset positioning technology includes at least one of the following: satellite positioning technology, wireless network communication Wi-Fi technology, mobile communication network technology, Bluetooth communication technology and geomagnetic matching technology.

In this way, if it is set that the target positioning information corresponding to the first position is determined by any preset positioning technology, the vehicle parking information can be obtained, which can improve the speed of obtaining the vehicle parking information. At the same time, if it is set that the target positioning information corresponding to the first position can be determined by at least two preset positioning technologies, the accuracy of the obtained target positioning information can be improved, and thus the accuracy of obtaining the vehicle parking information can be improved.

In a second aspect, a vehicle positioning device is provided, comprising a first processing unit, a second processing unit and a third processing unit. The first processing unit is used to obtain walking posture data of the electronic device when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained. The second processing unit is used to obtain target positioning information corresponding to a first position of the electronic device during movement, where the first position is the position where the electronic device can be located for the first time using a preset positioning technology during movement. The third processing unit It is used to obtain the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position, and display the parking position information on the vehicle positioning interface.

In a third aspect, an electronic device is provided, comprising: a memory, one or more processors; the memory and the processor are coupled; wherein computer program code is stored in the memory, and the computer program code comprises computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the vehicle positioning method described in any one of the above-mentioned first aspects.

In a fourth aspect, a computer-readable storage medium is provided, comprising computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the vehicle positioning method described in any one of the first aspects.

In a fifth aspect, a computer program product is provided. When the computer program product is run on a computer, the computer executes the vehicle positioning method described in any one of the first aspects.

It can be understood that the beneficial effects that can be achieved by the electronic device described in the third aspect, the computer-readable storage medium described in the fourth aspect, and the computer program product described in the fifth aspect provided above can refer to the beneficial effects in the first aspect and any possible design method thereof, and will not be repeated here.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a vehicle positioning method in the related art;

FIG2 is a schematic diagram of a vehicle positioning system shown in an embodiment of the present application;

FIG3 is a schematic diagram of a module structure of a parking position recording unit according to an embodiment of the present application;

FIG4 is a schematic diagram of the hardware structure of an electronic device shown in an embodiment of the present application;

FIG5 is a schematic diagram of a software structure of an electronic device shown in an embodiment of the present application;

FIG6 is a schematic diagram of a vehicle positioning correction process based on scene switching according to an embodiment of the present application;

FIG. 7 is a flow chart of a vehicle positioning method according to an embodiment of the present application;

FIG8 is one of schematic diagrams of a vehicle positioning interface shown in an embodiment of the present application;

FIG9 is a schematic diagram of real-time location information shown in an embodiment of the present application;

FIG10 is a second schematic diagram of a vehicle positioning interface shown in an embodiment of the present application;

FIG11 is a third schematic diagram of a vehicle positioning interface shown in an embodiment of the present application;

FIG12 is a fourth schematic diagram of a vehicle positioning interface shown in an embodiment of the present application;

FIG13 is a fifth schematic diagram of a vehicle positioning interface shown in an embodiment of the present application;

FIG14 is a sixth schematic diagram of a vehicle positioning interface shown in an embodiment of the present application;

FIG15 is a seventh schematic diagram of a vehicle positioning interface shown in an embodiment of the present application;

FIG16 is a second flow chart of a vehicle positioning method according to an embodiment of the present application;

FIG17 is a third flow chart of a vehicle positioning method according to an embodiment of the present application;

FIG18 is a fourth flow chart of a vehicle positioning method according to an embodiment of the present application;

FIG19 is a fifth flow chart of a vehicle positioning method according to an embodiment of the present application;

FIG20 is a schematic structural diagram of a vehicle positioning device shown in an embodiment of the present application;

FIG. 21 is a schematic diagram of the structure of another electronic device shown in an embodiment of the present application.

Detailed ways

The technical solution in the embodiment of the present application will be described below in conjunction with the drawings in the embodiment of the present application. Among them, in the description of the present application, unless otherwise specified, "/" indicates that the objects associated before and after are in an "or" relationship, for example, A/B can represent A or B; "and/or" in the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and/or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. And, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference. At the same time, in the embodiments of the present application, the words "exemplary" or "for example" are not limited to the same items. Used to indicate an example, illustration or description. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

The technical terms involved in the embodiments of this application include:

Vehicle Dead Reckoning (VDR) is used to accurately estimate vehicle speed, dynamic/static status, etc. Specifically, it includes: by monitoring the dynamic/static status, speed and direction of the vehicle, optimizing satellite positioning through historical trajectory and single-point data characteristics, achieving biased estimation of driving status such as speed, direction, driving habits, satellite positioning, etc., to ensure that the estimated results are more accurate and reliable.

Inertial Measurement Unit (IMU) is used to measure the three-axis attitude angle (or angular rate) and acceleration of an object, and mainly includes gyroscope sensors and accelerometers. Usually, an IMU contains three single-axis accelerometers and three single-axis gyroscope sensors. The accelerometer detects the acceleration signal of the object in the carrier coordinate system in three independent axes, while the gyroscope sensor detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the attitude of the object.

Pedestrian Dead Reckoning (PDR) is used to track and locate pedestrians in the absence of beacons and can be applied to walking scenarios. PDR can achieve a smooth transition from outdoor to indoor positioning and continue to provide positioning capabilities when GNSS positioning fails temporarily.

The Global Navigation Satellite System (GNSS) is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, velocity and time information at any location on the Earth’s surface or in near-Earth space. GNSS includes but is not limited to the Global Positioning System (GPS), the GLObalnaya NAvigatsionnaya Sputnikovaya Sistema (GLONASS), the Beidou Navigation Satellite System (BDS), Europe’s Global Satellite Navigation System (Galileo), the Quasi-Zenith Satellite System (QZSS) and/or the Satellite Based Augmentation System (SBAS).

Forward positioning is to calculate the destination position based on the initial position and travel-related data. For example, the parking position information of the vehicle is calculated based on the driving posture data of the vehicle during driving.

Reverse positioning calculation refers to calculating the initial position based on the destination position and travel-related data. For example, for a parked vehicle, the walking posture data of the user after getting off the vehicle is used (the first position corresponding to the last walking posture data is a position that can be accurately located), and the parking position information of the vehicle is calculated based on the first position and the walking posture data. Among them, the user refers to a person who rides or drives the vehicle and needs to obtain the parking position information. The user and the electronic device used for reverse positioning calculation are in the same position.

As the number of vehicles increases, the number of driving trips also increases. In particular, when the destination is a public place such as a shopping mall, airport, or train station, the probability of choosing to drive is greater. In order to meet the parking demand, the underground garages in the above public places often have the characteristics of large area, many parking spaces, complex driving routes, and many entrances and exits. For different entrances and exits, the parked vehicles have different relative positions. Once the entrance and exit selected when leaving the underground garage is different from the entrance and exit selected when entering the lower garage to find the vehicle, it is difficult to find the parked vehicle through the driving route or walking route. Moreover, the underground garage has a large area, making it even more difficult to find the parked vehicle. Therefore, it is necessary to determine the parking position information of the vehicle when entering the underground garage to park the vehicle, so as to find the parked vehicle in the underground garage.

In the first related technology, hardware devices (such as cameras, sensors, etc.) for detecting parking positions are deployed in underground garages, and positioning applications (Application, APP) supporting the hardware devices need to be deployed. The positioning APP is used to obtain parking position information. The server of the positioning APP can analyze and record the parking position information of each vehicle in the underground garage based on the information obtained by the above hardware devices. Users can install the positioning APP on their mobile phones and bind vehicle information such as license plate number, vehicle color, and vehicle model. The positioning APP loads the parking position information corresponding to the bound vehicle information from the server in response to user operations. However, each underground garage needs to be deployed with hardware and software, resulting in high deployment and maintenance costs, which makes it difficult to promote on a large scale. In addition, if the positioning APPs deployed in different underground garages are different, users also need to install different positioning APPs, and each time they look for a vehicle in a parked state, they need to start the positioning APP corresponding to the underground garage, resulting in more time cost and system resource cost required to obtain parking position information, which makes it more difficult to promote on a large scale.

In the second related technology, the vehicle can be positioned by the mobile phone used by the user, wherein the user and the mobile phone are in the same location. Specifically, as shown in FIG1 , in an outdoor scene, the GNSS positioning module, IMU sensor and camera are used to perform positioning. Autonomous navigation and positioning are performed to obtain parking position information. After entering the underground garage from the outdoor scene, the GNSS positioning module cannot receive the GNSS signal, that is, it is impossible to obtain auxiliary positioning information such as vehicle wheel speed and vehicle angular velocity, and it is impossible to accurately locate the parking position information of the vehicle. Therefore, the IMU data (driving posture data) detected by the IMU sensor during the driving process of the vehicle is obtained, and the parking position information is obtained by forward positioning recursion through VDR according to the IMU data, and by visual positioning according to the image data captured by the mobile phone camera, wherein the IMU sensor includes a gyroscope sensor and an acceleration sensor. However, due to the performance constraints of the IMU and the inability to obtain auxiliary positioning information, the parking position information obtained by forward positioning recursion through VDR and visual positioning is less accurate, and even the obtained parking position information has a large deviation from the actual parking position information, and it is impossible to find the vehicle in the parked state through the obtained parking position information. At the same time, due to the constraints of mobile phone power consumption and mobile phone placement during video shooting, users often do not turn on the camera during driving, and they cannot obtain parking position information through visual positioning based on image data. Compared with the first related technology, the second related technology does not require the deployment of software and hardware in the underground garage. The parked vehicles can be located using the hardware equipment of the mobile phone itself, so it can be promoted on a large scale.

Therefore, the vehicle positioning method provided in the embodiment of the present application can solve the problem of low accuracy of the parking position information obtained in the above-mentioned second related technology. After the vehicle enters the underground garage, when the electronic device cannot accurately locate the real-time position of the vehicle (including the inability to accurately locate the parking position of the vehicle), first, when it is detected that the vehicle is in a parked state, the electronic device obtains walking posture data, and the walking posture data is used to detect the walking state of the user. The sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor and an acceleration sensor. Then, the electronic device locates the user's position by at least one of the following methods: wireless network communication (wireless fidelity, Wi-Fi) technology, satellite positioning technology, mobile communication network technology, Bluetooth communication technology, and geomagnetic matching technology, until the target positioning information of the first position is obtained. Finally, the electronic device performs reverse positioning calculation based on the target positioning information and the walking posture data to obtain the initial position information when the user starts walking, that is, the parking position information corresponding to the parking position of the vehicle.

Among them, the detection method of the vehicle being in a parked state can be to detect whether the vehicle is turned off, whether the vehicle is parked in a parking space, or whether the IMU data of the vehicle indicates that the vehicle has stopped moving. The first position refers to the first position that can be accurately located in the process of locating the user's position. Walking posture data refers to the IMU data of the user (i.e., the electronic device) obtained during the user's walking from the vehicle parking position to the first position.

Among them, the electronic device that detects whether the vehicle is in a parked state and the electronic device that obtains the parking position information can be the same or different. For example, the electronic device that detects whether the vehicle is in a parked state is a smart car machine installed and configured on the vehicle, and the electronic device that obtains the parking position information is the user's mobile phone. The premise for positioning through Wi-Fi technology, GNSS positioning technology, mobile communication network technology, Bluetooth communication technology or geomagnetic matching technology is that the electronic device has a corresponding hardware module, such as a Wi-Fi module, a GNSS positioning module, a Global System for Mobile Communications (GSM) module, a fifth generation mobile communication technology (5G) module, a Bluetooth module or a magnetic sensor.

The vehicle positioning method provided in the embodiment of the present application determines the parking position of the vehicle according to the walking posture data during the walking process after the user gets off the vehicle and walks to the position that can be positioned (the first position), when the parking position of the vehicle cannot be accurately positioned when the vehicle is in the parked state. Since the positioning information corresponding to the position that can be positioned (the first position) is accurate and the walking posture data is also accurate, the determined parking position of the vehicle is also accurate, which can improve the accuracy of the parking position information.

The vehicle positioning method provided in the embodiment of the present application can be applied to a vehicle positioning system. As shown in Figure 2, the vehicle positioning system includes: a first electronic device, a second electronic device, a local server and a cloud server. Among them, the first electronic device is used to detect vehicle information, and the second electronic device is used to detect user information. It can be understood that the user information is generally the user's walking information. In one case, the first electronic device and the second electronic device are the same electronic device, such as the first electronic device is a mobile phone used by the user, and the second electronic device is also a mobile phone used by the user. In another case, the first electronic device and the second electronic device are different electronic devices, such as the first electronic device is an intelligent car machine installed on the vehicle, and the second electronic device is a mobile phone used by the user.

Exemplarily, the first electronic device may be an electronic device that supports navigation and vehicle positioning, such as a smart car machine, a mobile phone, a tablet computer, a smart watch, etc., and the second electronic device may be a portable electronic device that supports intelligent navigation and vehicle positioning, such as a mobile phone, a tablet computer, a smart watch, etc. The embodiments of the present application do not impose any special restrictions on the specific form of the electronic device.

In the following, the vehicle positioning system is described assuming that the first electronic device is a smart vehicle machine and the second electronic device is a mobile phone.

The first electronic device includes a first positioning module, a first floor recognition module, a first wireless transmission module and a module for obtaining vehicle data. The first electronic device may obtain the parking location information through the first positioning module and the first floor identification module. The first electronic device may upload the encrypted parking location information to the cloud server, and may also send the parking location information to the second electronic device through the first wireless transmission module (such as a near field communication module such as a Bluetooth module and a Wi-Fi module). Among them, the first positioning module may be a GNSS positioning module, and the first floor identification module may identify the floor where the first electronic device is located based on the fingerprint data of the floor (which can be obtained based on the air pressure value and the wireless signal strength).

The second electronic device includes a parking position recording unit, a reverse car search unit, and a local geomagnetic library. The parking position recording unit includes a second positioning module, a second floor identification module, a second wireless transmission module, and a second sensor for acquiring user data. The second sensor may include an IMU sensor and a magnetic sensor. The reverse car search unit includes a map application interface, a user interface UI, a reverse car search positioning module, a second wireless transmission module, and a second sensor. The parking position recording unit and the reverse car search unit can share the second wireless transmission module and the second sensor. The second electronic device can upload the encrypted data acquired by the second sensor to the cloud server. The local geomagnetic library receives the fingerprint data of the floor sent by the cloud server.

The parking position recording unit in the second electronic device can obtain the parking position through the second positioning module and the second floor recognition module. The second electronic device can also obtain the vehicle driving posture data and pedestrian walking posture data of the first electronic device and the second electronic device during the parking process, and perform reverse positioning calculation based on the vehicle driving posture data and pedestrian walking posture data to obtain parking position information.

Among them, as shown in Figure 3, the physical hardware corresponding to the parking position recording unit of the second electronic device may include a gyroscope sensor, an acceleration sensor, a magnetic sensor, a mobile communication module (including a GSM module, a 5G module, and other communication modules using a cellular wireless networking method), a Wi-Fi module, a GNSS positioning module, and a Bluetooth module. The software function submodule in the second positioning module may include a PDR submodule and may also include a geomagnetic matching submodule. The gyroscope sensor, the acceleration sensor, and the magnetic sensor are respectively connected to the PDR submodule to detect pedestrian walking posture data and perform PDR reverse positioning calculation. The mobile communication module, the Wi-Fi module, the GNSS positioning module, the Bluetooth module, and the geomagnetic sensor are respectively connected to the geomagnetic matching submodule to locate the target position information of the first position. The PDR submodule can also be connected to the geomagnetic matching submodule to realize PDR reverse positioning calculation based on geomagnetic data.

It should be noted that, during the parking process, the second electronic device can also obtain the driving posture data of the vehicle of the first electronic device, detect the walking posture data of the pedestrians, and send the driving posture data and the walking posture data to the cloud server. Then, the cloud server performs positioning and solution based on the vehicle driving posture data and the pedestrian walking posture data to obtain the parking position information. Finally, the cloud server sends the parking position information to the second electronic device.

The second electronic device can calculate the first information confidence and the second information confidence, wherein the first information confidence refers to the credibility of the forward parking position information obtained by the forward positioning inference method, and the second information confidence refers to the credibility of the reverse parking position information obtained by the reverse positioning inference method. When the first information confidence is greater than the second information confidence, or the first information confidence is greater than or equal to the preset confidence, the forward parking position information is determined to be the finally obtained parking position information. When the first information confidence is less than or equal to the second information confidence, or the second information confidence is greater than or equal to the preset confidence, the reverse parking position information is determined to be the finally obtained parking position information.

The local server is used to preprocess the stored data in the database. The local server includes a geomagnetic fingerprint database, which is used to store scene geomagnetic data, floor identification auxiliary data (such as air pressure, Wi-Fi signal strength, etc.) and underground garage Wi-Fi data. The local server can specifically obtain the fingerprint data of the floor by preprocessing the scene geomagnetic data and the underground garage floor data of the nearby underground garage that can locate the vehicle position. The local server can also encode, compress, encrypt and other processes the preprocessed data and upload it to the cloud server.

The cloud server is used to process the vehicle driving posture data and pedestrian walking posture data uploaded by the first electronic device and the second electronic device. For the first electronic device, the parking position information calculation method includes at least one of the following: the first electronic device loads the data in the positioning database from the cloud server, and then obtains the parking position information based on the loaded data; the cloud server obtains the parking position information based on the data in the positioning database, and then sends the parking position information to the first electronic device. Similarly, for the second electronic device, the parking position information calculation method includes at least one of the following: the second electronic device loads the data in the positioning database from the cloud server, and then obtains the parking position information based on the loaded data; the cloud server obtains the parking position information based on the data in the positioning database, and then sends the parking position information to the second electronic device.

The reverse vehicle location module in the second electronic device can obtain device location information (the device location information is the location information of the second electronic device in real time) during the process of searching for a parked vehicle, and transmit the device location information and the vehicle location information to the second electronic device. The walking posture data during the process is uploaded to the cloud server. Then the cloud server calculates the real-time location information of the second electronic device based on the device location information, the walking posture data and the map information of the underground garage, and sends the real-time location information to the second electronic device. Similarly, the reverse car search and positioning module in the second electronic device can also obtain the device location information, and then calculate the real-time location information of the second electronic device based on the device location information, the walking posture data during the car search process and the map information of the underground garage.

The user interface UI in the second electronic device can be embedded with a map application interface, and can display real-time location information and parking location information on the map application interface, and can also display a person and vehicle guidance interface. It can also generate a planned route for finding the car based on the basement map displayed on the map application interface, so as to facilitate reverse car navigation according to the planned route.

In this way, the vehicle can be located in real time through the above-mentioned vehicle positioning system, and a planned route for finding the vehicle can be generated regardless of whether the underground garage can receive the positioning signal, and vehicle navigation can be performed according to the planned route, which can improve the accuracy of obtaining parking location information and thus increase the speed of finding the vehicle.

FIG. 4 shows a schematic diagram of the hardware structure of an electronic device 100 , which may be the first electronic device or the second electronic device mentioned above.

As shown in FIG4 , 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, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, an indicator 192, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. 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, etc.

It is to be understood that the structure illustrated in the embodiment of the present invention does 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 fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure 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 (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and/or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated in one or more processors.

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

Exemplarily, the processor 110 of the electronic device 100 can obtain walking posture data, and instruct the memory connected through the external memory interface 120 to cache the walking posture data, or instruct the internal memory 121 to cache the walking posture data. The processor 110 can also determine whether it can be accurately positioned, and obtain the first target positioning information (first position) that can be accurately positioned. The positioning method includes at least one of the following: Wi-Fi technology, satellite positioning technology, mobile communication network technology, Bluetooth communication technology, and geomagnetic matching technology. The processor 110 can also calculate the walking posture data based on the target positioning information to obtain the parking position information.

The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may store instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

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

The I2S interface can be used for audio communication. In some embodiments, the processor 110 can include multiple I2S buses. The processor 110 can be coupled to the audio module 170 via the I2S bus to achieve communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 can transmit an audio signal to the wireless communication module 160 via the I2S interface to achieve the function of answering a call through a Bluetooth headset.

The PCM interface can also be used for audio communication, sampling, quantizing and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 can be coupled via a PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 via the PCM interface to implement the function of answering calls via a 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 for asynchronous communication. The bus can be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, the UART interface is generally used to connect the processor 110 and 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 an audio signal to the wireless communication module 160 through the UART interface to implement the function of playing music through a Bluetooth headset.

The processor 110 and the display screen 194 communicate via a DSI interface to implement the display function of the electronic device 100 .

The USB interface 130 is an interface that complies with the USB standard specification, and specifically can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. 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 a peripheral device. It can also be used to connect headphones to play audio through the headphones. The interface can also be used to connect other electronic devices, such as AR devices, etc.

It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

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

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

The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as Wi-Fi network), Bluetooth (BT), GNSS, frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, modulates the frequency of the electromagnetic wave signal and performs filtering, and sends the processed signal to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, modulate the frequency of the signal, 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 to the mobile communication module 150, and the antenna 2 is coupled to 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 technology may include GSM, general packet radio service (GPRS), code division multiple access (CDMA), wideband 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.

Exemplarily, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150 so that the electronic device can obtain the target positioning information of the first position through the mobile network technology, that is, according to the hexagonal signal coverage rule of the cellular network, by accessing the location of the mobile communication network.

Exemplarily, the antenna 2 of the electronic device 100 is coupled to the wireless communication module 160, so that the electronic device 100 can obtain the target positioning information of the first target position through the wireless network technology according to the signal source and signal strength of the wireless network accessed. The wireless network technology is adapted to the connection mode of the wireless network. The target positioning information can be obtained by cross-positioning multiple wireless network technologies. It should be noted that the connection method of the wireless network includes at least one of the following: GNSS, BT, WLAN, NFC and IR.

The electronic device 100 implements the display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

Exemplarily, the electronic device 100 can display target positioning information through the display screen 194, and can also display the driving calculated path obtained based on the vehicle driving posture data obtained during the vehicle's movement, and can also display the parking position information obtained based on the driving calculated path, and can also display the walking calculated path obtained based on the walking posture data, and can also display the parking position information obtained based on the walking calculated path.

The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

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 implement a data storage function. For example, files such as music, video, and sensor data can be stored in the external memory card.

The internal memory 121 can be used to store computer executable program codes, which include instructions. The processor 110 executes various functional applications and data processing of the electronic device 100 by running the instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the electronic device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

The electronic device 100 can implement audio functions such as music playing and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

The pressure sensor 180A is used to sense the pressure signal and can convert the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A can be set on the display screen 194. There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, capacitive pressure sensors, etc. The capacitive pressure sensor can be a parallel plate including at least two conductive materials. When a force acts on the pressure sensor 180A, the capacitance between the electrodes changes. The electronic device 100 determines the intensity of the pressure according to the change in capacitance. When a touch operation acts on the display screen 194, the electronic device 100 detects the touch operation intensity according to the pressure sensor 180A. The electronic device 100 can also calculate the touch position according to the detection signal of the pressure sensor 180A. In some embodiments, touch operations acting on the same touch position but with different touch operation intensities can correspond to different operation instructions. For example: when a touch operation with a touch operation intensity less than the first pressure threshold acts on the short message application icon, an instruction to view the short message is executed. When a touch operation with a touch operation intensity greater than or equal to the first pressure threshold acts on the short message application icon, an instruction to create a new short message is executed.

The gyro sensor 180B can be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (i.e., x, y, and z axes) can be determined by the gyro sensor 180B. The gyro sensor 180B can be used for anti-shake shooting. For example, when the shutter is pressed, the gyro sensor 180B detects the angle of the electronic device 100 shaking, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to offset the shaking of the electronic device 100 through reverse movement to achieve anti-shake. The gyro sensor 180B can also be used for navigation and somatosensory game scenes.

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.

The magnetic sensor 180D includes a Hall sensor. The electronic device 100 can use the magnetic sensor 180D to detect the opening and closing of the flip leather case. In some embodiments, when the electronic device 100 is a flip phone, the electronic device 100 can detect the opening and closing of the flip cover according to the magnetic sensor 180D. Then, according to the detected opening and closing state of the leather case or the opening and closing state of the flip cover, the flip cover can be automatically unlocked.

Exemplarily, the internal memory 121 may cache walking posture data, and the sensor for detecting the walking posture data includes at least one of the following: a gyro sensor 180B, an acceleration sensor 180E, and a magnetic sensor 180D.

The acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in all directions (generally three axes). When the electronic device 100 is stationary, the magnitude and direction of gravity can be detected. It can also be used to identify the posture of the electronic device and is applied to applications such as horizontal and vertical screen switching and pedometers.

When the vehicle positioning method in the embodiment of the present application is implemented based on the electronic device 100 shown in FIG4, after the electronic device fails to accurately locate the real-time position of the vehicle through the antenna 1 and the mobile communication module 150, or the antenna 2 and the wireless communication module 160, the electronic device detects whether the vehicle is in a parked state through the USB interface 130, the wireless communication module 160, the gyroscope sensor 180B and the acceleration sensor 180E. When the vehicle is in a parked state, the electronic device detects the walking posture data through one or more of the gyroscope sensor 180B, the magnetic sensor 180D and the acceleration sensor 180E, and the electronic device caches the walking posture data to an external memory card connected through the external memory interface 120, or caches the walking posture data to the internal memory 121. Then, the electronic device locates the real-time position of the user through the antenna 1 and the mobile communication module 150 until the target positioning information of the first position is obtained; or locates the real-time position of the user through the antenna 2 and the wireless communication module 160 until the target positioning information of the first position is obtained. Furthermore, the processor 110 of the electronic device performs reverse positioning calculation on the walking posture data according to the target positioning information to obtain the parking position information.

The software system of the electronic device 100 may adopt a layered architecture, an event-driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture. In the embodiment of the present invention, the Android system of the layered architecture is taken as an example to exemplify the software structure of the electronic device 100.

FIG. 5 is a schematic diagram of the software structure of the electronic device according to an embodiment of the present invention.

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

The application layer can include a series of application packages.

As shown in FIG. 5 , the application package may include applications such as camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message, etc.

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

As shown in FIG. 5 , the application framework layer may include a window manager, a content provider, a view system, a telephony manager, a resource manager, a notification manager, and the like.

The window manager is used to manage window programs. The window manager can obtain the display screen size, determine whether there is a status bar, lock the screen, capture the screen, etc.

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

The view system includes visual controls, such as controls for displaying text, controls for displaying images, etc. The view system can be used to build applications. A display interface can be composed of one or more views. For example, a display interface including a text notification icon can include a view for displaying text and a view for displaying images.

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

The resource manager provides various resources for applications, such as localized strings, icons, images, layout files, video files, and so on.

The notification manager enables applications to display notification information in the status bar. It can be used to convey notification-type messages and can disappear automatically after a short stay without user interaction. For example, the notification manager is used to notify download completion, message reminders, etc. The notification manager can also be a notification that appears in the system top status bar in the form of a chart or scroll bar text, such as notifications of applications running in the background, or a notification that appears on the screen in the form of a dialog window. For example, a text message is displayed in the status bar, a prompt sound is emitted, an electronic device vibrates, an indicator light flashes, etc.

Android Runtime includes core libraries and virtual machines. Android Runtime is responsible for scheduling and management of the Android system. Among them, the core library contains two parts: one part is the function that the Java language needs to call, and the other part is the Android core library.

The application layer and the application framework layer run in the virtual machine. 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 manage the object life cycle, stack management, thread management, security, etc. And exception management, as well as garbage collection and other functions.

The system library can include multiple functional modules, such as surface manager, media library, 3D graphics processing library (such as OpenGL ES), 2D graphics engine (such as SGL), etc.

The surface manager is used to manage the display subsystem and provide the 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 static image files, etc. 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.

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

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

When the vehicle positioning method in the embodiment of the present application is implemented based on the electronic device 100 shown in FIG5 , the workflow of the software and hardware of the electronic device 100 is exemplified. The electronic device drives the gyro sensor 180B and the acceleration sensor 180E through the kernel layer to detect the driving posture data, and drives the GNSS in the antenna 2 and the wireless communication module 160 through the kernel layer to perform real-time positioning of the electronic device. When the electronic device cannot be accurately positioned and the vehicle is in a parked state, the parking position information is obtained through the notification manager in the application framework layer. The electronic device can run positioning-related programs in the application layer, drive the gyro sensor 180B, the magnetic sensor 180D, and the acceleration sensor 180E through the kernel driver layer to detect the walking posture data, drive the GNSS in the antenna 1 and the mobile communication module 150 through the kernel layer to perform real-time positioning of the first position, and drive the GNSS in the antenna 2 and the wireless communication module 160 through the kernel layer to perform real-time positioning of the first position. The electronic device obtains the walking posture data and the target positioning information through the content provider in the application framework layer. Through the Android Runtime and the system library, reverse positioning is calculated according to the walking posture data and the target positioning information to obtain the parking position information. The electronic device displays the parking location information on a map through visual controls in the application framework layer.

After locating the vehicle, the parking location information can also be searched based on the reverse vehicle search unit in the second electronic device shown in FIG2. Specifically, when searching for parking location information based on the electronic device 100 shown in FIG5, the electronic device can run positioning-related programs through the application layer, and obtain walking posture data and walking starting point location information through the content provider in the application framework layer. Then, the electronic device generates the optimal path based on the walking starting point location information, parking positioning information and real-time traffic information (obtained based on the walking posture data) through the Android Runtime and the system library; the electronic device can also implement other logical rules for the operation of the navigation application through the Android Runtime, and provide a bottom-up management rule for the normal operation of the navigation application. Finally, the electronic device stores the map data through the resource manager in the application framework layer, and the electronic device can also display the optimal path, real-time traffic information and parking location information on the map through the visual controls in the application framework layer.

In some embodiments, in a user parking scenario, the user drives the target vehicle into the target underground garage, wherein the user uses a mobile phone and an intelligent vehicle computer is installed on the target vehicle. In an outdoor scenario, the GNSS signal can be received, and the target vehicle is positioned through the vehicle computer GNSS positioning module, IMU sensor and camera. As shown in Figure 6, after entering the underground garage from the outdoor scene, the GNSS positioning module cannot receive satellite signals. Therefore, the IMU data (vehicle driving posture data) detected by the IMU sensor is forward positioned recursively through the VDR, and the image data captured by the camera is visually positioned to obtain the parking position information. It should be noted that the performance constraints of the IMU and the inability to obtain auxiliary positioning information result in the parking position information obtained by forward positioning calculation being often inaccurate.

In other embodiments, as shown in FIG6 , in a user parking scenario, the user's mobile phone is used as an electronic device, and the mobile phone can start to obtain the parking position information through reverse positioning and calculation when the vehicle is parked and the parking position information cannot be obtained. First, after the user gets off the vehicle, the mobile phone obtains the walking posture data. Then, after the user leaves the vehicle for a certain distance, the mobile phone uses at least one of the following preset positioning technologies: Wi-Fi technology, satellite positioning technology, mobile communication network technology, Bluetooth communication technology, and geomagnetic matching technology to locate until the target positioning information of the first position is obtained. Then, reverse positioning and calculation are performed based on the target positioning information and the walking posture data to obtain the user's getting off position information, that is, the parking position information of the target vehicle is obtained by indirect calculation.

The following will take the electronic device being a mobile phone as an example, for a scene where a target vehicle enters a parking area (such as an underground garage) that cannot be accurately located by conventional positioning technology (such as satellite positioning technology), the cloud server is used to provide scene geomagnetic data, floor recognition auxiliary data (such as air pressure, Wi-Fi signal strength, etc.) and Wi-Fi data in the underground garage, and the electronic device is used to locate the parked vehicle, to illustrate the vehicle positioning method provided in the embodiment of the present application. As shown in FIG. 7 , the method may include the following: Next steps S701-S704.

S701. When a target vehicle is moving, the electronic device displays the location information of the target vehicle on a vehicle positioning interface in response to an interface trigger operation input by a user.

The target vehicle is a vehicle that the user is riding in or driving. The electronic device is a device that is used by the user and is usually portable. According to the degree of dependence of the user on the electronic device, in the embodiment of the present application, it can be considered that the electronic device and the user are in the same position, that is, the position deviation of the two is less than the preset threshold. It can be understood that during the driving process of the vehicle, the target vehicle, the electronic device and the user can be considered to be in the same position, that is, the position deviation of the three is less than the preset threshold.

It is worth noting that a user refers to a person who rides or drives a vehicle and needs to obtain parking location information, and the user and the electronic device used for reverse positioning are in the same location. In other words, the user-related data (such as walking posture data, target positioning information, reference location information) obtained as the user moves is consistent with the device-related data (such as walking posture data, target positioning information, reference location information) obtained as the electronic device carried by the user moves.

In some embodiments, the electronic device can display map information containing the location information of the target vehicle on the vehicle positioning interface. For example, the target vehicle is in the underground garage of the shopping mall D on the street C of the city B in the region A. The map information may include all cities in the region A, all streets in the city B, all shopping malls covered by the street C, and all architectural structure diagrams of the shopping mall D. In the embodiment of the present application, when the map information includes the current vehicle position, the physical geographical scope contained in the map information is not artificially limited. In this way, the variability of the physical geographical scope of the map information displayed on the vehicle positioning interface can avoid the situation where the target vehicle has been traveling for a long time and is far from the destination, the display map range is small, the user is not familiar with the additional map and has no sense of location information, and cannot judge the road conditions, routes and other information during driving; accordingly, it can also avoid the situation where the target vehicle is close to the destination, the display map range is large, the user cannot see the detailed information in the map clearly, and the difficulty of the user driving the vehicle to the destination is increased.

In some embodiments, when the user is driving the target vehicle in an outdoor scene, the electronic device can locate the target vehicle in real time. When the electronic device can accurately locate the real-time location information of the target vehicle, the real-time location is newly determined as the location information of the target vehicle, and the location information is displayed on the vehicle positioning interface. At this time, the user and the electronic device are both on the target vehicle, and the target vehicle, the user and the electronic device can be considered to be in the same position, that is, the real-time location information is the location information of the target vehicle, the user and the electronic device. Exemplary, as shown in Figure 8, assuming that the target vehicle starts from the starting point E and goes to the destination D (shopping mall D), when the target vehicle drives to the intersection F, the electronic device displays the target vehicle at the intersection F on the vehicle positioning interface.

In other embodiments, when the user is driving the target vehicle in an underground garage scene, the electronic device cannot accurately locate the location information of the target vehicle due to the absence of a signal or signal interference. Therefore, the location information of the target vehicle displayed by the electronic device on the vehicle positioning interface may be range location information. Exemplarily, the range location information may be obtained based on the entrance position of the underground garage (the position where the target vehicle can be accurately located) according to a preset deviation range. The range location information may also be the location of the underground garage corresponding to the entrance position of the underground garage.

It should be noted that the range location information can be marked by a preset mark, wherein the preset mark can be a circle mark, a rectangle mark, a triangle mark, or other mark that can cover a certain range.

It is understandable that the range of the preset identification mark of the electronic device is different according to the different positioning accuracy of the location information. It is understandable that the circle mark can also be highlighted by changing the line color, line thickness, flashing, etc. In the case where the scale of the map information displayed on the vehicle positioning interface is larger than that of the target vehicle position, the circle mark is set to be the same size as displayed on the vehicle positioning interface. In the case where the scale of the map information displayed on the vehicle positioning interface is smaller than that of the target vehicle position, the circle mark is set to change on the vehicle positioning interface as the scale of the map information and the target vehicle changes. In this way, the relative position of the target vehicle can be prompted to the user through the preset mark, so that the user can adjust the driving status according to the relative position, such as driving speed, driving path, whether to refuel, etc.

For example, when all cities in region A are displayed on the vehicle positioning interface, the diameter of the circle mark is 1 cm; when all shopping malls covered by street C are displayed on the vehicle positioning interface, the diameter of the circle mark is also 1 cm. When the underground garage of shopping mall D is displayed on the vehicle positioning interface, the diameter of the circle mark is adapted to the size of the parking space in the underground garage.

For example, the electronic device may not be able to accurately locate the real-time location information of the target vehicle. As shown in (a) of FIG9 , a circle mark is displayed on the vehicle location interface, and the location information included in the circle mark may be the mall D where the target vehicle is located. As shown in (b) of FIG9 , a circle mark is displayed on the vehicle location interface, and the location information included in the circle mark may also be inaccurate real-time location information. As shown in (c) of FIG9 , a circle mark is displayed on the vehicle location interface, and the location information included in the circle mark may be inaccurate real-time location information. The position information may also be the position range information of the target vehicle obtained based on the inaccurate real-time positioning information and according to a preset deviation range.

In some embodiments, the trigger operation can be used to open the positioning software and trigger the display of the target vehicle's location information on the vehicle positioning interface. In the embodiment of the present application, the interface trigger operation can be a key trigger operation input through a mechanical key (e.g., long pressing the volume up key and the volume down key at the same time), a preset operation input through a touch screen or a screen trigger operation of a preset gesture, an image recognition trigger operation of a specific image captured by a camera, a voice trigger operation of a preset voice received by an audio module, or a wireless trigger operation sent by other electronic devices.

In some embodiments, before receiving an interface trigger operation, the electronic device may display an interface including any of the following: a vehicle position display interface, a video playback interface, an instant chat interface, a game interface, a navigation interface, and a desktop.

S702: When the electronic device detects that the target vehicle is parked, it displays positioning indication information on the vehicle positioning interface and obtains walking posture data.

The walking posture data refers to the walking posture data of the electronic device and also the walking posture data of the user.

In an embodiment of the present application, for a scenario in which a target vehicle enters a parking area (such as an underground garage) that cannot be accurately located by conventional positioning technology (such as satellite positioning technology), during the movement of the target vehicle, the electronic device obtains the walking posture data of the user after leaving the vehicle when it detects that the target vehicle is parked and the parking location information cannot be obtained.

In some embodiments, the electronic device may detect that the target vehicle is in a parked state in at least one of the following ways: detecting that the target vehicle is turned off in a preset manner, detecting that the target vehicle is parked in a parking space, receiving a preset voice message (the preset voice message may be a voice message played by a reversing radar), etc. It should be noted that during the process of the user driving the target vehicle, the target vehicle may be passively turned off due to a malfunction, idling, over-temperature protection, improper operation, etc., or it may be actively turned off due to an active operation by the user (the active operation is consistent with the user's needs). Therefore, it is necessary to set the target vehicle to be determined to be in a parked state when the target vehicle is detected to be turned off in a preset manner to avoid misjudgment.

Exemplarily, the electronic device detects that the target vehicle is in a parked state, and can also make a judgment based on the vehicle driving posture data. The vehicle driving posture data may include sensor data detected by a gyroscope sensor and an acceleration sensor. When the angular velocity of the vehicle driving posture data is 0 and the acceleration is 0 in a continuous time period, it can be determined that the target vehicle is in a parked state.

It is understandable that the vehicle driving posture data may be detected by sensors in electronic devices during the vehicle's travel. The driving posture data may also be acquired by the target vehicle's smart car machine during the vehicle's travel. The smart car machine may be connected to the electronic device via a wired connection or via near field communication such as BT, IR, and NFC.

In the embodiment of the present application, the electronic device can obtain walking posture data when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained by using the preset positioning technology, and when it is detected that the electronic device has left the target vehicle. When the target vehicle is in a parked state, the walking posture data is immediately obtained, which can avoid obtaining walking posture data that cannot be used as a basis for parking position information, reduce resource waste, and reduce the data processing time for obtaining parking position information based on walking posture data, thereby increasing the speed of obtaining parking position information.

In some embodiments, the electronic device detects whether the user leaves the vehicle in at least one of the following ways: detecting that the connection with the target vehicle (including Bluetooth connection and USB connection) changes from a connected state to a disconnected state; or, receiving preset sensor information, the sensor information is used to indicate that the user's seat belt on the target vehicle changes from a worn state to an unfastened state; or, detecting that the walking posture data of the user after leaving the vehicle includes initial posture data and indicated posture data; wherein the initial posture data refers to the walking posture data corresponding to the first time period, and the start time of the first time period is the time when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained; the difference between the indicated posture data and the initial posture data is greater than a first preset threshold.

For example, the smart sensor hub module of the electronic device can detect whether the Bluetooth connection between the electronic device and the target vehicle is disconnected. When the electronic device is removed from the vehicle bracket, the posture of the device will change significantly.

In other embodiments, if the walking posture data acquired by the electronic device only includes the initial posture data, it means that the user has not left the target vehicle to start walking, or it means that the user has not left the target vehicle with the electronic device to start walking. In this case, the parking position information cannot be obtained according to the walking posture data. If the walking posture data acquired by the electronic device includes the initial posture data and the indicating posture data, it means that the user has left the target vehicle with the electronic device to start walking. In this case, the parking position information can be obtained according to the walking posture data.

The connection method between the electronic device and the target vehicle includes wireless connection methods such as Bluetooth, infrared, Wi-Fi hotspot, etc., and wired connection methods such as optical fiber, twisted pair, etc. The preset sensor information can be pressure sensor information obtained by a pressure sensor. The posture data refers to the walking posture data corresponding to the first time period, and the starting time of the first time period is the time when the target vehicle is detected to be in a parked state and the parking position information cannot be obtained; the indication posture data refers to the walking posture data whose difference value is greater than the first preset threshold compared with the initial posture data.

It is understandable that after the electronic device detects that the target vehicle is parked, it determines the walking posture data obtained during the time period of staying in the vehicle (the time period spent by the user in the vehicle to organize the things he carries with him, dress himself, etc.) as the initial posture data. The indicated posture data refers to the posture data that is significantly different from the initial posture data. The acquisition of the indicated posture data indicates that the user has started walking.

It can also be understood that the initial posture data may include preset magnetic field data. If the preset magnetic field data changes, it can be determined that the position of the electronic device has not moved, that is, the user has not left the target vehicle to start walking. In the embodiment of the present application, since the space of the target vehicle is limited, the change of the magnetic field data inside the target vehicle is ignored.

In the present application, the electronic device can determine that the user has left the car only when it is determined that the user has left the car in at least two ways, thereby improving the accuracy of determining whether the user has left the car.

In this way, by setting up multiple methods to determine whether the user has left the vehicle, the influence of the environment of the target vehicle or the hardware status of the electronic device on the judgment result can be avoided, thereby improving the accuracy of determining whether the user has left the vehicle.

In some embodiments, when it is detected that the target vehicle is parked and the parking position information cannot be obtained, the positioning indication information and the reference position information of the target vehicle are displayed on the vehicle positioning interface. The reference position information refers to the possible position or position range of the target vehicle when the parking position information of the target vehicle cannot be obtained by using the preset positioning technology.

The positioning indication information is used to indicate that the parking position information of the target vehicle is being positioned, and the indication method of the positioning indication information can be at least one of the following: prompt text, text prompt box, image prompt box and prompt mark.

It is understandable that the electronic device can respond to user operations and set the vehicle positioning interface to run in the background, and at the same time, display the positioning indication information in a floating window until the parking location information is obtained.

Exemplarily, the positioning indication information includes an indication mark. Based on (b) in FIG9 , as shown in FIG10 , the electronic device may display a refresh mark on the vehicle positioning interface, and the refresh mark indicates that the parking location information has not been obtained by the reverse positioning calculation method through dynamic rotation. The refresh mark may cover the entire vehicle positioning interface and set the transparency to 80%.

Exemplarily, the positioning indication information includes an indication mark and indication text. Based on FIG10, as shown in FIG11, the electronic device further displays indication text (locating accurate parking location information) on the vehicle positioning interface. The indication text can adjust display attributes such as font size, font color, and display mode in response to user operations.

In some embodiments, the electronic device displays the reference position information of the target vehicle on the vehicle positioning interface, and at the same time, when the target vehicle is detected to be in a parked state, the electronic device displays the positioning indication information on the vehicle positioning interface. Exemplarily, based on FIG. 11 , as shown in FIG. 12 , the electronic device can also display the reference position information (parking space 2) in a dotted line manner on the vehicle positioning interface to distinguish the reference position information from the parking position information.

In some embodiments, when the electronic device detects that the target vehicle is parked, it can also play a prompt sound, such as locating the parking position of the vehicle for you.

In some embodiments, the electronic device can display positioning indication information and map information on the vehicle positioning interface, and the geographical range corresponding to the map information includes the reference position information of the target vehicle, and then the reference position information is marked on the map information according to the preset identifier. Among them, the reference position information of the target vehicle includes any of the following: estimated position information obtained based on the positioning information of the second position of the target vehicle and the vehicle driving posture data, the vehicle driving posture data includes the driving posture data obtained after the target vehicle fails to obtain the parking position information using the preset positioning technology, and the second position is the last position located by the user using the preset positioning technology before leaving the vehicle; or, the first range position information is determined with the position corresponding to the estimated position information as the center and the preset deviation range as the radius; or, the second range position information is determined with the second position as the center and the second preset deviation range as the radius.

It should be noted that the first range position information and the second range position information in the reference position information can be marked by a preset mark, wherein the preset mark can be a circle mark, a rectangle mark, a triangle mark, etc. that can contain a certain range. The estimated position information in the reference position information can be marked in the same way as the range position information, or in a different way. Mark it with the positioning icon.

In the present application, the electronic device can also display a navigation planning route, the origin of the navigation planning route is the initial position of the target vehicle with respect to the current vehicle driving posture data, and the destination of the navigation planning route is the reference position information. Accordingly, in the process of determining the area range corresponding to the map information, the navigation planning route is also required as a basis so that the entire navigation planning route can be displayed in the map information.

In the embodiment of the present application, the walking posture data refers to the posture data continuously generated by the user during the walking process starting from the parked position of the target vehicle, starting from the detection of the target vehicle being in a parked state until the target position information is obtained. The walking posture data actually refers to the collection of posture data continuously detected by the electronic device through the sensor during the user's walking process.

The walking posture data can be detected by a sensor on an electronic device carried by the user when walking. The sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor, an acceleration sensor, and a magnetic sensor. Based on this, the walking posture data includes angular velocity, acceleration, and magnetic signal strength in multiple directions.

It should be noted that when the user parks the vehicle, the target vehicle is in a parked state, and the user, the target vehicle and the electronic device are still in the same position. After that, the user usually gets off the vehicle and goes to the destination. After the user gets off the vehicle, the parking position of the target vehicle no longer changes, and the user and the electronic device are in the same position. Walking posture data refers to the posture change data of the electronic device itself detected by the electronic device during the user's walking process. In some embodiments, the sensor for detecting walking posture data may also include: an air pressure sensor. The air pressure sensor is used to detect the air pressure data of the current position, and the horizontal height of the current position can be determined through the air pressure data. The air pressure data can be used to calculate whether the horizontal height of the electronic device has changed, so that the estimated moving path calculated by the walking posture data is more similar to the actual moving path of the user, thereby improving the accuracy of the obtained parking position information.

In some embodiments, after the electronic device obtains the walking posture data of the user after leaving the vehicle, it first displays the first walking path on the vehicle positioning interface based on the walking posture data after the user leaves the vehicle. Next, after obtaining the target positioning information corresponding to the first position, the target positioning information of the first position is displayed on the vehicle positioning interface. The first position is on the first walking path.

Among them, the first walking path starts from the position represented by the reference position information and extends to the walking direction of the user, and the first walking path is gradually displayed as the walking posture data of the user after leaving the vehicle increases. The walking posture data of the user after leaving the vehicle can be detected by a sensor on an electronic device carried by the user when walking. For example, the sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor, an acceleration sensor, and a magnetic sensor. Based on this, the walking posture data includes angular velocity, acceleration, and magnetic signal strength in multiple directions. Exemplarily, based on Figure 12, as shown in Figure 13, the electronic device displays the first walking path in a dotted line manner on the vehicle positioning interface.

In this way, when the user leaves the target vehicle and does not obtain the parking location information, once the user suddenly finds that he needs to return to the target vehicle to pick up something or drive the target vehicle away, the user can perform walking navigation according to the first walking path displayed on the vehicle positioning interface, or directly return to the target vehicle location according to the first walking path, thereby reducing the time required for the user to return to the target vehicle and increasing the speed of finding the target vehicle. Displaying the target positioning information on the vehicle positioning interface can determine the relative position of the target positioning information in the map information, so as to prompt the user's location.

S703: After leaving the vehicle, the electronic device obtains target positioning information corresponding to a first position that can be positioned for the first time.

The first position refers to the position of the first word in the position of the electronic device that can be accurately obtained during the process of continuously repositioning the electronic device using the preset positioning technology while the user leaves the target vehicle in a parked state and walks (while the electronic device leaves the target vehicle in a parked state and moves). The preset positioning technology includes at least one of the following: satellite positioning technology, wireless network communication Wi-Fi technology, mobile communication network technology, Bluetooth communication technology, and geomagnetic matching technology.

For example, the target positioning information may be latitude and longitude information. The electronic device can locate the location of the electronic device itself. In fact, it can be considered that the user and the electronic device are in the same location (the position deviation between the two is less than a preset threshold), that is, The target positioning information is the target positioning information of the electronic device, and is also the target positioning information of the user.

It should be noted that the first position is an uncertain position. Even in the same underground garage, the first position that can be located for the first time may be different due to different walking posture data of the user after leaving the target vehicle or due to different preset positioning technologies.

The preset positioning technology includes at least one of the following: satellite positioning technology, wireless network communication Wi-Fi technology, mobile communication network technology, Bluetooth communication technology and geomagnetic matching technology. The premise of positioning through the above preset positioning technology is that the electronic device has the corresponding hardware module, such as Wi-Fi module, GNSS positioning module, GMS module, 5G module, Bluetooth module and magnetic sensor.

In addition, the electronic device can also obtain positioning reference information from the cloud server. The positioning reference information may include but is not limited to scene geomagnetic data, floor recognition auxiliary data, and Wi-Fi data in the underground garage. The electronic device can locate the electronic device based on the positioning reference information and the sensor data obtained by the hardware module corresponding to the preset positioning technology, and obtain the target positioning information corresponding to the first position.

In the first example, for Wi-Fi technology, since the same Wi-Fi wireless signal is emitted based on a certain point, when the electronic device receives any Wi-Fi wireless signal, it monitors the signal strength of the wireless signal, and determines the distance from the wireless signal source by the strength of the signal and the trend of the signal strength. Thus, the electronic device can locate the electronic device and obtain the target positioning information of the first position.

It is understandable that, for Bluetooth communication technology, similar to the positioning method for Wi-Fi technology, when an electronic device receives any Bluetooth signal, it detects the signal strength of the Bluetooth signal, and judges the distance from the Bluetooth signal source by the strength of the signal and the trend of the strength of the signal. Thus, the electronic device can locate the electronic device and obtain the target positioning information of the first position. It should be noted that since the distance of communication via Bluetooth is shorter, the target positioning information obtained through Bluetooth technology is more accurate.

In the second example, for the GNSS positioning technology, since the GNSS positioning module can directly obtain the longitude and latitude information, the electronic device can determine the longitude and latitude information detected by the GNSS positioning module included in the physical hardware of the electronic device as the target positioning information.

In the third example, for mobile communication network technology, in order to ensure that mobile communication signals can achieve full signal coverage in any area on the basis of using as few base stations as possible, cellular communication technology is used. That is, the coverage area of each base station is a hexagonal area of a fixed size. Therefore, when an electronic device receives mobile signals from three or more base stations, it obtains the physical distance between the electronic device and the three or more base stations, and then obtains the real-time location information of the electronic device based on the location coordinates of the base stations.

In the fourth example, for geomagnetic matching technology, since the geomagnetic field is an inherent resource of the earth, the geomagnetic intensity and direction of the geomagnetic lines at any location are different. By using the distribution of geomagnetic sequence data in the underground garage acquired in advance, the electronic device can obtain the target positioning information of the current location.

In some embodiments, the electronic device can also obtain target positioning information of the current location based on the above-mentioned at least two preset positioning technologies, and when the deviation amplitude of at least two target positioning information obtained is less than the preset deviation amplitude, determine any one of the target positioning information as the final target positioning information.

In some embodiments, as shown in (a) of FIG14 , the electronic device may also display the target location information on the vehicle location interface, while displaying the location indication information. As shown in (b) of FIG14 , the electronic device may display the target location information on the vehicle location interface, while no longer displaying the location indication information.

In some embodiments, generally, since the target positioning information can only be obtained after a period of time has passed after the user leaves the target vehicle, if it is determined that the user has left the vehicle, the target positioning information corresponding to the first position of the user in the walking process after leaving the vehicle is obtained after a preset delay time. It should be noted that after it is determined that the user has left the vehicle, the user is in the walking process, and the electronic device obtains the walking posture data after leaving the vehicle.

The preset delay time may be preset based on experience, or may be obtained in response to user operation, or may be obtained through a preset acquisition method. The preset acquisition method may include: after the target vehicle enters the underground garage, the electronic device counts the length of time that the preset positioning technology cannot be used for positioning, and then calculates the time length, driving posture data, and the location of the target vehicle. The size of the underground garage is used to calculate the preset delay time for the electronic device to move to the edge of the underground garage or the wireless signal source. If it is impossible to obtain the target positioning information or the possibility of obtaining the positioning information is low, the step of obtaining the target positioning information corresponding to the first position is not performed, which can avoid wasting system resources.

In this way, by setting the setting to obtain the target positioning information corresponding to the first position of the user during the walking process after leaving the vehicle after a preset delay time is determined after the user leaves the vehicle, it is possible to avoid performing invalid operations of obtaining the target positioning information corresponding to the first position when it is impossible to obtain the target positioning information or the possibility of obtaining the positioning information is low, and to avoid wasting system resources of the electronic device.

In some embodiments, after obtaining the target positioning information corresponding to the first position of the user during the walking process after leaving the vehicle, the electronic device displays the second walking path on the vehicle positioning interface according to the walking posture data of the user after leaving the vehicle and the target positioning information. The second walking path ends at the target positioning information and extends in the opposite direction of the user's walking direction. The position information corresponding to the starting point of the second walking path is the vehicle parking information. In this way, by displaying the second walking path on the vehicle positioning interface, the user can intuitively perceive the parking position information of the target vehicle, the target positioning information, and the second walking path, which helps the user to enhance the sense of direction and improve the user's understanding of the location.

S704: The electronic device obtains parking position information according to the walking posture data and the target positioning information through reverse positioning calculation, and displays the parking position information on the vehicle positioning interface.

In the embodiment of the present application, the walking posture data refers to the posture data of the user when walking from the vehicle parking position to the first position. Correspondingly, the reverse positioning calculation method refers to calculating the vehicle parking position based on the first position and the walking posture data, that is, calculating the parking position information based on the target positioning information and the walking posture data. In other words, the parking position information of the target vehicle is obtained based on the walking posture data after the user leaves the vehicle and the target positioning information corresponding to the first position, and the parking position information is displayed on the vehicle positioning interface.

In some embodiments, after obtaining the parking position information, the electronic device may also receive an interface refresh operation input by the user, and display the parking position information on the vehicle positioning interface. By manually refreshing, the correction process of the parking position information may be strengthened. At the same time, the target positioning information may also be displayed on the vehicle positioning interface, so that the user can visually perceive the spatial distance between the target positioning information and the parking position information.

In some embodiments, the user carries an electronic device, and the electronic device can also obtain a second walking path during reverse positioning calculation based on the walking posture data and the target positioning information. Compared with the first walking path, the second walking path is the actual walking path of the user. Based on FIG. 13, how the vehicle positioning interface displays the first walking path and the second walking path is described.

In the first example, as shown in (a) of FIG. 15 , the electronic device displays the first walking path in a dotted line manner on the vehicle positioning interface, and displays the second walking path in a solid line manner.

In the second example, the vehicle positioning interface changes dynamically. First, as shown in (a) in FIG. 15 , the first walking path and the second walking path are displayed on the vehicle positioning interface. Then, after a preset time (such as 10 seconds), as shown in (b) in FIG. 15 , the electronic device no longer displays the first walking path on the vehicle positioning interface, and the electronic device only displays the second walking path in a solid line on the vehicle positioning interface.

In the third example, as shown in (b) of FIG. 15 , the electronic device displays the second walking path only as a solid line on the vehicle positioning interface.

In some embodiments, when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, the electronic device can obtain the estimated position information based on the positioning information of the second position of the target vehicle and the vehicle driving posture data. Among them, the vehicle driving posture data includes the driving posture data obtained after the target vehicle fails to obtain the parking position information using the preset positioning technology, and the second position is the position last located by the preset positioning technology before the user leaves the vehicle. Thereafter, the electronic device obtains the parking position information through the above steps S702-S704. Finally, the electronic device compares the attributes of the estimated position information and the parking position information (such as positioning duration, confidence, accuracy, etc.), and displays the position information with higher confidence (estimated position information or parking position information) on the vehicle positioning interface. In this way, the accuracy of the parking position information of the target vehicle displayed on the vehicle positioning interface is further improved.

In some embodiments, after the electronic device obtains the parking location information, it can save the parking location information so as to find the target vehicle according to the parking location information in response to user operations later.

In the embodiment of the present application, during the generation and use of the electronic device, due to the deviation of the installation position of the sensor or the deviation of the usage habits, the acquired sensor data may have a certain deviation from the actual sensor data. In order to further improve the accuracy of the obtained parking position information, it can also be optimized in the following two ways:

The first optimization method is that after executing the above step S704, the vehicle positioning method provided by the embodiment of the present application also includes: the electronic device can also first obtain the walking posture data of the user after leaving the first position. Then, the correction positioning information corresponding to the third position is obtained, wherein the third position is the position where the user reaches the positioning position after leaving the first position after a preset distance. Furthermore, with the target positioning information as the starting position and the correction positioning information as the ending position, the walking posture data of the user after leaving the first position is corrected, and the correction compensation parameters are obtained. Next, according to the correction compensation parameters, the walking posture data of the user after leaving the vehicle is corrected and updated. Next, according to the updated walking posture data of the user after leaving the vehicle, and the target positioning information, the updated parking position information is obtained. Finally, the updated parking position information is displayed on the vehicle positioning interface.

In the second optimization method, the above step S704 can be replaced by the following steps: First, based on the walking posture data of the user after leaving the vehicle and the target positioning information corresponding to the first position. Then, obtain the walking posture data of the user after leaving the first position. Furthermore, obtain the correction positioning information corresponding to the third position, and the third position is the position where the user reaches the positioning position after leaving the first position after a preset distance. Next, with the target positioning information as the starting position and the correction positioning information as the ending position, correct the walking posture data of the user after leaving the first position, and obtain the correction compensation parameters. Next, according to the correction compensation parameters, correct and update the walking posture data of the user after leaving the vehicle. Finally, according to the updated walking posture data of the user after leaving the vehicle, and the target positioning information, obtain the parking position information.

Since the target positioning information corresponding to the first position and the correction positioning information corresponding to the third position are accurate, the target positioning information is used as the starting position and the correction positioning information is used as the ending position. The walking posture data of the user after leaving the first position is corrected to obtain the correction compensation parameters. The walking posture data of the user after leaving the vehicle (until the user arrives at the first position) can be corrected, thereby improving the accuracy of the obtained parking position information.

In an embodiment of the present application, after the above step S704, the electronic device can also generate a navigation path in response to the user's vehicle search request, using the parking location information as the target location and the current real-time positioning location as the starting location. It can be understood that the current real-time positioning location is obtained by the electronic device through positioning by a preset positioning technology. In this way, when positioning can be performed by the preset positioning technology, a navigation path is generated, so that navigation can also be performed when positioning cannot be performed by the preset positioning technology, thereby improving the efficiency of finding the target vehicle.

The vehicle positioning method of the embodiment of the present application, when the target vehicle is in a parked state and the parking position information cannot be obtained through conventional preset positioning techniques such as satellite positioning technology, uses the walking posture data of the user after leaving the vehicle as the travel-related data, and uses the target positioning information (i.e., the position information corresponding to the position that the user can first locate using the preset positioning technology during walking) as the destination position, and calculates the initial position (i.e., the position where the user leaves the vehicle, that is, the parking position of the target vehicle), that is, the parking position information is obtained by reverse positioning and calculation. In this way, the parking position of the target vehicle can be obtained when the parking position of the target vehicle cannot be located by the preset positioning technology, and by ensuring that the target positioning information corresponding to the first position is accurate, and the walking posture data of the user after leaving the vehicle is accurate, the accuracy of the parking position information can be improved.

The vehicle positioning method provided in the embodiment of the present application can be an independent application that can be installed in an electronic device, or a module of a map navigation application that can be installed in an electronic device. In the process of applying the vehicle positioning method, the electronic device needs to have the authority to obtain walking posture data, target positioning information and parking position information.

In the embodiment of the present application, it is worth noting that if the electronic device does not receive the interface triggering operation input by the user, a user-insensitive positioning method can be used. That is, the vehicle positioning interface is displayed on the front end or the back end, and in the above S702-S704, when the target vehicle is detected to be in a parked state, the electronic device obtains the parking position information, which can be implemented in the following manner.

In the first example, as shown in FIG. 16 , when it is detected that the target vehicle is in a parked state, the electronic device obtains parking position information, including S1601 - S1604 .

S1601. The electronic device determines whether the user leaves the target vehicle.

The electronic device may detect the distance between the user and the target vehicle, and when the distance is greater than a preset distance, start acquiring the walking posture data. For example, the preset distance may be 1 meter.

In some embodiments, if the electronic device determines that the user has not left the target vehicle, the electronic device continues to determine whether the user has left the target vehicle. It is understandable that when the target vehicle is in a parked state, it is determined whether the user has left the target vehicle.

It should be noted that the electronic device may directly obtain the walking posture data without determining whether the target vehicle has been left.

S1602: If the judgment result is yes, the electronic device obtains the walking posture data, and obtains the first walking path corresponding to the walking posture data by forward PDR calculation.

In some embodiments, the walking path corresponding to the walking posture data refers to the walking path from the time when the user leaves the target vehicle, that is, the user gets off the vehicle, until the user walks to the first position that can be located by the above-mentioned preset positioning technology. Among them, the sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor, an acceleration sensor, and a magnetic sensor. Based on this, the walking posture data includes data such as angular velocity, acceleration, and magnetic signal strength in multiple directions.

Among them, the forward PDR calculation method includes cadence detection, step length estimation, heading estimation, etc., and the user's first walking path is calculated by recursion.

It is understandable that although the electronic device obtains the first walking path corresponding to the walking posture data and adopts the forward PDR calculation method, overall, the electronic device still obtains the parking position information through the first position in reverse based on the reverse positioning calculation.

S1603: The electronic device obtains target positioning information of the first position.

It is understandable that when the electronic device detects that the positioning information cannot be obtained through the above-mentioned preset positioning technology, that is, when the first position is not obtained, it continues to execute the above-mentioned step S1602 to obtain the walking posture data.

In some embodiments, when the user keeps walking, as long as the above steps are executed, 1602 will always calculate the forward positioning and moving path until the positioning information is obtained through technical means such as Wi-Fi technology, Bluetooth communication technology, GNSS positioning technology, mobile communication network technology and geomagnetic matching technology and their combination methods, then the current position is determined to be the first position that can be located for the first time, and the positioning information is the target positioning information corresponding to the first position.

It should be noted that the first position refers to the absolute position of the first positioning point of the electronic device.

S1604: The electronic device converts the first walking path and the target positioning information to obtain parking position information.

In some embodiments, during the walking process after the user leaves the vehicle, the walking trajectory of the user after leaving the vehicle is determined according to the walking posture data after the user leaves the vehicle. On this basis, the first position is used as the end position of the walking trajectory, and the starting position of the walking trajectory is determined, and the starting position is the parking position information of the target vehicle.

It can be understood that the first walking path is obtained by the device parameters represented by the walking process trajectory. The first walking path starts from the position represented by the reference position information and extends in the walking direction of the user. The user walking parameters include the walking direction and the walking speed.

In this way, the walking process trajectory of the user after leaving the vehicle can be determined based on the walking posture data of the user after leaving the vehicle without using the preset positioning technology, and the starting position of the walking process trajectory is determined with the first position as the end position of the walking trajectory, that is, the parking position information of the target vehicle, so that the parking position information of the target vehicle can still be obtained when the target vehicle cannot be located by the preset positioning technology. At the same time, using the walking posture data to determine the walking process trajectory can avoid the problem that the accuracy of the parking position information obtained by the VDR inference method is significantly reduced due to the IMU performance constraints of the electronic device, and even cannot be used as a reference position for parking.

In the second example, as shown in FIG. 17 , when it is detected that the target vehicle is in a parked state, the electronic device obtains parking position information, including S1701 - S1704 .

S1701. The electronic device determines whether the user leaves the target vehicle.

This step is similar to S1601 shown in FIG16 , and will not be described again here.

S1702: If the judgment result is yes, the electronic device obtains walking posture data.

In some embodiments, the walking path corresponding to the walking posture data refers to the walking path from when the user leaves the target vehicle, that is, when the user gets off the vehicle, until the user walks to the first position. The sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor, an acceleration sensor, and a magnetic sensor. Based on this, the walking posture data includes angular velocity, acceleration, and magnetic signal strength in multiple directions.

It should be noted that after acquiring the walking posture data, the electronic device may also cache the walking posture data.

S1703: The electronic device obtains target positioning information of the first position.

It is understandable that when the electronic device detects that the positioning information cannot be obtained through the above preset positioning technology, that is, when the first position is not obtained, the above step S1702 is continued to obtain the walking posture data. The first position refers to the absolute position of the first positioning point of the electronic device.

In some embodiments, after step S1703, the electronic device may also correct the walking posture data. Specifically, the correction includes: The electronic device can also obtain the first posture data corresponding to the user walking from the first position to the second position; determine whether the second position can be reached by walking from the first position with the first posture data according to the positioning information of the first position and the positioning information of the second position; if the judgment result is no, correct the first posture data and obtain the data compensation parameters; correct and update the walking posture data according to the data compensation parameters. During the generation and use of the electronic device, due to the deviation of the installation position of the sensor or the deviation of the usage habits, the acquired sensor data may have a certain deviation from the actual sensor data. Therefore, based on the premise that the positioning of the first position and the second position is accurate, the data compensation parameters are calculated, and then the walking posture data is corrected to improve the positioning accuracy of the parking position information obtained through the walking posture data.

S1704: The electronic device obtains parking position information through reverse positioning calculation based on the walking posture data and the target positioning information.

In the case where the vehicle positioning interface displays the second walking path, the second walking path includes a track position, and the second walking path ends at the target positioning information and extends in the opposite direction of the user's walking direction. In this way, the second walking path including the track position is obtained based on the walking posture data of the user after leaving the vehicle, and the second walking path ends at the target positioning information and extends in the opposite direction of the user's walking direction, that is, the track position of the second walking path includes the vehicle parking information, so that it can be ensured that the position corresponding to the target positioning information and the position corresponding to the vehicle parking information belong to the track position, thereby ensuring the accuracy of the acquired vehicle parking information.

In some embodiments, after obtaining the target positioning information corresponding to the first position, the trajectory position of the user before walking to the first position is determined based on the target positioning information corresponding to the first position and the walking posture data of the user after leaving the vehicle, until the starting position of the user's walking is determined, and the starting position is the parking position of the target vehicle.

In this way, without using the preset positioning technology, the trajectory position of the user before walking to the first position can be determined according to the target positioning information corresponding to the first position and the walking posture data of the user after leaving the vehicle, until the starting position of the user's walking is determined. The starting position is the parking position of the target vehicle. This can avoid the problem that the accuracy of the parking position information obtained by VDR inference is significantly reduced due to the IMU performance constraints of the electronic device, and it can even be used as a reference position for parking, that is, the accuracy of the parking position information is improved.

In the third example, as shown in FIG. 18 , when it is detected that the target vehicle is parked, the electronic device obtains parking location information, including S1801 - S1804 .

S1801. The electronic device determines whether the user leaves the target vehicle.

S1802: If the judgment result is yes, the electronic device obtains walking posture data and geomagnetic sequence data, and obtains a first walking path corresponding to the walking posture data through a forward PDR calculation method and a geomagnetic matching method.

In some embodiments, the walking posture data includes data such as angular velocity, acceleration, and magnetic signal strength in multiple directions, and also includes geomagnetic sequence data. The sensor used to detect the geomagnetic sequence data may be a magnetic sensor.

In some embodiments, the geomagnetic sequence data is matched with the scene geomagnetic data, and the first walking path is adjusted according to the degree of matching, thereby improving the accuracy of the first walking path.

In other embodiments, during the forward PDR calculation method, path-related information can be obtained through Wi-Fi technology, Bluetooth communication technology, GNSS positioning technology, mobile communication network technology and geomagnetic matching technology, and the path-related information can be used as auxiliary information to correct the first walking path to improve the accuracy of the forward PDR calculation method.

In the vehicle positioning process, if the parking position of the target vehicle is on a different floor from the first position, the parking position information is obtained only by supplementing the walking posture data. Therefore, the walking posture data may also include geomagnetic data that can determine the floor to improve the accuracy of the parking position information.

S1803: The electronic device obtains target positioning information of the first position.

It is understandable that when the electronic device detects that the positioning information cannot be obtained through the above-mentioned preset positioning technology, that is, when the first position is not obtained, it continues to execute the above-mentioned step S1802 to obtain the walking posture data.

In some embodiments, when the user continues walking, as long as the above step S1802 is executed, the first walking path is always calculated until the first position is obtained, and the target positioning information is obtained through technical means such as Wi-Fi technology, Bluetooth communication technology, GNSS positioning technology, mobile communication network technology and geomagnetic matching technology and their combinations.

S1804: The electronic device converts the first walking path and the target positioning information to obtain parking position information.

In some embodiments, during the walking process after the user leaves the vehicle, the walking trajectory of the user after leaving the vehicle is determined based on the walking posture data and the geomagnetic sequence data after the user leaves the vehicle. On this basis, the first position is used as the end position of the walking trajectory, and the starting position of the walking trajectory is determined, and the starting position is the parking position information of the target vehicle.

In this way, the walking process trajectory of the user after leaving the vehicle can be determined according to the walking posture data and geomagnetic sequence data of the user after leaving the vehicle without using the preset positioning technology, and the first position is used as the end position of the walking trajectory to determine the starting position of the walking process trajectory, that is, the parking position information of the target vehicle, so that the parking position information of the target vehicle can still be obtained when the target vehicle cannot be positioned by the preset positioning technology. At the same time, using the walking posture data to determine the walking process trajectory can avoid the problem that the accuracy of the parking position information obtained by the VDR inference method is significantly reduced due to the IMU performance constraints of the electronic device, and even cannot be used as a reference position for parking. At the same time, since the geomagnetic sequence data is highly correlated with the environment in which the target vehicle is located, the accuracy of the walking process trajectory determined by adding the geomagnetic sequence data can be improved, and the accuracy of the target positioning information corresponding to the first position obtained by using the geomagnetic matching technology can also be improved.

In the fourth example, as shown in FIG. 19 , when it is detected that the target vehicle is in a parked state, the electronic device obtains parking position information, including S1901 - S1904 .

S1901. The electronic device determines whether the user leaves the target vehicle.

S1902: If the judgment result is yes, the electronic device obtains walking posture data and geomagnetic sequence data.

In some embodiments, the walking path corresponding to the walking posture data refers to the walking path from the time when the user leaves the target vehicle, that is, the user gets off the vehicle, until the user walks to the first position. The sensor for detecting the walking posture data includes at least one of the following: a gyroscope sensor, an acceleration sensor, and a magnetic sensor. Based on this, the walking posture data includes multi-directional angular velocity, acceleration, magnetic signal strength, and geomagnetic sequence data, and the sensor used to detect the geomagnetic sequence data can be a magnetic sensor.

S1903: The electronic device obtains target positioning information of the first position.

It is understandable that when the electronic device detects that the positioning information cannot be obtained through the above preset positioning technology, that is, the first position is not obtained, the above step S1902 is continued to obtain the walking posture data. It should be noted that the first position refers to the absolute position of the first positioning point of the electronic device.

In some embodiments, after step 1903, the electronic device can also correct the walking posture data. Specifically, it includes: the electronic device can also obtain the first posture data corresponding to the user walking from the first position to the second position; determine whether the second position can be reached from the first position by walking with the first posture data; if the judgment result is no, correct the first posture data and obtain the data compensation parameters; according to the data compensation parameters, correct and update the walking posture data. During the generation and use of the electronic device, due to the deviation of the installation position of the sensor or the deviation of the usage habits, the acquired sensor data may have a certain deviation from the actual sensor data. Therefore, based on the premise that the positioning of the first position and the second position is accurate, the data compensation parameters are calculated, and then the walking posture data is corrected to improve the positioning accuracy of the parking position information obtained through the walking posture data.

S1904: The electronic device obtains parking position information based on the walking posture data and the target positioning information through reverse positioning calculation and geomagnetic matching.

In some embodiments, the trajectory position of the user before walking to the first position is determined according to the target positioning information corresponding to the first position, the walking posture data of the user after leaving the vehicle, and the geomagnetic sequence data of the user after leaving the vehicle, until the starting position of the user's walking is determined. The starting position is the parking position of the target vehicle.

In this way, without using the preset positioning technology, the trajectory position of the user before walking to the first position can be determined according to the target positioning information corresponding to the first position, the walking posture data of the user after leaving the vehicle, and the geomagnetic sequence data after the user leaves the vehicle, until the starting position of the user's walking is determined. The starting position is the parking position of the target vehicle. This can avoid the problem that the accuracy of the parking position information obtained by VDR inference is significantly reduced due to the IMU performance constraints of the electronic device, and it may even be unable to be used as a reference position for parking.

A vehicle positioning device is also provided in an embodiment of the present application. Referring to FIG. 20 , the vehicle positioning device includes a first processing unit 2002 , a second processing unit 2003 and a third processing unit 2004 .

The first processing unit 2002 is used to obtain the walking posture data of the electronic device when it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained. For example, step S702 in the above embodiment is executed.

The second processing unit 2003 is used to obtain target positioning information corresponding to a first position of the electronic device during movement, where the first position is a position that can be first positioned by the electronic device using a preset positioning technology during movement. For example, step S703 in the above embodiment is executed.

The third processing unit 2004 is used to obtain the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position, and display the parking position information on the vehicle positioning interface. For example, step S704 in the above embodiment is executed.

It is understandable that in order to implement the above functions, the electronic device includes hardware and/or software modules corresponding to the execution of each function. In combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in combination with the embodiments, but such implementation should not be considered to be beyond the scope of the present application.

In this embodiment, the electronic device can be divided into functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

An embodiment of the present application also provides an electronic device, as shown in FIG. 21 , which may include one or more processors 1001 , a memory 1002 and a communication interface 1003 .

The memory 1002 and the communication interface 1003 are coupled to the processor 1001. For example, the memory 1002, the communication interface 1003 and the processor 1001 may be coupled together via a bus 1004.

The communication interface 1003 is used for data transmission with other devices. The memory 1002 stores computer program code. The computer program code includes computer instructions. When the computer instructions are executed by the processor 1001, the electronic device executes the vehicle positioning method in the embodiment of the present application.

Among them, the processor 1001 can be a processor or a controller, for example, it can be a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the contents of this disclosure. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, and the like.

The bus 1004 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus 1004 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, FIG21 only uses one thick line, but it does not mean that there is only one bus or one type of bus.

An embodiment of the present application further provides a computer-readable storage medium, in which a computer program code is stored. When the processor executes the computer program code, the electronic device executes the relevant method steps in the method embodiment.

The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the relevant method steps in the above method embodiment.

Among them, the electronic device, computer storage medium or computer program product provided in this application is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above. I will not go into details here.

Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that makes the contribution or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A vehicle positioning method, applied to electronic equipment, is characterized in that the method comprises:

When it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, acquiring walking posture data of the electronic device;

Acquire target positioning information corresponding to a first position of the electronic device during movement, where the first position is a position where the electronic device can be first positioned using a preset positioning technology during movement;

The parking position information of the target vehicle is obtained according to the walking posture data and the target positioning information corresponding to the first position.
The method according to claim 1, characterized in that the method further comprises:

In response to a trigger operation by the user, the location information of the target vehicle is displayed on the vehicle positioning interface.
The method according to claim 2, characterized in that after obtaining the parking position information of the target vehicle, the method further comprises:

On the vehicle positioning interface, parking location information is displayed.
The method according to claim 2 or 3, characterized in that the method further comprises:

When it is detected that the target vehicle 71 is in a parked state and the parking position information cannot be obtained, positioning indication information and the reference position information of the target vehicle are displayed on the vehicle positioning interface, and the positioning indication information is used to indicate that the parking position information of the target vehicle is being positioned.
The method according to any one of claims 2 to 4, characterized in that the displaying of the positioning indication information and the reference position information of the target vehicle on the vehicle positioning interface comprises:

On the vehicle positioning interface, the positioning indication information and map information are displayed, the geographical range corresponding to the map information includes the reference position information of the target vehicle, and the reference position information is marked on the map information with a preset mark;

The reference position information of the target vehicle includes any one of the following: estimated position information obtained based on the positioning information of the second position of the target vehicle and the vehicle driving posture data; or first range position information determined with the position corresponding to the estimated position information as the center and a preset deviation range as the radius; or second range position information determined with the second position as the center and a second preset deviation range as the radius;

The vehicle driving posture data includes driving posture data obtained after the target vehicle fails to obtain parking position information using the preset positioning technology, and the second position is the position last located by the electronic device using the preset positioning technology.
The method according to claim 1, characterized in that the method further comprises:

When it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, and when it is detected that the electronic device leaves the target vehicle, the walking posture data of the electronic device is acquired.
The method according to claim 6, characterized in that the detecting that the circuit device leaves the target vehicle comprises at least one of the following:

detecting that the connection with the target vehicle changes from a connected state to a disconnected state;

Alternatively, preset sensor information is received, the sensor information being used to indicate that a seat belt of a user on the target vehicle is changed from a wearing state to an unfastening state;

Alternatively, it is detected that the walking posture data includes initial posture data and indicated posture data;

Among them, the initial posture data refers to the walking posture data corresponding to the first time period, the starting time of the first time period is the time when the target vehicle is detected to be in a parked state and the parking position information cannot be obtained; the difference value between the indicated posture data and the initial posture data is greater than a first preset threshold.
The method according to any one of claims 1 to 7, characterized in that the step of obtaining target positioning information corresponding to the first position during the movement of the electronic device comprises:

If it is detected that the electronic device leaves the target vehicle, then after a preset delay time, the target positioning information corresponding to the first position of the electronic device during its movement is obtained.
The method according to any one of claims 2 to 8, characterized in that after acquiring the walking posture data of the electronic device, the method further comprises:

Displaying a first walking path on the vehicle positioning interface according to the walking posture data of the electronic device, wherein the first walking path starts from the position indicated by the reference position information and extends toward the walking direction of the electronic device;

After acquiring the target positioning information corresponding to the first position, the target positioning information of the first position is displayed on the vehicle positioning interface.
The method according to any one of claims 2 to 9, characterized in that after acquiring the target positioning information corresponding to the first position during the movement of the electronic device, the method further comprises:

According to the walking posture data and the target positioning information, a second walking path is displayed on the vehicle positioning interface, and the second walking path ends at the target positioning information and extends in the opposite direction of the walking direction of the electronic device.
The method according to any one of claims 1 to 10, characterized in that the method further comprises:

During the movement of the electronic device, determining a walking trajectory of the electronic device according to the walking posture data;

The step of obtaining the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position includes:

The first position is used as the end position of the walking process trajectory, and the starting position of the walking process trajectory is determined. The starting position is the parking position information of the target vehicle.
The method according to any one of claims 1 to 10, characterized in that the method further comprises:

When it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, acquiring geomagnetic sequence data of the electronic device;

During the movement of the electronic device, determining a walking trajectory of the electronic device according to the walking posture data and the geomagnetic sequence data;

The acquiring target positioning information corresponding to the first position during the movement of the electronic device includes:

Using a preset positioning technology to obtain target positioning information corresponding to the first position during the movement of the electronic device, wherein the preset positioning technology at least includes geomagnetic matching technology;

The step of obtaining the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position includes:

The first position is used as the end position of the walking process trajectory, and the starting position of the walking process trajectory is determined. The starting position is the parking position information of the target vehicle.
The method according to claim 11 or 12 is characterized in that, when the vehicle positioning interface displays a first walking path, the first walking path is obtained by the device movement parameters represented by the walking process trajectory, and the first walking path starts from the position represented by the reference position information and extends to the walking direction of the electronic device, and the device movement parameters include walking direction and walking speed.
The method according to any one of claims 1 to 10 is characterized in that obtaining the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position comprises:

After acquiring the target positioning information corresponding to the first position, the trajectory position of the electronic device before it moves to the first position is determined according to the target positioning information corresponding to the first position and the walking posture data, until the starting position of the electronic device is determined, and the starting position is the parking position of the target vehicle.
The method according to any one of claims 1 to 10, characterized in that the method further comprises:

When it is detected that the target vehicle is in a parked state and the parking position information cannot be obtained, acquiring geomagnetic sequence data of the electronic device;

The step of obtaining the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position includes:

After acquiring the target positioning information corresponding to the first position, the trajectory position of the electronic device before it moves to the first position is determined according to the target positioning information corresponding to the first position, the walking posture data and the geomagnetic sequence data, until the starting position of the electronic device is determined, and the starting position is the parking position of the target vehicle.
The method according to claim 14 or 15 is characterized in that, when the vehicle positioning interface displays a second walking path, the second walking path includes the track position, and the second walking path ends at the target positioning information and extends in the opposite direction of the walking direction of the electronic device.
The method according to any one of claims 1 to 16, characterized in that after obtaining the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position, the method further comprises:

Acquire walking posture data of the electronic device after leaving the first position;

Acquire corrected positioning information corresponding to a third position, where the third position is a position where the electronic device reaches the position after leaving the first position and traveling a preset distance;

Taking the target positioning information as the starting position and the corrected positioning information as the ending position, correcting the walking posture data of the electronic device after it leaves the first position, and acquiring correction compensation parameters;

Correcting and updating the walking posture data according to the correction compensation parameters;

Acquire updated parking position information according to the updated walking posture data and the target positioning information;

The updated parking location information is displayed on the vehicle positioning interface.
The method according to any one of claims 1 to 16, characterized in that the step of obtaining the parking position information of the target vehicle according to the walking posture data and the target positioning information corresponding to the first position comprises:

Acquire walking posture data of the electronic device after leaving the first position;

Acquire corrected positioning information corresponding to a third position, where the third position is a position where the electronic device reaches the position after leaving the first position and traveling a preset distance;

Taking the target positioning information as the starting position and the corrected positioning information as the ending position, correcting the walking posture data of the electronic device after it leaves the first position, and acquiring correction compensation parameters;

Correcting and updating the walking posture data of the user after leaving the vehicle according to the correction compensation parameters;

The parking position information is obtained according to the updated walking posture data of the user after leaving the vehicle and the target positioning information.
The method according to any one of claims 1 to 18, characterized in that after obtaining the parking position information according to the walking posture data and the target positioning information, the method further comprises:

In response to a vehicle search request from a user, a navigation path is generated with the parking location information as a target location and the current real-time positioning location as a starting location.
The method according to any one of claims 1 to 19 is characterized in that the preset positioning technology includes at least one of the following: satellite positioning technology, wireless network communication Wi-Fi technology, mobile communication network technology, Bluetooth communication technology and geomagnetic matching technology.
An electronic device, characterized in that it includes: a memory and one or more processors; the memory is coupled to the processor; wherein computer program code is stored in the memory, and the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the vehicle positioning method as described in any one of claims 1-20.
A computer-readable storage medium, characterized in that it includes computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the vehicle positioning method as described in any one of claims 1-20.
A computer program product, characterized in that when the computer program product is run on a computer, the computer is enabled to execute the vehicle positioning method as described in any one of claims 1 to 20.