WO2018018940A1 - Vehicle positioning method and apparatus, terminal, and computer storage medium - Google Patents

Abstract

A vehicle positioning method and apparatus, a terminal, and a computer storage medium. The method comprises: a vehicle to be positioned sends positioning request information; the vehicle to be positioned receives real-time information of other vehicles by means of an Internet of Vehicles system; and the vehicle to be positioned determines a current location thereof according to the real-time information of other vehicles.

Description

Method, device, terminal and computer storage medium for vehicle positioning

Cross-reference to related applications

The present application is filed on the basis of the Chinese Patent Application No. PCT Application No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No

Technical field

The invention relates to vehicle positioning, in particular to a method, a device, a terminal and a computer storage medium for vehicle network assisted vehicle positioning.

Background technique

At present, vehicle positioning technology is widely used in various fields, such as car rental company vehicle tracking management, public security tracking investigation cases, accident vehicle request rescue, etc. In many cases, it is necessary to obtain the location information of the traveling vehicle. The most common practice is to install on each vehicle. The Global Positioning System (GPS) is used to report the vehicle's own location information to the cloud server in real time or at regular intervals. However, when the vehicle travels to a special location, such as an overpass, a tunnel, a shade, or a building blockage, the GPS positioning failure often occurs, and the vehicle position information cannot be reported normally. In addition, if the GPS positioning module is not loaded on some vehicles or the positioning module fails, the position reporting and positioning functions are completely impossible.

In summary, in the case where the vehicle does not have GPS installed or the GPS fails, it is necessary to provide a vehicle positioning solution.

Summary of the invention

In order to solve the existing technical problems, an embodiment of the present invention provides a method for positioning a vehicle. Devices, terminals, and computer storage media.

An embodiment of the present invention provides a method for locating a vehicle, including: sending a positioning request message by a vehicle to be positioned; receiving a real-time information of other vehicles through a vehicle networking system; and determining a current location of the vehicle according to the real-time information of the other vehicle. position.

The embodiment of the invention further provides a device for locating a vehicle, comprising: a sending module configured to send positioning request information; a receiving module configured to receive real-time information of other vehicles through the vehicle networking system; and a positioning module configured to The real-time information of other vehicles determines the current location of the vehicle to be located.

Embodiments of the present invention further provide a computer storage medium comprising a set of instructions that, when executed, cause at least one processor to perform the method of vehicle positioning described above.

In the embodiment of the present invention, the vehicle positioning is assisted by the vehicle network, and the problem that the vehicle cannot be positioned in the case where the vehicle does not have GPS installed or the GPS fails is solved. That is to say, with the solution provided by the embodiment of the present invention, the vehicle can still determine the current location without installing GPS or GPS failure.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the present specification will be briefly described below. It is apparent that the drawings in the following description are only some of the embodiments of the present invention, and other drawings can be obtained from those skilled in the art without departing from the drawings.

1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;

2 is a schematic flow chart of a vehicle positioning method according to another embodiment of the present invention;

3 is a flow chart showing a method for locating a vehicle position at three points according to still another embodiment of the present invention;

4 is a flow chart showing a method for positioning a vehicle at two points according to still another embodiment of the present invention;

5 is a flow chart showing a method for locating a position of a vehicle according to still another embodiment of the present invention;

FIG. 6 is a schematic structural view of a vehicle positioning device according to still another embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Please refer to FIG. 1. FIG. 1 is a structural block diagram of a hardware operating environment according to an embodiment of the present invention. As shown, the operating environment can include a processor 101 configured to execute computer instructions and process data in computer software. The operating environment may also include a memory 102 configured to store programs and various data. The number of the memory 102 is not limited and may be one or more. The memory 102 may be independently disposed in the operating environment, or may be integrated in other devices in various manners as long as the processor 101 can communicate with each other. At the same time, each memory 102 can include a driver module and an application module, each configured to cause the computer to communicate with the device and perform one or more specific tasks. The operating environment may also include a display device 103, a voice device 104, a receiving device 105, and a pointing device 106. The display device 103 is configured to display the real-time information of other vehicles received by the vehicle to be located through the vehicle networking system on the device screen for the user to know, and the voice device 104 is configured to be positioned by voice to receive the vehicle through the vehicle networking system to receive other vehicles in real time. The information informs the user that the receiving device 105 is configured to receive other vehicle real-time information obtained by the vehicle to be located through the vehicle networking system, and the positioning device 106 is configured to determine that the vehicle to be located determines the current location. The display device 103 and the voice device 104 are not necessarily equipped at the same time, but are provided according to the needs of the embodiments of the present invention. For example, in the embodiment of the information when the sound is not used to prompt the vehicle to be positioned to receive other vehicles through the vehicle networking system, the information may not be A voice device 104 is provided. The hardware operating environment also includes a transceiver 107 configured to transmit data over a communication network, which may be a wired network or a wireless network. Among them, in the absence of network communication In the embodiment, the transceiver 107 may not be provided here, and the operating environment may also include other external devices.

The above hardware operating environment can be set in the terminal device. In the present specification, "terminal device" refers to a device that is used by a user and includes an Internet of Things-assisted positioning function, such as a vehicle-controlled device, or other device that is separated from the vehicle.

Please refer to FIG. 2. FIG. 2 is a flow chart of a method according to an embodiment of the present invention. It mainly includes the following steps.

In step 201, the vehicle to be positioned is added to the vehicle networking system.

Here, the vehicle to be positioned in this step carries a WiFi module through which the vehicle to be positioned can join the vehicle network. For example, the vehicle to be located can join the WiFi 802.11p ad hoc car network through the WiFi module. Here IEEE 802.11p, also known as WAVE, Wireless Access in the Vehicular Environment, is a communication protocol extended by the IEEE 802.11 standard, mainly used for in-vehicle electronic wireless communication, and is an extension of the WiFi technology standard IEEE 802.11 for the automotive environment. It can be done between cars or between a car and a roadside infrastructure network. By joining the ad hoc wireless network ad hoc, the vehicle to be located can communicate with other vehicles in the vehicle network for communication data.

Step 202: The vehicle to be located sends positioning request information.

Here, the vehicle to be located in this step sends the positioning request information to other vehicles in the vehicle network through the WiFi module.

In step 203, the vehicle to be positioned receives real-time information of other vehicles.

The real-time information received by the vehicle to be located in this step includes the traveling direction, speed, latitude and longitude coordinate information of other vehicles in the vehicle network, and unique WiFi identification information.

Other vehicles may package the above real-time information and broadcast it through the WiFi module for reception by the vehicle to be located.

Step 204: The vehicle to be located classifies the number of other real-time information received by the vehicle.

In this step, the vehicle to be located will classify the number of other vehicle real-time information received. If the number of real-time information of other vehicles received by the vehicle to be located is 0, the process returns to step 202, and the vehicle to be positioned continues to send the positioning request information; if the number of real-time information of other vehicles received by the vehicle to be located is one, Positioning is performed by using a point positioning method; if the number of real-time information of other vehicles received by the vehicle to be located is two, the two-point positioning method is used for positioning; if the number of real-time information of other vehicles received by the vehicle to be positioned is three, Then, the three-point positioning method is used for positioning; if the number of real-time information of other vehicles received by the vehicle to be positioned is more than 3, the other vehicles with longer distances are preferentially selected for three-point positioning; if other vehicles received by the vehicle to be located are received The number of real-time information is sufficient, and each of the other vehicles is divided into three groups, each group is positioned, and the position of the vehicle to be positioned is finally determined.

In step 205, the vehicle to be located determines the current location.

In this step, the vehicle to be positioned determines the current location based on the real-time information of other vehicles in the received vehicle network.

Specifically, the to-be-positioned vehicle calculates a distance from the other vehicle according to the strength of the WiFi signal corresponding to the received other vehicle Wi-Fi identification information;

Determining a current location of the to-be-positioned vehicle based on the received real-time information of the other vehicle and the distance.

The manner of determining the current location of the vehicle to be located includes: a positioning vehicle position, a two-point positioning vehicle position, and a three-point positioning vehicle position.

Please refer to FIG. 3. FIG. 3 is a schematic flow chart of a method for locating a vehicle position at three points according to still another embodiment of the present invention.

In step 301, the vehicle to be located obtains real-time information of other vehicles in the vehicle network.

In this step, the vehicle to be positioned receives real-time information of other vehicles in the vehicle network through the receiving module of the vehicle. The real-time includes travel directions, speeds, latitude and longitude coordinate information of other vehicles in the car network, and unique WiFi identification information.

In step 302, the vehicle to be positioned calculates the distance from the other vehicles 1.

In this step, the vehicle to be positioned calculates the distance d1 between the vehicle to be positioned and the other vehicles 1 according to the strength (intensity) of the received other vehicle 1 WiFi signal. At the same time, the vehicle to be positioned calculates, according to the received position coordinates of other vehicles 1 latitude and longitude, that the vehicle to be positioned is on the circumference with the latitude and longitude coordinates of other vehicles 1 as the center and d1 as the radius.

In step 303, the vehicle to be positioned calculates the distance from the other vehicles 2.

In this step, the vehicle to be positioned calculates the distance d2 between the vehicle to be positioned and the other vehicles 2 according to the strength of the received other vehicle 2 WiFi signals. At the same time, the vehicle to be positioned calculates, according to the received position coordinates of other vehicles 2 latitude and longitude, that the vehicle to be positioned is on the circumference with the latitude and longitude coordinates of other vehicles 2 as the center and d2 as the radius.

In step 304, the vehicle to be positioned calculates the distance from the other vehicles 3.

In this step, the vehicle to be positioned calculates the distance d3 between the vehicle to be positioned and the other vehicles 3 according to the strength of the received other vehicle 3 WiFi signals. At the same time, the vehicle to be positioned calculates, according to the received position coordinates of other vehicles 3 latitude and longitude, that the vehicle to be positioned is on the circumference with the latitude and longitude coordinates of other vehicles 3 as the center and d3 as the radius.

In step 305, the vehicle to be located determines the current location.

In this step, the vehicles to be positioned according to the above steps are respectively located on the circumferences of the vehicle 1, the vehicle 2 and the vehicle 3, respectively, d1, d2, and d3, and the intersection of the three circumferences is the latitude and longitude coordinate position of the vehicle to be positioned. . At the same time, it should be noted that, due to the possible error, it is not necessary to make the three circles intersect at one point. At this time, a rectangle can be drawn in the area where the three circles intersect, and the center position of the rectangle is used as the vehicle to be positioned. Final position coordinates. At the same time, when the number of other real-time messages received by the vehicle to be located is large, three other vehicles far away from the vehicle to be positioned are preferentially selected as the objects to be received, so as to improve the positioning accuracy of the vehicle to be positioned. In addition, multiple sets of vehicles can be selected for three-point positioning, and finally the position of the vehicle to be positioned is taken as the center value of the three-point positioning calculation position of each group of vehicles.

In summary, in the solution of locating the position of the vehicle at three points, the vehicle to be positioned and the vehicle are determined. After the distance of 2, 3, the current location of the vehicle to be located is determined according to the received real-time information of the vehicles 1, 2, 3 and the distances d1, d2, d3.

In actual application, when the number of vehicles that receive the real-time information of other vehicles through the vehicle networking system exceeds 3 vehicles, the distances of the vehicles to be located and other vehicles are respectively acquired (by the strength of the corresponding WiFi signal, The distance between the vehicle to be positioned and other vehicles);

Sorting distances of the vehicle to be positioned and other vehicles from far to near, or sorting from near to far;

The vehicle to be positioned selects to receive real-time information of the vehicles ranked in the top three, or real-time information of the vehicles ranked in the last three digits.

Then, the method of three-point positioning of the vehicle position shown in FIG. 3 is used to locate the vehicle to be positioned.

Please refer to FIG. 4. FIG. 4 is a schematic flow chart of a method for positioning a vehicle at two points according to still another embodiment of the present invention.

In step 401, the vehicle to be located obtains real-time information of other vehicles in the vehicle network.

In this step, the vehicle to be positioned receives real-time information of other vehicles in the vehicle network through the receiving module of the vehicle. The real-time includes travel directions, speeds, latitude and longitude coordinate information of other vehicles in the car network, and a unique WiFi logo.

Step 402, the vehicle to be positioned calculates the distance from other vehicles 1.

In this step, the vehicle to be positioned calculates the distance d1 between the vehicle to be positioned and the other vehicles 1 according to the strength (intensity) of the received other vehicle 1 WiFi signal.

In step 403, the vehicle to be positioned calculates the distance from the other vehicles 2.

In this step, the vehicle to be positioned calculates the distance d2 between the vehicle to be positioned and the other vehicles 2 according to the strength of the received other vehicle 2 WiFi signals.

In step 404, the vehicle to be positioned obtains its straight traveling direction information.

In this step, the vehicle to be positioned obtains the linear direction information of the traveling of the vehicle based on the other vehicle 1 and the other vehicle 2 traveling direction information.

In step 405, the vehicle to be positioned obtains relative position coordinates with other vehicles 1 and other vehicles 2.

In this step, the vehicle to be positioned obtains two relative position coordinates of the distance d1 from the other vehicle 1 according to the linear direction information obtained in step 403 and the distance d1 from the other vehicle 1. The vehicle to be positioned obtains two relative position coordinates which are at a distance d2 from the other vehicle 2 according to the linear direction information obtained in step 403 and the distance d2 from the other vehicle 2.

In step 406, the vehicle to be located determines the current location.

In this step, the four relative position coordinates of the vehicle to be positioned according to the above steps and the distances from the vehicle 1 and the vehicle 2 are respectively d1 and d2, and the coordinates of the position of the four relative position coordinates are the positions to be located. The current location coordinates. It should be noted that, due to possible errors, it is not always possible to make the two relative position coordinates coincide. At this time, the relative position coordinates within a certain range can be counted as coincidence points, which is the final point of the vehicle to be positioned. Position coordinates. At the same time, it should be noted that the embodiment is applicable to a road section where the vehicle to be positioned is close to the same straight line as the travel route of other vehicles.

In summary, in the solution of positioning the vehicle position at two points, after determining the distance between the vehicle to be positioned and the vehicles 1 and 2, determining the to-be-positioned according to the received real-time information of the vehicles 1 and 2 and the distances d1 and d2. The current location of the vehicle.

Please refer to FIG. 5. FIG. 5 is a schematic flow chart of a method for locating a vehicle position according to still another embodiment of the present invention.

In step 501, the vehicle to be located obtains real-time information of other vehicles 1 in the vehicle network.

In this step, the vehicle to be positioned receives real-time information of other vehicles in the vehicle network through the receiving module of the vehicle. The real-time includes travel directions, speeds, latitude and longitude coordinate information of other vehicles in the car network, and a unique WiFi logo.

In step 502, the vehicle to be positioned calculates the distance from the other vehicles 1.

In this step, the vehicle to be positioned calculates the distance d1 between the vehicle to be positioned and the other vehicles 1 according to the strength of the received other vehicle 1 WiFi signal.

In step 503, the vehicle to be positioned obtains relative position coordinates with other vehicles 1.

The vehicle to be positioned in this step obtains two relative position coordinates of the distance d1 from the other vehicle 1 according to its own position and the distance d1 from the other vehicles 1.

Step 504, the vehicle to be positioned acquires its own driving direction and speed information.

In this step, the vehicle to be positioned can obtain the direction and speed information of its driving from the built-in sensor module.

Step 505, the vehicle to be located determines the current location.

In this step, the vehicle to be positioned determines the relative position coordinates on the straight line according to the change trend of the WiFi signal strength in the received real-time information of other vehicles 1 and the trend of the driving aspect and speed of the vehicle and other vehicles 1 Which point is the position coordinate of the vehicle to be positioned. Specifically, if the vehicle to be positioned and the other vehicles 1 are running in the opposite direction, and the WiFi signal strength is weakened and strong, indicating that the distance between the two vehicles is closer and closer, that is, face-to-face driving, it can be determined that the vehicle to be positioned is in front of other vehicles. The relative position coordinate of this point is its position coordinate; if the vehicle to be positioned and other vehicles 1 have the same running direction, and the WiFi signal strength is weakened and strong, indicating that the distance between the two cars is getting closer, then the speed of the two cars is judged, and the speed is fast. The car is the rear car, and the slow speed is the front car. At this time, it can be determined which one of the two relative position coordinates of the vehicle to be positioned in the traveling direction of the other vehicle 1 is its position coordinate; if the vehicle to be positioned and the other vehicle 1 run direction The same, and the WiFi signal strength is weakened from strong to strong, indicating that the distance between the two cars is getting farther and farther, then the speed of the two cars is judged. The car with fast speed is the front car, and the car with slow speed is the rear car. At this time, the vehicle to be positioned can be determined. Which of the two relative position coordinates in the other vehicle 1 traveling direction is its position coordinate.

In summary, in the solution for locating the position of the vehicle, after determining the distance between the vehicle to be positioned and the vehicle 1, the current location is determined according to the received real-time information of the vehicle 1 and the distance d1.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a vehicle positioning device according to still another embodiment of the present invention.

The sending module 601 is mainly configured to send positioning request information to other vehicles in the vehicle network through the WiFi module.

A receiving module 602 is configured to receive real-time information of other vehicles through the vehicle networking system. The real-time information received by the receiving module 602 includes the traveling direction, speed, latitude and longitude coordinate information of other vehicles in the vehicle network, and a unique WiFi identification and the like. Other vehicles may encapsulate the above real-time information and broadcast it through the WiFi module for receiving by the receiving module 602. At the same time, the receiving module 602 also issues different instructions according to the number of real-time information received. If the number of real-time information of other vehicles received by the receiving module 602 is 0, the sending module 601 continues to send the positioning request information; if the number of real-time information of other vehicles received by the receiving module 602 is one, positioning is performed by using a point positioning method. If the number of real-time information of other vehicles received by the receiving module 602 is two, the positioning is performed by using a two-point positioning method; if the number of real-time information of other vehicles received by the receiving module 602 is three, the three-point positioning method is adopted. If the number of real-time information of other vehicles received by the receiving module 602 is more than 3, the other vehicles with longer distances are preferentially selected for three-point positioning; if the number of real-time information of other vehicles received by the receiving module 602 is sufficient Then, each of the other vehicles is divided into a group of three, each group is positioned, and finally the position of the vehicle to be positioned is determined.

The positioning module 603 is configured to determine the current location of the vehicle to be located.

In an embodiment, the apparatus may further include: an Internet of Things module configured to join the vehicle networking system.

The positioning module 603 is configured to:

Calculating the distance from the other vehicle according to the strength of the received WiFi signal corresponding to the other vehicle Wi-Fi identification information;

Determining a current location of the to-be-positioned vehicle based on the received real-time information of the other vehicle and the distance.

In an embodiment, the sending module 601 is further configured to:

When the to-be-positioned vehicle receives other vehicle real-time information through the vehicle networking system, the positioning request information continues to be transmitted.

In an embodiment, the receiving module 602 is further configured to:

When the number of vehicles that receive the other vehicle real-time information through the vehicle networking system exceeds 3 vehicles, the distances of the to-be-positioned vehicle and other vehicles are respectively acquired;

Sorting distances of the vehicle to be positioned and other vehicles from far to near, or sorting from near to far;

Choose to receive real-time information on the top three vehicles, or real-time information on the last three vehicles.

Thereafter, the positioning module 603 determines the current location according to the selected other vehicle real-time information.

In actual application, it can be concluded that the transmitting module 601 can be implemented by a transceiver (also referred to as a communication interface) in the device; the receiving module 602 and the Internet of Things module can be implemented by a processor in the device in combination with the transceiver; 603 can be implemented by a processor in the device.

According to an embodiment of the present invention, there is further provided a terminal device comprising the above-described device configured to assist in vehicle positioning of a vehicle network. The terminal device may include various forms, and the present invention is not limited thereto, and the related description has been described herein, and details are not described herein again.

According to an embodiment of the present invention, there is also provided a computer storage medium comprising a set of instructions, when executed, causing at least one processor to perform the method of vehicle positioning described above, comprising: obtaining Real-time information of other vehicles, and determining the current location of the pending vehicle based on real-time information of other vehicles.

The vehicle networking assisted vehicle positioning method and apparatus disclosed in the embodiments of the present invention are described in detail above. The principles and embodiments of the present invention are described herein with reference to specific embodiments. The description of the above embodiments is only for helping to understand the present invention. Method and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, in the specific embodiment and application The scope of the present invention is not limited by the scope of the present invention.

Industrial applicability

According to the solution provided by the embodiment of the present invention, the vehicle to be located sends the positioning request information; the vehicle to be positioned receives the real-time information of other vehicles through the vehicle networking system; the vehicle to be positioned determines the current location according to the real-time information of the other vehicles, and assists the vehicle positioning through the vehicle network. The vehicle can still determine the current location without GPS or GPS failure.

Claims (17)

A method of vehicle positioning, the method comprising: The vehicle to be positioned sends positioning request information; The vehicle to be positioned receives real-time information of other vehicles through the vehicle networking system; and The vehicle to be positioned determines the current location based on the real-time information of the other vehicles. The method for locating a vehicle according to claim 1, wherein the method further comprises: The vehicle to be positioned is added to the vehicle networking system. A method of vehicle positioning according to claim 1 wherein said other vehicle real time information comprises: Vehicle travel direction, speed, latitude and longitude coordinates and Wi-Fi identification information. The method for locating a vehicle according to claim 3, wherein the vehicle to be positioned determines the current location based on the real-time information of the other vehicles, including: The vehicle to be positioned calculates the distance d1 between the vehicle to be positioned and the vehicle 1 according to the strength of the received WiFi signal corresponding to the Wi-Fi identification information of the vehicle 1; The vehicle to be positioned calculates the distance d2 between the to-be-positioned vehicle and the vehicle 2 according to the received strength of the WiFi signal corresponding to the vehicle 2 Wi-Fi identification information; The vehicle to be positioned calculates the distance d3 between the to-be-positioned vehicle and the vehicle 3 according to the received strength of the WiFi signal corresponding to the vehicle 3 Wi-Fi identification information; The to-be-positioned vehicle determines the current location according to the received real-time information of the vehicles 1, 2, 3 and the distances d1, d2, and d3. A method of locating a vehicle according to claim 4, wherein said determined current location comprises: According to the real-time information of the vehicles 1, 2, 3 and the common intersection of the three circles determined by the distances d1, d2, d3 or when the three circles have no common intersection, the center of the rectangular area composed of the intersections point. The method for locating a vehicle according to claim 3, wherein the vehicle to be positioned determines the current location based on the real-time information of the other vehicles, including: The vehicle to be positioned calculates the distance d1 from the vehicle 1 according to the strength of the received WiFi signal corresponding to the Wi-Fi identification information of the vehicle 1; The vehicle to be positioned calculates the distance d2 from the vehicle 2 according to the strength of the WiFi signal corresponding to the received vehicle 2 Wi-Fi identification information; The to-be-positioned vehicle determines the current location according to the received real-time information of the vehicles 1, 2 and the distances d1, d2. The method for locating a vehicle according to claim 3, wherein the vehicle to be positioned determines the current location based on the real-time information of the other vehicles, including: The vehicle to be positioned calculates the distance d1 from the vehicle 1 according to the strength of the received WiFi signal corresponding to the Wi-Fi identification information of the vehicle 1; The vehicle to be positioned determines the current location according to the received real-time information of the vehicle 1 and the distance d1. The method for locating a vehicle according to claim 1, wherein the vehicle to be positioned continues to transmit positioning request information when the vehicle to be positioned receives other vehicle real-time information through the vehicle networking system. A method of locating a vehicle according to claim 1, wherein when the number of vehicles in which the vehicle to be positioned receives other vehicle real-time information through the vehicle networking system exceeds 3 vehicles, Obtaining respective distances of the to-be-positioned vehicle and other vehicles; Sorting distances of the vehicle to be positioned and other vehicles from far to near, or sorting from near to far; The vehicle to be positioned selects to receive real-time information of the vehicles ranked in the top three, or real-time information of the vehicles ranked in the last three digits. A device for positioning a vehicle, the device comprising: a sending module configured to send positioning request information; a receiving module configured to receive real-time information of other vehicles through the vehicle networking system; and The positioning module is configured to determine a current location of the to-be-positioned vehicle according to the other vehicle real-time information. The device for locating a vehicle according to claim 10, wherein the device further comprises: The Internet of Things module is configured to join the vehicle networking system. The device for locating a vehicle according to claim 10, wherein the real-time information received by the receiving module comprises: Vehicle travel direction, speed, latitude and longitude coordinates and Wi-Fi identification information. The device for positioning a vehicle according to claim 10, wherein the positioning module is configured to: Calculating the distance from the other vehicle according to the strength of the received WiFi signal corresponding to the other vehicle Wi-Fi identification information; Determining a current location of the to-be-positioned vehicle based on the received real-time information of the other vehicle and the distance. The apparatus for locating a vehicle according to claim 10, wherein the transmitting module is further configured to: When the real-time information of other vehicles is received through the vehicle networking system, the positioning request information is continuously transmitted. The apparatus for locating a vehicle according to claim 10, wherein the receiving module is further configured to: When the number of vehicles receiving other vehicle real-time information through the vehicle networking system exceeds 3 vehicles, respectively acquiring the distances of the to-be-positioned vehicle and other vehicles; Sorting distances of the vehicle to be positioned and other vehicles from far to near, or sorting from near to far; Choose to receive real-time information on the top three vehicles, or real-time information on the last three vehicles. A terminal comprising the device for positioning a vehicle according to any one of claims 10-15. A computer storage medium comprising a set of instructions that, when executed, cause at least one processor to perform the method of vehicle positioning as claimed in any one of claims 1 to 9.

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