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WO2018018940A1 - Procédé et appareil de localisation d'un véhicule, terminal, et support de stockage informatique - Google Patents

Procédé et appareil de localisation d'un véhicule, terminal, et support de stockage informatique Download PDF

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Publication number
WO2018018940A1
WO2018018940A1 PCT/CN2017/080666 CN2017080666W WO2018018940A1 WO 2018018940 A1 WO2018018940 A1 WO 2018018940A1 CN 2017080666 W CN2017080666 W CN 2017080666W WO 2018018940 A1 WO2018018940 A1 WO 2018018940A1
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WIPO (PCT)
Prior art keywords
vehicle
vehicles
real
time information
received
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/080666
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English (en)
Chinese (zh)
Inventor
郎瑾
田小福
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ZTE Corp
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ZTE Corp
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Publication date
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Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • 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.
  • GPS Global Positioning System
  • the GPS positioning module is not loaded on some vehicles or the positioning module fails, the position reporting and positioning functions are completely impossible.
  • an embodiment of the present invention provides a method for positioning a vehicle.
  • Devices, terminals, and computer storage media are included in an embodiment of the present invention.
  • 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.
  • 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.
  • FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a vehicle positioning method according to another embodiment of the present invention.
  • FIG. 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.
  • FIG. 4 is a flow chart showing a method for positioning a vehicle at two points according to still another embodiment of the present invention.
  • FIG. 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.
  • FIG. 1 is a structural block diagram of a hardware operating environment according to an embodiment of the present invention.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • FIG. 2 is a flow chart of a method according to an embodiment of the present invention. It mainly includes the following steps.
  • step 201 the vehicle to be positioned is added to the vehicle networking system.
  • the vehicle to be positioned in this step carries a WiFi module through which the vehicle to be positioned can join the vehicle network.
  • the vehicle to be located can join the WiFi 802.11p ad hoc car network through the WiFi module.
  • IEEE 802.11p also known as WAVE, Wireless Access in the Vehicular Environment
  • WAVE Wireless Access in the Vehicular Environment
  • IEEE 802.11p 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.
  • 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.
  • the vehicle to be located in this step sends the positioning request information to other vehicles in the vehicle network through the WiFi module.
  • 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.
  • 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
  • step 205 the vehicle to be located determines the current location.
  • the vehicle to be positioned determines the current location based on the real-time information of other vehicles in the received vehicle network.
  • 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.
  • 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.
  • step 301 the vehicle to be located obtains real-time information of other vehicles in the vehicle network.
  • 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.
  • step 302 the vehicle to be positioned calculates the distance from the other vehicles 1.
  • 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.
  • 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.
  • step 303 the vehicle to be positioned calculates the distance from the other vehicles 2.
  • 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.
  • 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.
  • step 304 the vehicle to be positioned calculates the distance from the other vehicles 3.
  • 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.
  • 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.
  • step 305 the vehicle to be located determines the current location.
  • 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. .
  • the intersection of the three circumferences is the latitude and longitude coordinate position of the vehicle to be positioned.
  • 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.
  • 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);
  • 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.
  • the method of three-point positioning of the vehicle position shown in FIG. 3 is used to locate the vehicle to be positioned.
  • 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.
  • step 401 the vehicle to be located obtains real-time information of other vehicles in the vehicle network.
  • 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.
  • 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.
  • step 403 the vehicle to be positioned calculates the distance from the other vehicles 2.
  • 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.
  • step 404 the vehicle to be positioned obtains its straight traveling direction information.
  • 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.
  • step 405 the vehicle to be positioned obtains relative position coordinates with other vehicles 1 and other vehicles 2.
  • 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.
  • step 406 the vehicle to be located determines the current location.
  • 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.
  • 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.
  • FIG. 5 is a schematic flow chart of a method for locating a vehicle position according to still another embodiment of the present invention.
  • step 501 the vehicle to be located obtains real-time information of other vehicles 1 in the vehicle network.
  • 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 502 the vehicle to be positioned calculates the distance from the other vehicles 1.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the current location is determined according to the received real-time information of the vehicle 1 and the distance d1.
  • 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.
  • 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.
  • 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.
  • the apparatus may further include: an Internet of Things module configured to join the vehicle networking system.
  • the positioning module 603 is configured to:
  • 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 sending module 601 is further configured to:
  • the positioning request information continues to be transmitted.
  • the receiving module 602 is further configured to:
  • the positioning module 603 determines the current location according to the selected other vehicle real-time information.
  • 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.
  • a transceiver also referred to as a communication interface
  • 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.
  • 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.
  • 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 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé et un appareil de localisation d'un véhicule, un terminal, et un support de stockage informatique. Le procédé comprend les étapes suivantes : un véhicule devant être localisé envoie des informations de demande de localisation; le véhicule devant être localisé reçoit des informations en temps réel d'autres véhicules au moyen d'un système Internet de véhicules; le véhicule devant être localisé détermine son emplacement actuel en fonction des informations en temps réel d'autres véhicules.
PCT/CN2017/080666 2016-07-25 2017-04-14 Procédé et appareil de localisation d'un véhicule, terminal, et support de stockage informatique Ceased WO2018018940A1 (fr)

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CN201610588876.1A CN107657824A (zh) 2016-07-25 2016-07-25 车辆定位的方法、装置及终端
CN201610588876.1 2016-07-25

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WO2020064016A1 (fr) * 2018-09-30 2020-04-02 中兴通讯股份有限公司 Procédé, appareil et système de traitement d'informations d'identité basés sur une unité de dispositif montée dans un véhicule
CN114095520A (zh) * 2020-07-21 2022-02-25 大唐高鸿智联科技(重庆)有限公司 一种定位数据的确定方法、车联网设备及装置
CN114205787A (zh) * 2021-11-17 2022-03-18 北京牛电科技有限责任公司 电动车的无线定位方法、装置、电子设备和存储介质
CN116074739A (zh) * 2021-11-03 2023-05-05 中国联合网络通信集团有限公司 车辆的定位方法、装置、设备及存储介质
CN116132920A (zh) * 2022-12-30 2023-05-16 广州市正唐信息科技有限公司 车载定位系统的定位上报方法、装置及车载定位系统
CN117956397A (zh) * 2022-10-31 2024-04-30 北京嘀嘀无限科技发展有限公司 终端定位的方法和装置

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US10527706B1 (en) * 2019-02-19 2020-01-07 Great Wall Motor Company Limited Localization methods and systems for autonomous systems
CN111356228A (zh) * 2020-03-03 2020-06-30 上海万位数字技术有限公司 一种交通出行设备的蓝牙定位系统以及蓝牙定位方法
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CN115096320A (zh) * 2022-06-06 2022-09-23 北京主线科技有限公司 一种车辆定位方法、装置、设备及介质
CN115915084B (zh) * 2022-10-11 2023-12-01 福尔达(天津)智能科技有限公司 地图灯自主救援监控方法、装置、电子设备及其存储介质

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CN103983997A (zh) * 2014-05-09 2014-08-13 北京航空航天大学 一种抗gps失效的车载组合导航方法
CN105592421A (zh) * 2016-01-18 2016-05-18 杨铭域 车用互联网系统及其方法

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WO2020064016A1 (fr) * 2018-09-30 2020-04-02 中兴通讯股份有限公司 Procédé, appareil et système de traitement d'informations d'identité basés sur une unité de dispositif montée dans un véhicule
CN114095520A (zh) * 2020-07-21 2022-02-25 大唐高鸿智联科技(重庆)有限公司 一种定位数据的确定方法、车联网设备及装置
CN114095520B (zh) * 2020-07-21 2024-01-19 中信科智联科技有限公司 一种定位数据的确定方法、车联网设备及装置
CN116074739A (zh) * 2021-11-03 2023-05-05 中国联合网络通信集团有限公司 车辆的定位方法、装置、设备及存储介质
CN114205787A (zh) * 2021-11-17 2022-03-18 北京牛电科技有限责任公司 电动车的无线定位方法、装置、电子设备和存储介质
CN117956397A (zh) * 2022-10-31 2024-04-30 北京嘀嘀无限科技发展有限公司 终端定位的方法和装置
CN116132920A (zh) * 2022-12-30 2023-05-16 广州市正唐信息科技有限公司 车载定位系统的定位上报方法、装置及车载定位系统
CN116132920B (zh) * 2022-12-30 2023-10-20 广州市正唐信息科技有限公司 车载定位系统的定位上报方法、装置及车载定位系统

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