A method of position determination and related apparatus

Abstract

This application provides a location determination method and related equipment, which can calculate more accurate message delays, thereby obtaining more accurate vehicle locations. The method includes: determining a first moment when target information is read, the target information including a second moment when a target object is detected and attribute information of the target object, wherein the target information is a message assembled according to a preset format sent by a detection device, and the target object is an object whose location is to be determined; determining a message delay based on a target clock offset, the first moment, and the second moment, wherein the target clock offset is the clock offset of a terminal device; and determining the target location of the target object at the first moment based on the message delay and the attribute information of the target object.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of Internet of Vehicles, and in particular to a position determination method and related devices. BACKGROUND

[0002] The connotation of Internet of Vehicles mainly refers to: through wireless communication technology, a vehicle-mounted device on a vehicle effectively utilizes all vehicle dynamic information in an information network platform to provide different function services in vehicle operation. When the Internet of Vehicles application needs to determine the position of a vehicle, the delay of a vehicle to X (V2X) message needs to be considered.

[0003] Currently, the delay of a V2X message is mainly determined by detecting the information of a detected object (such as a vehicle) by a detection device (such as a camera with a clock function) and recording the detection time, transmitting the time and the information of the detected object to a terminal as a V2X message according to a V2X protocol, recording the receiving time of the V2X message by the terminal at the same time, and the difference between the two times is the delay of the V2X message.

[0004] Experiments have proved that the delay of the V2X message obtained by this method is not accurate, and the vehicle position information obtained from the V2X message will also have errors. SUMMARY

[0005] The present application provides a position determination method and related devices, which can calculate more accurate message delay and thus obtain more accurate vehicle position.

[0006] The first aspect of the embodiment of the present application provides a position determination method, comprising:

[0007] determining a first time when target information is read, the target information comprising a second time when a target object is detected and attribute information of the target object, and the target information being a message assembled according to a preset format and sent by a detection device, the target object being an object whose position is to be determined;

[0008] determining a message delay according to a target clock offset, the first time and the second time, the target clock offset being a clock offset of a terminal device;

[0009] determining a target position of the target object at the first time according to the message delay and the attribute information of the target object.

[0010] Optionally, the method further comprises:

[0011] determining a third time when a target event is executed, the target event being any event corresponding to the terminal device;

[0012] determine a time length of reading the output information corresponding to the target event;

[0013] determine a fourth time of reading the output information corresponding to the target event;

[0014] determine the target clock offset according to the third time, the time length and the fourth time.

[0015] Optionally, the attribute information of the target object includes speed information of the target object, position information of the target object at the second time and a travel direction of the target object, and the determining the target position of the target object at the first time according to the message delay and the attribute information of the target object includes:

[0016] determine a target distance according to the speed information of the target object and the message delay;

[0017] determine the target position based on the target distance, the position information of the target object at the second time and the travel direction of the target object.

[0018] Optionally, the target information further includes environment information associated with the target object, and the method further includes:

[0019] determine a collision probability corresponding to the target object according to the target position and the environment information associated with the target object.

[0020] Optionally, the determining the collision probability corresponding to the target object according to the target position and the environment information associated with the target object includes:

[0021] determine a collision intensity of the target object based on a preset model, through the target position and the environment information associated with the target object;

[0022] determine the collision probability corresponding to the target object according to the collision intensity and a preset collision intensity.

[0023] A second aspect of an embodiment of the application provides a position determination method, including:

[0024] detect attribute information of a target object, the target object being an object whose position is to be determined;

[0025] record a second time of detecting the attribute information of the target object;

[0026] assemble the second time and the attribute information according to a preset format to obtain target information;

[0027] send the target information to a terminal device, so that the terminal device determines a message delay according to the second time, a first time of reading the target information and a target clock offset, and determines a target position of the target object at the first time according to the message delay and attribute information of the target object, the target clock offset being a clock offset of the terminal device.

[0028] Optionally, the target information further comprises environment information associated with the target object, and the method further comprises:

[0029] assembling the second time, the attribute information and the environment information associated with the target object into the target information.

[0030] A third aspect of the embodiments of the present application provides a terminal device, comprising:

[0031] a first determining unit configured to determine a first time of reading target information, the target information comprising a second time of detecting a target object and attribute information of the target object, and the target information being a message assembled according to a preset format and sent by a detection device, the target object being an object whose position is to be determined;

[0032] a second determining unit configured to determine a message delay according to a target clock offset, the first time and the second time, the target clock offset being a clock offset of the terminal device;

[0033] a third determining unit configured to determine a target position of the target object at the first time according to the message delay and the attribute information of the target object.

[0034] Optionally, the first determining unit is further configured to:

[0035] determine a third time of completion of a target event, the target event being any event corresponding to the terminal device;

[0036] determine a time length of time consumption of reading output information corresponding to the target event;

[0037] determine a fourth time of reading the output information corresponding to the target event;

[0038] determine the target clock offset according to the third time, the time length of time consumption and the fourth time.

[0039] Optionally, the attribute information of the target object comprises speed information of the target object, position information of the target object at the second time and a travel direction of the target object, and the third determining unit is specifically configured to:

[0040] determine a target distance according to the speed information of the target object and the message delay;

[0041] determine the target position based on the target distance, position information of the target object at the second time and a driving direction of the target object.

[0042] Optionally, the target information further comprises environment information associated with the target object, and the terminal device further comprises:

[0043] a fourth determining unit, configured to determine a collision probability of the target object according to the target position and the environment information associated with the target object.

[0044] Optionally, the fourth determining unit is specifically configured to:

[0045] determine a collision intensity of the target object based on a preset model, the target position and the environment information associated with the target object;

[0046] determine the collision probability of the target object according to the collision intensity and a preset collision intensity.

[0047] A fourth aspect of the embodiment of the present application provides a detection device, comprising:

[0048] a detecting unit, configured to detect attribute information of a target object, the target object being an object whose position is to be determined;

[0049] a recording unit, configured to record a second time when the attribute information of the target object is detected;

[0050] an assembling unit, configured to assemble the second time and the attribute information according to a preset format to obtain target information;

[0051] a sending unit, configured to send the target information to a terminal device, so that the terminal device determines a message delay according to a first time when the target information is read, a second time and a target clock offset of the terminal device, and determines a target position of the target object at the first time according to the message delay and the attribute information of the target object, the target clock offset being a clock offset of the terminal device.

[0052] Optionally, the target information further comprises environment information associated with the target object, and the assembling unit is further configured to:

[0053] assemble the second time, the attribute information and the environment information associated with the target object to obtain the target information.

[0054] The fifth aspect of the embodiments of the present application provides a computer device, comprising at least one connected processor, a memory and a transceiver, wherein the memory is used to store program code, the program code is loaded and executed by the processor to realize the steps of the position determination method in the above aspects.

[0055] The sixth aspect of the embodiments of the present application provides a computer readable storage medium, comprising instructions which, when executed on a computer, cause the computer to perform the steps of the position determination method in the above aspects.

[0056] In summary, in the embodiments provided by the present application, when determining the position of the target object, the terminal device can determine the message delay according to the target clock offset of the terminal device, the first moment of reading the target information and the second moment of detecting the target object, and determine the position of the target object at the first moment according to the message delay and the attribute information of the target object included in the target information. Therefore, when calculating the message delay, the clock offset of the terminal device is considered, so that the calculated message delay is more accurate, and the target position obtained according to the message delay is also more accurate. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 The network architecture diagram of the position determination method provided by the embodiments of the present application;

[0058] Figure 2 The flowchart of the position determination method provided by the embodiments of the present application;

[0059] Figure 3 The calculation diagram of the message delay provided by the embodiments of the present application;

[0060] Figure 4 The calculation diagram of the target clock offset of the terminal device provided by the embodiments of the present application;

[0061] Figure 5 The diagram of the message delay and the vehicle position provided by the embodiments of the present application;

[0062] Figure 6 The diagram of the vehicle driving provided by the embodiments of the present application;

[0063] Figure 7 Another flowchart of the position determination method provided by the embodiments of the present application;

[0064] Figure 8 Another flowchart of the position determination method provided by the embodiments of the present application;

[0065] Figure 9 The virtual structure diagram of the terminal device provided by the embodiments of the present application;

[0066] Figure 10 A virtual structural schematic diagram of a detection device provided by an embodiment of the present application is shown in the following table.

[0067] Figure 11 A hardware structural schematic diagram of a terminal device provided by an embodiment of the present application is shown in the following table.

[0068] Figure 12 A hardware structural schematic diagram of a detection device provided by an embodiment of the present application is shown in the following table. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0070] The terms "first", "second", and the like in the specification of the present application, the claims, and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or modules does not necessarily have to be limited to those steps or modules clearly listed, but can include other steps or modules that are not clearly listed or inherent to the process, method, product, or device. The division of modules in the present application is only a logical division, and in actual application, another division mode can be realized, for example, a plurality of modules can be combined or integrated into another system, or some feature vectors can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be through some interfaces, and the indirect coupling or communication connection between the modules can be electrical or other similar forms, which are not limited in the present application. In addition, the modules or sub-modules described as separate components can or can not be physically separate, and can or can not be physical modules, or can be distributed into a plurality of circuit modules, and some or all of the modules can be selected according to actual needs to achieve the purpose of the present application.

[0071] The network architecture of the position determination method provided by the embodiments of the present application will be described below. Figure 1 The network architecture of the position determination method provided by the embodiments of the present application will be described below.

[0072] As Figure 1As shown in the figure, in the present application, 101 is a detection device, 103 is a terminal, the terminal 103 establishes a communication connection with the detection device 101 through the network 102, and the terminal 103 and the detection device 101 transmit data through the network 102. The terminal 103 determines a first moment of reading target information, the target information includes a second moment of detecting a target object and attribute information of the target object, and the target information is a message assembled according to a preset format and sent by the detection device 101; determine the message delay according to the target clock offset, the first moment and the second moment, the target clock offset is the clock offset of the terminal 103; determine the target position of the target object at the first moment according to the message delay and the attribute information of the target object. It can be seen that in the present application, when determining the message delay, the clock offset of the terminal device is considered, so that a more accurate message delay can be calculated, and a more accurate position of the vehicle can be obtained according to the message delay.

[0073] It should be noted that due to the existence of the software and hardware factors (such as the drift of the supply voltage, current and resistance) of any terminal device, and the characteristics of the GPS position acquisition with an integral second period (the time measurement at a non-integral second number causes time offset) in the device with a GPS device, the terminal device will have a message delay, therefore, when determining the position of the target object, the message delay of the terminal needs to be considered.

[0074] The position determination method provided by the embodiment of the present application will be described from the perspective of the terminal device.

[0075] Please refer to Figure 2 , Figure 2 A flowchart of the position determination method provided by the embodiment of the present application, comprising:

[0076] 201, determine the first moment of reading the target information.

[0077] In the embodiment, the terminal device can determine the first moment of reading the target information, the target information is a message assembled according to a preset format and sent by the detection device, the target information includes a second moment of detecting a target object and attribute information of the target object, and the target object is an object whose position needs to be determined. Specifically, when the position of the target object needs to be determined, the detection device can detect the target object to obtain the attribute information of the target object, and record the second moment of detecting the target object (mark the second moment as t V2X, and then assembles the second time and the attribute information of the target object according to a preset format to obtain target information (for example, the target information is assembled according to a format of a V2X message protocol), and then sends the target information to the terminal. The terminal can read the first time of the V2X message from the message receiving module through an internal code (the first time is marked as t V2X , end).

[0078] It should be noted that the target object can be a vehicle in motion, or other objects such as a flying drone, and the like, and the specific implementation is not limited. For ease of description, the target object is taken as a vehicle in motion in the following description.

[0079] 202. Determine the message delay according to the target clock offset, the first time, and the second time.

[0080] In this embodiment, the terminal device can determine the message delay according to the target clock offset, the first time, and the second time. The message delay is the difference between the first time and the second time and the target clock offset. The following describes the determination of the message delay in combination with Figure 3 The message delay is described in Figure 3 , Figure 3 The following is a schematic diagram of the calculation of the message delay provided by the embodiments of the present application. 301 is the time when the detection device detects the target object, which is marked as t V2X ,star. 302 is the time when the terminal device reads the target information, which is marked as t V2X ,end. 303 is the target clock offset of the terminal device, which is marked as toffset. The message delay is Δt = tV2X,end-tV2X,start-toffset.

[0081] In one embodiment, before the terminal device determines the message delay according to the target clock offset, the first time, and the second time, the terminal device further performs the following operations:

[0082] Determine a third time when a target event is executed and completed, the target event being any event corresponding to the terminal device;

[0083] Determine a time length of reading output information corresponding to the target event;

[0084] Determine a fourth time when the output information corresponding to the target event is read;

[0085] Determine the target clock offset according to the third time, the time length, and the fourth time.

[0086] In this embodiment, before determining the message delay according to the target clock offset, the first time and the second time, the terminal device also needs to determine the target clock offset of the terminal device itself. Specifically, the terminal device randomly performs a target event (any event is OK, such as the terminal device obtaining its own global positioning system (GPS)), and the terminal device can determine a third time when the target event is performed. For example, when the target event is a GPS event, the real time when the event is performed can be obtained through the GPS chip, which is recorded as the third time and marked as tterminal,start. The terminal device determines the time length of reading the output information of the target event. For example, when the target event is a GPS event, the time length is the time consumed by the built-in code of the terminal for reading the output information corresponding to the GPS event from the GPS chip, which is recorded as the time length, such as the "flag" or GPS position information when the event is performed, and marked as ξ (this time length is usually within 10 ms). The terminal device determines the fourth time when the output information corresponding to the target event is read, such as the time when the terminal reads the output information corresponding to the GPS event from the GPS chip through the built-in code, which is marked as tterminal,end. Thus, the target clock offset can be determined according to the third time, the time length and the fourth time. The following describes the GPS event. Figure 4 The event is described as a GPS event.

[0087] Please refer to Figure 4 , Figure 4 The calculation diagram of the target clock offset of the terminal device provided in the embodiment of the application is shown in FIG. 4. 401 is the third time when the terminal device performs the GPS event, which is marked as tterminal,start. 404 is the time length of reading the output information corresponding to the GPS event from the GPS chip through the built-in code of the terminal device, which is marked as ξ. 402 is the fourth time when the terminal device reads the output information corresponding to the GPS event from the GPS chip through the built-in code, which is marked as tterminal,end. Then the target clock offset 403 toffset = tterminal,end-tterminal,start-ξ.

[0088] It should be noted that the measurement of the target clock offset can be performed only once, or the target clock offset can be measured once before calculating the V2X message delay each time, which is not limited.

[0089] 203、According to the message delay and the attribute information of the target object, the target position of the target object at the first time is determined.

[0090] In this embodiment, after obtaining the attribute information of the target object and determining the message delay, the terminal device can determine the target position of the target object at the first time according to the message delay and the attribute information of the target object, the attribute information of the target object including the speed information of the target object, the position information of the target object at the second time and the running direction of the target object. Specifically, the terminal device can determine the target distance according to the speed information of the target object and the message delay, and determine the target position based on the target distance, the position information of the target object at the second time and the running direction of the target object. That is, when the vehicle needs to determine its position during running, the detection device sends the target information to the terminal. Since there is a message delay, when the terminal device receives the target information, the position of the vehicle has changed, so it is necessary to determine the position of the vehicle. Specifically, it can be assumed that the vehicle moves uniformly and linearly. After obtaining the message delay, the running speed of the vehicle, the position information of the vehicle at the second time and the running direction of the vehicle are extracted from the attribute information. Then, the target distance of the vehicle moving in the process of the message delay is calculated according to the speed information and the message delay. The target distance is added to the moving direction of the vehicle based on the position of the vehicle at the second time, so as to obtain the target position of the target object at the first time.

[0091] The following will be described in combination with Figure 5 Please refer to Figure 5 , Figure 5 The message delay and the schematic diagram of the vehicle position provided by the embodiments of the present application are described below. Taking the target object as a vehicle in motion as an example, the detection device detects the position 501 of the target vehicle (i.e. the target vehicle in Figure 5 ) and obtains the attribute information of the target vehicle and records the detection time. Then, the attribute information and the detection time are assembled according to the format of the V2X message protocol to obtain the target information, and the target information is sent to the terminal device. Since the terminal device has clock offset, when the terminal device receives the target information, the position of the target vehicle has changed (i.e. the position 502 of the target vehicle in Figure 5 ). At this time, the message delay (i.e. Figure 5When the detection device detects the attribute information of the target vehicle at 503, the vehicle is at the position 501, attribute information is sent to the terminal device, the terminal device reads the message delay of the attribute information of the target vehicle between 501 and 503, the vehicle is at the position 502, and the attribute information of the target vehicle is used to determine the current position of the target vehicle. Specifically, the driving speed of the vehicle, the position information of the vehicle at the second time, and the driving direction of the vehicle can be extracted from the attribute information of the target vehicle. Then, the target distance of the vehicle during the message delay is calculated according to the speed information and the message delay, and the target position of the target object at the first time is obtained by adding the target distance to the position of the vehicle at the second time in the driving direction of the vehicle.

[0092] In one embodiment, the target information further includes environment information associated with the target object, and the terminal device further performs the following operations:

[0093] The collision probability of the target object is determined according to the target position and the environment information associated with the target object.

[0094] In this embodiment, the terminal device can determine the collision probability of the target object according to the attribute information of the target object, the environment information associated with the target object, and the target position. Taking the target object as a vehicle as an example, the target information includes the position information of the vehicle at the first time, the relative speed of the vehicle, and the driving direction of the vehicle, in addition to the vehicle type, the surface viscosity, the curvature, the visibility, and the road type. First, the target position of the vehicle at the first time is determined according to the message delay, the position of the vehicle at the second time, the relative speed of the vehicle, and the driving direction of the vehicle. Then, the collision probability of the vehicle is determined according to the target position, the vehicle type, the surface viscosity, the curvature, the visibility, and the road type. Specifically, the terminal device can determine the collision probability of the vehicle according to a pre-trained preset model. The preset model can be a gravitational field theory model, a spring potential energy model, and a Doppler effect model. The gravitational field theory model is used for non-moving objects that pose a danger to the vehicle, such as a stationary vehicle parked on the roadside. The spring potential energy model is used for non-moving objects that do not pose a danger to the vehicle but have an impact, such as traffic lights and driving lines. The Doppler effect model is used for moving objects, such as vehicles traveling in the same direction or vehicles traveling in the opposite direction, and pedestrians. The target position, the relative speed of the vehicle, the driving direction of the vehicle, the vehicle type, the surface viscosity, the curvature, the visibility, and the road type are input into the three models respectively to obtain the output results of each model. Then, the output results of the three models are summed and divided by the standard collision intensity to obtain the collision probability of the target vehicle.

[0095] It should be noted that the preset model is a model obtained by training the attribute information of a plurality of vehicles in advance, and the standard collision intensity is a preset value determined according to the speed and driving distance specified in the traffic rules.

[0096] The following will be described in combination with Figure 6 The target object is taken as a vehicle for example to describe the collision probability, please refer to Figure 6 , Figure 6 The vehicle driving schematic provided by the embodiment of the present application includes vehicle 1 to vehicle 8. First, the attribute information of each vehicle is acquired respectively, and then the collision probability is calculated according to the attribute information of each vehicle and the preset model. It can be understood that the collision probability can exist in the form of a matrix or a table. Here, the matrix is taken as an example for description. By calculating the collision probability of each vehicle in the matrix, the following matrix can be obtained: Figure 6

[0097]

[0098] Among them, the element value of the ith row and the jth column represents the collision probability of vehicle j to vehicle i. For example, the element 0.7 of the first row and the second column represents that the collision probability of vehicle 2 to vehicle 1 is 0.7, the element 0.7 of the second row and the third column represents that the collision probability of vehicle 3 to vehicle 2 is 0.7, the element 0.7 of the third row and the fourth column represents that the collision probability of vehicle 4 to vehicle 3 is 0.7, the element 0.7 of the fourth row and the fifth column represents that the collision probability of vehicle 5 to vehicle 4 is 0.7, and the meaning of other elements is similar. The numerical value in the above matrix is only for example description and does not represent limitation.

[0099] It should be noted that the terminal device can also calculate the average delay of the target vehicle within a preset time period (for example, 10 minutes) to calculate the collision probability of the vehicle according to the average delay. For example, the terminal device calculates the average delay of V2X message within 10 minutes, and 200 V2X messages are transmitted within 10 minutes, the total delay is 2000mS, and the average delay is 100mS. When calculating the average delay within the preset time period, the V2X message delay is calculated once every time a V2X message is transmitted within the preset time period, and then the message delays of all transmitted V2X messages within the preset time period are added and divided by the number of messages to obtain the average delay.

[0100] ​To sum up, it can be seen that, in the present application, when determining the position of the target object, the terminal device can determine the message delay according to the target clock offset of the terminal device, the first moment of reading the target information, and the second moment of detecting the target object, and determine the position of the target object at the first moment according to the message delay and the attribute information of the target object included in the target information. Therefore, when calculating the message delay, the clock offset of the terminal device is considered, so that the calculated message delay is more accurate, and the target position obtained according to the message delay is also more accurate.

[0101] The position determination method of the embodiments of the present application is described above from the perspective of the terminal device. The position determination method of the embodiments of the present application is described below from the perspective of a detection device, which can be a camera device with a GPS, and of course can also be other devices, as long as the detection device has a GPS and a camera, without limitation.

[0102] Please refer to Figure 7 , Figure 7 Another flowchart of the position determination method provided by the embodiments of the present application is shown in FIG. 7, which includes the following steps.

[0103] 701. The detection device detects attribute information of a target object.

[0104] In this embodiment, when it is necessary to determine the position of the target object, the detection device can receive the request information of the terminal device, and detect the attribute information of the target object according to the request information. The target object is an object whose position is to be determined, and the attribute information includes speed information of the target object, a movement direction of the target object, and position information of the target object at a detection moment.

[0105] It should be noted that the target object can be a vehicle in motion, and of course can also be other objects in motion, such as a drone in flight, without limitation. For ease of description, the target object is taken as a vehicle in motion as an example for description below.

[0106] 702. The detection device records a second moment of detecting the attribute information of the target object.

[0107] In this embodiment, the detection device can detect the target object to obtain the attribute information of the target object, and record the second moment of detecting the target object at the same time.

[0108] 703. The detection device assembles the second moment and the attribute information according to a preset format to obtain target information.

[0109] In this embodiment, the detection apparatus assembles the second time and the attribute information of the target object according to a preset format to obtain target information (for example, assembled according to the format of a V2X message protocol).

[0110] In one embodiment, the attribute information of the target object further includes environment information associated with the target object, and the detection apparatus can assemble the second time, the attribute information, and the environment information associated with the target object to obtain the target information, wherein the environment information associated with the target object includes vehicle type, ground viscosity, curvature, visibility, and road type.

[0111] It should be noted that when the attribute information of the target object includes the environment information associated with the target object, the detection apparatus can transmit the target information to the terminal device after assembling the environment information associated with the target object, the second time, and the attribute information of the target object according to a preset format to obtain the target information, and the terminal device determines the position of the target object at the first time according to the second time and the attribute information of the target object, and determines the collision probability corresponding to the target object according to the position of the target object at the first time and the environment information associated with the target object.

[0112] 704、The detection apparatus transmits the target information to the terminal device to enable the terminal device to determine a message delay according to the second time, the first time at which the target information is read, and a target clock offset, and determine a target position of the target object at the first time according to the message delay and the attribute information of the target object.

[0113] In this embodiment, the detection apparatus can transmit the target information to the terminal device after obtaining the target information to enable the terminal device to determine a message delay according to the second time, the first time at which the target information is read, and a target clock offset, and determine a target position of the target object at the first time according to the message delay and the attribute information of the target object, wherein the target clock offset is a clock offset of the terminal device.

[0114] In summary, in the embodiments provided in the present application, the detection apparatus can assemble the attribute information of the detected target object and the time at which the target object is detected according to a preset format to obtain target information, and transmit the target information to the terminal device to enable the terminal device to determine a message delay according to a target clock offset of the terminal device, the first time at which the target information is read, and the second time, and determine a position of the target object at the first time according to the message delay and the attribute information of the target object included in the target information. Thus, when the terminal device calculates the message delay, the clock offset of the terminal device is considered, so that the calculated message delay is more accurate, and the target position obtained according to the message delay is also more accurate.

[0115] The position determination method of the embodiment of the present application is described below from the perspective of interaction between the detection apparatus and the terminal device.

[0116] Please refer to Figure 8 , Figure 8 Another flowchart of the position determination method provided by the embodiment of the present application is shown in the figure, which includes:

[0117] 801. The detection apparatus detects the attribute information of the target object.

[0118] 802. The detection apparatus records the second moment when the attribute information of the target object is detected.

[0119] 803. The detection apparatus assembles the second moment and the attribute information according to a preset format to obtain target information.

[0120] 804. The detection apparatus sends the target information to the terminal device.

[0121] It should be noted that steps 801 to 804 are similar to steps 701 to 704 in Figure 7 , which have been described in detail in the above Figure 7 and will not be repeated here.

[0122] 805. The terminal device determines the first moment when the target information is read.

[0123] 806. The terminal device determines the message delay according to the target clock offset, the first moment and the second moment.

[0124] 807. The terminal device determines the target position of the target object at the first moment according to the message delay and the attribute information of the target object.

[0125] It should be noted that steps 805 to 807 are similar to steps 201 to 203 in Figure 2 , which have been described in detail in the above Figure 2 and will not be repeated here.

[0126] In summary, in the embodiment provided by the present application, the detection apparatus can assemble the attribute information of the target object detected and the moment when the target object is detected according to a preset format to obtain target information, and send the target information to the terminal device. The terminal device can receive the target information and record the first moment when the target information is read. Then, the terminal device determines the message delay according to the target clock offset of the terminal device, the first moment and the second moment, and determines the position of the target object at the first moment according to the message delay and the attribute information of the target object included in the target information. Thus, when the terminal device calculates the message delay, the clock offset of the terminal device is considered, so that the calculated message delay is more accurate, and the target position obtained according to the message delay is also more accurate.

[0127] The application is described above from the method perspective of the position determination method. The application is described below from the perspective of the position determination device.

[0128] Referring to Figure 9 , Figure 9 A virtual structural diagram of a terminal device provided by an embodiment of the application includes:

[0129] A first determination unit 901 is configured to determine a first time point at which target information is read, the target information including a second time point at which a target object is detected and attribute information of the target object, and the target information being a message assembled in a preset format and sent by a detection device, the target object being an object whose position is to be determined;

[0130] A second determination unit 902 is configured to determine a message delay according to a target clock offset, the first time point, and the second time point, the target clock offset being a clock offset of the terminal device;

[0131] A third determination unit 903 is configured to determine a target position of the target object at the first time point according to the message delay and the attribute information of the target object.

[0132] Optionally, the first determination unit 901 is further configured to:

[0133] determine a third time point at which a target event is executed completely, the target event being any one event corresponding to the terminal device;

[0134] determine a time length of time consumption for reading output information corresponding to the target event;

[0135] determine a fourth time point at which the output information corresponding to the target event is read;

[0136] determine the target clock offset according to the third time point, the time length of time consumption, and the fourth time point.

[0137] Optionally, the attribute information of the target object includes speed information of the target object, position information of the target object at the second time point, and a travel direction of the target object, and the third determination unit 903 is specifically configured to:

[0138] determine a target distance according to the speed information of the target object and the message delay;

[0139] determine the target position based on the target distance, the position information of the target object at the second time point, and the travel direction of the target object.

[0140] Optionally, the target information further comprises environment information associated with the target object, and the terminal device further comprises:

[0141] A fourth determination unit 904 is configured to determine a collision probability of the target object according to the target position and the environment information associated with the target object.

[0142] Optionally, the fourth determination unit 904 is specifically configured to:

[0143] determine the collision intensity of the target object based on a preset model, the target position and the environment information associated with the target object;

[0144] determine the collision probability of the target object according to the collision intensity and a preset collision intensity.

[0145] In summary, in the embodiments provided in the present application, when determining the position of the target object, the terminal device can determine the message delay according to the target clock offset of the terminal device, the first time when the target information is read and the second time when the target object is detected, and determine the position of the target object at the first time according to the message delay and the attribute information of the target object included in the target information. Thus, when calculating the message delay, the clock offset of the terminal device is considered, so that the calculated message delay is more accurate, and the target position obtained according to the message delay is also more accurate.

[0146] Please refer to Figure 10 , Figure 10 A virtual structural schematic diagram of a detection device provided in the embodiments of the present application comprises:

[0147] A detection unit 1001 is configured to detect attribute information of a target object, the target object being an object whose position is to be determined;

[0148] A recording unit 1002 is configured to record a second time when the attribute information of the target object is detected;

[0149] An assembling unit 1003 is configured to assemble the second time and the attribute information according to a preset format to obtain target information;

[0150] A sending unit 1004 is configured to send the target information to a terminal device, so that the terminal device determines a message delay according to the second time, a first time when the target information is read and a target clock offset, and determines a target position of the target object at the first time according to the message delay and the attribute information of the target object, the target clock offset being a clock offset of the terminal device.

[0151] Optionally, the target information further comprises environment information associated with the target object, and the assembling unit 1003 is further configured to:

[0152] assemble the second time, the attribute information, and the environment information associated with the target object into the target information.

[0153] In summary, it can be seen that, in the present application, the detection apparatus can assemble the attribute information of the detected target object and the time of detecting the target object according to a preset format to obtain target information, and send the target information to the terminal device, so that the terminal device determines the message delay according to the target clock offset of the terminal device, the first time and the second time of reading the target information, and determines the position of the target object at the first time according to the message delay and the attribute information of the target object included in the target information. Therefore, when the terminal device calculates the message delay, the clock offset of the terminal device is considered, so that the calculated message delay is more accurate, and the target position obtained according to the message delay is also more accurate.

[0154] The present application also provides another terminal device, as shown in Figure 11 for the sake of brevity, only parts related to the present application are shown, and specific technical details not disclosed are referred to the method part of the present application. The terminal can be any terminal device including a mobile phone, a tablet computer, a personal digital assistant (PDA), a point of sales (POS), a vehicle-mounted computer, etc. Taking the mobile phone as an example of the terminal device:

[0155] Figure 11 The figure shows a block diagram of part of the structure of the mobile phone related to the terminal device provided by the present application. Referring to Figure 11 , the mobile phone includes a radio frequency (RF) circuit 1110, a memory 1120, an input unit 1130, a display unit 1140, a sensor 1150, an audio circuit 1160, a wireless fidelity (WiFi) module 1170, a processor 1180, and a power supply 1190, etc. Those skilled in the art can understand that Figure 11 the structure of the mobile phone shown in the figure does not constitute a limitation on the mobile phone, and can include more or fewer components than shown, or combine certain components, or different arrangement of components.

[0156] The specific components of the mobile phone will be introduced in detail below: Figure 11

[0157] ​The RF circuit 1110 can be used for receiving and sending signals in the process of information or communication, in particular, receiving the downlink information from the base station and sending the uplink data to the base station. Generally, the RF circuit 1110 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), a duplexer, etc. In addition, the RF circuit 1110 can also communicate with the network and other devices through wireless communication. The above-mentioned wireless communication can use any communication standard or protocol, including but not limited to global system for mobile communication (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), long term evolution (LTE), email, short message service (SMS), etc.

[0158] The memory 1120 can be used to store software programs and modules, and the processor 1180 can execute various functions of the mobile phone and data processing by running the software programs and modules stored in the memory 1120. The memory 1120 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory 1120 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0159] The input unit 1130 can be used to receive input digital or character information and to generate key signal inputs related to a user setting of the mobile phone and a function control. Specifically, the input unit 1130 can include a touch panel 1131 and other input devices 1132. The touch panel 1131, also called a touch screen, can collect a touch operation (such as an operation of a user using a finger, a stylus, or any suitable object or accessory on or near the touch panel 1131) of the user on or near it and drive a corresponding connection device according to a pre-set program. Optionally, the touch panel 1131 can include two parts, a touch detection device and a touch controller. The touch detection device detects the touch position of the user and detects a signal caused by the touch operation and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch coordinates, and sends it to the processor 1180, and can receive commands from the processor 1180 and execute them. In addition, the touch panel 1131 can be implemented in various types such as a resistive type, a capacitive type, an infrared type, and a surface acoustic wave type. In addition to the touch panel 1131, the input unit 1130 can also include other input devices 1132. Specifically, the other input devices 1132 can include one or more of a physical keyboard, a function key (such as a volume control key, an on / off key, etc.), a trackball, a mouse, a joystick, etc.

[0160] The display unit 1140 can be used to display information input by the user or information provided to the user and various menus of the mobile phone. The display unit 1140 can include a display panel 1141, which can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. Further, the touch panel 1131 can cover the display panel 1141, and when the touch panel 1131 detects a touch operation on or near it, it transmits to the processor 1180 to determine the type of touch event, and then the processor 1180 provides a corresponding visual output on the display panel 1141 according to the type of touch event. Although in the above description, the touch panel 1131 and the display panel 1141 are implemented as two independent components to realize the input and output functions of the mobile phone, in some embodiments, the touch panel 1131 and the display panel 1141 can be integrated to realize the input and output functions of the mobile phone. Figure 11

[0161] ​The phone can also include at least one sensor 1150, such as an optical sensor, a motion sensor, and other sensors. Specifically, the optical sensor can include an ambient light sensor to adjust the brightness of the display panel 1141 according to the brightness of ambient light, and a proximity sensor to turn off the display panel 1141 and / or the backlight when the phone is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), and when at rest, the magnitude and direction of gravity, which can be used for applications that identify the posture of the phone (such as switching between landscape and portrait screens, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometers, taps), and the like. As for other sensors that the phone can also be configured, such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, will not be described here.

[0162] The audio circuit 1160, the speaker 1161, and the microphone 1162 can provide an audio interface between the user and the phone. The audio circuit 1160 can convert the received audio data into an electrical signal, transmit it to the speaker 1161, and convert it into a sound signal output by the speaker 1161; on the other hand, the microphone 1162 converts the collected sound signal into an electrical signal, which is received by the audio circuit 1160 and converted into audio data, which is then processed by the processor 1180 and transmitted to, for example, another phone via the RF circuit 1110, or output to the memory 1120 for further processing.

[0163] WiFi is a short-range wireless transmission technology. The WiFi module 1170 can help users send and receive emails, browse web pages, and access streaming media, etc. It provides users with wireless broadband Internet access. Although Figure 11 Although the WiFi module 1170 is shown, it is understood that it is not a necessary component of the phone and can be omitted without changing the essence of the application.

[0164] The processor 1180 is the control center of the phone, which connects all parts of the phone through various interfaces and lines, and performs various functions and processes data of the phone by running or executing software programs and / or modules stored in the memory 1120 and calling data stored in the memory 1120. Optionally, the processor 1180 can include one or more processing units; preferably, the processor 1180 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication. It is understood that the above-mentioned modem processor can also not be integrated into the processor 1180.

[0165] The mobile phone further includes a power supply 1190 (such as a battery) for supplying power to various components. Preferably, the power supply is logically connected to the processor 1180 through a power management system, so that the power management system can realize functions such as charge management, discharge management, and power consumption management.

[0166] Although not shown, the mobile phone can further include a camera, a Bluetooth module, and the like, which will not be described here.

[0167] In the embodiments of the present application, the processor 1180 can also perform the operations performed by the terminal device described above.

[0168] Please refer to Figure 12 An embodiment of the detection device 1200 in the embodiments of the present application includes:

[0169] The input device 1201, the output device 1202, the processor 1203, and the memory 1204 (wherein the number of processors 1203 can be one or more, Figure 12 In some embodiments of the present application, the input device 1201, the output device 1202, the processor 1203, and the memory 1204 are connected through a bus or other means, wherein, Figure 12 In some embodiments of the present application, the input device 1201, the output device 1202, the processor 1203, and the memory 1204 are connected through a bus or other means, wherein,

[0170] The processor 1203 executes the operations performed by the detection device described above by calling the operation instructions stored in the memory 1204.

[0171] The embodiments of the present application also provide a computer readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the position determination method described above.

[0172] The embodiments of the present application also provide a processor for running a program, wherein the program, when running, executes the steps of the position determination method described above.

[0173] The embodiments of the present application also provide a terminal device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. The program code is loaded and executed by the processor to implement the steps of the position determination method described above.

[0174] The present application also provides a computer program product adapted to execute the steps of the position determination method described above when executed on a data processing device.

[0175] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0176] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, the device and the module described above can refer to the corresponding process in the foregoing method embodiments, and will not be described here.

[0177] Those skilled in the art will appreciate that embodiments of the application can be a method, a system, or a computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0178] The application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more flows and / or blocks.

[0179] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more flows and / or blocks.

[0180] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more flows and / or blocks.

[0181] In a typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memories.

[0182] Memory can include non-persistent memory, Random Access Memory (RAM), and / or non-volatile memory such as read only memory (ROM) or flash memory, etc. in a computer readable medium. Memory is an example of computer readable media.

[0183] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media such as modulated data signals and carrier waves.

[0184] It should also be noted that the terms "comprising", "comprises", "including", "includes" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article or apparatus that comprises the element.

[0185] Those skilled in the art will understand that embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product implemented on one or more computer available storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage etc.) containing computer usable program code.

[0186] The above merely provides an example of the present application and is not intended to limit the present application. Various modifications and changes can be made by those skilled in the art to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of position determination, characterized by, The method comprises the following steps: determining a first time point at which target information is read, the target information comprising a second time point at which a target object is detected and attribute information of the target object, and the target information being a message assembled according to a preset format and sent by a detection device, the target object being an object whose position is to be determined; determining a message delay according to a target clock offset, the first time point and the second time point, the target clock offset being a clock offset of a terminal device itself; determining a target position of the target object at the first time point according to the message delay and the attribute information of the target object; wherein the target clock offset is determined in the following manner: determining a third time point at which a GPS event is executed and completed by a GPS chip, the GPS event being an event in which the terminal device acquires its own GPS; determining a time length of time consumed for reading output information corresponding to the GPS event from the GPS chip by a built-in code of the terminal device; determining a fourth time point at which the built-in code reads the output information corresponding to the GPS event from the GPS chip; determining the target clock offset according to the third time point, the time length of time consumed and the fourth time point.

2. The method of claim 1, wherein, The attribute information of the target object comprises speed information of the target object, position information of the target object at the second time point and a travel direction of the target object, and the determination of the target position of the target object at the first time point according to the message delay and the attribute information of the target object comprises: determining a target distance according to the speed information of the target object and the message delay; determining the target position based on the target distance, the position information of the target object at the second time point and the travel direction of the target object.

3. The method of any one of claims 1-2, wherein, The target information further comprises environmental information associated with the target object, and the method further comprises: determining a collision probability corresponding to the target object according to the target position and the environmental information associated with the target object.

4. The method of claim 3, wherein, The determination of the collision probability corresponding to the target object according to the target position and the environmental information associated with the target object comprises: determining a collision intensity of the target object based on the target position and the environmental information associated with the target object according to a preset model; determining the collision probability corresponding to the target object according to the collision intensity and a preset collision intensity.

5. A method of position determination, characterized by The method comprises the following steps: detecting attribute information of a target object, the target object being an object whose position is to be determined; recording a second time point at which the attribute information of the target object is detected; assembling the second time point and the attribute information according to a preset format to obtain target information; sending the target information to a terminal device, so that the terminal device determines a message delay according to a second time point, a first time point at which the target information is read and a target clock offset, and determines a target position of the target object at the first time point according to the message delay and the attribute information of the target object, the target clock offset being a clock offset of the terminal device itself; wherein the target clock offset is determined in the following manner: determining a third time point at which a GPS event is executed by a GPS chip, the GPS event being an event of acquiring a GPS of the terminal device by itself; determining a time length of reading output information corresponding to the GPS event from the GPS chip by a built-in code of the terminal device; determining a fourth time point at which the built-in code reads the output information corresponding to the GPS event from the GPS chip; determining the target clock offset according to the third time point, the time length and the fourth time point.

6. The method of claim 5, wherein, The target information further comprises environmental information associated with the target object, and the method further comprises: assembling the second time point, the attribute information and the environmental information associated with the target object into the target information.

7. A terminal device, characterized by comprising: Comprise: a first determining unit configured to determine a first time point at which target information is read, the target information comprising a second time point at which a target object is detected and attribute information of the target object, and the target information being a message assembled according to a preset format and sent by a detection device, the target object being an object whose position is to be determined; a second determining unit configured to determine a message delay according to a target clock offset, the first time point and the second time point, the target clock offset being a clock offset of the terminal device itself; a third determining unit configured to determine a target position of the target object at the first time point according to the message delay and the attribute information of the target object. The first determining unit is further configured to: determine a third time point at which a GPS event is executed by a GPS chip, the GPS event being an event of acquiring a GPS of the terminal device by itself; determine a time length of reading output information corresponding to the GPS event from the GPS chip by a built-in code of the terminal device; determine a fourth time point at which the built-in code reads the output information corresponding to the GPS event from the GPS chip; determine the target clock offset according to the third time point, the time length and the fourth time point.

8. The terminal device according to claim 7, characterized by The attribute information of the target object comprises speed information of the target object, position information of the target object at the second time point and a driving direction of the target object, and the third determining unit is specifically configured to: determine a target distance according to the speed information of the target object and the message delay; determine the target position based on the target distance, the position information of the target object at the second time point and the driving direction of the target object.

9. The terminal device of any one of claims 7-8, wherein, The target information further comprises environmental information associated with the target object, and the terminal device further comprises: a fourth determining unit configured to determine a collision probability corresponding to the target object according to the target position and the environmental information associated with the target object.

10. The apparatus of claim 9, wherein, The fourth determining unit is specifically configured to: determine a collision intensity of the target object based on the target position and the environmental information associated with the target object according to a preset model; determine the collision probability corresponding to the target object according to the collision intensity and a preset collision intensity.

11. A detection device, characterized in that Comprise: detecting attribute information of a target object, the target object being an object whose position is to be determined; recording a second time at which the attribute information of the target object is detected; assembling the second time and the attribute information according to a preset format to obtain target information; sending the target information to a terminal device, so that the terminal device determines a message delay according to the second time, a first time at which the target information is read, and a target clock offset, and determines a target position of the target object at the first time according to the message delay and the attribute information of the target object, the target clock offset being a clock offset of the terminal device itself; wherein the target clock offset is determined in the following manner: determining a third time at which a GPS event is executed by a GPS chip, the GPS event being an event in which the terminal device acquires its own GPS; determining a time length of time consumed for reading output information corresponding to the GPS event from the GPS chip by a built-in code of the terminal device; determining a fourth time at which the built-in code reads the output information corresponding to the GPS event from the GPS chip; determining the target clock offset according to the third time, the time length of time consumed, and the fourth time.

12. The detection device of claim 11, wherein, The target information further comprises environment information associated with the target object, and the assembling unit is further configured to: assemble the second time, the attribute information, and the environment information associated with the target object to obtain the target information.

13. A computer-readable storage medium, characterized in that, The computer program product comprises instructions which, when executed on a computer, cause the computer to perform the steps of the position determination method according to any one of claims 1 to 4, or the steps of the position determination method according to any one of claims 5 to 6.

14. A computer program product, characterised in that, The data processing device is adapted to perform the steps of the position determination method according to any one of claims 1 to 4, or the steps of the position determination method according to any one of claims 5 to 6 when executed on the data processing device.

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