Vehicle searching method and vehicle searching system

Abstract

The invention relates to the technical field of vehicle positioning, and discloses a vehicle searching method and system, and the method comprises the steps: transmitting a vehicle searching request for indicating the searching of a target vehicle through a target user terminal, and transmitting a pulse vehicle searching signal for searching the target vehicle through an intermediate vehicle in a UWB communication range after the intermediate vehicle receives the vehicle searching request, the method is not influenced by a network environment and a positioning signal, and is high in stability and anti-interference performance. The intermediate vehicle emitting the pulse vehicle searching signal receives return information from other intermediate vehicles in the UWB communication range of the intermediate vehicle, and if the return information indicates that other intermediate vehicles are target vehicles, the target vehicle is determined to be searched; and if the returned information indicates that other intermediate vehicles are not the target vehicle, the intermediate vehicle sending the pulse vehicle searching signal indicates other intermediate vehicles to execute vehicle searching operation, so that the vehicle searching distance and range of the user are expanded, and the vehicle searching success probability is improved until the target vehicle is searched.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle positioning, and in particular to a vehicle finding method and a vehicle finding system. Background Art

[0002] In large parking lots with heavy traffic and a wide area, the use of a car search system can effectively improve the parking experience of car owners, reduce the time spent searching for cars, and alleviate traffic congestion in the parking lot.

[0003] Currently, the vehicle can be found by flashing lights and honking horns, displaying the vehicle's Global Positioning System (GPS) location on mobile phone applications, and ultra-wideband technology (UWB). However, if the owner and the vehicle are on different floors or the vehicle is in an environment with poor network signals, the user will not be able to see or hear the vehicle's flashing lights and horns, nor can the GPS be used to locate the vehicle. In addition, if the user is far away from the vehicle and is not within the UWB transmission range and the flashing lights and horns, the user will not be able to rely on flashing lights and horns and UWB to find the vehicle's parking location.

[0004] Therefore, there is an urgent need for a car-finding method that is not easily affected by factors such as network environment, distance, and floor differences, so as to increase the probability of successful car-finding. Summary of the invention

[0005] In view of this, the present invention provides a vehicle finding method and a vehicle finding system to solve the problem that the existing flashing lights and horns, GPS positioning and UWB vehicle finding are easily affected by the transmission distance and floor differences, making it difficult to accurately locate the vehicle parking position.

[0006] In a first aspect, the present invention provides a vehicle search method, wherein the intermediate vehicle currently performs a vehicle search operation, and the vehicle search operation currently performed by the intermediate vehicle includes:

[0007] Sending a pulse vehicle search signal for finding a target vehicle; wherein the current intermediate vehicle is any intermediate vehicle performing a vehicle search operation, and the intermediate vehicle performing the first vehicle search operation receives a vehicle search request for instructing to find the target vehicle from a target user terminal located within its own UWB communication range;

[0008] When the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are the target vehicles, determining that the target vehicle is found;

[0009] When the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are not the target vehicle, the other intermediate vehicles are instructed to perform a vehicle search operation.

[0010] Beneficial effects: The present invention uses the target user terminal to send a vehicle search request for instructing to find the target vehicle. After the intermediate vehicle within its UWB communication range receives the vehicle search request, the intermediate vehicle sends a pulse vehicle search signal for finding the target vehicle, which is not affected by the network environment and positioning signals, and has strong stability and anti-interference. The intermediate vehicle that sends the pulse vehicle search signal receives return information from other intermediate vehicles within its own UWB communication range. If the return information indicates that the other intermediate vehicle is the target vehicle, it is determined that the target vehicle has been found; if the return information indicates that the other intermediate vehicle is not the target vehicle, the intermediate vehicle that sends the pulse vehicle search signal instructs the other intermediate vehicles to perform the vehicle search operation, thereby expanding the distance and range of the user's vehicle search, so as to increase the probability of successful vehicle search until the target vehicle is found.

[0011] In some optional implementations, the vehicle-finding operation performed by the current intermediate vehicle further includes:

[0012] Obtaining first position information of other intermediate vehicles relative to the current intermediate vehicle according to return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle, and receiving second position information of the current intermediate vehicle returned by other intermediate vehicles;

[0013] The first position information and the second position information are transmitted back to the intermediate vehicle or the target user terminal for instructing the current intermediate vehicle to perform the vehicle search operation.

[0014] Beneficial effect: In the embodiment of the present invention, when the intermediate vehicle searches for other intermediate vehicles within its own UWB communication range, it will also calculate the first position information of the other intermediate vehicles relative to itself, and receive the second position information sent back by the other intermediate vehicles, and then send the first position information and the second position information back to the upper-level intermediate vehicle. By sending back step by step, the position information between the intermediate vehicles is uploaded to the target user terminal, so that the target user terminal can parse the position of the target vehicle based on the position information.

[0015] In some optional embodiments, the method further comprises:

[0016] The target user terminal analyzes the first orientation information and the second orientation information sent back by the intermediate vehicle to obtain the target distance and target angle of the target vehicle relative to the target user terminal, and obtains the position of the target vehicle based on the target distance and target angle.

[0017] Beneficial effect: The present invention utilizes the target user terminal to analyze the first orientation information and the second orientation information sent back by the intermediate vehicle, and utilizes the relative distance and relative angle between the intermediate vehicles to calculate the target distance and target angle of the target vehicle relative to the target user terminal step by step, thereby realizing the positioning of the target vehicle.

[0018] In some optional embodiments, the method further comprises:

[0019] The target user terminal displays the position of the target vehicle and the target distance and target angle of the target vehicle relative to the target user terminal.

[0020] Beneficial effects: The present invention facilitates users to view in real time and improves user experience by displaying the position of the target vehicle and the target distance and target angle of the target vehicle relative to the target user terminal.

[0021] In some optional embodiments, the method further comprises:

[0022] The target user terminal obtains an environment map of the environment where the target vehicle is located and a current position of the target user terminal, and generates and displays a navigation route according to the environment map, the current position of the target user terminal and the position of the target vehicle.

[0023] Beneficial effect: The present invention displays the navigation route and instructs the user to the parking location of the target vehicle, thereby facilitating the user to quickly find the target vehicle and improving the user experience.

[0024] In some optional implementations, before sending the pulse vehicle search signal for finding the target vehicle, the vehicle search operation performed by the current intermediate vehicle further includes:

[0025] Determine target identification information of the target vehicle;

[0026] The preset pulse signal is configured according to the target identity information to obtain a pulse vehicle search signal for finding the target vehicle; wherein the preset pulse signal is a UWB signal.

[0027] Beneficial effects: The present invention combines the target identification information of the target vehicle to generate a pulse vehicle search signal for finding the target vehicle, which is convenient for finding the target vehicle. In addition, the pulse vehicle search signal generated based on the UWB signal is not affected by the network environment and the strength of the positioning signal, has strong stability, and can be used in an environment with a poor network environment and a weak positioning signal.

[0028] In some optional implementations, when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are the target vehicles, determining that the target vehicle is found includes:

[0029] Parse the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle to obtain the identity information of the other intermediate vehicles;

[0030] If it is detected that the identity information of other intermediate vehicles is consistent with the target identity information, it is determined that the target vehicle is found.

[0031] Beneficial effects: The present invention parses the return information sent by other intermediate vehicles within the UWB communication range to obtain the identity information of other intermediate vehicles, and compares it with the target identity information to determine whether the other intermediate vehicles sending the return information are the target vehicles that the user wants to find, and determines the target vehicle through identity authentication, thereby improving the accuracy of vehicle search.

[0032] In a second aspect, the present invention provides a vehicle-finding system, the vehicle-finding system comprising a target user terminal and at least one intermediate vehicle;

[0033] A target user terminal is used to send a vehicle search request for instructing to find a target vehicle;

[0034] The current intermediate vehicle is used to send a pulse vehicle search signal for finding a target vehicle; wherein the current intermediate vehicle is any intermediate vehicle that performs a vehicle search operation, and the intermediate vehicle that performs the first vehicle search operation receives a vehicle search request from a target user terminal within its own UWB communication range; when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are the target vehicles, it is determined that the target vehicle is found; when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are not the target vehicles, the other intermediate vehicles are instructed to perform a vehicle search operation.

[0035] In some optional embodiments, the intermediate vehicle is also used for:

[0036] Obtaining first position information of other intermediate vehicles relative to the current intermediate vehicle according to return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle, and receiving second position information of the current intermediate vehicle returned by other intermediate vehicles;

[0037] The first position information and the second position information are transmitted back to the intermediate vehicle or the target user terminal for instructing the current intermediate vehicle to perform the vehicle search operation.

[0038] In some optional implementations, the target user terminal is further used for:

[0039] The first orientation information and the second orientation information sent back by the intermediate vehicle are parsed to obtain the target distance and target angle of the target vehicle relative to the target user terminal, and the position of the target vehicle is obtained according to the target distance and target angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a flow chart of a vehicle search method according to an embodiment of the present invention;

[0042] Figure 2 is a flow chart of another vehicle finding method according to an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of an application scenario of a vehicle finding method according to an embodiment of the present invention;

[0044] Figure 4 is a structural block diagram of a vehicle-finding system according to an embodiment of the present invention;

[0045] Figure 5 It is a schematic diagram of the hardware structure of the target user terminal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] Regarding the vehicle search function, the current technologies mainly include the following: 1) Finding the vehicle by flashing lights and honking the horn. The vehicle’s flashing lights or honking the horn can be controlled through the Internet, Bluetooth, radio frequency keys, etc. The owner can know the vehicle’s location when he sees the flashing lights or hears the vehicle’s horn. 2) Displaying the vehicle’s GPS location on the mobile phone app. The BeiDou Navigation Satellite System (BDS), the Global Navigation Satellite System (GLONASS), the Galileo Satellite Navigation System (Galileo), etc. can also be used to obtain the location. After the vehicle uploads its location to the cloud, it is displayed on the owner’s mobile phone app. The owner goes to find the vehicle according to the location of the vehicle on the map. 3) Pointing to find the vehicle by UWB and other methods. When the owner’s mobile phone is within the vehicle’s UWB connection range, the owner can view the vehicle’s relative position and distance to the owner’s mobile phone on the mobile phone app, so that the owner can go to the vehicle’s location according to the instructions.

[0048] However, when using flashing lights and honking to find a vehicle, if the owner is far away from the vehicle or is on a different floor from the vehicle, the owner will not be able to see or hear the vehicle's flashing lights and horns, and will not be able to find the vehicle; if the vehicle is in an environment without a network, the vehicle will not be able to receive flashing lights and honking requests from the mobile phone, and the user will not be able to rely on this function to find the vehicle. When using the vehicle's GPS positioning to find a vehicle, if the vehicle and the user are on different floors, the user will not be able to find the vehicle; if the GPS signal in the vehicle's environment is weak, the vehicle's positioning will have a large deviation, which is not conducive to the user's finding the vehicle; if the vehicle is in an environment without a network, the vehicle will not be able to upload its own positioning, and the user will not be able to rely on this function to find the vehicle. When using UWB to find a vehicle, if the user is far away from the vehicle and is not within the UWB connection range, the user will not be able to rely on this function to find the vehicle.

[0049] Therefore, an embodiment of the present invention provides a vehicle searching method. When the distance between the target user terminal and the target vehicle is too far and exceeds the UWB communication range, an intermediate vehicle that can send a pulse vehicle searching signal is searched between the target user terminal and the target vehicle. At least one intermediate vehicle is used to transmit the pulse vehicle searching signal and direction information to find the position of the target vehicle.

[0050] According to an embodiment of the present invention, an embodiment of a vehicle finding method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0051] In this embodiment, a vehicle search method is provided, which can be used to perform a vehicle search operation to find an intermediate vehicle of a target vehicle, such as a vehicle equipped with a UWB device. Figure 1 is a flow chart of a vehicle searching method according to an embodiment of the present invention. Figure 1 As shown, the vehicle search operation performed by the current intermediate vehicle includes the following steps:

[0052] Step S101, sending a pulse vehicle search signal for finding a target vehicle.

[0053] Specifically, the current intermediate vehicle is any intermediate vehicle currently performing a vehicle search operation. The intermediate vehicle performing the first vehicle search operation receives a vehicle search request for instructing to find a target vehicle from a target user terminal located within its own UWB communication range.

[0054] Specifically, the pulse car search signal is generated and sent using UWB technology. It should be noted that UWB is a carrier-free communication technology that uses non-sinusoidal narrow pulses to transmit data. The generation and processing of its signals are mainly based on the device's own pulse transmission and reception mechanism. Data is directly transmitted in space through pulse signals. As long as the device has the corresponding UWB module and power supply and other basic conditions, it can generate and transmit UWB signals without relying on traditional network protocols, network base stations or network infrastructure to send and receive signals. Therefore, data transmission between UWB devices does not require a network. The pulse car search signal based on UWB technology is not affected by the network and can be used even in deeper underground parking lots. Compared with GPS positioning and flashing lights and horns to find cars, it has stronger stability and anti-interference capabilities.

[0055] Step S102 , when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are target vehicles, it is determined that the target vehicle is found.

[0056] Specifically, when the current middle vehicle sends a pulse vehicle search signal, it is sent in the form of a broadcast. Within the UWB communication range centered on the current middle vehicle, if other middle vehicles receive the pulse vehicle search signal, they will send return information to the middle vehicle that sent the pulse vehicle search signal. The return information may include a confirmation reply representing the receipt of the pulse vehicle search signal, location information, vehicle identity information, etc., so as to determine whether the target vehicle is found based on the return information.

[0057] Step S103 , when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are not the target vehicle, instruct the other intermediate vehicles to perform a vehicle search operation.

[0058] Specifically, although the pulse vehicle search signal is not affected by the network environment, since the UWB communication range is limited, if the distance between the target user terminal that issues the vehicle search request and the target vehicle it is looking for is too long, the target vehicle is not easy to receive the vehicle search request issued by the target user terminal, resulting in a low probability of successful vehicle search. Therefore, by using the current intermediate vehicle to search for other intermediate vehicles that can transmit pulse vehicle search signals, the target vehicle is searched through multiple intermediate vehicles, the range of user vehicle search is expanded, and the probability of successful vehicle search is increased.

[0059] Among them, when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are not the target vehicle, the current intermediate vehicle can send a vehicle search request to other intermediate vehicles within the UWB communication range of the current intermediate vehicle, instructing other intermediate vehicles within the UWB communication range of the current intermediate vehicle to perform a vehicle search operation. The process of other intermediate vehicles within the UWB communication range of the current intermediate vehicle performing a vehicle search operation is the same as the above-mentioned steps S101-step S103.

[0060] It should be noted that the vehicle search method of the present invention is applicable to vehicles embedded with relevant vehicle search programs. It is considered that only vehicles of self-owned brands or vehicles of cooperative manufacturers can use the vehicle search function of this embodiment. In addition, for the sake of user privacy and user wishes, if the user wants to enable the vehicle search function, after reading and agreeing to the relevant instructions for use, he agrees to make his vehicle available for other car owners to find their vehicles, and he can also find his own vehicle through other car owners' vehicles. If the user chooses not to enable the vehicle search function, his own vehicle will not be used by other car owners to find their vehicles, but the user will not be able to find his own vehicle through other car owners' vehicles.

[0061] The vehicle search method provided in this embodiment uses the target user terminal to send a vehicle search request for instructing to find the target vehicle. After the intermediate vehicle within its UWB communication range receives the vehicle search request, the intermediate vehicle sends a pulse vehicle search signal for finding the target vehicle. The intermediate vehicle is not affected by the network environment and the positioning signal, and has strong stability and anti-interference. The intermediate vehicle that sends the pulse vehicle search signal receives return information from other intermediate vehicles within its own UWB communication range. If the return information indicates that the other intermediate vehicle is the target vehicle, it is determined that the target vehicle has been found; if the return information indicates that the other intermediate vehicle is not the target vehicle, the intermediate vehicle that sends the pulse vehicle search signal instructs the other intermediate vehicles to perform the vehicle search operation, thereby expanding the distance and range of the user's vehicle search, so as to increase the probability of successful vehicle search until the target vehicle is found.

[0062] In this embodiment, a vehicle search method is provided, which can be used to perform a vehicle search operation to find an intermediate vehicle of a target vehicle, such as a vehicle equipped with a UWB device. Figure 2is a flow chart of a vehicle searching method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0063] Step S201, determining the target identity information of the target vehicle.

[0064] Specifically, the target user terminal can obtain the target vehicle's unique identification code (ID), vehicle brand, model, license plate number, etc. to obtain the target identity information of the target vehicle, and can facilitate other intermediate vehicles to obtain the target identity information of the target vehicle by issuing a vehicle search request containing the target identity information.

[0065] Step S202, configuring the preset pulse signal according to the target identity information to obtain a pulse vehicle search signal for finding the target vehicle.

[0066] Specifically, the preset pulse signal is a UWB signal, and a UWB device can be installed on the vehicle. The UWB device can be an active device with its own battery power supply and can send UWB signals. The UWB device stores the vehicle's unique identification code (ID) internally. This ID is like the vehicle's identity information and is used to distinguish different vehicles in the system. Among them, the vehicle's unique identification code ID can be integrated with other vehicle information, such as vehicle brand, model, license plate number, etc., to obtain identity information. Users can establish an association between the target vehicle and the identity information through the target user terminal, which is conducive to finding the location of the vehicle. For example, in a parking lot management system, when a certain vehicle needs to be found, the UWB device sends a pulse vehicle search signal containing the vehicle's unique identification code ID to locate the vehicle.

[0067] The present invention combines the target identification information of the target vehicle to generate a pulse vehicle search signal for finding the target vehicle, which is convenient for finding the target vehicle. In addition, the pulse vehicle search signal generated based on the UWB signal is not affected by the network environment and the strength of the positioning signal, has strong stability, and can be used in an environment with a poor network environment and a weak positioning signal.

[0068] Step S203, sending a pulse vehicle search signal for finding the target vehicle. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0069] Step S204 , when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are the target vehicles, it is determined that the target vehicle is found.

[0070] Specifically, the above step S204 includes:

[0071] Step S2041, parsing the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle to obtain the identity information of the other intermediate vehicles.

[0072] Specifically, the unique identification code ID of the other intermediate vehicles can be parsed according to the return information of the other intermediate vehicles, so as to obtain the identity information of the other intermediate vehicles.

[0073] Step S2042: If it is detected that the identity information of other intermediate vehicles is consistent with the target identity information, it is determined that the target vehicle is found.

[0074] Specifically, the unique identification code ID of the other intermediate vehicles can be compared with the unique identification code ID of the target vehicle. If they are consistent, it means that the other intermediate vehicles that send return information to the current intermediate vehicle are the target vehicle that the user wants to find.

[0075] The present invention parses the return information sent by other intermediate vehicles within the UWB communication range to obtain the identity information of other intermediate vehicles, and compares it with the target identity information to determine whether the other intermediate vehicles sending the return information are the target vehicles that the user wants to find, and determines the target vehicle through identity authentication, thereby improving the accuracy of vehicle search.

[0076] In some optional implementations, the current intermediate vehicle can also receive return information from other intermediate vehicles within its own UWB communication range, obtain first position information of other intermediate vehicles relative to the current intermediate vehicle (i.e., itself), and receive second position information sent back by other intermediate vehicles to the current intermediate vehicle (i.e., itself). The first position information and the second position information are sent back to the intermediate vehicle or target user terminal for instructing the current intermediate vehicle (i.e., itself) to perform a vehicle search operation.

[0077] In some optional implementations, the positioning information data of each UWB vehicle can be aggregated and then aggregated to other terminals such as mobile phones and the cloud for positioning calculation to reduce the power consumption of the vehicle.

[0078] It should be noted that the second position information sent back by other intermediate vehicles is obtained by calculating the distance and angle of the intermediate vehicle relative to itself (ie, the other intermediate vehicle) when the other intermediate vehicle searches for the intermediate vehicle within its own UWB communication range.

[0079] In an embodiment of the present invention, when an intermediate vehicle searches for other intermediate vehicles within its own UWB communication range, it will also calculate the first position information of the other intermediate vehicles relative to itself, and receive the second position information sent back by the other intermediate vehicles, and then send the first position information and the second position information back to the upper-level intermediate vehicle. By sending back the position information between the intermediate vehicles step by step, the position information between each other is uploaded to the target user terminal, so that the target user terminal can parse the position of the target vehicle based on the position information.

[0080] Furthermore, the target user terminal analyzes the first orientation information and the second orientation information sent back by the intermediate vehicle to obtain a target distance and a target angle of the target vehicle relative to the target user terminal, and obtains the position of the target vehicle based on the target distance and the target angle.

[0081] For example, Figure 3 As shown, the user actively initiates a car search request on the mobile phone, and the user's mobile phone starts to search for cars in the surrounding area that can search for UWB signals; if car B receives the user's car search request, it will send a pulse car search signal to search for car C within the UWB signal range of car B itself; after car C receives the pulse car search signal sent by car B, car C returns a return message indicating the identity of car C to car B. Based on the return information received from car C, car B determines that car C is not the user's car A, and car B sends the user's car search request to car C to instruct car C to perform the car search operation, and car C then searches for car D within its own UWB signal range; and so on, until the user's car A is found.

[0082] Furthermore, car D combines the azimuth, distance and other information of car A relative to car D into data packet D, and sends it to car C; car C then combines the azimuth, distance and other information of car D relative to car C into data packet C, combines it with data packet D received previously, and sends it to car B; and so on. Ultimately, car B sends the collected data packets B, C, and D together to the user's mobile phone, which parses them to obtain the distance and angle of the user's car A relative to the user's mobile phone.

[0083] See again Figure 3 , when the UWB device of car A and the UWB device of car D measure the distance and angle between each other, and the UWB device of car C and the UWB device of car D measure the distance and angle between each other, we get (r A ,φ A ) and (r C ,φ C ), where (r A ,φ A ) represents the polar coordinates of car A relative to car D, r A is the distance from car A to car D, φ Ais the angle of car A relative to car D; (r C ,φ C ) represents the polar coordinates of car C relative to car D, r C is the distance from car C to car D, φ C is the angle of car C relative to car D. Thus, the Cartesian coordinates of car A (x A ,y A )for:

[0084] x A =r A cosφ A

[0085] y A =r A sinφ A

[0086] The Cartesian coordinates of car C (x C ,y C )for:

[0087] x C =r C cosφ C

[0088] y C =r C sinφ C

[0089] Then, the distance of car A relative to car C is:

[0090]

[0091] Calculate the angle of car A relative to car C:

[0092] θ AC =arctan2(y A -y C ,x A -x C )

[0093] Similarly, when the UWB device of car B and the UWB device of car C measure the distance and angle to each other, (r B ,φ B ) and (r ′ C ,φ ′ C ), where (r B ,φ B ) represents the polar coordinates of car B relative to car C, r B is the distance from car B to car C, φ Bis the angle of car B relative to car C; (r ′ C ,φ ′ C ) represents the polar coordinates of car C relative to car A, r ′ C is the distance from car C to car A, which is d obtained above. AC ; φ ′ C is the angle of car C relative to car A, which is the θ obtained above. AC .

[0094] Continue to substitute into the above calculation process, and you can get d BC and θ BC , repeat the above process, and finally the distance and angle between the user's mobile phone and car A can be obtained.

[0095] It should be noted that θ obtained in the formula is the angle calculated by rotating counterclockwise in the Cartesian coordinate system with the positive X-axis as 0 degrees.

[0096] The present invention utilizes the target user terminal to analyze the first orientation information and the second orientation information sent back by the intermediate vehicle, and utilizes the relative distance and relative angle between the intermediate vehicles to calculate the target distance and target angle of the target vehicle relative to the target user terminal step by step, thereby realizing the positioning of the target vehicle.

[0097] In some optional implementations, the target user terminal displays the position of the target vehicle and the target distance and target angle of the target vehicle relative to the target user terminal. For example, in a mobile phone application, a Cartesian coordinate system can also be used to display the position of the vehicle from the user to the user, thereby improving the user experience.

[0098] In some optional embodiments, the target user terminal obtains an environmental map of the environment in which the target vehicle is located and the current location of the target user terminal, and generates and displays a navigation route based on the environmental map, the current location of the target user terminal and the location of the target vehicle, instructing the user to the parking location of the target vehicle, thereby facilitating the user to quickly find the target vehicle and improving the user experience.

[0099] Step S205 , when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are not the target vehicle, instruct the other intermediate vehicles to perform a vehicle search operation.

[0100] The vehicle search method provided in this embodiment utilizes the concept of transmission by multiple UWB devices. When the distance between the target vehicle and the target user terminal is too long and exceeds the UWB connection range of each other, consider searching for other available UWB devices between the two devices, and transmitting location data through the connection of multiple devices to locate the position of the target vehicle. Data transmission between UWB devices does not require network and GPS positioning. The present invention is not affected by the network environment and GPS signals, and can be used even in deeper underground parking lots. In the presence of other UWB devices, transmitting data through multiple devices can expand the scope of the user's vehicle search and increase the probability of successful vehicle search. In addition, wifi and Bluetooth technologies cannot accurately measure the distance and azimuth between devices, while UWB technology can achieve centimeter-level positioning accuracy, which is higher in positioning accuracy.

[0101] In this embodiment, a vehicle search system is also provided. Figure 4 As shown, the vehicle search system includes a target user terminal 401 and at least one intermediate vehicle 402, wherein signals are transmitted between the target user terminal 401 and the intermediate vehicle 402, and between each of the intermediate vehicles 402 via UWB.

[0102] The target user terminal 401 is used to send a vehicle search request for instructing to find a target vehicle;

[0103] The current intermediate vehicle 402 is used to send a pulse vehicle search signal for finding a target vehicle; wherein the current intermediate vehicle is any intermediate vehicle that performs a vehicle search operation, and the intermediate vehicle that performs the first vehicle search operation receives a vehicle search request from a target user terminal within its own UWB communication range; when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle 402 indicates that the other intermediate vehicles are the target vehicles, it is determined that the target vehicle is found; when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle 402 indicates that the other intermediate vehicles are not the target vehicles, the other intermediate vehicles are instructed to perform a vehicle search operation.

[0104] In some optional embodiments, the intermediate vehicle 402 is also used to:

[0105] Determine target identification information of the target vehicle;

[0106] The preset pulse signal is configured according to the target identity information to obtain a pulse vehicle search signal for finding the target vehicle; wherein the preset pulse signal is a UWB signal.

[0107] In some optional embodiments, the intermediate vehicle 402 is also used to:

[0108] Parsing the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle 402 to obtain the identity information of the other intermediate vehicles;

[0109] If it is detected that the identity information of other intermediate vehicles is consistent with the target identity information, it is determined that the target vehicle is found.

[0110] In some optional embodiments, the intermediate vehicle 402 is also used to:

[0111] According to the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle 402, first position information of other intermediate vehicles relative to the current intermediate vehicle 402 is obtained, and second position information transmitted back to the current intermediate vehicle 402 by other intermediate vehicles is received;

[0112] The first position information and the second position information are transmitted back to the intermediate vehicle or the target user terminal for instructing the current intermediate vehicle 402 to perform the vehicle search operation.

[0113] In some optional implementations, the target user terminal 401 is further configured to:

[0114] The first orientation information and the second orientation information sent back by the intermediate vehicle are parsed to obtain the target distance and target angle of the target vehicle relative to the target user terminal, and the position of the target vehicle is obtained according to the target distance and target angle.

[0115] In some optional implementations, the target user terminal 401 is further configured to display the position of the target vehicle and the target distance and target angle of the target vehicle relative to the target user terminal.

[0116] In some optional embodiments, the target user terminal 401 is also used to: obtain an environmental map of the environment in which the target vehicle is located and the current position of the target user terminal 401, and generate and display a navigation route based on the environmental map, the current position of the target user terminal and the position of the target vehicle.

[0117] The embodiment of the present invention further provides a target user terminal 401, see Figure 5 , Figure 5 is a schematic diagram of the structure of a target user terminal provided by an optional embodiment of the present invention, such as Figure 5As shown, the target user terminal includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the target user terminal, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0118] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0119] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0120] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the target user terminal, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the target user terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0121] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0122] The target user terminal also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0123] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the target user terminal, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device may be a touch screen.

[0124] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0125] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0126] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for finding a vehicle, characterized in that: Currently, the intermediate vehicle is performing a vehicle search operation. The vehicle search operations currently performed by the intermediate vehicle include: Sending a pulse vehicle search signal for finding a target vehicle; wherein the current intermediate vehicle is any intermediate vehicle performing a vehicle search operation, and the intermediate vehicle performing the first vehicle search operation receives a vehicle search request for instructing to find the target vehicle from a target user terminal located within its own UWB communication range; When the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are the target vehicles, determining that the target vehicle is found; When the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are not the target vehicle, the other intermediate vehicles are instructed to perform a vehicle search operation.

2. The method according to claim 1, characterized in that The vehicle search operations performed by the current intermediate vehicle also include: Obtaining first position information of other intermediate vehicles relative to the current intermediate vehicle according to return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle, and receiving second position information of the current intermediate vehicle returned by other intermediate vehicles; The first position information and the second position information are transmitted back to the intermediate vehicle or the target user terminal for instructing the current intermediate vehicle to perform a vehicle search operation.

3. The method according to claim 2, characterized in that The method further comprises: The target user terminal analyzes the first orientation information and the second orientation information sent back by the intermediate vehicle to obtain a target distance and a target angle of the target vehicle relative to the target user terminal, and obtains the position of the target vehicle based on the target distance and the target angle.

4. The method according to claim 3, characterized in that The method further comprises: The target user terminal displays the position of the target vehicle and the target distance and target angle of the target vehicle relative to the target user terminal.

5. The method according to claim 3, characterized in that: The method further comprises: The target user terminal obtains an environment map of the environment where the target vehicle is located and a current position of the target user terminal, and generates and displays a navigation route according to the environment map, the current position of the target user terminal and the position of the target vehicle.

6. The method according to any one of claims 1 to 5, characterized in that Before sending a pulse vehicle search signal for finding the target vehicle, the vehicle search operation performed by the current intermediate vehicle also includes: Determine target identification information of the target vehicle; The preset pulse signal is configured according to the target identity information to obtain a pulse vehicle search signal for finding the target vehicle; wherein the preset pulse signal is a UWB signal.

7. The method according to claim 6, characterized in that When the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicles are the target vehicles, determining that the target vehicle is found includes: Parse the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle to obtain the identity information of the other intermediate vehicles; If it is detected that the identity information of other intermediate vehicles is consistent with the target identity information, it is determined that the target vehicle is found.

8. A vehicle finding system, characterized in that: The vehicle search system includes a target user terminal and at least one intermediate vehicle; A target user terminal is used to send a vehicle search request for instructing to find a target vehicle; The current intermediate vehicle is used to send a pulse vehicle search signal for finding a target vehicle; wherein the current intermediate vehicle is any intermediate vehicle that performs a vehicle search operation, and the intermediate vehicle that performs the first vehicle search operation receives a vehicle search request from a target user terminal within its own UWB communication range; when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicle is the target vehicle, it is determined that the target vehicle is found; when the return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle indicates that the other intermediate vehicle is not the target vehicle, the other intermediate vehicles are instructed to perform a vehicle search operation.

9. The system according to claim 8, characterized in that Currently intermediate vehicles are also used for: Obtaining first position information of other intermediate vehicles relative to the current intermediate vehicle according to return information received from other intermediate vehicles within the UWB communication range of the current intermediate vehicle, and receiving second position information of the current intermediate vehicle returned by other intermediate vehicles; The first position information and the second position information are transmitted back to the intermediate vehicle or the target user terminal for instructing the current intermediate vehicle to perform a vehicle search operation.

10. The system according to claim 9, characterized in that The target user terminal is also used to: The first orientation information and the second orientation information sent back by the intermediate vehicle are parsed to obtain a target distance and a target angle of the target vehicle relative to the target user terminal, and the position of the target vehicle is obtained according to the target distance and the target angle.

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