A vehicle searching method, device, system, electronic device and storage medium

Abstract

The application discloses a car searching method, device, system, electronic equipment and storage medium. The car searching method is applied to a wearable device integrated with a first V2X module, and includes the following steps: when starting to search for a car, analyzing BSM information sent by a target vehicle through the first V2X module to obtain position information of the target vehicle, wherein the BSM information is sent by the target vehicle through a second V2X module integrated on the target vehicle after parking in a parking lot; obtaining real-time position information of the wearable device during the car searching process; obtaining real-time relative position information of the target vehicle relative to the wearable device based on the position information of the target vehicle and the real-time position information of the wearable device; and generating a car searching route for searching for the car based on the real-time relative position information, the real-time position information of the wearable device and a map of the parking lot that has been obtained. Through implementation of the application, intelligent car searching is realized, the user does not need to remember by himself, and the car searching efficiency is improved.

Description

Technical Field

[0001] This application generally relates to the field of communication technology. More specifically, this application relates to a vehicle locating method, apparatus, system, electronic device, and storage medium. Background Technology

[0002] With the increasing number of cars, finding one's car accurately and efficiently after parking in large parking lots such as those in shopping malls and office buildings has become a pressing issue. Traditional methods rely on users remembering their parking location, but this can be inefficient if the user's memory is confused, leading to difficulty in finding their vehicle.

[0003] In view of this, there is an urgent need to provide a vehicle locator, device, system, electronic device, and storage medium to achieve intelligent vehicle locator, eliminating the need for users to memorize information and improving vehicle locator efficiency. Summary of the Invention

[0004] In order to at least solve one or more of the technical problems mentioned above, this application proposes a vehicle-finding method, apparatus, system, electronic device, and storage medium in several aspects.

[0005] In a first aspect, this application provides a vehicle-finding method applied to a wearable device integrating a first V2X module; the method includes: upon initiating vehicle-finding, parsing BSM information received from a target vehicle via the first V2X module to obtain the target vehicle's location information; wherein the BSM information is sent by the target vehicle via a second V2X module integrated on it after parking in a parking lot; acquiring the wearable device's real-time location information during the vehicle-finding process; obtaining the target vehicle's real-time relative location information relative to the wearable device based on the target vehicle's location information and the wearable device's real-time location information; and generating a vehicle-finding route based on the real-time relative location information, the wearable device's real-time location information, and an obtained map of the parking lot.

[0006] In some embodiments, the wearable device further integrates a first UWB module; obtaining the real-time location information of the wearable device includes: sending a test signal to a pre-set UWB anchor point in the parking lot through the first UWB module, and recording a first time point t1 at which the test signal is sent; receiving a feedback signal sent by the UWB anchor point based on the test signal, and recording a fourth time point t4 at which the feedback signal is received; the feedback signal carries a second time point t2 at which the UWB anchor point receives the test signal and a third time point t3 at which the feedback signal is sent; calculating the signal flight time based on the first time point t1, the second time point t2, the third time point t3, and the fourth time point t4; obtaining the distance between the wearable device and the UWB anchor point based on the signal flight time; and obtaining the real-time location information of the wearable device based on the distance between the wearable device and the UWB anchor point.

[0007] In some embodiments, the wearable device further integrates an inertial measurement unit and an image acquisition device; the method further includes: acquiring measurement data from the inertial measurement unit and image data acquired by the image acquisition device during vehicle search; determining candidate location information of the wearable device based on the image data and the measurement data; and optimizing the real-time location information of the wearable device using a fused Kalman filter algorithm and the candidate location information to obtain optimized real-time location information of the wearable device.

[0008] In some embodiments, obtaining the real-time relative position information of the target vehicle relative to the wearable device based on the location information of the target vehicle and the real-time location information of the wearable device includes: calculating a position difference based on the location information of the target vehicle and the real-time location information of the wearable device; and converting the position difference to polar coordinates to obtain the real-time relative position information of the target vehicle relative to the wearable device.

[0009] In some embodiments, generating a vehicle-finding route based on the real-time relative position information, the real-time position information of the wearable device, and the obtained map of the parking lot includes: converting the real-time relative position information based on the image data to obtain the converted position information of the target vehicle; generating a virtual vehicle matching the target vehicle on the map of the parking lot based on the converted position information of the target vehicle and the model data of the target vehicle; and generating and displaying the vehicle-finding route based on the map of the parking lot with the generated virtual vehicle and the optimized real-time position information of the wearable device.

[0010] In some embodiments, the method further includes: when the distance value of the wearable device relative to the target vehicle is less than or equal to a first preset distance for a continuous preset time, and the heading angle of the wearable device relative to the target vehicle is less than or equal to a preset angle, controlling the setting light of the target vehicle to illuminate.

[0011] In some embodiments, the method further includes: when the distance between the wearable device and the target vehicle is less than or equal to a second preset distance, and the user wearing the wearable device intends to open the car door, sending an instruction to the target vehicle to instruct the opening of the car door, so that the target vehicle opens the car door after receiving the instruction to instruct the opening of the car door.

[0012] In a second aspect, this application provides a vehicle-finding device, comprising: the device being applied to a wearable device integrating a first V2X module; the method comprising: a vehicle location information acquisition module, configured to parse BSM information sent by a target vehicle received through the first V2X module to obtain the location information of the target vehicle when vehicle-finding begins; wherein the BSM information is sent by the target vehicle through a second V2X module integrated thereon after parking in a parking lot; a wearable device location information acquisition module, configured to acquire the real-time location information of the wearable device during vehicle-finding; a real-time relative location information acquisition module, configured to obtain the real-time relative location information of the target vehicle relative to the wearable device based on the location information of the target vehicle, the real-time location information of the wearable device, and the real-time location information of the wearable device; and a vehicle-finding route generation module, configured to generate a vehicle-finding route based on the real-time relative location information and an obtained map of the parking lot.

[0013] In a third aspect, this application provides a vehicle-finding system for locating vehicles in parking lots, wherein UWB anchor points are installed in the parking lots; comprising: a wearable device integrating a first UWB module and a first V2X module, and a target vehicle integrating a second UWB module and a second V2X module; wherein, during parking, the target vehicle interacts with the UWB anchor points through the second UWB module integrated on it to obtain the location information of the target vehicle; and the location information of the target vehicle is packaged into BSM information and sent to the wearable device through the second V2X module integrated on the target vehicle; the wearable device is used to perform the method as described in the first aspect or any of the embodiments of the first aspect.

[0014] In a fourth aspect, this application provides an electronic device comprising: a processor configured to execute program instructions; and a memory configured to store the program instructions, which, when loaded and executed by the processor, cause the processor to perform the method according to the first aspect or any of the embodiments of the first aspect.

[0015] In a fifth aspect, this application provides a computer-readable storage medium storing program instructions that, when loaded and executed by a processor, cause the processor to perform the method according to the first aspect or any of the embodiments of the first aspect.

[0016] By utilizing the vehicle-finding methods, devices, systems, electronic devices, and storage media provided above, this application embodiment integrates V2X communication technology and UWB high-precision positioning technology for vehicle finding. Through the interaction between wearable devices and target vehicles, parking infrastructure (i.e., UWB anchor points and roadside units, etc.), passive vehicle finding is transformed into active guided vehicle finding, achieving intelligent vehicle finding and improving vehicle finding efficiency. Furthermore, by parsing the BSM information received by the first V2X module of the wearable device, the precise location information of the target vehicle can be directly obtained, without being limited by network coverage. Attached Figure Description

[0017] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, and the same or corresponding reference numerals denote the same or corresponding parts, wherein:

[0018] Figure 1 An exemplary flowchart of a vehicle-finding method according to some embodiments of this application is shown; Figure 2 A specific example diagram of smart glasses according to some embodiments of this application is shown; Figure 3 A specific example diagram of a vehicle according to some embodiments of this application is shown; Figure 4 Exemplary structural block diagrams of vehicle-finding devices according to some embodiments of this application are shown; Figure 5 Exemplary structural block diagrams of vehicle-finding systems according to some embodiments of this application are shown; Figure 6 An exemplary structural block diagram of an electronic device according to some embodiments of this application is shown.

[0019] Explanation of reference numerals in the attached figures: First UWB antenna 11; First V2X antenna 12; Second UWB antenna 01; Second VAX antenna 02. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] It should be understood that the terms "comprising" and "including" used in the specification and claims of this application indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0022] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this specification and claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0023] As used in this specification and claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0024] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0025] Exemplary application scenarios With the increasing number of cars, finding their vehicles accurately and efficiently after parking in large parking lots such as shopping malls and office buildings has become an urgent problem to be solved.

[0026] There are many traditional methods for finding your car, including manually recording parking spaces, scanning QR codes, and using Wi-Fi / cell tower location services. However, each method has its own drawbacks: manually recording parking spaces relies on the user's memory, which is prone to confusion and forgetting, potentially leading to difficulty finding the vehicle and low efficiency. Wi-Fi / cell tower location services depend on network coverage, and cannot provide accurate guidance when the network signal is weak. Scanning QR codes also takes a significant amount of time, and in parking lots with unclear signage or obstructions, it's easy to get lost, further reducing efficiency.

[0027] In view of this, there is an urgent need to provide a vehicle-finding method that integrates V2X communication technology and UWB high-precision positioning technology. This method enables intelligent vehicle finding and improves vehicle-finding efficiency through interaction between wearable devices and target vehicles, parking lot infrastructure (i.e., UWB anchor points and roadside units, etc.).

[0028] Figure 1 An exemplary flowchart of a vehicle-finding method 100 according to some embodiments of this application is shown.

[0029] The aforementioned car-finding method 100 is applied to wearable devices, that is, using wearable devices to find cars in parking lots. It is understood that the wearable device here can be a portable device such as smart glasses or a smartwatch; this application embodiment does not specifically limit this, and this application embodiment only describes the wearable device as smart glasses as an example.

[0030] In this embodiment, the parking lot is equipped with UWB anchor points and roadside units (RSUs). Specifically, parking lots in large shopping malls typically have multiple levels, with each level deploying multiple UWB anchor points and roadside units (RSUs). These UWB anchor points and RSUs require power supply and network connectivity.

[0031] UWB (Ultra Wide Band) is a radio technology that uses extremely narrow pulses (typically on the nanosecond level) to conduct wireless communication over an extremely wide spectrum (typically greater than 500MHz). This technology utilizes low-power, low-complexity transceivers to achieve high-speed data transmission, featuring high data transmission rates (up to 1Gbit / s), strong resistance to multipath interference, low power consumption, low cost, strong penetration capability, low interception rate, and the ability to share spectrum with other existing wireless communication systems.

[0032] In this embodiment, the UWB anchor points are specifically set up with at least three per parking level for 2D / 3D positioning. These anchor points can be placed, for example, on the ceiling or beams of the parking lot to ensure unobstructed visibility, ease of positioning, and high positioning accuracy. Simultaneously, the UWB anchor points need to be 3-5 meters above the ground (the exact distance can be determined based on the height of the parking lot) to avoid obstruction by people and vehicles and reduce multipath reflection interference.

[0033] As one specific implementation of this application, when the number of UWB anchor points is 3, they can be deployed in a triangular layout on the ceiling of a parking lot.

[0034] In this embodiment of the application, a coordinate system is established in the parking lot. Specifically, the coordinate system is established with a fixed corner point of the parking lot (e.g., the southwest corner) as the origin. Based on this, each UWB anchor point in the parking lot has an independent ID and known coordinates (denoted as anchor point A (x1, y1, z1), anchor point B (x2, y2, z2), and anchor point C (x3, y3, z3)).

[0035] The aforementioned RSUs can be installed in key locations within the parking lot, such as at the entrance and exit gates, ensuring that vehicles can access the network immediately upon entering the parking lot to obtain information about the parking lot, available parking spaces, and system commands. Of course, RSUs can also be installed at major intersections, curves, and ramp start and end points to expand coverage and broadcast real-time traffic conditions, dynamic routes, and potential risk information.

[0036] Figure 2 A specific example diagram of smart glasses according to some embodiments of this application is shown.

[0037] like Figure 2 As shown, the aforementioned smart glasses integrate a first V2X module and a first UWB module. The first UWB module is an ultra-wideband positioning module integrated into the wearable device. It can be a UWB module conforming to the IEEE 802.15.4a standard, such as Decawave's DW1000 series or Qorvo's UWB chip. It is used for bilateral, bidirectional ranging with UWB anchor points in the parking lot, providing a foundation for the wearable device's positioning.

[0038] In this embodiment, the first UWB module has a corresponding UWB antenna (denoted as the first UWB antenna 11), which can be, for example, set on one of the temples of the smart glasses (e.g. Figure 2 (in the left temple of the mirror).

[0039] The first V2X module mentioned above is a vehicle-to-everything (V2X) communication module integrated into the wearable device. It can be selected from communication modules that support the V2X protocol, such as Autotalks' CRATON2 chipset or Qualcomm 9150 C-V2X chipset. It is used to directly communicate with the second V2X module integrated on the target vehicle, receiving the Basic Safety Message (BSM) sent by the target vehicle. It features low latency and does not rely on cellular networks (communication is achieved through the PC5 interface).

[0040] Regarding the target vehicle and BSM message, the following examples illustrate this, and will not be repeated here.

[0041] In this embodiment, there is a corresponding V2X antenna (denoted as the first V2X antenna 12), which can be, for example, set on another temple of the smart glasses (e.g., Figure 2 (The right temple of the mirror)

[0042] Of course, the first UWB antenna 11 and the first V2X antenna 12 can also be disposed at the frame of the smart glasses. In this embodiment, the placement of the first UWB antenna 11 and the first V2X antenna 12 is not specifically limited and can be determined according to actual needs.

[0043] In specific configuration, both the first UWB antenna 11 and the first V2X antenna 12 are positioned close to the temple shell of the smart glasses, maintaining a certain distance (e.g., more than 15mm) from the head of the user wearing the smart glasses, thereby reducing the impact of antenna radiation on the human body.

[0044] Understandably, the spacing between the first UWB antenna 11 and the first V2X antenna 12 is greater than λ / 4 (where λ is the wavelength of the multi-band wireless signal at its lowest frequency). This prevents mutual coupling between the first UWB antenna 11 and the first V2X antenna 12, ensuring the uplink and downlink speeds of the signal. Simultaneously, the design of both the first UWB antenna 11 and the first V2X antenna 12 must consider the omnidirectionality of the radiation pattern to ensure communication stability of the smart glasses device in all directions.

[0045] It should be noted that, in order to meet the current demand for lightweight and miniaturized wearable devices, the aforementioned first UWB antenna 11 and first V2X antenna 12 also need to be miniaturized.

[0046] V2X (Vehicle-to-Everything) is a communication technology that allows vehicles to exchange data with their surroundings, including but not limited to communication between vehicles (V2V), between vehicles and pedestrians (V2P), between vehicles and road infrastructure (V2I), and between vehicles and networks (V2N). V2X operates in the 5905MHz~5925MHz frequency band. In the parking lot car-finding scenario described below, the core role of V2X is to establish a low-latency, highly reliable "proactive information push" channel from the vehicle to wearable devices.

[0047] The first UWB antenna 11 mentioned above needs to be designed as a wideband antenna, and the first V2X antenna 12 needs to support 5.8 / 5.9 GHz. The antenna types of the first UWB antenna 11 and the first V2X antenna 12 can be on-board antennas or FPC antennas, etc., and this application embodiment does not specifically limit them.

[0048] Of course, in addition to the first V2X module and the first UWB module mentioned above, the wearable device also integrates a processing unit, a display module, a camera, and various sensors.

[0049] The following is combined with Figure 3 A specific example diagram of the target vehicle is shown to describe the target vehicle.

[0050] like Figure 3 As shown, the target vehicle integrates a second UWB module, a second V2X module, a processor, a controller, etc. In this embodiment, the aforementioned second UWB module is an ultra-wideband positioning module integrated in the target vehicle, which can be a UWB module conforming to the IEEE 802.15.4a standard, such as Decawave's DW1000 series or Qorvo's UWB chip. It is used for bilateral bidirectional ranging with UWB anchor points in the parking lot.

[0051] In this embodiment, the aforementioned second UWB module has multiple (e.g., four) second UWB antennas 01, which are respectively installed at the front and rear bumpers and left and right rearview mirrors of the target vehicle to obtain more accurate positioning and attitude. The four second UWB antennas 01 can be connected to the processor of the target vehicle via radio frequency cables or an in-vehicle network to excite the second UWB antennas 01.

[0052] The second V2X module mentioned above is a vehicle-to-everything (V2X) communication module integrated in the target vehicle. It can be selected from communication modules that support the V2X protocol, such as the Autotalks CRATON2 chipset or the Qualcomm 9150 C-V2X chipset. It is used for direct communication with the first V2X module.

[0053] In this embodiment, the aforementioned second V2X module has multiple (e.g., two) second V2X antennas 02, all of which are installed on the roof of the target vehicle. To effectively prevent mutual coupling between two second V2X antennas 02, the distance between two second V2X antennas 02 is set to be greater than λ / 4.

[0054] like Figure 1 As shown, the above-mentioned vehicle locating method 100 includes: Step S110: When starting the vehicle locating process, the BSM information sent by the target vehicle received through the first V2X module is parsed to obtain the location information of the target vehicle; wherein, the BSM information is sent by the target vehicle through the second V2X module integrated on it after parking in the parking lot; Step S120: During the vehicle locating process, the real-time location information of the wearable device is obtained; Step S130: Based on the location information of the target vehicle and the real-time location information of the wearable device, the real-time relative position information of the target vehicle relative to the wearable device is obtained; Step S140: Based on the real-time relative position information, the real-time location information of the wearable device, and the obtained parking lot map, a vehicle locating route is generated for vehicle locating.

[0055] For example, in step S110 above, starting the car search (i.e., entering the car search mode) can be actively triggered by the user wearing the wearable device. For instance, it can be activated via voice command, where the user says a preset keyword (e.g., "Hey glasses, navigate to the parking lot"), and the smart glasses' voice assistant recognizes it and directly triggers the car search. Another example is activation via gesture command, where the user makes a specific gesture (e.g., the user draws a "C" in the air), and the smart glasses' camera and inertial measurement unit (IMU) recognize it and trigger the car search. Yet another example is activation via a physical / virtual button, where clicking a physical button on the smart glasses or clicking a virtual "car search" button on an app on a smart terminal (e.g., a smartphone) connected to the smart glasses can also trigger the car search.

[0056] It should be noted that the above-mentioned methods for triggering the vehicle search are merely examples and are not intended to limit this application. Other reasonable triggering methods are within the scope of protection of this application.

[0057] In this embodiment, the BSM information in step S110 is sent by the target vehicle through its integrated second V2X module after parking in the parking lot. Here, BSM is a core message type in V2X communication. Specifically, it conforms to the SAE J2735 standard and can include the target vehicle's location information, movement status, vehicle identification, timestamp, etc. In conventional communication architectures, BSM information is typically broadcast via a dedicated secure channel (Control Channel, CCH) to ensure low latency and high reliability.

[0058] The parking process of the target vehicle is described below: First, when the target vehicle's speed is lower than the set speed (e.g., 15 km / h) for a set time (e.g., 30 seconds) and / or navigation ends, the target vehicle enters parking mode. At this time, the second UWB module (i.e., configuring the signal, pulse repetition frequency, etc.) and the second V2X module (i.e., configuring the target vehicle's ID, communication frequency band, etc.) are initialized.

[0059] It should be noted that the initialization processes of the second UWB module and the second V2X module do not affect each other. The second UWB module and the second V2X module can be initialized simultaneously, or they can be initialized separately to avoid the target vehicle being overloaded at the same time (for example, the second UWB module is initialized first, and then the second V2X module is initialized).

[0060] Then, the four second UWB antennas 01 of the target vehicle are connected to three UWB anchor points in the parking lot, respectively, to achieve bilateral two-way ranging. The ranging method is the same as that of the wearable device shown in the following embodiment.

[0061] Specifically, the target vehicle's controller, according to a pre-set timing schedule, controls the four second UWB antennas 01 to take turns and time-divisionally complete a standard ranging session with each UWB anchor point, avoiding mutual interference.

[0062] In this embodiment, the three UWB anchor points in the parking lot maintain nanosecond-level time synchronization through a wired network, forming a unified network. However, the network between the target vehicle and the UWB anchor points is asynchronous. Therefore, a bilateral bidirectional ranging method is used for ranging, that is, by exchanging information two or three times between the two devices, the error caused by the asynchrony between the two sides is eliminated, thereby improving the ranging accuracy.

[0063] Specifically, taking one of the target vehicle's second UWB antennas 01 (denoted as 001) and one of the parking lot's UWB anchor points (A) as an example, 001 sends a test signal to A and records the transmission time T1. A records the time T2 when the test signal sent by 001 arrives at A. A then sends a feedback signal to 001 and records the transmission time T.3， Record the time T4 when the feedback signal sent by A arrives at 001. Then, calculate the time of flight (TOF) of the signal from 001 based on T1, T2, T3, and T4. a1 ).

[0064] The Time of Flight (TOF) technique is a method for calculating distance or analyzing target parameters by measuring the time it takes for a signal (e.g., light, ultrasound, or radio waves) to travel through a medium. It determines distance by knowing the speed of signal propagation (e.g., the speed of light) and accurately measuring the round-trip time. It is suitable for line-of-sight environments, has strong anti-interference capabilities, and its measurement error remains essentially constant within a certain range, making it suitable for long-distance applications.

[0065] Specifically, the time-of-flight (TOF) of the 001 signal a1 =[(T4-T1)-(T3-T2)] / 4, where (T4-T1) is the total time taken for the target vehicle to achieve bilateral two-way ranging between 001 and A, and (T3-T2) is the processing delay of A in processing and responding. After subtracting, the influence of A's data processing time is eliminated. What remains is the total flight time of the test signal emitted by 001 on the two round-trip paths. Dividing by 4 gives the one-way flight time (TOF). a1 .

[0066] The time of flight (TOF) after receiving the 001 signal a1 Then, the distance between 001 and A is calculated (denoted as d). a1 ),Right now d a1 =TOF a1 × speed of light.

[0067] Similarly, the distance d between the four second UWB antennas of the target vehicle and the three UWB anchor points in the parking lot can be obtained. a1 d b1 d c1 d a2 d b2 d c2 d a3 d b3 d c3 d a4 d b4 d c4 .

[0068] In practical use, due to the presence of obstacles such as walls and other vehicles between the target vehicle and the UWB anchor point, the signal may have a long flight time during transmission, resulting in the calculated distance being farther than the actual distance. Therefore, while measuring the distance between the second UWB antenna and the UWB anchor point, the direction angle (AOA) of the signal can also be estimated to provide directional constraints, eliminate distance ambiguity, correct the accuracy of the distance, and achieve more precise positioning.

[0069] Specifically, when A sends an electrical signal (i.e., the aforementioned feedback signal) and it arrives at one of the four second UWB antennas 01 (denoted as 001~004) of the target vehicle at a certain angle, the signal arrives at different antennas sequentially. This tiny path difference Δd is converted into a phase difference Δ of the signal received by the second UWB antenna. φ Its calculation formula is: Δ φ =2π×Δd / λ.

[0070] Specifically, calibration is first performed to eliminate fixed phase deviations caused by differences in the antenna itself, RF circuitry, and cable lengths. Secondly, using one of the target vehicle's second UWB antennas 01 (e.g., 001) as a reference, the phase difference Δ between it and the other three second UWB antennas 01 (i.e., 002, 003, and 004) is calculated. φ12 Δ φ13 Δ φ14 Finally, Δ is analyzed using algorithms such as the least squares method. φ12 Δ φ13 Δ φ14 Calculations are performed to determine the optimal direction vector of the target vehicle pointing towards anchor point A, including the horizontal angle α and the pitch angle β. For any anchor point, the target vehicle knows not only its distance from it... d It also knows the direction vector from the target vehicle to the anchor point. α , β ), which is the direction angle.

[0071] When correcting the distance based on the orientation angle, obvious distance errors, random errors, and random mutations can be eliminated through spatial geometry verification, multi-antenna fusion, and dynamic trajectory smoothing, so as to select the effective distance value d.

[0072] Based on the distance value d obtained above a1 d b1 d c1 d a2 d b2 d c2 d a3 d b3 d c3 d a4 d b4d c4 Calculate the distance from the center position of the target vehicle to the three anchor points (denoted as ). d 1, d 2, d 3), that is:

[0073] Then, combining the coordinates of the three anchor points in the parking lot coordinate system, namely (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), solve the system of equations:

[0074] Obtain the position (x0, y0, z0) of the center point of the target vehicle during the parking process.

[0075] When the target vehicle approaches the parking space, the Kalman filter algorithm is used to smooth the continuous positioning results to reduce noise and obtain high-precision location information (x) of the target vehicle. v y v , z v ).

[0076] Specifically, from the moment the target vehicle starts parking until it reaches its parking space, each measurement yields the coordinates (x0, y0, z0) of the target vehicle's center point. As the data increases, the uncertainty of the state estimation using the Kalman filter algorithm continuously decreases, meaning the Kalman filter's estimate becomes increasingly accurate. A single distance measurement may experience a jump due to multipath reflection. Because the Kalman filter algorithm has a high confidence level in the current state, the calculated Kalman gain K will be very small, making the impact of this anomalous observation on the final update result very limited, thus smoothing the trajectory. When the target vehicle comes to a complete stop, the Kalman filter algorithm predicts that the UWB observation (i.e., (x0, y0, z0)) no longer changes the vehicle's positioning. At this point, the state vector of the Kalman filter algorithm will converge to a stable value. This stable value is the final high-precision parking position (x0, y0, z0) after global trajectory smoothing and noise suppression. v y v , z v ).

[0077] At this point, the target vehicle can encapsulate its location information, parking direction information (e.g., the direction of the front and rear of the vehicle), time, etc., according to the V2X message standard to obtain BSM information. Then, the second VAX module sends the BSM information directly to the first V2X module of the wearable device through the PC5 interface. Using the above transmission method, the latency is low and it does not depend on the network infrastructure, avoiding the impact of poor signal of the parking lot network infrastructure.

[0078] In this embodiment, the PC5 interface is a direct-connect communication interface, specifically designed for short-range direct communication between terminal devices, including communication between vehicles, people, and road infrastructure. It features low latency, high capacity, and high reliability, enabling communication between terminal devices through direct connection, broadcasting, and network scheduling. It is not limited by network coverage and can perform V2X communication regardless of the presence or absence of a cellular network.

[0079] In this embodiment, to enhance transmission security, the BSM information can be transmitted in encrypted form. For example, public-key cryptography can be used, where the target vehicle and the wearable device share a symmetric key; alternatively, asymmetric encryption can be used, where the wearable device encrypts using the target vehicle's public key, and the target vehicle decrypts and replies using its private key. This embodiment does not specifically limit the encryption method; it can be determined based on the actual situation.

[0080] In step S110 above, when the wearable device starts searching for the vehicle, it parses the BSM information received during the parking phase to obtain the location information of the target vehicle, i.e., the aforementioned (x v y v , z v ).

[0081] For example, in step S120 above, the real-time location information of the wearable device refers to the real-time coordinates of the wearable device in the above-mentioned parking lot coordinate system (denoted as (x...). g y g , z g For specific acquisition methods, please refer to the above-mentioned method for determining the target vehicle. These methods will not be repeated here. The following examples illustrate this, and will not be repeated here.

[0082] For example, the real-time relative position information in step S130 refers to the spatial position relationship between the target vehicle and the wearable device during the movement of the wearable device. It may include, but is not limited to, distance value, horizontal direction angle, vertical pitch angle, etc., and can be represented in the form of polar coordinate system.

[0083] Specifically, first based on the location information of the target vehicle (x v y v , z v ) and real-time location information of wearable devices (x g y g , z g ) Calculate the position difference (denoted as ( d x , d y , d z )),Right now( d x ,d y , d z )=( x v - x g , y v - y g , z v - z g Then, the position difference is converted to polar coordinates to obtain the real-time relative position information of the target vehicle relative to the wearable device (denoted as ). ),in, Indicates the distance value; Indicates the horizontal direction angle; Indicates the vertical pitch angle.

[0084] For example, the parking lot map in step S140 above includes walkable areas of the parking lot (e.g., passageways, stairs, elevators, etc.), obstacles (e.g., walls, pillars, parking space boundaries, etc.), floor information, UWB anchor point distribution, etc. It can be obtained by the target vehicle from the RSU and then synchronized to the wearable device, or it can be obtained directly by the wearable device through the network.

[0085] When the parking lot map is obtained from the RSU by the target vehicle and then synchronized to the wearable device, after the target vehicle parks in the parking space, it establishes a connection with the RSU deployed in the parking lot through the second V2X module, obtains the parking lot map from the RSU and synchronizes it to the wearable device (the wearable device and the target vehicle are always in communication).

[0086] Specifically, after a target vehicle parks in the parking lot, its second V2X module periodically broadcasts messages on the 5.9GHz intelligent transportation dedicated frequency band. The RSU continuously monitors this frequency band, and upon receiving a discovery message, it unicasts a reply message to the target vehicle. The target vehicle's second V2X module uses its pre-installed digital certificate to digitally sign an "access request" message and sends it to the RSU to verify the target vehicle's legitimate identity. Upon receiving the access request, the RSU verifies the validity of the certificate (whether it was issued by a trusted root certificate authority) and the validity of the signature, ensuring that only legitimate vehicles can access the parking lot. After successful verification, the RSU sends an "access response" to the target vehicle, confirming that the target vehicle has successfully accessed the parking lot, and may assign it a temporary local session ID, allowing the target vehicle to access a designated cloud server via its 4G / 5G cellular network to efficiently download complete high-precision map information of the parking lot.

[0087] For example, the aforementioned car-finding route can be displayed on the screen of a wearable device. Specifically, the AR engine integrated in the wearable device processes real-time relative position information, the wearable device's real-time location information, and the obtained parking lot map to obtain the car-finding route.

[0088] In this embodiment, a vehicle-finding route is generated based on real-time relative location information, real-time location information of a wearable device, and an existing parking lot map. Specifically, this can be achieved by: converting the real-time relative location information based on the wearable device's real-time location information to obtain the converted location information of the target vehicle; generating a virtual vehicle matching the target vehicle on the parking lot map based on the converted location information and model data of the target vehicle; and generating and displaying the vehicle-finding route based on the parking lot map with the generated virtual vehicle and the optimized real-time location information of the wearable device.

[0089] For example, the AR engine of the wearable device uses the wearable device's real-time 6-DOF pose (i.e., image data from SLAM) to perform coordinate transformation on the real-time relative position information, converting the real-time relative position information from the parking lot coordinate system to the wearable device coordinate system, to obtain the transformed position information of the target vehicle (denoted as X_car_world, Y_car_world, Z_car_world). This transformed position information of the target vehicle remains unchanged. The specific transformation process is a conventional algorithm, which can be found in relevant documentation and will not be elaborated here.

[0090] In this embodiment of the application, the wearable device coordinate system refers to a three-dimensional coordinate system established with the wearable device as the center point.

[0091] For example, the aforementioned target vehicle model data refers to a simplified 3D model containing the target vehicle's color, model number, and appearance features. This model can be pre-configured in a wearable device or obtained from the target vehicle via a first V2X module, used to generate a virtual vehicle matching the real target vehicle in the AR interface (i.e., on a map of the parking lot).

[0092] In this embodiment, a virtual vehicle matching the real target vehicle can be generated at the converted location information of the target vehicle on the parking lot map. Then, the AR engine generates and displays a 3D path light strip or a series of footprint arrows (i.e., a vehicle-finding route) on the parking lot map based on the location of the virtual vehicle, the real-time location information of the wearable device, and the walkable area of ​​the parking lot map.

[0093] In this embodiment, the AR engine also performs visual encoding, meaning the size, color, or transparency of virtual objects dynamically changes with distance. For example, a vehicle model in the distance is small and semi-transparent, gradually becoming larger and more solid as it gets closer. The AR engine also provides status prompts; when the user's gaze is fixed on the vehicle, the virtual vehicle may highlight and flash or display a "Found" label.

[0094] This application embodiment integrates V2X communication technology and UWB high-precision positioning technology for vehicle location. Through the interaction between wearable devices and target vehicles and parking infrastructure (i.e., UWB anchor points and roadside units, etc.), passive vehicle location is transformed into active guided vehicle location, realizing intelligent vehicle location and improving vehicle location efficiency. Furthermore, by parsing the BSM information received by the first V2X module of the wearable device, the precise location information of the target vehicle can be directly obtained, without being limited by network coverage.

[0095] As an optional embodiment of this application, step S120 above, obtaining the real-time location information of the wearable device, includes: sending a test signal to a UWB anchor point set up in the parking lot through the first UWB module, and recording the first time point t1 of sending the test signal; receiving a feedback signal sent by the UWB anchor point based on the test signal, and recording the fourth time point t4 of receiving the feedback signal; the feedback signal carries the second time point t2 of receiving the test signal by the UWB anchor point and the third time point t3 of sending the feedback signal; calculating the signal flight time based on the first time point t1, the second time point t2, the third time point t3 and the fourth time point t4; obtaining the distance between the wearable device and the UWB anchor point based on the signal flight time; and obtaining the real-time location information of the wearable device based on the distance between the wearable device and the UWB anchor point.

[0096] For example, the first UWB antenna of the wearable device is connected to three UWB anchor points in the parking lot to achieve bilateral two-way ranging.

[0097] In practice, the wearable device's controller controls the first UWB antenna to complete a standard ranging session with each UWB anchor point in a time-sharing manner to avoid mutual interference.

[0098] Specifically, taking the first UWB antenna of the wearable device and one of the UWB anchor points (A) in the parking lot as an example, the first UWB antenna sends a test signal to A and records the transmission time t1. A records the time t2 when the test signal sent by the first UWB antenna arrives at A. A then sends a feedback signal to the first UWB antenna and records the transmission time t3. The first UWB antenna records the time t4 when the feedback signal sent by A arrives at the first UWB antenna. Then, based on t1, t2, t3, and t4, the signal flight time of the first UWB antenna (denoted as TOFa) is calculated.

[0099] Specifically, the time-of-flight (TOF) of the signal from the first UWB antenna a =[(t4-t1)-(t3-t2)] / 4, where (t4-t1) is the total time taken for the wearable device to sense the first UWB antenna and A to achieve bilateral two-way ranging, and (t3-t2) is the processing delay of A in processing and responding. After subtracting, the influence of A's data processing time is eliminated. What remains is the total flight time of the test signal emitted by the first UWB antenna on the two round-trip paths. Dividing by 4 gives the one-way flight time TOF. a .

[0100] Time of flight (TOF) of the signal from the first UWB antenna a Then, the distance between the first UWB antenna and A is calculated (denoted as d). a ), that is, d a =TOFa × speed of light.

[0101] Similarly, the distance d between the first UWB antenna of the wearable device and the three UWB anchor points in the parking lot can be obtained. a d b d c .

[0102] Then, combining the coordinates of the three anchor points in the parking lot coordinate system, namely (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), solve the system of equations:

[0103] Obtain the real-time location information of the wearable device (x g y g , z g ).

[0104] As an optional embodiment of this application, during the process of a user wearing a wearable device to find a vehicle, the position of the wearable device is constantly changing, and the real-time relative position of the target vehicle with respect to the wearable device is also constantly changing. Therefore, in this embodiment of the application, a fused Kalman filter algorithm can also be used to fuse the position information of the target vehicle, the visual SLAM relative displacement of the wearable device itself (i.e., the motion displacement of the wearable device itself estimated by the image acquisition device), and the measurement data of the inertial measurement unit (i.e., angular velocity and acceleration), to ensure that even in a complex multipath environment, the real-time position of the wearable device as it moves continuously during the vehicle search process can be obtained.

[0105] In this embodiment, the aforementioned fusion Kalman filter algorithm is an optimization algorithm for multi-sensor data fusion. That is, by establishing a state prediction model and a dynamic observation update mechanism, the weights of each sensor data are dynamically adjusted to suppress measurement noise and outliers, and output more accurate and smooth real-time location information of wearable devices.

[0106] Specifically, the wearable device also integrates an inertial measurement unit and an image acquisition device; the vehicle-finding method 100 further includes: acquiring measurement data from the inertial measurement unit and image data acquired by the image acquisition device during the vehicle-finding process; determining candidate position information of the wearable device based on the image data and measurement data; and optimizing the real-time position information of the wearable device using a fused Kalman filter algorithm and the candidate position information to obtain optimized real-time position information of the wearable device.

[0107] For example, the aforementioned inertial measurement unit is a high-frequency motion sensing module in a wearable device, capable of collecting measurement data such as angular velocity and acceleration of the wearable device. The image acquisition device is a miniature camera in the wearable device, used to acquire continuous image sequences during the movement of the wearable device, and in conjunction with visual SLAM technology to achieve environmental perception and self-displacement estimation.

[0108] Here, visual SLAM is applied to wearable devices, enabling them to perceive their own position in unknown environments in real time and build a map of the surrounding environment, thereby realizing functions such as augmented reality (AR) interaction, spatial awareness, and navigation. Its core is to use image acquisition devices to collect continuous image sequences, and to estimate the motion trajectory of the wearable device through algorithms, while simultaneously constructing a 3D map of the environment.

[0109] In this embodiment, a state vector X can be defined first: X = [x, y, z, θ_x, θ_y, θ_z, v_x, v_y, v_z, b_ω, b_a]^T. Here, x, y, and z represent the position information of the wearable device in the parking lot coordinate system; θ_x, θ_y, and θ_z represent the attitude of the wearable device; v_x, v_y, and v_z represent the moving speed of the wearable device; b_ω represents the gyroscope zero bias in the IMU; and b_a represents the accelerometer zero bias in the IMU.

[0110] When starting the vehicle search, the wearable device assigns a value to the state vector X based on the initial position information and the initial pose of the wearable device calculated by visual SLAM. During the vehicle search process, image data acquired by the image acquisition device and measurement data acquired by the IMU in real time are obtained. Then, candidate location information of the wearable device is determined based on the image data and measurement data. Specifically, the measurement data is used as a reference, and the image data is used to correct the measurement data (for example, if the measurement data calculates that the wearable device has moved 2.1m, but the image data determines that the wearable device has moved 2m, then 2m is taken as the distance the wearable device has moved), to obtain more accurate candidate location information of the wearable device.

[0111] Based on this, continuous and smooth state prediction can be provided during the movement of wearable devices, and short-term positioning can be calculated even when the wearable device is temporarily stationary.

[0112] As for how to calculate the candidate location information of wearable devices based on IMU measurement data, it is a conventional method, which can be found in the relevant literature and will not be elaborated here.

[0113] Then, the real-time location information of the wearable device is optimized using a fused Kalman filter algorithm and candidate location information to obtain the optimized real-time location information. Specifically, the UWB observation data (i.e., the real-time location information of the wearable device) is first scored. If its quality is high, it is assigned a higher weight (i.e., a smaller value is assigned to its corresponding observation noise covariance matrix R_uwb). Conversely, if its quality is poor (e.g., it is occluded), it is assigned a lower weight (i.e., R_uwb is increased) to prevent erroneous data from skewing the overall positioning. Next, the visual SLAM data is scored. When the visual SLAM observes reliable relative displacement data of the wearable device itself, it is assigned a moderate weight R_slam to provide stable local relative motion constraints. When the visual SLAM data quality is low, its weight R_slam is reduced. Finally, the dynamically calculated R_uwb and R_slam are substituted into the Kalman gain formula to automatically calculate the adaptive Kalman gain K, which tends to trust the sensor with higher current quality. The standard Kalman update formula is applied to fuse the real-time location information and candidate location information of the wearable device to obtain the optimized real-time location information of the wearable device, which can more accurately obtain the real-time location of the wearable device as it moves continuously during the vehicle search process.

[0114] During the user's car search process, when the wearable device (i.e. the user) approaches the vehicle, the wearable device controls the target vehicle's designated lights to light up, realizing the target vehicle's "proactive welcome," which can further enhance the user experience and vehicle recognition.

[0115] Specifically, as an optional embodiment of this application, the above-mentioned vehicle finding method 100 further includes: when the distance value of the wearable device relative to the target vehicle is less than or equal to a first set distance for a continuous set time, and the heading angle of the wearable device relative to the target vehicle is less than or equal to a set angle, controlling the target vehicle's setting light to illuminate.

[0116] For example, the aforementioned set time is a pre-set time threshold used to trigger the target vehicle's setting light to illuminate. In this embodiment, the time threshold can be any reasonable time threshold, such as 15s, 18s, etc., and this embodiment does not specifically limit the set time.

[0117] In this embodiment, the first set distance is a pre-set distance threshold used to trigger the target vehicle's set light to illuminate. In this embodiment, the first set distance can be any reasonable distance threshold, such as 5m, 8m, etc. This embodiment does not specifically limit the first set distance.

[0118] In this embodiment, the distance value of the wearable device relative to the target vehicle can be determined by the distance value in the real-time relative position information of the target vehicle relative to the wearable device mentioned in the above embodiment. That is, the distance value in the real-time relative position information of the target vehicle relative to the wearable device is the distance value of the wearable device relative to the target vehicle.

[0119] The aforementioned heading angle refers to the orientation angle of the wearable device in the horizontal plane, used to determine whether the wearable device is facing the target vehicle. The aforementioned set angle is a pre-set angle threshold used to trigger the target vehicle's indicator light to illuminate. In this embodiment, the aforementioned set angle can be any reasonable angle threshold, such as 30°, 15°, etc., and this embodiment does not specifically limit the set angle.

[0120] Specifically, when calculating the heading angle, the angle between the target vehicle's coordinates and one of the coordinate axes can be used as the heading angle in the wearable device's coordinate system. When the heading angle is less than or equal to the device angle, the wearable device is considered to be pointing towards the target vehicle.

[0121] When the distance between the wearable device and the target vehicle is less than or equal to a first set distance for a continuous set time, and the heading angle of the wearable device relative to the target vehicle is less than or equal to a set angle, the set light of the target vehicle will be lit to ensure that the light is lit only for authorized users walking towards the target vehicle, thereby preventing other users from accidentally triggering the light when they approach, and increasing security.

[0122] For example, the aforementioned setting light may include at least one of daytime running lights, position lights, door handle lights, etc., and the aforementioned setting light may be illuminated according to a set mode, such as illuminating at a set frequency, etc.

[0123] As a specific implementation of this application, when the distance between the wearable device and the target vehicle is less than or equal to 5m for 15 consecutive seconds (i.e., the user enters within 5m of the car), and the heading angle of the wearable device relative to the vehicle is less than or equal to 15°, a control command is sent to the controller of the target vehicle (i.e., the Body Domain Controller, BDC) to control at least one of the target vehicle's daytime running lights, position lights, door handle lights, etc., to be lit in a set mode, providing clear visual guidance in dimly lit parking lots and solving the problem of not being able to find a parking space at close range.

[0124] In addition to the aforementioned proactive greeting function, wearable devices can also function as electronic keys to automatically unlock the car doors without user intervention. Details are as follows: As an optional embodiment of this application, the above-mentioned vehicle finding method 100 further includes: when the distance value of the wearable device relative to the target vehicle is less than or equal to a second preset distance, and the user wearing the wearable device intends to open the car door, sending an instruction to the target vehicle to instruct the opening of the car door, so that the target vehicle opens the car door after receiving the instruction to instruct the opening of the car door.

[0125] For example, the aforementioned second set distance is a pre-set distance threshold used to trigger the automatic unlocking function of the target vehicle. The aforementioned second set distance can be any reasonable distance threshold, such as 2m, 1m, etc., and this application embodiment does not specifically limit the second set distance.

[0126] In this embodiment of the application, the aforementioned intention to open the car door can refer to the user's desire to unlock the vehicle by setting an action or state after approaching the vehicle. It can be determined by at least one method, such as UWB signal phase change (e.g., signal strength change when the user approaches the car door), attitude data collected by the inertial measurement unit (e.g., acceleration change corresponding to the user's reaching out action), image data collected by the image acquisition device (e.g., the user's hand on the door handle in the image).

[0127] As a specific implementation of this application, when the distance between the wearable device and the target vehicle is less than or equal to 2m, and the user wearing the wearable device intends to open the car door, the wearable device sends a command to the second V2X module of the target vehicle through the first V2X module to instruct the user to open the car door. After receiving the command to instruct the user to open the car door, the target vehicle opens the car door, and the user can unlock the car automatically without having to manually take out the key or operate the smartphone, thus avoiding the cumbersome process of the user manually taking out the key or operating the smartphone.

[0128] The instruction to open the car door can be transmitted in encrypted form. The encryption method can be symmetric encryption, asymmetric encryption, etc. This application does not specifically limit this.

[0129] Of course, after the target vehicle receives the instruction to open the door, the car system can also perform a relay attack protection authentication, that is, by physically measuring the time of flight of the radio signal to ensure that the wearable device is indeed located near the target vehicle, further improving security.

[0130] After successful authentication, the system controls the door locks of the target vehicle to perform automatic unlocking, while providing feedback to the user on the automatic door opening (e.g., the door handle flashes or the door emits a prompt sound) to promptly inform the user that the door has been unlocked.

[0131] In this embodiment, a pressure sensor may be installed under the seat of the target vehicle, and an image acquisition device may be installed inside the vehicle. After the door automatically unlocks, the image acquisition device, under the premise of privacy compliance, identifies an authorized user in the driver's seat, or the pressure sensor detects someone sitting in the driver's seat, or the door opening and closing sequence changes in the target vehicle, etc., and assumes that the user has entered the vehicle. At this time, the in-vehicle infotainment system (IVI) or the vehicle domain controller retrieves a pre-configured personalized profile bound to the wearable device through cloud or local cache, and automatically adjusts the seat position, steering wheel height, rearview mirror angle, air conditioning temperature, air volume, zoning settings, ambient lighting color, instrument panel theme, default music playlist, etc., according to the profile. This achieves automated and personalized vehicle control.

[0132] Figure 4 An exemplary structural block diagram of a vehicle finding device 400 according to some embodiments of this application is shown.

[0133] like Figure 4 As shown, the aforementioned car-finding device 400 is applied to a wearable device integrating a first V2X module. The car-finding device 400 includes: a vehicle location information acquisition module 410, used to parse the BSM information sent by the target vehicle received through the first V2X module to obtain the location information of the target vehicle when the car-finding begins; wherein, the BSM information is sent by the target vehicle through the second V2X module integrated on it after parking in the parking lot; a wearable device location information acquisition module 420, used to acquire the real-time location information of the wearable device during the car-finding process; a real-time relative location information acquisition module 430, used to obtain the real-time relative location information of the target vehicle relative to the wearable device based on the location information of the target vehicle and the real-time location information of the wearable device; and a car-finding route generation module 440, used to generate a car-finding route based on the real-time relative location information and the obtained parking lot map.

[0134] As an optional embodiment of this application, the wearable device further integrates a first UWB module; the wearable device location information acquisition module 420 is specifically used for: sending a test signal to a UWB anchor point set up in the parking lot through the first UWB module, and recording the first time point t1 of sending the test signal; receiving a feedback signal sent by the UWB anchor point based on the test signal, and recording the fourth time point t4 of receiving the feedback signal; the feedback signal carries the second time point t2 of receiving the test signal by the UWB anchor point and the third time point t3 of sending the feedback signal; calculating the signal flight time based on the first time point t1, the second time point t2, the third time point t3 and the fourth time point t4; obtaining the distance between the wearable device and the UWB anchor point based on the signal flight time; and obtaining the real-time location information of the wearable device based on the distance between the wearable device and the UWB anchor point.

[0135] As an optional embodiment of this application, the wearable device further integrates an inertial measurement unit and an image acquisition device; the vehicle finding device 400 further includes: a data acquisition module, used to acquire measurement data from the inertial measurement unit and image data acquired by the image acquisition device during the vehicle finding process; a candidate position information determination module, used to determine candidate position information of the wearable device based on the image data and measurement data; and an optimization module, used to optimize the real-time position information of the wearable device using a fused Kalman filter algorithm and candidate position information to obtain optimized real-time position information of the wearable device.

[0136] As an optional embodiment of this application, the real-time relative position information acquisition module 430 is specifically used to: calculate the position difference based on the position information of the target vehicle and the real-time position information of the wearable device; convert the position difference to polar coordinates to obtain the real-time relative position information of the target vehicle relative to the wearable device.

[0137] As an optional embodiment of this application, the above-mentioned vehicle search route generation module 440 is specifically used to: convert real-time relative position information based on image data to obtain the converted position information of the target vehicle; generate a virtual vehicle matching the target vehicle on the map of the parking lot based on the converted position information of the target vehicle and the model data of the target vehicle; generate and display a vehicle search route based on the map of the parking lot with the generated virtual vehicle and the real-time position information optimized by the wearable device.

[0138] As an optional embodiment of this application, the vehicle finding device 400 further includes: a lighting module, used to control the target vehicle's setting light to illuminate when the distance value of the wearable device relative to the target vehicle is less than or equal to a first set distance for a continuous set time, and the heading angle of the wearable device relative to the target vehicle is less than or equal to a set angle.

[0139] As an optional embodiment of this application, the vehicle finding device 400 further includes: a door opening module, used to send an instruction to the target vehicle to instruct the door to be opened when the distance value of the wearable device relative to the target vehicle is less than or equal to a second preset distance and the user wearing the wearable device intends to open the door, so that the target vehicle opens the door after receiving the instruction to instruct the door to be opened.

[0140] For details on the specific implementation methods and beneficial effects, please refer to the description of the embodiments of the vehicle-finding method above, which will not be repeated here.

[0141] Figure 5 An exemplary structural block diagram of a vehicle-finding system 500 according to some embodiments of this application is shown.

[0142] like Figure 5 As shown, the vehicle locator system 500 is used for locating vehicles in a parking lot, where UWB anchor points are installed. The vehicle locator system 500 includes: a wearable device integrating a first UWB module and a first V2X module, and a target vehicle integrating a second UWB module and a second V2X module. During parking, the target vehicle interacts with the UWB anchor points through the second UWB module integrated on it to obtain the target vehicle's location information. The target vehicle's location information is packaged into BSM information and sent to the wearable device through the second V2X module integrated on the target vehicle. The wearable device is used to execute the vehicle locator method 100 as shown in the above embodiment.

[0143] For details on the specific implementation methods and beneficial effects, please refer to the description of the embodiments of the vehicle-finding method above, which will not be repeated here.

[0144] Correspondingly, embodiments of this application also provide Figure 4 The hardware structure diagram of the device shown is as follows: Figure 5 As shown, the electronic device 500 can be a device for implementing the above-described vehicle-finding method 100. For example... Figure 5 As shown, the electronic device 500 includes a processor 510 and a memory 520. The memory 520 is configured to store program instructions; the processor 510 is configured to load and execute the program instructions stored in the memory 520 to implement the embodiment of the corresponding vehicle-finding method 100 shown above.

[0145] As one embodiment, memory 520 can be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as program instructions, data, etc. For example, memory 520 can be volatile memory, non-volatile memory, or similar storage media. Specifically, memory 520 can be RAM (Random Access Memory), flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0146] This concludes the process. Figure 5 Description of the electronic device shown.

[0147] While numerous embodiments of this application have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will arise for those skilled in the art without departing from the spirit and intent of this application. It should be understood that various alternatives to the embodiments of this application described herein may be employed in the practice of this application. The appended claims are intended to define the scope of protection of this application and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A vehicle location method, characterized in that, The method is applied to a wearable device that integrates a first V2X module; the method includes: When starting the vehicle search, the BSM information sent by the target vehicle received through the first V2X module is parsed to obtain the location information of the target vehicle; wherein, the BSM information is sent by the target vehicle through the second V2X module integrated on it after parking in the parking lot; The wearable device's real-time location information is obtained during the vehicle search process; The real-time relative position information of the target vehicle with respect to the wearable device is obtained based on the location information of the target vehicle and the real-time location information of the wearable device. Based on the real-time relative location information, the real-time location information of the wearable device, and the obtained map of the parking lot, a vehicle-finding route is generated for finding the vehicle.

2. The method according to claim 1, characterized in that, The wearable device also integrates a first UWB module; obtaining the real-time location information of the wearable device includes: The first UWB module sends a test signal to the UWB anchor point set up in the parking lot, and records the first time point t1 when the test signal is sent. The system receives a feedback signal sent by the UWB anchor point based on the test signal and records the fourth time point t4 at which the feedback signal is received; the feedback signal carries the second time point t2 at which the UWB anchor point receives the test signal and the third time point t3 at which the feedback signal is sent. The signal flight time is calculated based on the first time point t1, the second time point t2, the third time point t3, and the fourth time point t4; The distance between the wearable device and the UWB anchor point is obtained based on the signal flight time; The real-time location information of the wearable device is obtained based on the distance between the wearable device and the UWB anchor point.

3. The method according to claim 2, characterized in that, The wearable device also integrates an inertial measurement unit and an image acquisition device; the method further includes: During the vehicle search process, the measurement data from the inertial measurement unit and the image data acquired by the image acquisition device are obtained. Candidate location information of the wearable device is determined based on the image data and the measurement data; The real-time location information of the wearable device is optimized by using a fused Kalman filter algorithm and the candidate location information to obtain the optimized real-time location information of the wearable device.

4. The method according to claim 1, characterized in that, The step of obtaining the real-time relative position information of the target vehicle with respect to the wearable device based on the location information of the target vehicle and the real-time location information of the wearable device includes: The location difference is calculated based on the location information of the target vehicle and the real-time location information of the wearable device; The position difference is converted to polar coordinates to obtain the real-time relative position information of the target vehicle relative to the wearable device.

5. The method according to claim 3, characterized in that, The step of generating a car-finding route based on the real-time relative location information, the real-time location information of the wearable device, and the obtained map of the parking lot includes: Based on the image data, the real-time relative position information is converted to obtain the converted position information of the target vehicle; Based on the converted location information of the target vehicle and the model data of the target vehicle, a virtual vehicle matching the target vehicle is generated on the map of the parking lot; The vehicle search route is generated and displayed based on the parking lot map of the generated virtual vehicle and the optimized real-time location information of the wearable device.

6. The method according to claim 1, characterized in that, The method further includes: When the distance between the wearable device and the target vehicle is less than or equal to a first set distance for a continuous set time, and the heading angle of the wearable device relative to the target vehicle is less than or equal to a set angle, the set light of the target vehicle is controlled to be turned on.

7. The method according to claim 1, characterized in that, The method further includes: When the distance between the wearable device and the target vehicle is less than or equal to a second preset distance, and the user wearing the wearable device intends to open the car door, a command to instruct the target vehicle to open the car door is sent, so that the target vehicle opens the car door after receiving the command to instruct the car door to open the car door.

8. A vehicle finding device, characterized in that, include: The device is applied to a wearable device that integrates a first V2X module; the method includes: The vehicle location information acquisition module is used to parse the BSM information sent by the target vehicle through the first V2X module when the vehicle search begins, so as to obtain the location information of the target vehicle; wherein, the BSM information is sent by the target vehicle through the second V2X module integrated on it after parking in the parking lot; A wearable device location information acquisition module is used to acquire the real-time location information of the wearable device during the vehicle search process; A real-time relative position information acquisition module is used to obtain the real-time relative position information of the target vehicle relative to the wearable device based on the position information of the target vehicle, the real-time position information of the wearable device, and the real-time position information of the wearable device. The vehicle location route generation module is used to generate a vehicle location route based on the real-time relative location information and the obtained map of the parking lot.

9. A vehicle location system, characterized in that, Used for locating vehicles in parking lots, where UWB anchor points are installed; including: a wearable device integrating a first UWB module and a first V2X module, and a target vehicle integrating a second UWB module and a second V2X module; During the parking process, the target vehicle interacts with the UWB anchor point through its integrated second UWB module to obtain the target vehicle's location information; and The location information of the target vehicle is packaged into BSM information and sent to the wearable device through the second V2X module integrated on the target vehicle; The wearable device is used to perform the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, include: A processor, configured to execute program instructions; as well as A memory configured to store the program instructions, which, when loaded and executed by the processor, cause the processor to perform the vehicle-finding method according to any one of claims 1-7.

11. A computer-readable storage medium storing program instructions, characterized in that, When the program instructions are loaded and executed by the processor, the processor performs the vehicle-finding method according to any one of claims 1-7.

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