Vehicle positioning methods, devices and vehicles

Abstract

This disclosure relates to a vehicle positioning method, apparatus, and vehicle. The method includes: upon receiving a positioning command, controlling a first short-range communication module and a second short-range communication module installed in the target vehicle to perform signal detection, obtaining signal detection results, wherein the first and second short-range communication modules are respectively used to detect signals on opposite sides of the target vehicle's body; determining the relative position between the target vehicle and a positioning reference device based on the signal detection results; the positioning reference device is used to transmit positioning signals, and the relative position is used to locate the target vehicle. This method can improve positioning accuracy and standardize the parking of shared two-wheeled vehicles.

Description

Technical Field

[0001] This disclosure relates to the field of positioning technology, and in particular to a method, apparatus and vehicle for positioning a vehicle. Background Technology

[0002] With the development of shared bicycles and e-bikes, haphazard parking has become the number one problem that shared two-wheelers need to solve.

[0003] Currently, fixed-point parking technology is mainly used to strengthen the standardized management of shared two-wheelers and rectify the disorderly parking situation. The mainstream fixed-point parking technology often uses Bluetooth beacons, which calculates the distance between the shared two-wheeler and the Bluetooth beacon based on the Bluetooth signal strength between the Bluetooth device on the shared two-wheeler and the Bluetooth beacon, and then locates the shared two-wheeler based on the distance.

[0004] Most existing vehicle-mounted Bluetooth devices use built-in omnidirectional antennas. Although built-in omnidirectional antennas have good azimuth and can communicate with surrounding Bluetooth beacons using omnidirectionality, the antenna is located inside the vehicle's central control unit. Humans or metal parts of the vehicle body can obstruct the actual antenna pattern, thus affecting Bluetooth positioning accuracy and leading to less standardized parking of shared two-wheeled vehicles. Summary of the Invention

[0005] This disclosure provides a vehicle positioning method, apparatus, and vehicle, which can improve positioning accuracy and standardize the parking of shared two-wheeled vehicles.

[0006] In a first aspect, embodiments of this disclosure provide a method for locating a vehicle, the method comprising:

[0007] After receiving the positioning command, the first and second short-range communication modules installed in the target vehicle are controlled to perform signal detection and obtain signal detection results. The first and second short-range communication modules are used to detect signals on opposite sides of the target vehicle body.

[0008] Based on the signal detection results, the relative position between the target vehicle and the positioning reference device is determined; the positioning reference device is used to transmit positioning signals, and the relative position is used to locate the target vehicle.

[0009] Secondly, embodiments of this disclosure provide a vehicle positioning device, the device comprising:

[0010] The signal detection module is used to control the first short-range communication module and the second short-range communication module installed in the target vehicle to perform signal detection after receiving the positioning command, and obtain the signal detection results. The first short-range communication module and the second short-range communication module are used to detect the signals on opposite sides of the target vehicle body.

[0011] The relative position determination module is used to determine the relative position between the target vehicle and the positioning reference device based on the signal detection results; the positioning reference device is used to transmit positioning signals, and the relative position is used to locate the target vehicle.

[0012] Thirdly, embodiments of this disclosure provide a means of transportation, which includes a first short-range communication module, a second short-range communication module, and a central controller;

[0013] The first short-range communication module and the second short-range communication module are used to detect signals on opposite sides of the vehicle body;

[0014] The central controller, upon receiving a positioning command, controls the first and second short-range communication modules to perform signal detection and obtain the signal detection results. Based on the signal detection results, it determines the relative position between the vehicle and the positioning reference device. The positioning reference device is used to transmit positioning signals, and the relative position is used to locate the vehicle.

[0015] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0016] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0017] The vehicle positioning method, apparatus, and vehicle provided in this disclosure involve, after receiving a positioning command, controlling a first short-range communication module and a second short-range communication module installed in the target vehicle to perform signal detection, obtaining signal detection results; and determining the relative position between the target vehicle and a positioning reference device based on the signal detection results. Since this disclosure uses the first and second short-range communication modules to detect opposite sides of the target vehicle's body, the antenna field pattern is unaffected by human figures or metal obstructions from the vehicle body, thus improving positioning accuracy and thereby standardizing the parking of shared two-wheeled vehicles. Attached Figure Description

[0018] Figure 1a This is a schematic diagram of the antenna field pattern in the prior art;

[0019] Figure 1b This is a diagram illustrating the application environment of a vehicle positioning method in one embodiment.

[0020] Figure 2 This is a flowchart illustrating a vehicle positioning method in one embodiment;

[0021] Figure 3 This is a schematic diagram of a vehicle in one embodiment;

[0022] Figure 4 This is one of the flowcharts illustrating the steps for determining the relative position between a target vehicle and a positioning reference device in one embodiment;

[0023] Figure 5a This is one of the schematic diagrams for determining relative positions in one embodiment;

[0024] Figure 5b This is a second schematic diagram illustrating the determination of relative positions in one embodiment;

[0025] Figure 6 This is a second flowchart illustrating the steps for determining the relative position between a target vehicle and a positioning reference device in one embodiment.

[0026] Figure 7 This is a flowchart illustrating a vehicle positioning method in another embodiment;

[0027] Figure 8 This is a flowchart illustrating the vehicle positioning method in yet another embodiment;

[0028] Figure 9 This is a flowchart illustrating the vehicle positioning method in another embodiment;

[0029] Figure 10 This is a structural block diagram of a vehicle positioning device in one embodiment;

[0030] Figure 11 This is a schematic diagram of the structure of a vehicle in one embodiment. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of this disclosure and are not intended to limit the embodiments of this disclosure.

[0032] First, before introducing the technical solutions of the embodiments of this disclosure, the technical background or evolution of the embodiments of this disclosure will be introduced. Currently, fixed-point parking technology is mainly used to strengthen the standardized management of shared two-wheeled vehicles and rectify the disorderly parking situation. The mainstream fixed-point parking technology often uses Bluetooth beacons, that is, the distance between the shared two-wheeled vehicle and the Bluetooth beacon is calculated based on the Bluetooth signal strength between the Bluetooth device on the shared two-wheeled vehicle and the Bluetooth beacon, and then the shared two-wheeled vehicle is located based on the distance.

[0033] Most existing in-vehicle Bluetooth devices use built-in omnidirectional antennas. While built-in omnidirectional antennas offer good azimuth and can communicate with surrounding Bluetooth beacons using their omnidirectional nature, the antenna's location inside the vehicle's central control unit means that human presence or metal obstructions from the vehicle can affect the actual antenna pattern. Figure 1a As shown, this will affect the accuracy of Bluetooth positioning, resulting in improper parking of shared two-wheeled vehicles.

[0034] In the technical solution provided in this application, the target vehicle is equipped with a first short-range communication module and a second short-range communication module. The first and second short-range communication modules detect signals from opposite sides of the target vehicle's body, respectively. After receiving a positioning command, the target vehicle controls the first and second short-range communication modules to perform signal detection, obtaining the signal detection results. Then, based on the signal detection results, the target vehicle determines its relative position with the positioning reference device, which can be used for positioning. Because the first and second short-range communication modules detect signals from opposite sides of the target vehicle's body, the influence of human bodies or metal parts of the vehicle body on the actual antenna pattern can be avoided. This improves positioning accuracy and thus standardizes the parking of shared two-wheeled vehicles.

[0035] The technical solutions involved in the embodiments of this disclosure will be described below in conjunction with the scenarios in which they are applied.

[0036] The vehicle positioning method provided in this disclosure can be applied to, for example... Figure 1b The application environment shown includes a vehicle 101 and a server 102. The vehicle 101 can be a non-motorized or motorized vehicle such as a bicycle, electric bicycle, scooter, or motorcycle; the server 102 can be a standalone server or a server cluster consisting of multiple servers. The vehicle 101 is equipped with a communication component, which can communicate wirelessly with the server 102. For example, the vehicle 101 sends its relative position to the server 102 for the server 102 to locate the vehicle. This embodiment of the disclosure does not limit the communication method between the vehicle 101 and the server 102.

[0037] In one embodiment, such as Figure 2 As shown, a method for locating a vehicle is provided. Taking the application of this method to the vehicle in Figure 1 as an example, the method includes the following steps:

[0038] Step 201: After receiving the positioning command, control the first short-range communication module and the second short-range communication module installed in the target vehicle to perform signal detection and obtain the signal detection results.

[0039] The first and second short-range communication modules are used to detect signals on opposite sides of the target vehicle's body, respectively. Optionally, the antennas of the first and second short-range communication modules are respectively positioned on opposite sides of the target vehicle's body, and both antennas are directional antennas. Figure 3 As shown, the antennas of the first short-range communication module and the second short-range communication module are respectively located on the left and right sides of the target vehicle body.

[0040] After receiving the positioning command, the target vehicle controls the first and second short-range communication modules to perform signal detection. Specifically, the first short-range communication module detects the short-range communication signals emitted by a short-range communication signal source located on its side, obtaining the signal detection result for that side; the second short-range communication module detects the short-range communication signals emitted by a short-range communication signal source located on its side, obtaining the signal detection result for that side.

[0041] For example, if the first short-range communication module is located on the left side of the vehicle body and the second short-range communication module is located on the right side of the vehicle body, and the target vehicle controls the first short-range communication module and the second short-range communication module to perform signal detection respectively, then the signal detection results on the left and right sides of the target vehicle body can be obtained.

[0042] Step 202: Determine the relative position between the target vehicle and the positioning reference device based on the signal detection results.

[0043] The positioning reference device is used to transmit positioning signals, and the relative position is used to locate the target vehicle. The positioning reference device transmits short-range communication signals, which, after being detected by the first or second short-range communication module of the target vehicle, can be used for positioning.

[0044] After receiving the signal detection results from the first and second short-range communication modules, the target vehicle can determine the positioning reference devices around it based on these results. Then, based on the short-range communication signals emitted by these reference devices, the relative position between the target vehicle and the positioning reference devices can be determined. In essence, knowing the actual position of the positioning reference devices and determining their relative position, the actual position of the target vehicle can be determined based on both, thus achieving the positioning of the target vehicle.

[0045] In the aforementioned vehicle positioning method, after receiving a positioning command, the target vehicle controls the first and second short-range communication modules installed in the target vehicle to perform signal detection, obtaining signal detection results. Based on the signal detection results, the relative position between the target vehicle and the positioning reference device is determined. Since this embodiment uses the first and second short-range communication modules to detect opposite sides of the target vehicle's body, the antenna pattern is unaffected by human figures or metal obstructions from the vehicle body. Therefore, positioning accuracy can be improved, thereby standardizing the parking of shared two-wheeled vehicles.

[0046] In one embodiment, such as Figure 4 As shown, the process of determining the relative position between the target vehicle and the positioning reference device based on the signal detection results may include the following steps:

[0047] Step 301: Based on the signal detection results, determine multiple positioning reference devices located within a preset range around the target vehicle and the distance between the target vehicle and each positioning reference device.

[0048] The positioning reference device includes one of the following: other vehicles besides the target vehicle, Bluetooth beacons, and parking bollards. The preset range around the target vehicle can be set according to legal parking areas; however, this embodiment does not limit the positioning reference device or the preset range around the target vehicle.

[0049] After receiving the signal detection results, the target vehicle can determine multiple positioning reference devices within a preset range around the target vehicle based on the signal detection results, and then determine the distance between the target vehicle and each positioning reference device based on the signal detection results.

[0050] like Figure 5aAs shown, vehicle A is the target vehicle. After vehicle A controls the first and second short-range communication modules to perform signal detection, it obtains the signal detection results. Based on the signal detection results, it determines vehicle B and vehicle C within a preset range as positioning reference devices. Then, vehicle A determines the distance to vehicle B and the distance to vehicle C based on the signal detection results.

[0051] like Figure 5b As shown, the target vehicle uses the Bluetooth road studs and parking posts on opposite sides of its vehicle body as positioning reference devices based on the signal detection results.

[0052] Step 302: The relative position is determined by multiple positioning reference devices located within a preset range around the target vehicle and the distance between the target vehicle and each positioning reference device.

[0053] After determining multiple positioning reference devices and the distances between the target vehicle and each positioning reference device, the multiple positioning reference devices and the distances between the target vehicle and each positioning reference device are determined as the relative positions.

[0054] like Figure 5a As shown, vehicle A uses vehicle B, vehicle C, the distance between vehicle A and vehicle B, and the distance between vehicle A and vehicle C as their relative positions.

[0055] like Figure 5b As shown, the target vehicle uses the Bluetooth beacon, the parking bollard, and the distance between itself and the Bluetooth beacon and the parking bollard as its relative position.

[0056] In the above embodiments, the target vehicle determines, based on signal detection results, multiple positioning reference devices within a preset range around the target vehicle and the distance between the target vehicle and each positioning reference device; these multiple positioning reference devices within the preset range around the target vehicle and the distance between the target vehicle and each positioning reference device are used as relative positions. Through these embodiments, the target vehicle can determine other vehicles, Bluetooth beacons, and parking bollards in the vicinity, as well as the distances between it and other vehicles, Bluetooth beacons, and parking bollards, facilitating subsequent positioning of the target vehicle using other vehicles, Bluetooth beacons, and parking bollards.

[0057] In one embodiment, the signal detection result includes identification information and signal strength of multiple short-range communication signal sources. In practical applications, the short-range communication signal sources can be Bluetooth signal sources, a first short-range communication module installed on the target vehicle, and a second short-range communication module, which can also be a Bluetooth module. The identification information of the short-range communication signal sources can include at least one of the following: device identifier and MAC address. The signal strength can be the Bluetooth signal strength.

[0058] Based on the above embodiments, such as Figure 6 As shown, the process of determining multiple positioning reference devices within a preset range around the target vehicle and the distance between the target vehicle and each positioning reference device based on signal detection results may include the following:

[0059] Step 401: Select multiple positioning reference devices located within a preset range around the target vehicle from multiple short-range communication signal sources based on identification information and signal strength.

[0060] After receiving the signal detection results, the target vehicle can determine the identification information and signal strength of each nearby communication signal source. Then, based on the identification information, the target vehicle can determine whether the nearby communication signal source is a candidate positioning reference device. For example, based on the MAC address, it can determine whether the nearby communication signal source is another vehicle, or whether it is a Bluetooth beacon, parking bollard, etc. Next, the target vehicle determines whether the candidate positioning reference device is usable based on the signal strength. For example, if the signal strength determines that another vehicle is too far away and is not suitable for positioning the target vehicle, then...

[0061] In one example, the process of selecting a positioning reference device may include: selecting a target near-field communication signal source from multiple near-field communication signal sources whose identification information is a preset identification information and whose signal strength is greater than a preset strength threshold, and placing the selected target near-field communication signal source within a preset range around the target vehicle as a positioning reference device.

[0062] For example, multiple near-field signal sources include a Bluetooth headset, another vehicle, Bluetooth beacons, and parking bollards. The identification information of the Bluetooth headset is not preset, while the identification information of the other vehicle, Bluetooth beacons, and parking bollards are all preset. Therefore, the other vehicle, Bluetooth beacons, and parking bollards can be selected from the multiple near-field communication signal sources. Furthermore, if the signal strength of the other vehicle is no greater than a preset strength threshold, while the signal strength of the Bluetooth beacons and parking bollards is greater than the preset strength threshold, then the Bluetooth beacons and parking bollards are selected as the target near-field communication signal sources and identified as positioning reference devices around the target vehicle.

[0063] The aforementioned preset intensity threshold can be set according to a preset range, which can be set according to actual parking needs. This embodiment does not limit this setting.

[0064] Step 402: Calculate the distance between the target vehicle and the selected positioning reference device based on the signal strength.

[0065] After the target vehicle identifies the positioning reference device, the distance is calculated based on the signal strength corresponding to the positioning reference device. Specifically, the distance between the target vehicle and the identified positioning reference device is calculated using RSSI (Received Signal Strength Indication).

[0066] In the above embodiments, the target vehicle selects multiple positioning reference devices located within a preset range around it from multiple short-range communication signal sources based on identification information and signal strength; the distance between the target vehicle and the selected positioning reference devices is calculated based on the signal strength. Through these embodiments, the target vehicle can use identification information and signal strength to select positioning reference devices and calculate the distance to them. The selection method is simple and easy to implement, and since there is no complex calculation process, it can also improve positioning speed and efficiency.

[0067] In one embodiment, the process of the first short-range communication module and the second short-range communication module installed in the target vehicle performing signal detection and obtaining signal detection results may include: alternately controlling the first short-range communication module and the second short-range communication module to perform signal detection and obtaining the signal detection results of the first short-range communication module and the second short-range communication module.

[0068] In practical applications, after receiving a positioning command, the target vehicle can alternately control the first and second short-range communication modules to perform signal detection. For example, first, the first short-range communication module is controlled to perform signal detection, and its signal detection result is obtained; then, the second short-range communication module is controlled to perform signal detection, and its signal detection result is obtained; subsequently, the first short-range communication module is controlled again to perform signal detection, and its signal detection result is obtained. This process can be repeated to obtain the signal detection results of the first and second short-range communication modules alternately.

[0069] In the above embodiments, the first short-range communication module and the second short-range communication module are controlled alternately to perform signal detection. This makes it easier to distinguish the direction corresponding to the signal detection result and avoids problems such as data transmission blockage caused by simultaneously acquiring signal detection results from both sides.

[0070] In one embodiment, such as Figure 7 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0071] Step 203: Send the relative position to the server so that the server can locate the target vehicle based on the relative position and obtain the location result.

[0072] After determining its relative position with multiple positioning reference devices, the target vehicle sends this relative position to the server. The server receives the relative position and obtains the multiple positioning reference devices and the distances between the target vehicle and each reference device. Then, the server obtains the actual positions of the multiple positioning reference devices, and based on the distances between the target vehicle and each reference device, as well as the actual positions of the reference devices, determines the actual position of the target vehicle, thus achieving the positioning result.

[0073] like Figure 8 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0074] Step 204: Receive the vehicle locking command sent by the server after determining the parking specifications of the target vehicle based on the positioning results.

[0075] After obtaining the actual location of the target vehicle, the server can determine whether the vehicle is parked properly based on its location. For example, the server can determine whether the target vehicle is parked within a legal parking area.

[0076] If the parking specifications of the target vehicle are determined based on its actual location, then the target vehicle can be returned, a locking command is generated, and this command is sent to the target vehicle. Correspondingly, the target vehicle receives the locking command from the server.

[0077] Step 205: Perform the vehicle locking operation according to the vehicle locking command.

[0078] After receiving the locking instruction, the target vehicle will perform the locking operation according to the instruction, thus completing the return of the target vehicle.

[0079] In the above embodiments, the target vehicle sends its relative position to the server, which then locates the target vehicle based on the relative position to obtain a positioning result. The server then receives a locking command after determining the parking status of the target vehicle based on the positioning result. The locking operation is then executed according to the locking command. In this embodiment, the server determines whether the target vehicle is parked correctly. If the target vehicle is parked correctly, the user is allowed to return it. This achieves the effect of regulating the parking of shared two-wheeled vehicles, which not only better manages shared two-wheeled vehicles but also improves the city's image.

[0080] In one embodiment, such as Figure 9 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0081] Step 206: If no positioning reference device is detected within a preset range around the target vehicle, then send illegal parking information to the server.

[0082] Among them, illegal parking information is used to instruct the server to send parking guidance information to the target terminal requesting the return of the target vehicle; parking guidance information is used to guide users to park the target vehicle properly.

[0083] When a target vehicle is selecting a positioning reference device from multiple nearby communication signal sources, if the identification information of a nearby communication signal source is not preset identification information, and / or the signal strength of a nearby communication signal source is less than or equal to a preset strength threshold, then that nearby communication signal source is determined not to be a positioning reference device. This process can be repeated to determine whether a positioning reference device exists within a preset range around the target vehicle.

[0084] If the target vehicle detects that there are no positioning reference devices within a preset range, meaning there are no other vehicles, Bluetooth beacons, parking bollards, etc., around it, then it can be determined that the target vehicle is parked improperly. In this case, the target vehicle generates illegal parking information and sends it to the server.

[0085] After receiving information about illegal parking, the server obtains the actual location of the target vehicle through other positioning methods, generates parking guidance information based on the obtained actual location of the target vehicle, and sends the parking guidance information to the target terminal requesting the return of the target vehicle.

[0086] Correspondingly, the target terminal receives parking guidance information and uses it to guide the user to park the target vehicle properly. For example, the parking guidance information includes a return route, which the target terminal displays. The user can only return the vehicle after parking it in a legal parking area according to the return route.

[0087] Other positioning methods mentioned above may include GPS (Global Positioning System), but this disclosure does not limit this method and can be set according to actual conditions.

[0088] In the above embodiments, if no positioning reference device is detected within a preset range around the target vehicle, illegal parking information is sent to the server. Through this embodiment, when the target vehicle is parked improperly, users are guided to park it in a legal parking area before planning is allowed. This can regulate the parking of shared two-wheeled vehicles, thereby improving the city's image.

[0089] It should be understood that, although Figures 2 to 9 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 2 to 9 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0090] In one embodiment, such as Figure 10 As shown, a vehicle positioning device is provided, comprising:

[0091] The signal detection module 501 is used to control the first short-range communication module and the second short-range communication module installed in the target vehicle to perform signal detection after receiving the positioning command, and obtain the signal detection result. The first short-range communication module and the second short-range communication module are used to detect the signals on opposite sides of the target vehicle body.

[0092] The relative position determination module 502 is used to determine the relative position between the target vehicle and the positioning reference device based on the signal detection results; the positioning reference device is used to transmit positioning signals, and the relative position is used to locate the target vehicle.

[0093] In one embodiment, the relative position determination module 502 is specifically used to determine, based on the signal detection results, a plurality of positioning reference devices located within a preset range around the target vehicle and the distance between the target vehicle and each positioning reference device; and to use the plurality of positioning reference devices located within the preset range around the target vehicle and the distance between the target vehicle and each positioning reference device as the relative position.

[0094] In one embodiment, the signal detection results include identification information and signal strength of multiple near-field communication signal sources;

[0095] The aforementioned relative position determination module 502 is specifically used to select multiple positioning reference devices located within a preset range around the target vehicle from multiple short-range communication signal sources based on identification information and signal strength; and to calculate the distance between the target vehicle and the selected positioning reference devices based on the signal strength.

[0096] In one embodiment, the aforementioned relative position determination module is specifically used to filter out target near-field communication signal sources from multiple near-field communication signal sources, where the identification information is preset identification information and the signal strength is greater than a preset strength threshold, and to determine the filtered target near-field communication signal source as a positioning reference device located within a preset range around the target vehicle.

[0097] In one embodiment, the signal detection module 501 is specifically used to alternately control the first short-range communication module and the second short-range communication module to perform signal detection, and obtain the signal detection results of the first short-range communication module and the signal detection results of the second short-range communication module.

[0098] In one embodiment, the antennas of the first short-range communication module and the second short-range communication module are respectively disposed on opposite sides of the vehicle body of the target vehicle, and both the antennas of the first short-range communication module and the antennas of the second short-range communication module are directional antennas.

[0099] In one embodiment, the device further includes:

[0100] The location sending module is used to send the relative location to the server, so that the server can locate the target vehicle based on the relative location and obtain the location result.

[0101] In one embodiment, the device further includes:

[0102] The vehicle locking command receiving module is used to receive vehicle locking commands sent by the server after determining the parking specifications of the target vehicle based on the positioning results;

[0103] The vehicle locking module is used to perform vehicle locking operations according to the vehicle locking command.

[0104] In one embodiment, the device further includes:

[0105] The information sending module is used to send illegal parking information to the server if no positioning reference device is detected within a preset range around the target vehicle; the illegal parking information is used to instruct the server to send parking guidance information to the target terminal requesting the return of the target vehicle; the parking guidance information is used to guide the user to park the target vehicle properly.

[0106] Specific limitations regarding the vehicle positioning device can be found in the limitations of the vehicle positioning method described above, and will not be repeated here. Each module in the aforementioned vehicle positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0107] In one embodiment, such as Figure 11 As shown, a vehicle is provided, which includes a first short-range communication module, a second short-range communication module, and a central controller; the first and second short-range communication modules are used to detect signals on opposite sides of the vehicle body; the central controller is used to control the first and second short-range communication modules to perform signal detection respectively after receiving a positioning command, and obtain signal detection results; based on the signal detection results, the relative position between the vehicle and the positioning reference device is determined.

[0108] In this embodiment of the present disclosure, the vehicle includes a first short-range communication module, a second short-range communication module, and a central controller, with the central controller connected to both the first and second short-range communication modules. The first short-range communication module can detect short-range communication signals emitted by a short-range communication signal source located on one side of the first short-range communication module, obtaining a signal detection result for that side. The second short-range communication module can detect short-range communication signals emitted by a short-range communication signal source located on one side of the second short-range communication module, obtaining a signal detection result for that side.

[0109] The central controller communicates with both the first and second short-range communication modules to obtain signal detection results. Based on these results, the central controller determines the relative position between the vehicle and the positioning reference device.

[0110] The positioning reference device is used to transmit positioning signals, and the relative position is used to locate the vehicle. Understandably, given the actual position of the positioning reference device, after determining the relative position between the vehicle and the positioning reference device, the actual position of the vehicle can be determined based on both the actual position of the positioning reference device and the relative position between the vehicle and the positioning reference device; that is, the vehicle is positioned.

[0111] In the above embodiments, the vehicle includes a first short-range communication module, a second short-range communication module, and a central controller. The first and second short-range communication modules detect signals on opposite sides of the vehicle's body. After receiving a positioning command, the central controller controls the first and second short-range communication modules to perform signal detection respectively, obtaining signal detection results. Based on the signal detection results, the relative position between the vehicle and the positioning reference device is determined. In this embodiment, because the first and second short-range communication modules detect opposite sides of the target vehicle's body respectively, the antenna pattern is not affected by human bodies or metal obstructions from the vehicle body. Therefore, positioning accuracy can be improved, thereby standardizing the parking of shared two-wheeled vehicles.

[0112] In one embodiment, the antennas of the first short-range communication module and the second short-range communication module are respectively disposed on opposite sides of the vehicle body, and both the antennas of the first short-range communication module and the antennas of the second short-range communication module are directional antennas.

[0113] In this context, the opposite sides of a vehicle's body can be the left and right sides of the vehicle's body. For example... Figure 3 As shown, the first short-range communication module and the second short-range communication module are respectively equipped with external antennas, and the first short-range communication module and the second short-range communication module are respectively located on the left and right sides of the vehicle body. Thus, the antennas of the first short-range communication module and the second short-range communication module are located on the left and right sides of the vehicle body.

[0114] Both the antennas of the first and second short-range communication modules are directional antennas. Therefore, the antennas of the first and second short-range communication modules can respectively detect signals from opposite sides of the vehicle body. The strong directionality of signal detection improves the accuracy of signal detection, thereby enhancing positioning precision.

[0115] In the above embodiments, the antennas of the first short-range communication module and the second short-range communication module are respectively disposed on opposite sides of the vehicle body, and both the first and second short-range communication module antennas are directional antennas. Because this embodiment uses a positioning antenna, the signal detection directionality is strong, which can improve the accuracy of signal detection and thus improve positioning accuracy.

[0116] In one embodiment, both the first short-range communication module and the second short-range communication module are Bluetooth modules.

[0117] The first and second short-range communication modules detect Bluetooth signals and obtain the Bluetooth signal detection results. Based on the Bluetooth signal detection results, the central controller can filter out the positioning reference device from multiple Bluetooth signal transmitters within a preset range around the vehicle, and then calculate the distance between the vehicle and the positioning reference device based on the Bluetooth signal detection results.

[0118] In one embodiment, the directional antenna has a 3dB beamwidth covering a 60° elevation angle.

[0119] The positioning antenna's 3dB beamwidth covers a 60° elevation angle, enabling better signal radiation direction and intensity, thus ensuring the accuracy and precision of signal detection and improving positioning accuracy.

[0120] In one embodiment, the positioning reference device includes at least one of other vehicles, Bluetooth beacons, and parking posts.

[0121] In practical applications, vehicles can filter out other vehicles, Bluetooth beacons, and parking posts from multiple Bluetooth signal sources. Different positioning reference devices can be used to locate vehicles, thereby ensuring positioning accuracy and standardizing vehicle parking.

[0122] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of a vehicle to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0123] In an exemplary embodiment, a computer program product is also provided, which, when executed by a processor, can implement the above-described methods. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, some or all of the above-described methods can be implemented, wholly or partially, according to the processes or functions described in the embodiments of this disclosure.

[0124] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0125] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0126] The above-described embodiments are merely illustrative of several implementation methods of the present disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present disclosure embodiments, and these all fall within the protection scope of the present disclosure embodiments. Therefore, the protection scope of the patent for the embodiments of the present disclosure should be determined by the appended claims.

Claims

1. A method for locating a vehicle, characterized in that, The method includes: After receiving the positioning command, the first short-range communication module and the second short-range communication module installed in the target vehicle are controlled to perform signal detection and obtain signal detection results. The target vehicle is a two-wheeled vehicle, and the first short-range communication module and the second short-range communication module are used to detect signals on opposite sides of the target vehicle body. Based on the signal detection results, the relative position between the target vehicle and the positioning reference device is determined; the positioning reference device is used to transmit positioning signals, the relative position is used to locate the target vehicle, and the signal detection results include identification information and signal strength of multiple near-field communication signal sources; The actual position of the target vehicle is determined based on the actual position of the positioning reference device and the relative position between the target vehicle and the positioning reference device. Determining the relative position between the target vehicle and the positioning reference device based on the signal detection result includes: From the plurality of near-field communication signal sources, target near-field communication signal sources with preset identification information and signal strength greater than preset strength threshold are selected, and the selected target near-field communication signal sources are determined as the positioning reference devices located within a preset range around the target vehicle; The distance between the target vehicle and the selected positioning reference device is calculated based on the signal strength. The relative position is defined as the distance between the target vehicle and each of the positioning reference devices located within a preset range around the target vehicle; The method further includes: The first short-range communication module and the second short-range communication module are controlled alternately to perform signal detection, and the signal detection results of the first short-range communication module and the signal detection results of the second short-range communication module are obtained. The method further includes: If the positioning reference device is not detected within a preset range around the target vehicle, illegal parking information is sent to the server. The illegal parking information is used to instruct the server to send parking guidance information to the target terminal requesting the return of the target vehicle. The parking guidance information includes the return route.

2. The method according to claim 1, characterized in that, The antennas of the first short-range communication module and the second short-range communication module are respectively disposed on opposite sides of the vehicle body of the target vehicle, and both the antennas of the first short-range communication module and the second short-range communication module are directional antennas.

3. The method according to claim 1, characterized in that, The method further includes: The relative position is sent to the server, which then uses the relative position to locate the target vehicle and obtain a positioning result.

4. The method according to claim 3, characterized in that, The method further includes: Receive a vehicle locking command sent by the server after determining the parking specifications of the target vehicle based on the positioning results; The vehicle locking operation is performed according to the vehicle locking command.

5. The method according to claim 1, characterized in that, The method further includes: The parking guidance information is used to guide users to park the target vehicle properly.

6. A vehicle positioning device, characterized in that, The device includes: The signal detection module is used to control the first short-range communication module and the second short-range communication module installed in the target vehicle to perform signal detection after receiving the positioning command, and obtain the signal detection result. The target vehicle is a two-wheeled vehicle. The first short-range communication module and the second short-range communication module are used to detect the signals on opposite sides of the vehicle body. A relative position determination module is used to determine the relative position between the target vehicle and the positioning reference device based on the signal detection results; and to determine the actual position of the target vehicle based on the actual position of the positioning reference device and the relative position between the target vehicle and the positioning reference device; the positioning reference device is used to transmit positioning signals, the relative position is used to locate the target vehicle, and the signal detection results include identification information and signal strength of multiple near-field communication signal sources; The relative position determination module is specifically used to filter out target near-field communication signal sources from the plurality of near-field communication signal sources, where the identification information is a preset identification information and the signal strength is greater than a preset strength threshold, and to determine the filtered target near-field communication signal sources as positioning reference devices located within a preset range around the target vehicle, to calculate the distance between the target vehicle and the filtered positioning reference devices based on the signal strength, and to use the plurality of positioning reference devices located within the preset range around the target vehicle and the distance between the target vehicle and each positioning reference device as the relative position; The vehicle positioning device is also used to alternately control the first short-range communication module and the second short-range communication module to perform signal detection, and obtain the signal detection results of the first short-range communication module and the signal detection results of the second short-range communication module; The vehicle positioning device is also used to send illegal parking information to the server if it detects that the positioning reference device is not present within a preset range around the target vehicle. The illegal parking information is used to instruct the server to send parking guidance information to the target terminal requesting the return of the target vehicle. The parking guidance information includes the return route.

7. A means of transportation, characterized in that, The means of transportation is a two-wheeled vehicle, and the means of transportation includes a first short-range communication module, a second short-range communication module, and a central controller; The first short-range communication module and the second short-range communication module are respectively used to detect signals on opposite sides of the target vehicle body; The central controller is used to control the first short-range communication module and the second short-range communication module to perform signal detection after receiving a positioning command, and obtain signal detection results; and determine the relative position between the vehicle and the positioning reference device based on the signal detection results. The actual position of the target vehicle is determined based on the actual position of the positioning reference device and the relative position between the target vehicle and the positioning reference device; the positioning reference device is used to transmit positioning signals, the relative position is used to locate the vehicle, and the signal detection result includes identification information and signal strength of multiple near-field communication signal sources; When determining the relative position between the vehicle and the positioning reference device based on the signal detection results, the central controller specifically filters out target near-field communication signal sources from the plurality of near-field communication signal sources. These target near-field communication signal sources have preset identification information and signal strength greater than a preset strength threshold. The filtered target near-field communication signal sources are then identified as positioning reference devices located within a preset range around the target vehicle. The distance between the target vehicle and the filtered positioning reference devices is calculated based on the signal strength. The relative position is defined as the plurality of positioning reference devices located within the preset range around the target vehicle and the distance between the target vehicle and each of the positioning reference devices. The central controller is also used to alternately control the first short-range communication module and the second short-range communication module to perform signal detection, and obtain the signal detection results of the first short-range communication module and the signal detection results of the second short-range communication module; The central controller is also used to send illegal parking information to the server if it detects that the positioning reference device is not present within a preset range around the target vehicle. The illegal parking information is used to instruct the server to send parking guidance information to the target terminal requesting the return of the target vehicle. The parking guidance information includes the return route.

8. The means of transport according to claim 7, characterized in that, The antennas of the first short-range communication module and the second short-range communication module are respectively disposed on opposite sides of the vehicle body, and both the antennas of the first short-range communication module and the second short-range communication module are directional antennas.

9. The means of transport according to claim 8, characterized in that, Both the first short-range communication module and the second short-range communication module are Bluetooth modules.

10. The means of transport according to claim 8, characterized in that, The directional antenna has a 3dB beamwidth covering a 60° elevation angle.

11. The means of transport according to claim 8, characterized in that, The positioning reference device includes at least one of other vehicles, Bluetooth beacons, and parking posts.

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