Method for positioning within a charging station and related device

Abstract

This invention discloses a positioning method and related equipment within a charging station, primarily aimed at addressing the problem that GPS positioning is often ineffective due to the common underground or interior locations of charging stations, while existing image and laser sensor methods suffer from inaccurate positioning due to factors such as lighting or temporary obstacles, causing inconvenience for users charging their vehicles. The method includes: acquiring IMU data of a target mobile charging vehicle or mobile auxiliary charging device within the charging station; determining three-dimensional surface features within the charging station based on the IMU data; and determining the location of the charging vehicle or mobile auxiliary charging device within the charging station based on the three-dimensional surface features and a pre-stored charging station map.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a positioning method and related equipment for charging stations. Background Technology

[0002] With the widespread use of new energy vehicles, users' demand for charging stations is increasing daily. When charging vehicles search for charging piles or mobile auxiliary charging piles within stations, GPS positioning is often ineffective because charging stations are generally located underground or inside buildings. Existing image and laser sensor sensing methods also suffer from poor positioning accuracy due to factors such as lighting or temporary obstacles, causing inconvenience for users charging their vehicles. Summary of the Invention

[0003] In view of the above problems, the present invention provides a positioning method and related equipment for charging stations. The main purpose is to solve the problem that GPS positioning is poor because charging stations are generally set up underground or inside buildings, and that existing sensing methods such as image and laser sensors are inaccurate due to factors such as light or temporary obstacles, causing inconvenience to users when charging.

[0004] To address at least one of the aforementioned technical problems, in a first aspect, the present invention provides a positioning method within a charging station for charging vehicles or mobile auxiliary charging equipment. The method includes:

[0005] Acquire IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station;

[0006] Based on the IMU data, determine the three-dimensional feature road surface information within the charging station;

[0007] Based on the three-dimensional road surface information and the pre-stored charging station map, the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station is determined.

[0008] Optionally, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes:

[0009] The type of three-dimensional feature of the three-dimensional feature road surface is determined based on the three-dimensional feature road surface information;

[0010] Query the location information of the three-dimensional feature type on the pre-stored charging station map;

[0011] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on the location information of the aforementioned three-dimensional feature type.

[0012] Optionally, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes:

[0013] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on at least two of the three-dimensional road surface information, the vehicle's driving data between at least two of the three-dimensional road surface information, and a pre-stored charging station map.

[0014] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0015] If the IMU data indicates that the target moving vehicle or the mobile auxiliary charging device has two consecutive first jumps within a preset time interval, the three-dimensional feature road surface information is determined to be speed bump information.

[0016] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0017] When the IMU data indicates that the target mobile vehicle or the mobile auxiliary charging device has multiple consecutive second jumps within a preset time interval, the three-dimensional feature road surface information is determined to be anti-skid strip information, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0018] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0019] When the IMU data indicates that the vehicle is on a slope, the three-dimensional feature road surface information is determined to be slope information.

[0020] Optionally, the driving data includes steering data and driving distance data.

[0021] Secondly, embodiments of the present invention also provide a positioning device within a charging station, comprising:

[0022] The acquisition unit is used to acquire IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station.

[0023] The determining unit is used to determine the three-dimensional feature road surface information within the charging station based on the IMU data;

[0024] The positioning unit is used to determine the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map.

[0025] To achieve the above objectives, according to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the above-described charging station positioning method is implemented when the program is executed by a processor.

[0026] To achieve the above objectives, according to a fourth aspect of the present invention, an electronic device is provided, comprising at least one processor and at least one memory connected to the processor; wherein the processor is configured to invoke program instructions in the memory to execute the above-described charging station positioning method.

[0027] By employing the above technical solution, the charging station positioning method provided by this invention acquires IMU data of a target mobile charging vehicle or mobile auxiliary charging device within the charging station; determines three-dimensional feature road surface information within the charging station based on the IMU data; and determines the position of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and a pre-stored charging station map. Since charging stations are generally located underground or inside buildings, GPS positioning is often ineffective. Existing image and laser sensor sensing methods suffer from poor positioning accuracy due to factors such as light or temporary obstacles, causing inconvenience for users. Even conventional positioning methods using wheel speedometers can lead to inaccurate positioning when wheels slip, requiring the search for an accurate starting correction point. Therefore, by acquiring IMU data of a target mobile charging vehicle or mobile auxiliary charging device within the charging station, and since the IMU data can determine three-dimensional feature road surface information such as speed bumps and anti-slip strips within the charging station, the position of the charging vehicle or the mobile auxiliary charging device within the charging station can be determined based on this three-dimensional feature road surface information and a pre-stored charging station map. By acquiring 3D road surface information from the aforementioned IMU data and utilizing pre-stored charging station maps for positioning of target mobile charging vehicles or mobile auxiliary charging equipment within the charging station, this method avoids the problem of poor positioning accuracy caused by factors such as light or temporary obstacles that affect other sensors. It also avoids the inaccuracy issues that arise when using wheel speedometers for positioning in conventional methods, especially when encountering wheel slippage. Furthermore, since the IMU sensor is an existing basic sensor of the charging vehicle or the mobile auxiliary charging equipment, acquiring 3D road surface information from the IMU data does not require additional hardware, thus improving positioning accuracy while avoiding increased costs.

[0028] Accordingly, the positioning device, equipment, and computer-readable storage medium in the charging station provided in the embodiments of the present invention also have the above-mentioned technical effects.

[0029] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0030] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0031] Figure 1 A flowchart illustrating a positioning method within a charging station provided by an embodiment of the present invention is shown.

[0032] Figure 2 This diagram illustrates the composition of a positioning device within a charging station according to an embodiment of the present invention.

[0033] Figure 3 This diagram illustrates the composition of a positioning electronic device within a charging station according to an embodiment of the present invention. Detailed Implementation

[0034] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0035] To address the issue of poor GPS positioning due to the common location of charging stations underground or inside buildings, and the inaccurate positioning of existing image and laser sensor methods due to factors such as lighting or temporary obstacles, thus causing inconvenience for users charging, this invention provides a positioning method within a charging station for charging vehicles or mobile auxiliary charging equipment, such as... Figure 1 As shown, the method includes:

[0036] S110. Obtain IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station.

[0037] For example, the target mobile charging vehicle can be a new energy vehicle. The mobile auxiliary charging equipment can be a mobile charging device permanently installed within a charging station, capable of moving within the station and charging the target mobile charging vehicle. The IMU data can refer to the test data obtained by the inertial measurement unit for the mobile charging vehicle or mobile auxiliary charging equipment, typically referring to a combined unit consisting of three accelerometers and three gyroscopes, mounted on mutually perpendicular measurement axes. Furthermore, most target mobile vehicles have an inertial measurement unit to monitor the vehicle's movement state in order to control the vehicle based on its movement state.

[0038] S120. Determine the three-dimensional feature road surface information within the charging station based on the IMU data;

[0039] For example, the aforementioned three-dimensional road surface information can be raised or recessed road markings or three-dimensional road surface features that serve a safety assistance function. Because the acquisition of this three-dimensional road surface information is less affected by external environmental factors, it is more accurate than auxiliary positioning methods such as image sensors and wheel speedometers.

[0040] S130. Based on the three-dimensional feature road surface information and the pre-stored charging station map, determine the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station.

[0041] For example, the aforementioned pre-stored charging station map can be a design map of the charging station, including the locations of parking spaces, fixed charging devices, and all three-dimensional surface features within the charging station. When the location of a feature of the same type within the charging station is unique, the location of the charging vehicle or the mobile auxiliary charging device within the charging station can be clearly matched. When the location of a feature of the same type within the charging station is not unique, the location of the charging vehicle or the mobile auxiliary charging device within the charging station can also be clearly matched by combining the locations of multiple identical or different types of three-dimensional surface features within the charging station and the actual measured travel paths between at least two three-dimensional surface features.

[0042] By employing the above technical solution, the charging station positioning method provided by this invention acquires IMU data of a target mobile charging vehicle or mobile auxiliary charging device within the charging station; determines three-dimensional feature road surface information within the charging station based on the IMU data; and determines the position of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and a pre-stored charging station map. Since charging stations are generally located underground or inside buildings, GPS positioning is often ineffective. Existing image and laser sensor sensing methods suffer from poor positioning accuracy due to factors such as light or temporary obstacles, causing inconvenience for users. Even conventional positioning methods using wheel speedometers can lead to inaccurate positioning when wheels slip, requiring the search for an accurate starting correction point. Therefore, by acquiring IMU data of a target mobile charging vehicle or mobile auxiliary charging device within the charging station, and since the IMU data can determine three-dimensional feature road surface information such as speed bumps and anti-slip strips within the charging station, the position of the charging vehicle or the mobile auxiliary charging device within the charging station can be determined based on this three-dimensional feature road surface information and a pre-stored charging station map. By acquiring 3D road surface information from the aforementioned IMU data and utilizing pre-stored charging station maps for positioning of target mobile charging vehicles or mobile auxiliary charging equipment within the charging station, this method avoids the problem of poor positioning accuracy caused by factors such as light or temporary obstacles that affect other sensors. It also avoids the inaccuracy issues that arise when using wheel speedometers for positioning in conventional methods, especially when encountering wheel slippage. Furthermore, since the IMU sensor is an existing basic sensor of the charging vehicle or the mobile auxiliary charging equipment, acquiring 3D road surface information from the IMU data does not require additional hardware, thus improving positioning accuracy while avoiding increased costs.

[0043] In one embodiment, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and a pre-stored charging station map includes:

[0044] The type of three-dimensional feature of the three-dimensional feature road surface is determined based on the three-dimensional feature road surface information;

[0045] Query the location information of the three-dimensional feature type on the pre-stored charging station map;

[0046] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on the location information of the aforementioned three-dimensional feature type.

[0047] In one embodiment, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and a pre-stored charging station map includes:

[0048] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on at least two of the three-dimensional road surface information, the vehicle's driving data between at least two of the three-dimensional road surface information, and a pre-stored charging station map.

[0049] In one embodiment, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0050] If the IMU data indicates that the target moving vehicle or the mobile auxiliary charging device has two consecutive first jumps within a preset time interval, the three-dimensional feature road surface information is determined to be speed bump information.

[0051] For example, the aforementioned preset time interval can be set based on the common front-to-rear wheel spacing of current vehicles. For instance, at charging stations for small and medium-sized vehicles, the preset time interval can be set based on the vehicle's speed when passing over the speed bump and the front-to-rear wheel spacing of the small and medium-sized vehicle; the preset time interval can be set to within 3 seconds. For the small-sized mobile auxiliary charging device, the preset time interval can be set to within 1 second. Therefore, if the IMU data indicates that the target moving vehicle has two consecutive first jumps within the preset time interval, combined with the possible road conditions within the charging station and the vehicle's possible driving state, it can be inferred that the above situation indicates that the vehicle's front and rear wheels passed over the speed bump sequentially.

[0052] In one embodiment, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0053] When the IMU data indicates that the target mobile vehicle or the mobile auxiliary charging device has multiple consecutive second jumps within a preset time interval, the three-dimensional feature road surface information is determined to be anti-skid strip information, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0054] For example, the aforementioned anti-skid strip can be a dotted anti-skid strip or an anti-skid strip composed of continuous raised and recessed steps. Therefore, if the target moving vehicle experiences multiple consecutive second transitions within a preset time interval, it can be presumed that the vehicle's wheels have traversed a surface with continuous raised and recessed sections. Combining this with the possible road conditions within the charging station and the vehicle's possible driving state, it can be presumed that the vehicle has currently passed the anti-skid strip.

[0055] In one embodiment, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0056] When the IMU data indicates that the vehicle is on a slope, the three-dimensional feature road surface information is determined to be slope information.

[0057] In one embodiment, the driving data includes steering data and driving distance data.

[0058] For example, the steering data and driving distance data mentioned above can be obtained through wheel speed sensors or IMUs. Although this solution can also use the data measured by the wheel speed sensor as a positioning basis, it needs to be combined with three-dimensional road surface feature information, which can verify the data measured by the wheel speed sensor to a certain extent.

[0059] Furthermore, as a response to the above Figure 1 In addition to the implementation of the method shown, this embodiment of the invention also provides a positioning device within a charging station for the above-mentioned... Figure 1 The method shown is implemented accordingly. This device embodiment corresponds to the foregoing method embodiment. For ease of reading, this device embodiment will not repeat the details of the foregoing method embodiment, but it should be clear that the device in this embodiment can implement all the contents of the foregoing method embodiment. Figure 2 As shown, the device includes: an acquisition unit 210, a determination unit 220, and a positioning unit 230, wherein...

[0060] Acquisition unit 210 is used to acquire IMU data of target mobile charging vehicles or mobile auxiliary charging equipment in the charging station;

[0061] Determining unit 220 is used to determine the three-dimensional feature road surface information within the charging station based on the IMU data;

[0062] The positioning unit 230 is used to determine the position of the charging vehicle or the mobile auxiliary charging equipment in the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map.

[0063] By employing the above technical solution, the charging station positioning device provided by this invention acquires IMU data of a target mobile charging vehicle or mobile auxiliary charging device within the charging station; determines the three-dimensional feature road surface information within the charging station based on the IMU data; and determines the position of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and a pre-stored charging station map. Since charging stations are generally located underground or inside buildings, GPS positioning is often ineffective. Existing image and laser sensor sensing methods suffer from poor positioning accuracy due to factors such as light or temporary obstacles, causing inconvenience for users. Conventional positioning using wheel speedometers still results in inaccurate positioning when wheels slip, requiring the search for an accurate starting correction point. Therefore, by acquiring the IMU data of the target mobile charging vehicle or mobile auxiliary charging device within the charging station, which can determine three-dimensional feature road surface information such as speed bumps and anti-slip strips, the position of the charging vehicle or the mobile auxiliary charging device within the charging station can be determined based on this three-dimensional feature road surface information and a pre-stored charging station map. By acquiring 3D road surface information from the aforementioned IMU data and utilizing pre-stored charging station maps for positioning of target mobile charging vehicles or mobile auxiliary charging equipment within the charging station, this method avoids the problem of poor positioning accuracy caused by factors such as light or temporary obstacles that affect other sensors. It also avoids the inaccuracy issues that arise when using wheel speedometers for positioning in conventional methods, especially when encountering wheel slippage. Furthermore, since the IMU sensor is an existing basic sensor of the charging vehicle or the mobile auxiliary charging equipment, acquiring 3D road surface information from the IMU data does not require additional hardware, thus improving positioning accuracy while avoiding increased costs.

[0064] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting kernel parameters, a method for positioning within a charging station can be implemented. This method can solve the problems of missing charging station information in the global charging station map, which hinders vehicle movement within the charging station, and the inaccurate acquisition of existing charging station information.

[0065] This invention provides a computer-readable storage medium including a stored program that, when executed by a processor, implements the above-described charging station positioning method.

[0066] This invention provides a processor for running a program, wherein the program executes the above-mentioned positioning method within a charging station.

[0067] This invention provides an electronic device, which includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the charging station positioning method described above.

[0068] This invention provides an electronic device 30, such as... Figure 3 As shown, the electronic device includes at least one processor 301, and at least one memory 302 and a bus 303 connected to the processor; wherein, the processor 301 and the memory 302 communicate with each other through the bus 303; the processor 301 is used to call program instructions in the memory:

[0069] Acquire IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station;

[0070] Based on the IMU data, determine the three-dimensional feature road surface information within the charging station;

[0071] Based on the three-dimensional road surface information and the pre-stored charging station map, the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station is determined.

[0072] Optionally, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes:

[0073] The type of three-dimensional feature of the three-dimensional feature road surface is determined based on the three-dimensional feature road surface information;

[0074] Query the location information of the three-dimensional feature type on the pre-stored charging station map;

[0075] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on the location information of the aforementioned three-dimensional feature type.

[0076] Optionally, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes:

[0077] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on at least two of the three-dimensional road surface information, the vehicle's driving data between at least two of the three-dimensional road surface information, and a pre-stored charging station map.

[0078] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0079] If the IMU data indicates that the target moving vehicle or the mobile auxiliary charging device has two consecutive first jumps within a preset time interval, the three-dimensional feature road surface information is determined to be speed bump information.

[0080] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0081] When the IMU data indicates that the target mobile vehicle or the mobile auxiliary charging device has multiple consecutive second jumps within a preset time interval, the three-dimensional feature road surface information is determined to be anti-skid strip information, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0082] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0083] When the IMU data indicates that the vehicle is on a slope, the three-dimensional feature road surface information is determined to be slope information.

[0084] Optionally, the driving data includes steering data and driving distance data.

[0085] To perform the above-described in-charge station positioning method.

[0086] This application also provides a computer program product, which, when executed on a process management electronic device, is suitable for executing a program that initializes the following method steps:

[0087] Acquire IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station;

[0088] Based on the IMU data, determine the three-dimensional feature road surface information within the charging station;

[0089] Based on the three-dimensional road surface information and the pre-stored charging station map, the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station is determined.

[0090] Optionally, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes:

[0091] The type of three-dimensional feature of the three-dimensional feature road surface is determined based on the three-dimensional feature road surface information;

[0092] Query the location information of the three-dimensional feature type on the pre-stored charging station map;

[0093] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on the location information of the aforementioned three-dimensional feature type.

[0094] Optionally, determining the location of the charging vehicle or the mobile auxiliary charging device within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes:

[0095] The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on at least two of the three-dimensional road surface information, the vehicle's driving data between at least two of the three-dimensional road surface information, and a pre-stored charging station map.

[0096] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0097] If the IMU data indicates that the target moving vehicle or the mobile auxiliary charging device has two consecutive first jumps within a preset time interval, the three-dimensional feature road surface information is determined to be speed bump information.

[0098] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0099] When the IMU data indicates that the target mobile vehicle or the mobile auxiliary charging device has multiple consecutive second jumps within a preset time interval, the three-dimensional feature road surface information is determined to be anti-skid strip information, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0100] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data includes:

[0101] When the IMU data indicates that the vehicle is on a slope, the three-dimensional feature road surface information is determined to be slope information.

[0102] Optionally, the driving data includes steering data and driving distance data.

[0103] This application is described with reference to flowchart illustrations and / or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable process management electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable process management electronic device, generate instructions for implementing the process... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] In a typical configuration, an electronic device includes one or more processors (CPUs), memory, and a bus. The electronic device may also include input / output interfaces, network interfaces, etc.

[0105] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM, and memory includes at least one memory chip. Memory is an example of computer-readable media.

[0106] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media for computers include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage electronic devices, or any other non-transferable medium that can be used to store information accessible to a computing electronic device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0107] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or electronic device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or electronic device. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or electronic device that includes that element.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable, computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A positioning method within a charging station, characterized in that, For use in charging vehicles or mobile auxiliary charging equipment, including: Acquire IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station; Determining the three-dimensional feature road surface information within the charging station based on the IMU data; the determination of the three-dimensional feature road surface information within the charging station based on the IMU data includes: If the IMU data indicates that the target mobile charging vehicle or the mobile auxiliary charging device has two consecutive first jumps within a preset time interval, the three-dimensional feature road surface information is determined to be speed bump information. The preset time interval is set according to the current common front and rear wheel spacing of vehicles. When the IMU data indicates that the target mobile charging vehicle or the mobile auxiliary charging device has multiple consecutive second jumps within a preset time interval, the three-dimensional feature road surface information is determined to be anti-skid strip information, wherein the amplitude of the first jump is greater than the amplitude of the second jump. Based on the three-dimensional road surface information and the pre-stored charging station map, the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station is determined.

2. The method according to claim 1, characterized in that, Determining the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes: The type of three-dimensional feature of the three-dimensional feature road surface is determined based on the three-dimensional feature road surface information; Query the location information of the three-dimensional feature type on the pre-stored charging station map; The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on the location information of the aforementioned three-dimensional feature type.

3. The method according to claim 1, characterized in that, Determining the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map includes: The location of the charging vehicle or the mobile auxiliary charging device within the charging station is determined based on at least two of the three-dimensional road surface information, the vehicle's driving data between at least two of the three-dimensional road surface information, and a pre-stored charging station map.

4. The method according to claim 2 or 3, characterized in that, The process of determining the three-dimensional feature road surface information within the charging station based on the IMU data includes: When the IMU data indicates that the vehicle is on a slope, the three-dimensional feature road surface information is determined to be slope information.

5. The method according to claim 3, characterized in that, The driving data includes steering data and driving distance data.

6. A positioning device for a charging station, characterized in that, include: The acquisition unit is used to acquire IMU data of the target mobile charging vehicle or mobile auxiliary charging equipment within the charging station. The determining unit is used to determine the three-dimensional feature road surface information within the charging station based on the IMU data; The step of determining the three-dimensional feature road surface information within the charging station based on the IMU data includes: determining the three-dimensional feature road surface information as speed bump information when the IMU data indicates that the target mobile charging vehicle or the mobile auxiliary charging device has two consecutive first jumps within a preset time interval, wherein the preset time interval is set according to the current common front and rear wheel spacing of vehicles; and determining the three-dimensional feature road surface information as anti-skid strip information when the IMU data indicates that the target mobile charging vehicle or the mobile auxiliary charging device has multiple consecutive second jumps within the preset time interval, wherein the amplitude of the first jump is greater than the amplitude of the second jump. The positioning unit is used to determine the location of the charging vehicle or the mobile auxiliary charging equipment within the charging station based on the three-dimensional feature road surface information and the pre-stored charging station map.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed by a processor, it implements the in-station positioning method as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, The electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the positioning method in the charging station as described in any one of claims 1 to 5.

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