Long-range high-precision vehicle positioning method and system

Abstract

The application discloses a long-distance high-precision vehicle positioning method, comprising the following steps: detecting the GPS signal strength of a vehicle; when the GPS signal strength of the vehicle is lower than a first preset threshold, judging whether the vehicle is located in a UWB signal blind area; when the vehicle is located in the UWB signal blind area, calculating the GPS position of the vehicle by using the relative position relationship between the terminal and the vehicle and the GPS position information of the terminal. The GPS module and the UWB base station are installed on the vehicle, the vehicle GPS signal is used for positioning when the vehicle GPS signal is good, the relative position between the vehicle and the terminal is fed back by using the UWB signal when the vehicle is located in the GPS signal blind area, and then the GPS position of the vehicle at the moment can be calculated by combining the GPS position information of the terminal at the moment. Therefore, even if the vehicle is located in the GPS signal blind area such as an underground parking lot, the server can still accurately position the vehicle, the server can conveniently master the vehicle position information at any time, and the terminal without the UWB label can be conveniently used for searching for the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile positioning technology, and in particular to a long-distance high-precision vehicle positioning method and system. BACKGROUND

[0002] With the development of science and technology, especially the rapid development of intelligent computing, the Internet of Vehicles has developed rapidly. The Internet of Vehicles is a network system that realizes the connection of in-vehicle, vehicle and X (vehicle, road, people, cloud, etc.) by means of new information and communication technology, which is used to improve the intelligence and automation of vehicles, create a new traffic service mode, improve traffic efficiency, and improve the driving experience, and provide users with safer and more convenient comprehensive services.

[0003] The biggest difference between a networked vehicle and a traditional vehicle is that the vehicle can be connected in real time, and the user can query the vehicle information at any time, including the vehicle location information. For example, a network car company needs to know the location information of the vehicle in real time.

[0004] The existing method is usually a vehicle positioning method through Bluetooth, PEK or RKE. These methods can only communicate and execute in a near field, in other words, when the driver is close enough to the vehicle in the parking lot, the vehicle can provide feedback, and then the vehicle can be found. This is only suitable for drivers. In addition, some networked vehicles have built-in GPS modules, which can report the specific location of the vehicle through GPS. However, the positioning error of GPS is large, especially in indoor parking environments such as underground parking lots. GPS cannot provide accurate vehicle positioning, and the error is large. Even in the GPS blind area, the vehicle cannot be positioned, which causes the vehicle to be unable to report its accurate position information to the cloud for other users to use the vehicle location information. SUMMARY

[0005] The present application aims to solve the problem that the existing technology cannot be positioned at a long distance through the Bluetooth, PEK or RKE vehicle search scheme, and the GPS signal has a signal blind area, which causes other users to be unable to accurately position the vehicle. A long-distance high-precision vehicle positioning method is provided.

[0006] The technical solution adopted by the present application to solve the technical problem is to construct a long-distance high-precision vehicle positioning method, comprising the following steps:

[0007] Step S1, detecting the GPS signal strength of the vehicle;

[0008] Step S2, when the GPS signal strength of the vehicle is lower than a first preset threshold, determining whether the vehicle is located in a UWB signal blind area;

[0009] Step S3, when the vehicle is not located in the UWB signal blind area, calculating the GPS position of the vehicle by using the relative position of the terminal and the vehicle and the GPS position information of the terminal.

[0010] In the long-distance high-precision vehicle positioning method, when the GPS signal strength of the vehicle is higher than a first preset threshold, the GPS position of the vehicle is acquired by the GPS module of the vehicle.

[0011] In the long-distance high-precision vehicle positioning method, in the step S3, the GPS position of the vehicle is calculated by the following formula,

[0012] x=xu+d*cos a

[0013] y=yu+d*sin a

[0014] wherein xu and yu are the GPS coordinates of the terminal, and a and d are the phase angle and distance between the terminal and the vehicle, respectively.

[0015] According to another aspect of the present application, there is further provided a long-distance high-precision vehicle positioning system, comprising:

[0016] a vehicle GPS signal strength detection module for detecting the GPS signal strength of the vehicle;

[0017] a vehicle UWB signal strength detection module for judging whether the vehicle is located in a UWB signal blind area when the GPS signal strength of the vehicle is lower than a first preset threshold;

[0018] a calculation module for calculating the GPS position of the vehicle by using the relative position relationship between the terminal and the vehicle and the GPS position information of the terminal when the vehicle is located in the UWB signal blind area.

[0019] In the long-distance high-precision vehicle positioning system, when the GPS signal strength of the vehicle is higher than a first preset threshold, the calculation module acquires the GPS position of the vehicle by the GPS module of the vehicle.

[0020] In the long-distance high-precision vehicle positioning system, the GPS position of the vehicle is calculated by the following formula,

[0021] x=xu+d*cos a

[0022] y=yu+d*sin a

[0023] wherein xu and yu are the GPS coordinates of the terminal, and a and d are the phase angle and distance between the terminal and the vehicle, respectively.

[0024] According to still another aspect of the present application, there is further provided a long-distance high-precision vehicle positioning device, comprising:

[0025] a memory for storing a computer program;

[0026] A processor is configured to implement the steps of the long-distance high-precision vehicle positioning method when executing the computer program.

[0027] According to another aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program is configured to implement the steps of the long-distance high-precision vehicle positioning method when executed by a processor.

[0028] The long-distance high-precision vehicle positioning method and system have the following advantages: the long-distance high-precision vehicle positioning method provided by the present application can position a vehicle by using a GPS signal when the GPS signal is good, and can position the vehicle by using a UWB signal to feed back a relative position between the vehicle and a terminal when the vehicle is in a GPS signal blind area, and can calculate a GPS position of the vehicle by combining the relative position and a GPS position of the terminal, so that the vehicle can be accurately positioned even when the vehicle is in a GPS signal blind area such as an underground parking lot, and the server can always know the position of the vehicle, and the terminal without a UWB tag can also find the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only are the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the provided drawings:

[0030] Figure 1 is a flowchart of the long-distance high-precision vehicle positioning method of the present application;

[0031] Figure 2 is a position relationship diagram of the vehicle and the terminal. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the related drawings. The drawings show typical embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0034] The general idea of the present application is: in view of the problem that the vehicle search scheme through Bluetooth, PEK or RKE in the prior art cannot be positioned at a long distance and the GPS signal has a signal blind area, the reference data dimension of positioning is increased, in addition to the precise positioning data of GPS / DGPS, the relative position between the user and the vehicle is obtained when the relative near field is obtained in combination with the UWB base station in the vehicle and the UWB equipment (smartphone, smartwatch) worn by the user, and the purpose of precise positioning of the user and the vehicle at a long distance is achieved through an algorithm.

[0035] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings of the specification and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0036] Embodiment one

[0037] Reference Figure 1 The long-distance high-precision vehicle positioning method of the embodiment includes:

[0038] Step S1, detecting the GPS signal strength of the vehicle.

[0039] Specifically, in an embodiment of the present application, a GPS module is installed on the vehicle, and the vehicle can report its own position to the server through the GPS module. Therefore, when the vehicle is located in a place with good GPS signal, that is, the GPS signal of the vehicle is greater than a first preset threshold, the server can perform positioning through the position information reported by the GPS module. Therefore, when the GPS signal strength of the vehicle is higher than the first preset threshold, the GPS position of the vehicle is obtained through the GPS module of the vehicle.

[0040] Step S2, when the GPS signal strength of the vehicle is lower than the first preset threshold, determining whether the vehicle is located in a UWB signal blind area.

[0041] Specifically, in an embodiment of the present application, since the GPS can only work within the visible range of the GPS positioning satellite, when the vehicle enters a place where the GPS signal is weak or a GPS signal blind area (for example, an indoor or underground parking lot), the server receives a signal with low strength or cannot receive a signal from the GPS module of the vehicle. The UWB technology has strong penetration capability and can accurately position indoors and underground. Unlike the GPS which provides an absolute geographical position, the UWB base station can give a relative position, and the positioning accuracy can reach centimeter level. Therefore, after the vehicle enters the GPS blind area, the terminal judges whether the UWB signal of the UWB base station installed on the vehicle can be received. If the UWB signal can be received, the terminal obtains the relative position between the terminal and the vehicle by acquiring the UWB signal of the vehicle. Note that the terminal here refers to the terminal with the UWB tag.

[0042] Step S3, when the vehicle is not located in the UWB signal blind area, the relative position between the terminal and the vehicle and the GPS position information of the terminal are used to calculate the GPS position of the vehicle.

[0043] Specifically, when the terminal can receive the UWB signal, the relative position between the terminal and the vehicle fed back by the UWB signal and the GPS position information of the terminal at this time are used to calculate the GPS position of the vehicle, and the GPS position is uploaded to the server. In this way, the server can still accurately position the vehicle when the vehicle is located in the GPS signal blind area, and it is convenient for other users to know the position information of the vehicle at any time.

[0044] Further, in another embodiment of the present application, when the terminal can receive the UWB signal, the relative position between the terminal and the vehicle fed back by the UWB signal and the GPS position information of the terminal at this time are uploaded to the server, and the server calculates the GPS position of the vehicle. In this way, the server can still accurately position the vehicle when the vehicle is located in the GPS signal blind area, and it is convenient for other users to know the position information of the vehicle at any time.

[0045] For example, the terminal (which can be a smart phone or a smart watch or the like) of the vehicle owner A is installed with a UWB tag, and the vehicle A is parked in an underground parking lot. At this time, the GPS signal of the vehicle A is weak, and the server cannot obtain the accurate position of the vehicle A. If the vehicle owner A informs another user B to drive the vehicle, the user B cannot accurately position the vehicle according to the GPS signal of the vehicle A. However, by using the method of the present application, if the terminal of the vehicle owner A can obtain the UWB signal of the vehicle A, the relative position between the vehicle A and the terminal of the vehicle owner A can be extracted, and the absolute position information of the vehicle A at this time can be calculated according to the relative position and the GPS absolute position information of the terminal of the vehicle owner A. Then, the server sends the absolute position information of the vehicle A to the user B, and the user B can achieve the purpose of finding the vehicle.

[0046] Further, in an embodiment of the present application, as shown inFigure 2 As shown in the figure, the UWB base station (more than 3) is arranged on the vehicle, the terminal communicates with each base station through the UWB tag, the position of the terminal from different base stations is measured, the accurate relative position of the terminal and the vehicle is determined, including the phase angle a and the distance d between the terminal and the vehicle, wherein the accurate relative position of the terminal and the vehicle is determined according to the measured position of the terminal from different base stations, which is prior art and will not be described here. Therefore, assuming that the GPS coordinates of the terminal are (xu, yu), the GPS coordinates of the vehicle are (x, y):

[0047] x = xu + d * cos a

[0048] y = yu + d * sin a

[0049] The long-distance high-precision vehicle positioning method provided by the application installs a GPS module and a UWB base station on the vehicle, uses the vehicle GPS signal for positioning when the vehicle GPS signal is good, uses the UWB signal to feed back the relative position of the vehicle and the terminal when the vehicle is in the GPS signal blind area, and then combines the GPS position information of the terminal at this time to calculate the GPS position of the vehicle at this time. Therefore, even if the vehicle is in the GPS signal blind area such as an underground parking lot, the server can still accurately position it, which not only facilitates the server to master the vehicle position information at any time, but also facilitates the terminal without installing the UWB tag to find the vehicle.

[0050] Embodiment two

[0051] The embodiment discloses a long-distance high-precision vehicle positioning system, comprising:

[0052] A vehicle GPS signal strength detection module is arranged for detecting the GPS signal strength of the vehicle.

[0053] A vehicle UWB signal strength detection module is arranged for judging whether the vehicle is in the UWB signal blind area when the GPS signal strength of the vehicle is lower than the first preset threshold.

[0054] A calculation module is arranged for calculating the GPS position of the vehicle by using the relative position relationship between the terminal and the vehicle and the GPS position information of the terminal when the vehicle is in the UWB signal blind area.

[0055] Specifically, in an embodiment of the application, the vehicle is provided with a GPS module, and the vehicle can report its position to the vehicle GPS signal strength detection module through the GPS module. Therefore, when the vehicle is in a place with good GPS signal, i.e., the GPS signal of the vehicle is greater than the first preset threshold, the server can position by the position information reported by the GPS module. Therefore, when the GPS signal strength of the vehicle is higher than the first preset threshold, the calculation module obtains the GPS position of the vehicle through the GPS module of the vehicle.

[0056] Specifically, in an embodiment of the present application, since the GPS can only work within the visible range of the GPS positioning satellite, when the vehicle enters a place where the GPS signal is weak or a GPS signal blind area (for example, an indoor or underground parking lot), the server receives a signal with low strength or cannot receive a signal from the GPS module of the vehicle. The UWB technology has strong penetration capability and can accurately position indoors and underground. Unlike the GPS which provides an absolute geographical position, the UWB base station can give a relative position, and the positioning accuracy can reach centimeter level. Therefore, after the vehicle enters the GPS blind area, the vehicle UWB signal strength detection module judges whether the UWB signal of the UWB base station installed on the vehicle can be received. If the UWB signal can be received, the vehicle UWB signal strength detection module obtains the relative position of the terminal and the vehicle by acquiring the UWB signal of the vehicle. Note that the terminal here refers to a terminal with a UWB tag installed.

[0057] Specifically, when the vehicle UWB signal strength detection module can receive the UWB signal, the relative position of the terminal and the vehicle fed back by the UWB signal and the GPS position information of the terminal at this time are used to calculate the GPS position of the vehicle, and the GPS position is uploaded to the server. In this way, the server can still accurately position the vehicle when the vehicle is located in the GPS signal blind area, and other users can easily master the position information of the vehicle at any time. In an embodiment of the present application, the GPS position of the vehicle is calculated by the following formula,

[0058] x = xu + d*cos a

[0059] y = yu + d*sin a

[0060] wherein xu and yu are the GPS coordinates of the terminal, and a and d are the phase angle and distance between the terminal and the vehicle, respectively.

[0061] The above description relates to various modules corresponding to the steps of the above-described embodiment one, and more details can be found in embodiment one, which will not be repeated here. Unless explicitly required, the scope of the present application is not limited by the specific hardware and / or software features of the modules explicitly mentioned in the embodiments. As a non-limiting example, the present application can be implemented in the embodiments by one or more processors executing software instructions. It is noted that the above description of various modules is divided into these modules for clarity. However, in actual implementation, the boundaries of various modules can be blurred. For example, any or all functional modules herein can share various hardware and / or software elements. For another example, any and / or all functional modules herein can be implemented in whole or in part by a common processor executing software instructions. In addition, various software sub-modules executed by one or more processors can be shared among various software modules. Accordingly, unless explicitly required, the scope of the present application is not limited by the mandatory boundaries of various hardware and / or software elements.

[0062] Embodiment three

[0063] The embodiment discloses a long-distance high-precision vehicle positioning device, comprising a processor and a memory, the memory stores a computer program, and the computer program realizes the steps of the method of embodiment one when executed by the processor. The specific implementation process can refer to the related description of the above method embodiment, which will not be repeated here.

[0064] Embodiment four

[0065] The embodiment discloses a computer readable storage medium, which stores a computer program, and the computer program realizes the steps of the method of embodiment one when executed by the processor. The specific implementation process can refer to the related description of the above method embodiment, which will not be repeated here.

[0066] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments. The above specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A method for long-range high-precision vehicle positioning, characterized in that, The method comprises the following steps: Step S1, detecting the GPS signal strength of the vehicle; Step S2, when the GPS signal strength of the vehicle is higher than a first preset threshold, acquiring the GPS position of the vehicle through the GPS module of the vehicle; when the GPS signal strength of the vehicle is lower than the first preset threshold, judging whether the UWB signal of the UWB base station installed on the vehicle can be received by the terminal with the UWB tag; Step S3, when the UWB signal of the UWB base station installed on the vehicle can be received by the terminal, calculating the GPS position of the vehicle through the following formula by using the relative position between the terminal and the vehicle and the GPS position information of the terminal, x=xu+d*cosa y=yu+d*sina wherein xu and yu are the GPS coordinates of the terminal, and a and d are the phase angle and distance between the terminal and the vehicle, respectively.

2. A long-range high-precision vehicle positioning system, characterized in that The method comprises: a vehicle GPS signal strength detection module for detecting the GPS signal strength of the vehicle; a vehicle UWB signal strength detection module for judging whether the UWB signal of the UWB base station installed on the vehicle can be received when the GPS signal strength of the vehicle is lower than a first preset threshold; a calculation module for calculating the GPS position of the vehicle by using the relative position between the terminal and the vehicle and the GPS position information of the terminal when the UWB signal of the UWB base station installed on the vehicle can be received; when the GPS signal strength of the vehicle is higher than a first preset threshold, the calculation module acquires the GPS position of the vehicle through the GPS module of the vehicle; the GPS position of the vehicle is calculated through the following formula, x=xu+d*cosa y=yu+d*sina wherein xu and yu are the GPS coordinates of the terminal, and a and d are the phase angle and distance between the terminal and the vehicle, respectively.

3. A long-range high-precision vehicle positioning apparatus characterized by comprising: The method comprises: a memory for storing a computer program; a processor for executing the computer program to realize the steps of the long-distance high-precision vehicle positioning method according to claim 1.

4. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the long-distance high-precision vehicle positioning method according to claim 1.

Images