Positioning method, road side device, terminal device, electronic device, and storage medium

Abstract

The application provides a positioning method, a roadside device, a terminal device, an electronic device and a storage medium. The positioning method comprises the roadside device obtaining first positioning data of the roadside device from a server, the first positioning data comprising data of at least one data type; and broadcasting the first positioning data or sending second positioning data to a terminal device, the second positioning data being used for positioning of the terminal device, and the type of the second positioning data being a positioning type supported by the terminal device. The scheme of the application reduces the positioning time of the vehicle, thereby improving the positioning speed of the vehicle.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a positioning method, roadside equipment, terminal equipment, electronic equipment, and storage medium. Background Technology

[0002] GPS (Global Positioning System) is a high-precision radio navigation positioning system based on artificial Earth satellites. It can provide accurate geographical location, vehicle speed, and precise time information anywhere in the world and in near-Earth space.

[0003] The basic principle of traditional GPS positioning technology is to process the signals received by the GPS receiver to obtain location information, and then transmit the location information to the connected device. The connected device performs certain calculations and transformations on the information (such as map projection transformation, coordinate system transformation, etc.) before transmitting it to the mobile terminal. However, due to the poor penetration of satellite signals in traditional GPS technology, vehicle positioning takes a long time and is slow in areas with severe building obstruction or in indoor environments with poor signals, such as underground parking garages.

[0004] Application content

[0005] In view of this, embodiments of this application provide a positioning method, a roadside device, a terminal device, an electronic device, and a storage medium to at least solve the above-mentioned problems.

[0006] According to a first aspect of the embodiments of this application, a positioning method is provided, comprising: a roadside device obtaining first positioning data of the roadside device from a server, the first positioning data including data of at least one data type; broadcasting the first positioning data or sending second positioning data to a terminal device, the second positioning data being used for positioning of the terminal device, and the type of the second positioning data being a positioning type supported by the terminal device.

[0007] In one implementation, the positioning method further includes: obtaining a positioning request from a terminal device, the positioning request being used to request second positioning data from a roadside device, the second positioning data including data in the first positioning data that satisfies the data type requested by the positioning request; and sending the second positioning data to the terminal device, including sending the second positioning data to the terminal device according to the positioning request.

[0008] In another implementation, the location request includes first information indicating the type of second location data, which includes data that meets the type requirements, wherein the type of the second location data is a location type supported by the terminal device.

[0009] In another implementation, the second positioning data includes ephemeris data from the roadside equipment.

[0010] In another implementation, the positioning method further includes: the roadside device sending a request message to at least one server, the request message including location information used to indicate the location of the roadside device; and receiving first positioning data corresponding to the location of the roadside device from at least one server.

[0011] According to a second aspect of the embodiments of this application, a positioning method is provided, comprising: a terminal device sending a positioning request to a roadside device, the positioning request being used to request target positioning data from the roadside device; obtaining the target positioning data from the roadside device; and determining the positioning result of the terminal device based on the target positioning data.

[0012] According to a third aspect of the embodiments of this application, a roadside device is provided, comprising: a first acquisition module, configured to acquire first positioning data of the roadside device from a server, the first positioning data including data of at least one data type; and a broadcast module, configured to broadcast the first positioning data or send second positioning data to a terminal device, the second positioning data being used for positioning of the terminal device, and the type of the second positioning data being a positioning type supported by the terminal device.

[0013] According to a fourth aspect of the embodiments of this application, a terminal device is provided, comprising: a request module, configured to send a positioning request to a roadside device, the positioning request being used to request target positioning data from the roadside device; a second acquisition module, configured to acquire the target positioning data from the roadside device; and a positioning module, configured to determine the positioning result of the terminal device based on the target positioning data.

[0014] According to a fifth aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform an operation corresponding to the positioning method described in the first aspect, or to perform an operation corresponding to the positioning method described in the second aspect.

[0015] According to a sixth aspect of the embodiments of this application, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, it can implement the positioning method described in the first aspect above, or it can implement the positioning method described in the second aspect above.

[0016] In summary, this application does not rely on cellular networks. Instead, it obtains first positioning data from a server via roadside equipment and broadcasts this first positioning data or sends second positioning data to the terminal device, enabling the terminal device to achieve positioning based on the second positioning data provided by the roadside equipment. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving vehicle positioning speed. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the steps of a positioning method as an exemplary embodiment of this application.

[0019] Figure 2 This is a flowchart illustrating the steps of a positioning method according to another embodiment of this application.

[0020] Figure 3 To and Figure 1 and Figure 2 Signaling flow diagram of the positioning method corresponding to the embodiment.

[0021] Figure 4 This is a structural block diagram of a roadside device that is an exemplary embodiment of this application.

[0022] Figure 5 This is a structural block diagram of a terminal device that is an exemplary embodiment of this application.

[0023] Figure 6 This is a structural block diagram of an electronic device that is an exemplary embodiment of this application. Detailed Implementation

[0024] To provide a clearer understanding of the technical features, objectives, and effects of the embodiments of this application, the specific implementation methods of the embodiments of this application will now be described with reference to the accompanying drawings.

[0025] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0026] To keep the drawings concise, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product. Furthermore, to make the drawings concise and easy to understand, in some drawings, components with the same structure or function are only schematically depicted, or only one or more are labeled.

[0027] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0028] To facilitate understanding, before describing the specific embodiments of this application in detail, the prior art of lane data processing methods, apparatuses, electronic devices and storage media for this application will be described by way of example.

[0029] Existing technologies utilize AGPS (Assisted Global Positioning System), a mode of GPS operation. It uses cellular base stations in conjunction with traditional GPS satellites for data transmission. The location services provided by the mobile communication network can meet vehicle navigation and tracking needs. This requires installing a mobile station on each vehicle or train requiring navigation, and providing good base station coverage. Combined with electronic map technology, it enables automatic vehicle positioning, scheduling, and management.

[0030] However, existing AGPS technologies require the support of cellular networks (GRRS / EDGE / CDMA, etc.) for data transmission, which may require users to pay data traffic fees and also necessitates the support of AGPS location servers.

[0031] Because AGPS requires network support, most devices currently using this technology are mobile phones. Most AGPS-enabled phones employ a purely software-based AGPS solution, which is based on MS-based location calculation. Specifically, ephemeris data is periodically downloaded to the phone, and the AGPS software on the phone calculates available satellite information for the current location based on the ephemeris data, providing this information to the device for satellite search. However, this method of acquiring ephemeris information may have delays and slow satellite search speeds, resulting in longer positioning times.

[0032] Therefore, this application provides a positioning method, a roadside device, a terminal device, an electronic device, and a storage medium. The solution of this application is particularly suitable for initial positioning scenarios, such as when a vehicle is in a situation without a signal, such as a vehicle in an underground parking garage, which can greatly shorten the positioning time.

[0033] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0034] Figure 1 The flowchart illustrating the positioning method of one embodiment of this application mainly includes the following steps:

[0035] In step S102, the roadside device obtains first positioning data from the server. The first positioning data includes data of at least one data type.

[0036] It should be understood that roadside equipment is a computing device deployed along the road to work with other systems to complete traffic information processing and decision-making. It can also be a sensing device for traffic environment and road traffic conditions, such as cameras, millimeter-wave radar, lidar, etc.

[0037] It should also be understood that terminal devices are those with positioning functions, such as in-vehicle navigation devices, mobile phones, and navigators.

[0038] Step S104: Broadcast the first positioning data or send the second positioning data to the terminal device. The second positioning data is used for the positioning of the terminal device, and the type of the second positioning data is a positioning type supported by the terminal device.

[0039] It should be understood that roadside equipment broadcasts initial location data, waiting for the terminal device to acquire it. Alternatively, the roadside equipment may directly send second location data to the terminal device, such as an in-vehicle navigation device, for the in-vehicle navigation device to determine its location.

[0040] In summary, this application does not rely on cellular networks. Instead, it obtains first positioning data from a server via roadside equipment and broadcasts this first positioning data or sends second positioning data to the terminal device, enabling the terminal device to achieve positioning based on the second positioning data provided by the roadside equipment. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving vehicle positioning speed.

[0041] In one implementation, the positioning method further includes: obtaining a positioning request from a terminal device, the positioning request being used to request second positioning data from a roadside device, the second positioning data including data in the first positioning data that satisfies the data type requested by the positioning request; and sending the second positioning data to the terminal device, including sending the second positioning data to the terminal device according to the positioning request.

[0042] It should be understood that the first location data includes data of multiple data types, and the data types of each first location data are different. Therefore, it is necessary to filter out the data of the data type that meets the location request from the multiple first location data, that is, the second location data, in order to achieve accurate positioning.

[0043] In another implementation, the terminal device includes a first terminal.

[0044] For example, the first terminal may be a car navigation device such as a mobile phone or a navigator. The terminal device may also include a second terminal such as a car navigation device, mobile phone, or navigator. The first terminal and the second terminal may be the same type of terminal or different types of terminal terminals.

[0045] In another implementation, the location request includes first information indicating the type of second location data, which includes data that meets the type requirements, wherein the type of the second location data is a location type supported by the terminal device.

[0046] In another implementation, the second positioning data includes ephemeris data from the roadside equipment.

[0047] It should be understood that ephemeris data can be information from multiple available satellites, such as satellite frequency bands, azimuth, and elevation. However, the ephemeris data for roadside equipment in the second positioning data refers to available satellite information that meets the requirements of the current location of the roadside equipment.

[0048] For example, after receiving a location request from a terminal device, the roadside device downloads first location data of its current location from the AGPS server. It then filters out second location data from the first location data and either broadcasts the first location data or sends the second location data to the terminal device, enabling the terminal device to locate itself based on the second location data provided by the roadside device.

[0049] Traditional GPS positioning requires a full-band search to find available satellites, which is time-consuming. The solution proposed in this application, however, directly downloads available satellite information for the current area via roadside equipment, avoiding a large-scale full-band search, saving data traffic, shortening search time, and improving the positioning speed for vehicles equipped with terminal devices, such as in-vehicle navigation systems.

[0050] In another implementation, the positioning method further includes: the roadside device sending a request message to at least one server, the request message including location information used to indicate the location of the roadside device; and receiving first positioning data corresponding to the location of the roadside device from at least one server.

[0051] In another implementation, there are multiple servers, and each server supports one type of ephemeris data.

[0052] For example, the roadside device sends request messages to multiple servers and receives first positioning data corresponding to the location of the roadside device from multiple servers. The received first positioning data includes ephemeris data of multiple data types. Second positioning data is filtered from the first positioning data, and the first positioning data is broadcast or the second positioning data is sent to the terminal device, so that the terminal device can achieve positioning based on the second positioning data provided by the roadside device.

[0053] In summary, this application does not rely on cellular networks. Instead, it obtains first positioning data from a server via roadside equipment and broadcasts this first positioning data or sends second positioning data to the terminal device, enabling the terminal device to achieve positioning based on the second positioning data provided by the roadside equipment. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving vehicle positioning speed.

[0054] Figure 2 The flowchart illustrating another embodiment of the positioning method of this application mainly includes the following steps:

[0055] In step S202, the terminal device sends a location request to the roadside device, which is used to request the target location data of the roadside device.

[0056] It should be understood that terminal devices are terminals with positioning functions, such as in-vehicle navigation devices, mobile phones, and navigators.

[0057] Step S204: Obtain target positioning data from roadside equipment.

[0058] It should be understood that roadside equipment is computing equipment deployed along roads to work with other systems to process traffic information and make decisions. Roadside equipment can be RSUs that support V2I communication, communication base stations that support V2N, or sensing devices for traffic environment and road traffic conditions, such as cameras, millimeter-wave radar, and lidar.

[0059] Step S206: Determine the positioning result of the terminal device based on the target positioning data.

[0060] It should be understood that the target positioning data is the positioning data of the roadside equipment. When the terminal equipment is unable to complete its own positioning, the terminal equipment can indirectly determine its own positioning result based on the target positioning data.

[0061] In summary, the solution of this application sends a positioning request to the roadside equipment via the terminal device. This positioning request requests target positioning data from the roadside equipment and retrieves the target positioning data, enabling the terminal device to achieve positioning based on the target positioning data. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving the vehicle's positioning speed.

[0062] In another implementation, the location request includes first information indicating the type of the target location data, the target location data including data that meets the requirements of the type, wherein the type of the target location data is a location type supported by the terminal device.

[0063] In another implementation, the location data of the roadside device includes data of at least one data type, and the target location data includes data of at least one data type of location type supported by the terminal device.

[0064] In another implementation, the target location data includes ephemeris data from roadside equipment.

[0065] For example, the positioning data of the roadside device may include ephemeris data of multiple data types, and the target positioning data includes ephemeris data of the positioning type supported by the terminal device among the multiple data types of ephemeris data.

[0066] In another implementation, the positioning method further includes: when the terminal device detects that the current positioning signal strength does not meet the preset signal strength, it determines the roadside device that establishes direct communication with the terminal device, and the roadside device includes multiple devices.

[0067] For example, the terminal device is a vehicle navigation device A. The vehicle navigation device A detects the positioning signal. When the strength of the current positioning signal is detected to be -90 (dBm), which does not meet the preset signal strength of -40 (dBm) to -70 (dBm), it determines multiple roadside devices that establish direct communication with the terminal device. The multiple roadside devices are camera B, camera C, camera D, and camera E.

[0068] When the terminal device's own positioning signal is poor, causing the terminal device to fail to locate or the positioning speed to be slow, the terminal device can be located through roadside equipment, which improves the success rate and speed of the terminal device's positioning.

[0069] In another implementation, if the terminal device detects that the current positioning signal strength does not meet the preset signal strength, it sends a positioning request to multiple roadside devices that have established direct communication with the terminal device, or sends a positioning request to a target roadside device among the multiple roadside devices. The target roadside device is the roadside device closest to the terminal device or the roadside device with the best signal strength.

[0070] For example, the terminal device is an in-vehicle navigation device A. The in-vehicle navigation device A detects positioning signals. When the detected signal strength is -90 dBm, which does not meet the preset signal strength range of -40 dBm to -70 dBm, it determines multiple roadside devices to establish direct communication with the terminal device. These roadside devices are cameras B, C, D, and E, all of which have positioning capabilities. Camera D is the roadside device closest to the in-vehicle navigation device A, and therefore, camera D is designated as the target roadside device. The in-vehicle navigation device A sends positioning requests to the multiple roadside devices, or it sends a positioning request to camera D.

[0071] As another example, the terminal device is a vehicle navigation device A. Vehicle navigation device A detects positioning signals. When the detected signal strength is -90 dBm, which does not meet the preset signal strength range of -40 dBm to -70 dBm, it determines multiple roadside devices to establish direct communication with the terminal device. These roadside devices are cameras B, C, D, and E, all of which have positioning capabilities. Camera D has the strongest signal among the multiple roadside devices, so it is selected as the target roadside device. Vehicle navigation device A sends positioning requests to the multiple roadside devices, or it sends a positioning request to camera D.

[0072] As another example, the terminal device is a vehicle navigation device A. Vehicle navigation device A detects positioning signals. When the detected signal strength is -90 dBm, which does not meet the preset signal strength range of -40 dBm to -70 dBm, it determines multiple roadside devices to establish direct communication with the terminal device. These roadside devices are cameras B, C, D, and E, all of which have positioning capabilities. Camera B is the roadside device closest to vehicle navigation device A, and camera D has the strongest signal among the multiple roadside devices. Therefore, vehicle navigation device A can use either camera B or camera D as the target roadside device. Vehicle navigation device A sends positioning requests to multiple roadside devices, or to camera B, or to camera D.

[0073] It should be understood that sidelink technology is a near-field communication technology in which terminals communicate directly with each other through wireless interfaces.

[0074] Establishing direct communication between roadside equipment and terminal equipment helps reduce communication overhead and latency, thereby improving the accuracy of terminal equipment positioning. It also facilitates the rapid positioning of vehicles equipped with terminal equipment, such as in-vehicle navigation devices, reducing vehicle positioning time and thus increasing vehicle positioning speed.

[0075] In another implementation, the positioning method further includes: sequentially determining the first positioning data of a roadside device as the current processing data; determining the initial positioning result of the terminal device based on the current processing data; if the initial positioning result of the terminal device cannot be determined, returning to the current processing data determination step until the initial positioning result of the terminal device is successfully determined.

[0076] For example, the first terminal is an in-vehicle navigation device A, and the multiple roadside devices are cameras B, C, and D. All of these target roadside devices have established direct communication with the in-vehicle navigation device A. The in-vehicle navigation device A detects positioning signals. When the detected signal strength is -90 dBm, which does not meet the preset signal strength range of -40 dBm to -70 dBm, the in-vehicle navigation device A acquires the positioning data of cameras B, C, and D that have established direct communication with it, and sends positioning requests to these cameras. Then, the in-vehicle navigation device A acquires the positioning data of cameras B, C, and D.

[0077] The vehicle navigation device A determines the positioning data of camera B as the current processing data and determines the initial positioning result of the vehicle navigation device A based on the current processing data. If the initial positioning result of the vehicle navigation device A cannot be determined, it returns to the current processing data determination step. Then, the vehicle navigation device A determines the positioning data of camera C as the current processing data and determines the initial positioning result of the vehicle navigation device A based on the current processing data. If the initial positioning result of A is successfully determined, the positioning data of camera C is used as the target positioning data.

[0078] In summary, the solution of this application sends a positioning request to the roadside equipment via the terminal device. This positioning request requests target positioning data from the roadside equipment and retrieves the target positioning data, enabling the terminal device to achieve positioning based on the target positioning data. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving the vehicle's positioning speed.

[0079] As another embodiment, see Figure 3 To and Figure 1 and Figure 2The signaling flow diagram for the positioning method corresponding to this embodiment shows that the HV is the main vehicle, equipped with terminal devices such as in-vehicle navigation device A, and the RSU is the roadside unit. Direct communication is established between the terminal devices and the roadside units. HV-V2X is the direct communication service network.

[0080] Step S301: When the terminal device cannot determine the positioning result, it sends a positioning request through the direct communication service network and informs the roadside device of the required auxiliary positioning ephemeris format through the direct communication service network.

[0081] Step S302: Based on the signal strength of the roadside equipment, the direct communication service network constructs an AGNSS request message, i.e., constructs a location request for the terminal equipment, and simultaneously sends the AGNSS request message, i.e., the location request, of the terminal equipment to the roadside equipment through the PC5 interface of the direct communication.

[0082] It should be understood that AGNSS, or Auxiliary-GNSS, utilizes radio communication systems other than GNSS or GPS to provide information assistance and enhance or accelerate the search and tracking performance and speed of satellite navigation signals.

[0083] In step S303, the roadside device completes its own positioning and constructs an AGNSS reply message, which generates positioning data. This positioning data has auxiliary positioning information in the same ephemeris format, that is, the positioning data includes the ephemeris data of the roadside device.

[0084] In step S304, the roadside equipment provides the AGNSS reply message to the direct communication service network through the PC5 interface of the direct communication.

[0085] In step S305, the direct communication service network decodes and adapts the AGNSS reply message to obtain auxiliary positioning information in the same ephemeris format, namely the ephemeris data of the roadside equipment, and sends it to the terminal equipment via the in-vehicle Ethernet.

[0086] Step S306: The terminal device determines the initial positioning result based on the ephemeris data of the roadside device and completes the initial positioning.

[0087] In summary, the solution proposed in this application does not rely on cellular networks. Instead, it obtains first positioning data from a server via roadside equipment and broadcasts this first positioning data or sends second positioning data to the terminal device, enabling the terminal device to achieve positioning based on the second positioning data provided by the roadside equipment. This reduces the positioning time for vehicles equipped with terminal devices, such as those with in-vehicle navigation systems, thereby improving the vehicle's positioning speed.

[0088] According to another embodiment of this application, a roadside device 400 is provided, see [link to relevant documentation]. Figure 4 The roadside equipment 400 includes:

[0089] The first acquisition module 410 is used to acquire first positioning data of the roadside device from the server. The first positioning data includes data of at least one data type.

[0090] The broadcast module 420 is used to broadcast first positioning data or send second positioning data to the terminal device. The second positioning data is used for the positioning of the terminal device, and the type of the second positioning data is the positioning type supported by the terminal device.

[0091] In summary, this application does not rely on cellular networks. Instead, it obtains first positioning data from a server via roadside equipment and broadcasts this first positioning data or sends second positioning data to the terminal device, enabling the terminal device to achieve positioning based on the second positioning data provided by the roadside equipment. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving vehicle positioning speed.

[0092] The roadside equipment in this embodiment is used to implement the corresponding methods in the foregoing method embodiments and has the beneficial effects of the corresponding method embodiments. Furthermore, the functional implementation of each module in the roadside equipment of this embodiment can be referred to the description of the corresponding part in the foregoing method embodiments.

[0093] According to another embodiment of this application, a terminal device 500 is provided, see [link to relevant documentation]. Figure 5 The terminal device 500 includes:

[0094] The request module 510 is used to send a positioning request to the roadside equipment. The positioning request is used to request the target positioning data of the roadside equipment.

[0095] The second acquisition module 520 is used to acquire target positioning data from roadside equipment.

[0096] The positioning module 530 is used to determine the positioning result of the terminal device based on the target positioning data.

[0097] In summary, the solution of this application sends a positioning request to the roadside equipment via the terminal device. This positioning request requests target positioning data from the roadside equipment and retrieves the target positioning data, enabling the terminal device to achieve positioning based on the target positioning data. This reduces the positioning time for vehicles equipped with terminal devices, such as in-vehicle navigation systems, thereby improving the vehicle's positioning speed.

[0098] The terminal device of this embodiment is used to implement the corresponding methods in the foregoing multiple method embodiments and has the beneficial effects of the corresponding method embodiments. Furthermore, the functional implementation of each module in the terminal device of this embodiment can be referred to the description of the corresponding part in the foregoing method embodiments.

[0099] In this embodiment, a vehicle initial positioning device is provided. This device obtains candidate ephemeris data from an AGPS server via a target roadside device, and filters out target ephemeris data from the candidate ephemeris data. This allows the target vehicle to determine its initial positioning result based on the target ephemeris data provided by the roadside device. This reduces the vehicle's initial positioning time, thereby improving the vehicle's initial positioning speed.

[0100] By identifying a target roadside device from among the candidate roadside devices, acquiring the candidate ephemeris data for that target roadside device, and then filtering the target ephemeris data from the candidate ephemeris data, the target vehicle can determine its initial positioning result based on the target ephemeris data provided by the roadside device. This reduces the vehicle's initial positioning time and thus improves the initial positioning speed.

[0101] According to another embodiment of this application, an electronic device 600 is provided, see [link to relevant documentation]. Figure 6 The present invention describes a structural block diagram of an electronic device 600 that can serve as a server or client of this application, which is an example of a hardware device that can be applied to various aspects of this application. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, user digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as user digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0102] The electronic device 600 may include: a processor 602, a communications interface 604, a memory 606, and a communications bus 608.

[0103] The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608. Communication interface 604 is used to communicate with other electronic devices or servers.

[0104] The processor 602 is used to execute program 610, specifically to perform the relevant steps in the above method embodiments.

[0105] Specifically, program 610 may include program code that includes computer operation instructions.

[0106] Processor 602 may be a CPU, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0107] Memory 606 is used to store program 610. Memory 604 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0108] Specifically, program 610 can be used to cause processor 602 to perform the following operations: the roadside device obtains first positioning data of the roadside device from the server, the first positioning data including data of at least one data type; broadcasts the first positioning data or sends second positioning data to the terminal device, the second positioning data being used for the positioning of the terminal device, and the type of the second positioning data being the positioning type supported by the terminal device.

[0109] Specifically, program 610 can also be used to cause processor 602 to perform the following operations: the terminal device sends a positioning request to the roadside device, the positioning request being used to request target positioning data from the roadside device; obtains the target positioning data from the roadside device; and determines the positioning result of the terminal device based on the target positioning data.

[0110] Furthermore, the specific implementation of each step in procedure 610 can be found in the corresponding descriptions of the steps and units in the above method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0111] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0112] An exemplary embodiment of this application also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods of various embodiments of this application.

[0113] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be stored as software processing on a recording medium using a general-purpose computer, processor, or programmable hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses the code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0114] Specific embodiments of this application have now been described. Other embodiments are within the scope of the appended claims. In some cases, the actions described in the claims can be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing can be advantageous.

[0115] It should be noted that all directional indicators (such as up, down, left, right, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0116] In the description of this application, the terms "first" and "second" are used only for convenience in describing different components or names, and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0117] 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 this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0118] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0119] The examples of the embodiments in this application are intended to concisely illustrate the technical features of the embodiments in this application, so that those skilled in the art can intuitively understand the technical features of the embodiments in this application, and are not intended to be improper limitations on the embodiments in this application.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A positioning method, comprising: When a terminal device detects that the current positioning signal strength does not meet a preset signal strength, it identifies multiple roadside devices with which it has established direct communication. It then constructs an AGNSS request message through the direct communication service network as a positioning request for the terminal device and sends the positioning request to each of the roadside devices. The positioning request requests second positioning data from the roadside devices. The positioning request includes first information indicating the type of the second positioning data. The second positioning data includes data that meets the requirements of the type, and the type of the second positioning data is a positioning type supported by the terminal device. Each of the multiple roadside devices obtains first positioning data corresponding to each roadside device from the server according to the positioning request. The first positioning data includes data of at least one data type. Each of the roadside devices filters out the second positioning data that meets the data type requested by the positioning request from the corresponding first positioning data, constructs an AGNSS reply message, and sends the AGNSS reply message to the direct communication service network; The direct communication service network decodes and adapts the AGNSS reply message to obtain the second positioning data, and sends the corresponding second positioning data to the terminal device. The second positioning data is used for the positioning of the terminal device, so that the terminal device determines the target positioning data corresponding to one of the roadside devices as the current processing data. Based on the current processing data, the terminal device determines the initial positioning result. If the terminal device cannot determine the initial positioning result based on the target positioning data corresponding to one of the roadside devices, then the initial positioning result of the terminal device is determined based on the target positioning data corresponding to other roadside devices, until the initial positioning result of the terminal device is determined. The target positioning data is the second positioning data.

2. The method according to claim 1, characterized in that, The second positioning data includes the ephemeris data of the roadside equipment.

3. The method according to claim 1, characterized in that, The method further includes: The roadside device sends a request message to at least one server, the request message including location information, the location information being used to indicate the location of the roadside device; The first positioning data corresponding to the location of the roadside device is received from the at least one server.

4. A positioning method, characterized in that, include: When a terminal device detects that the current positioning signal strength does not meet a preset signal strength, it identifies multiple roadside devices with which it has established direct communication. It then constructs an AGNSS request message through the direct communication service network as a positioning request for the terminal device and sends the positioning request to each of the roadside devices. The positioning request requests target positioning data corresponding to each roadside device. The positioning request includes first information indicating the type of target positioning data. The target positioning data includes data that meets the requirements of the type, and the type of the target positioning data is a positioning type supported by the terminal device. The target positioning data is obtained from each of the roadside devices. The target positioning data corresponding to each roadside device is second positioning data sent by each roadside device, which is filtered from the corresponding first positioning data and meets the data type requested by the positioning request. The second positioning data is used for the positioning of the terminal device, and the type of the second positioning data is the positioning type supported by the terminal device. Each roadside device filters the second positioning data that meets the data type requested by the positioning request from the corresponding first positioning data, constructs an AGNSS reply message, and sends the AGNSS reply message to the direct communication service network. The direct communication service network decodes and adapts the AGNSS reply message to obtain the second positioning data, and sends the corresponding second positioning data to the terminal device so that the terminal device can obtain the corresponding target positioning data from each of the roadside devices. Based on the target positioning data, the positioning result of the terminal device is determined. The terminal device determines the target positioning data corresponding to one of the roadside devices as the current processing data, and determines the initial positioning result of the terminal device based on the current processing data. If the terminal device cannot determine the initial positioning result of the terminal device based on the target positioning data corresponding to one of the roadside devices, the initial positioning result of the terminal device is determined based on the target positioning data corresponding to the other roadside devices, until the initial positioning result of the terminal device is determined.

5. A roadside device, comprising: The first acquisition module is used to acquire first location data corresponding to the roadside device from the server according to the location request of the terminal device. The first location data includes data of at least one data type. The location request is sent by the terminal device to the first acquisition module of each roadside device through the direct communication service network. The location request is made by the terminal device when it detects that the current location signal strength does not meet the preset signal strength, and determines multiple roadside devices that have established direct communication with the terminal device. The terminal device constructs an AGNSS request message through the direct communication service network as the location request of the terminal device. The location request includes first information, which is used to indicate the type of second location data. The second location data includes data that meets the requirements of the type. The type of the second location data is the location type supported by the terminal device. The broadcast module is used to filter out the corresponding second location data that meets the data type requested by the location request from the corresponding first location data, construct an AGNSS reply message, and send the AGNSS reply message to the direct communication service network. The direct communication service network then decodes and adapts the AGNSS reply message to obtain the second location data and sends the corresponding second location data to the terminal device. The first and second location data are used for the positioning of the terminal device, and the type of the second location data is a positioning type supported by the terminal device. This allows the terminal device to determine the target location data corresponding to one of the roadside devices as the current processing data. Based on the current processing data, the terminal device determines its initial positioning result. If the terminal device cannot determine its initial positioning result based on the target location data corresponding to one of the roadside devices, it determines its initial positioning result based on the target location data corresponding to other roadside devices until the initial positioning result is determined. The target location data is either the first location data or the second location data.

6. A terminal device, characterized in that, include: The request module is used to determine multiple roadside devices that have established direct communication with the terminal device when the current positioning signal strength is detected to be insufficient for a preset signal strength. It then constructs an AGNSS request message as a positioning request for the terminal device through a direct communication service network and sends the positioning request to each of the roadside devices. The positioning request requests target positioning data corresponding to each roadside device. The positioning request includes first information indicating the type of target positioning data. The target positioning data includes data that meets the requirements of the type, and the type of the target positioning data is a positioning type supported by the terminal device. The second acquisition module is used to acquire the corresponding target positioning data from each of the roadside devices. The target positioning data corresponding to each of the roadside devices is second positioning data sent by each roadside device that is filtered from the corresponding first positioning data and meets the data type requested by the positioning request. The second positioning data is used for the positioning of the terminal device, and the type of the second positioning data is the positioning type supported by the terminal device. Each roadside device filters the second positioning data that meets the data type requested by the positioning request from the corresponding first positioning data, constructs an AGNSS reply message, and sends the AGNSS reply message to the direct communication service network. The direct communication service network decodes and adapts the AGNSS reply message to obtain the second positioning data, and sends the corresponding second positioning data to the terminal device so that the terminal device can acquire the corresponding target positioning data from each of the roadside devices. The positioning module is used to determine the positioning result of the terminal device based on the target positioning data. The terminal device determines the target positioning data corresponding to one of the roadside devices as the current processing data, determines the initial positioning result of the terminal device based on the current processing data, and if the terminal device cannot determine the initial positioning result of the terminal device based on the target positioning data corresponding to one of the roadside devices, then determines the initial positioning result of the terminal device based on the target positioning data corresponding to other roadside devices, until the initial positioning result of the terminal device is determined.

7. An electronic device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction, which causes the processor to perform an operation corresponding to the positioning method as described in any one of claims 1 to 3, or to perform an operation corresponding to the positioning method as described in claim 4.

8. A computer storage medium, characterized in that, It stores a computer program that, when executed by a processor, can implement the positioning method as described in any one of claims 1 to 3, or the positioning method as described in claim 4.

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