Positioning method of vehicle, storage medium, electronic device and vehicle

Abstract

The present disclosure relates to a positioning method of a vehicle, a storage medium, an electronic device and a vehicle, relates to the technical field of vehicle control, and is applied to a vehicle-mounted controller. The vehicle is provided with a speed sensor. The method comprises the following steps: in the case that it is determined that the vehicle loses positioning, first pulse data accumulated by the speed sensor at a current time is acquired; historical position information recorded by the vehicle is acquired, and second pulse data accumulated by the speed sensor at a historical time corresponding to the historical position information is acquired; and first target position information of the vehicle at the current time is determined according to the first pulse data, the historical position information and the second pulse data. In this way, the vehicle can be positioned according to the first pulse data of the speed sensor after losing positioning, so that the vehicle does not need to be subjected to degradation processing, and normal driving of the vehicle is ensured to be unaffected.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and more specifically, to a vehicle positioning method, storage medium, electronic device, and vehicle. Background Technology

[0002] In rail transit, the vehicle's automatic driving system is often based on the vehicle's positioning system, and the vehicle's location information is crucial for automatic driving.

[0003] However, during operation, a vehicle's location may become unavailable for various reasons, resulting in a loss of location information. If a vehicle loses its location, it will be downgraded from Automatic Train Protection (ATP) mode to manual mode. For driverless vehicles, this downgrade process becomes extremely complex, severely impacting normal operation. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a vehicle positioning method, a storage medium, an electronic device, and a vehicle.

[0005] In a first aspect, this disclosure provides a vehicle positioning method applied to an on-board controller, wherein the vehicle is equipped with a speed sensor, the method comprising:

[0006] If it is determined that the vehicle has lost its location, the first pulse data accumulated by the speed sensor at the current moment is obtained;

[0007] Obtain the historical location information recorded by the vehicle, and obtain the second pulse data accumulated by the speed sensor at the historical time corresponding to the historical location information;

[0008] Based on the first pulse data, the historical location information, and the second pulse data, the first target location information of the vehicle at the current moment is determined.

[0009] Optionally, the first pulse data includes a first directional pulse of the vehicle along a first driving direction and a second directional pulse of the vehicle along a second driving direction, and the second pulse data includes a third directional pulse of the vehicle along the first driving direction and a fourth directional pulse of the vehicle along the second driving direction; determining the first target position information of the vehicle at the current moment based on the first pulse data, the historical position information, and the second pulse data includes:

[0010] The target driving direction of the vehicle is determined based on the first direction pulse, the second direction pulse, the third direction pulse, and the fourth direction pulse;

[0011] Based on the first pulse data and the second pulse data, the target mileage traveled by the vehicle after the historical time is determined;

[0012] The first target location information is determined based on the historical location information, the target driving direction, and the target driving mileage.

[0013] Optionally, determining the target mileage traveled by the vehicle after the historical time based on the first pulse data and the second pulse data includes:

[0014] Based on the first pulse data and the second pulse data, determine the pulse increment of the speed sensor after the historical moment;

[0015] The target driving mileage is determined based on the pulse increment.

[0016] Optionally, determining the location of the lost vehicle includes:

[0017] If the vehicle controller stops working, it is determined that the vehicle has lost its location.

[0018] Optionally, the method further includes:

[0019] Record the third pulse data accumulated by the speed sensor during the period from when the on-board controller stops working to when it resumes working;

[0020] When the vehicle controller resumes operation, the initial position information of the vehicle when the vehicle controller stopped operating is obtained;

[0021] Based on the third pulse data and the initial position information, the second target position information of the vehicle is determined when the on-board controller resumes operation.

[0022] Optionally, the method further includes:

[0023] If the vehicle regains its location, and it passes a trackside transponder, it communicates with the trackside transponder and corrects the first target location information based on the received messages from two consecutive trackside transponders.

[0024] Optionally, correcting the first target location information based on the received message information from two consecutive trackside transponders includes:

[0025] Based on the received message information from two consecutive trackside transponders, the third target location information of the vehicle is determined;

[0026] The first target location information is corrected based on the third target location information.

[0027] In a second aspect, this disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in the first aspect of this disclosure.

[0028] Thirdly, this disclosure provides an electronic device, including:

[0029] A memory on which computer programs are stored;

[0030] A processor for executing the computer program in the memory to implement the steps of the method described in the first aspect of this disclosure.

[0031] Fourthly, this disclosure provides a vehicle including the electronic equipment described in the third aspect above.

[0032] Through the above technical solution, this disclosure provides a vehicle positioning method applied to an on-board controller. The vehicle is equipped with a speed sensor. The method includes: when it is determined that the vehicle has lost its location, acquiring the first pulse data accumulated by the speed sensor at the current moment; acquiring the historical location information recorded by the vehicle, and acquiring the second pulse data accumulated by the speed sensor at the corresponding historical moment; and determining the first target location information of the vehicle at the current moment based on the first pulse data, the historical location information, and the second pulse data. Thus, when it is determined that the vehicle has lost its location, the first target location information of the vehicle at the current moment can be determined by acquiring the first pulse data from the speed sensor installed on the vehicle, thereby completing the vehicle positioning. This eliminates the need for degradation processing after the vehicle loses its location, ensuring that the normal operation of the vehicle is not affected.

[0033] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0034] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0035] Figure 1 This is a flowchart illustrating a vehicle positioning method according to an exemplary embodiment;

[0036] Figure 2 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment;

[0037] Figure 3This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment;

[0038] Figure 4 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment;

[0039] Figure 5 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment;

[0040] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment;

[0041] Figure 7 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0042] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0043] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0044] In the following description, the words "first" and "second" are used only to distinguish the purpose of the description and should not be interpreted as indicating or implying relative importance or order.

[0045] Before introducing the vehicle positioning method, storage medium, electronic device, and vehicle provided in this disclosure, the application scenarios involved in the various embodiments of this disclosure will first be introduced. In rail transit, the automatic driving system of a vehicle is often based on the vehicle's positioning system. The vehicle's location information is crucial for automatic driving, and establishing vehicle positioning requires at least the vehicle's current position and current driving direction. During normal vehicle operation, the driving direction needs to be determined based on two consecutive trackside transponders, and the vehicle's current position is determined by querying an electronic map based on the received message information from the trackside transponders. Then, vehicle positioning is completed based on the driving direction and the vehicle's current position. However, during operation, the vehicle may lose its location information due to various reasons, i.e., the vehicle loses its positioning. If the vehicle loses its positioning, it will be downgraded, i.e., downgraded from automatic protective driving mode to manual mode. For driverless vehicles, the downgrade process becomes very complex, seriously affecting the normal operation of the vehicle.

[0046] In related technologies, after a vehicle loses its location, it reports to the trackside area controller that its direction of travel remains unchanged. The trackside area controller then estimates the vehicle's position based on the occupied track section. However, this method requires the vehicle to maintain communication with the trackside area controller and report that its direction of travel remains unchanged. This means the trackside area controller can only handle scenarios where the vehicle continues traveling in its original direction, and cannot guarantee a change in direction after location loss. Furthermore, the vehicle position estimated based on the occupied track section cannot guarantee accuracy. If the vehicle continues to travel, it may experience an emergency brake (EB) and cross the end of the track section, posing a safety hazard.

[0047] To address the aforementioned technical problems, this invention provides a vehicle positioning method, a storage medium, an electronic device, and a vehicle. When a vehicle's location is lost, the first target position information of the vehicle at the current moment can be determined by acquiring the first pulse data from the speed sensor installed on the vehicle, thereby completing the vehicle's positioning. This eliminates the need for degradation processing after the vehicle loses its location, ensuring that the vehicle's normal operation is not affected.

[0048] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0049] Figure 1 This is a flowchart illustrating a vehicle positioning method according to an exemplary embodiment, applied to an on-board controller, which may be a VOBC (Vehicle On-Board Controller). The vehicle is equipped with a speed sensor, such as... Figure 1 As shown, the method may include the following steps:

[0050] In step S101, if it is determined that the vehicle has lost its location, the first pulse data accumulated by the speed sensor at the current moment is obtained.

[0051] The vehicle may be, for example, a rail vehicle, such as a train, subway, or light rail train; however, this embodiment does not specifically limit the vehicle to this type.

[0052] In some real-world scenarios, even when the vehicle's onboard controller is functioning normally, the vehicle may lose its location due to various malfunctions. These malfunctions include situations where the uncertainty of the vehicle's position exceeds a preset allowable value, the vehicle loses message information from two consecutive trackside transponders during normal operation, or the vehicle loses its integrity (such as the loss of information about the front or rear of the vehicle).

[0053] In step S102, the historical location information recorded by the vehicle is obtained, and the second pulse data accumulated by the speed sensor at the historical time corresponding to the historical location information is obtained.

[0054] The historical location information can be the location information recorded by the vehicle at any time before the vehicle lost its location, or it can be the latest location information recorded by the vehicle after the vehicle lost its location.

[0055] In step S103, the first target location information of the vehicle at the current moment is determined based on the first pulse data, the historical location information, and the second pulse data.

[0056] In this step, the target driving direction and the target mileage traveled by the vehicle after a historical time can be determined based on the first and second pulse data. Then, based on the target driving direction, target mileage, and historical location information, the vehicle's first target location information at the current time is determined, thereby confirming the vehicle's location. In this way, even if the vehicle loses its location, it can still be located using the above method. Figure 1 This method allows for continued vehicle location determination, preventing the vehicle from being downgraded due to lost location information and ensuring normal vehicle operation.

[0057] Using the above method, when a vehicle's location is determined to be lost, the first pulse data from the speed sensor installed on the vehicle can be obtained to determine the vehicle's current target location information, thus completing the vehicle's location. This eliminates the need for degradation processing after the vehicle loses its location, ensuring that the vehicle's normal operation is not affected.

[0058] Figure 2 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment. The first pulse data includes a first direction pulse of the vehicle along a first travel direction and a second direction pulse of the vehicle along a second travel direction. The second pulse data includes a third direction pulse of the vehicle along the first travel direction and a fourth direction pulse of the vehicle along the second travel direction. Figure 2 As shown, step S103, determining the vehicle's current target location information based on the first pulse data, the historical location information, and the second pulse data, may include the following steps:

[0059] In step S1031, the target driving direction of the vehicle is determined based on the first direction pulse, the second direction pulse, the third direction pulse, and the fourth direction pulse.

[0060] The first driving direction can be identified as the forward direction, and the second driving direction can be identified as the reverse direction. For example, the speed sensor's accumulated first pulse data at the current moment includes a first directional pulse along the forward direction (first driving direction) and a second directional pulse along the reverse direction (second driving direction), with the first directional pulse count being 5000 and the second directional pulse count being 1000. The speed sensor's accumulated second pulse data at a historical time includes a third directional pulse along the forward direction (first driving direction) and a fourth directional pulse along the reverse direction (second driving direction), with the third directional pulse count being 5000 and the fourth directional pulse count being 2000. Based on the first, second, third, and fourth directional pulses, it can be seen that the number of pulses in the forward direction has not increased, while the number of pulses in the reverse direction has changed from 1000 (second directional pulse) to 2000 (fourth directional pulse). Therefore, it can be determined that the vehicle has been traveling in the reverse direction from the historical time to the current time, meaning the vehicle's target driving direction is the reverse direction (second driving direction).

[0061] Furthermore, the above examples are merely illustrative; the reverse direction can also be taken as the first driving direction, and the forward direction as the second driving direction. This disclosure does not specifically limit this aspect.

[0062] In step S1032, the target mileage traveled by the vehicle after the historical moment is determined based on the first pulse data and the second pulse data.

[0063] In some embodiments, the pulse increment of the speed sensor after the historical moment can be determined based on the first pulse data and the second pulse data; then, the target driving mileage can be determined based on the pulse increment. For example, continuing with the example parameters in step S1031, it can be seen that the cumulative pulse increment of the vehicle's speed sensor from the historical moment to the current moment is 1000 (and this pulse increment increases during travel along the second driving direction). Therefore, the target driving mileage of the vehicle after the historical moment can be obtained based on this pulse increment using relevant algorithms in the prior art, which will not be elaborated further here.

[0064] In step S1033, the first target location information is determined based on the historical location information, the target driving direction, and the target driving mileage.

[0065] In this step, the vehicle's direction of travel after a historical time can be determined based on the target driving direction. Based on the target driving direction, target mileage, and historical position information, the vehicle's first target position at the current time can be determined after traveling the target mileage along the target driving direction from the historical position information corresponding to the historical time.

[0066] In this way, regardless of the direction the vehicle travels, the vehicle's primary target position information at the current moment can be accurately located, solving the problem in related technologies that the vehicle can only be located when traveling in the original direction.

[0067] In other real-world scenarios, a vehicle may lose its location if its onboard controller stops working. In other words, determining if a vehicle has lost its location can include determining that the vehicle has lost its location when the onboard controller stops working.

[0068] The vehicle controller may stop working in one of the following two ways:

[0069] Method 1: The vehicle controller malfunctions and loses power, or the vehicle controller is intentionally powered down (e.g., the driver manually controls the vehicle controller to lose power);

[0070] Method 2: The vehicle enters a dormant state.

[0071] Even when the onboard controller is not functioning, the vehicle's position may still change. For example, in Method 1, if the onboard controller crashes and loses power during normal vehicle operation, the vehicle may still be in motion even though the controller is no longer working. Alternatively, in Method 2, the vehicle may be in a sleep state, but could be moved to another location using other devices, thus changing its position. Therefore, to ensure rapid restoration of the vehicle's location after the onboard controller resumes operation, Figure 3 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment, such as... Figure 3 As shown, the method may further include the following steps:

[0072] In step S104, the third pulse data accumulated by the speed sensor during the period from when the vehicle controller stops working to when it resumes working is recorded.

[0073] In practical scenarios, the speed sensor draws power from a backplane, which is connected to the vehicle with a power-off capability. This means that the speed sensor will also stop working when the vehicle is powered off. In other words, the speed sensor may also become inoperable if the onboard controller stops functioning. Therefore, to be applicable to more real-world scenarios, in this embodiment, the speed sensor is connected to a constant power source, allowing it to continue operating even after the vehicle is powered off.

[0074] In real-world scenarios, if the onboard controller malfunctions, the driver must manually navigate the vehicle past two consecutive trackside transponders to restore its location upon reactivation. This means the vehicle cannot enter automatic protective driving mode until its location is restored. Clearly, the location restoration process in related technologies is cumbersome and slow. In this step, when the onboard controller malfunctions and causes location loss, the third pulse data accumulated by the speed sensor during the period between the controller's malfunction and its reactivation can be recorded. This allows the vehicle's position to be determined based on the third pulse data once the onboard controller resumes operation. Thus, when the onboard controller reactivates, the vehicle's location can be quickly restored based on the third pulse data without manual intervention, significantly improving the efficiency of location recovery.

[0075] In step S105, when the vehicle controller resumes operation, the initial position information of the vehicle when it stopped operating is obtained.

[0076] The initial location information is the location information recorded by the vehicle when the on-board controller stops working.

[0077] In step S106, the second target position information of the vehicle when the on-board controller resumes operation is determined based on the third pulse data and the initial position information.

[0078] Among them, according to the third pulse data (equivalent to Figure 2 The pulse increment (in the example) and initial position information can be used to determine the second target position information of the vehicle during the recovery process. Figure 2 The method steps of the embodiments are not described in detail here.

[0079] In one possible scenario, if the vehicle controller malfunctions and loses power, the speed sensor can record the third pulse data during the period from when the vehicle controller stops working to when it resumes operation. Then, upon the vehicle controller resuming operation, the vehicle's initial position information at the time of malfunction can be obtained. Finally, based on the third pulse data and the initial position information, the vehicle's second target position information when the vehicle controller resumes operation can be determined.

[0080] For example, if the vehicle controller is manually powered down by the driver, and the driver inserts a key at the opposite end of the vehicle's direction of travel (i.e., the vehicle's direction of travel is opposite to the direction before the vehicle controller stopped working), when the vehicle controller resumes operation, a second target position can be determined based on the third pulse data from the period between the vehicle controller's shutdown and resumption, the vehicle's initial position information when it stopped working, and the activated end of the inserted key (i.e., the other end mentioned above), thereby restoring the vehicle's positioning. This activated end can be used in conjunction with the third pulse data to determine the vehicle's direction of travel for a more accurate determination.

[0081] In another possible scenario, within related technologies, fully autonomous vehicles need to hibernate in a designated area for routine maintenance. During hibernation, the vehicle's power is switched off to conserve energy, and the vehicle's onboard controller is also disconnected from power, meaning it stops operating. A hibernation-wake-up transponder is installed within this designated area. This transponder is used to determine the vehicle's location. When the vehicle receives a hibernation command, it uses the transponder to determine and store its location. Upon receiving a wake-up command, the vehicle communicates with the transponder to determine its previous location and compares it with the stored location information. If the locations match, the vehicle is activated. However, this method requires the vehicle to be parked in the designated area and necessitates the installation of an additional hibernation-wake-up transponder.

[0082] In this embodiment, after the vehicle enters sleep mode (i.e., the onboard controller stops working), the third pulse data of the speed sensor during the period from when the onboard controller stops working to when it resumes working can be recorded. When the onboard controller resumes working, the initial position information of the vehicle when it stopped working (i.e., the vehicle's position information during sleep mode) can be obtained. Then, when the vehicle receives a wake-up command (i.e., when the onboard controller resumes working), the second target position information of the vehicle upon resumption of working can be determined based on the accumulated third pulse data of the speed sensor and the initial position information. Based on the second target position information and the vehicle's initial position information during sleep mode, the vehicle is controlled to wake up. In this way, the vehicle does not need to be parked in a designated area; it can enter sleep mode at any location, and there is no need to install an additional sleep / wake-up transponder, saving costs and improving operational efficiency.

[0083] Figure 4 This is a flowchart illustrating a vehicle positioning method according to an exemplary embodiment, such as... Figure 4 As shown, the method may further include the following steps:

[0084] In step S107, if the vehicle regains its position, and the vehicle passes by a trackside transponder, it communicates with the trackside transponder and corrects the first target position information based on the received message information from two consecutive trackside transponders.

[0085] To obtain more accurate vehicle location information upon vehicle repositioning, the following steps involve communicating with a trackside transponder if the vehicle passes by it after repositioning, thus receiving messages from the transponder. Based on two consecutive received messages from the trackside transponder, the first target location information is corrected. This ensures the accuracy of the vehicle location information by correcting the first target location information based on the messages from the trackside transponder upon vehicle repositioning.

[0086] like Figure 5 As shown, step S107, which corrects the first target location information based on the received messages from two consecutive trackside transponders, may include the following steps:

[0087] In step S1071, the third target location information of the vehicle is determined based on the message information received from two consecutive trackside transponders.

[0088] The method for determining the third target location information of the vehicle based on the message information received from two consecutive trackside transponders can refer to relevant methods in the prior art, which will not be elaborated here.

[0089] In step S1072, the first target position information is corrected based on the third target position information.

[0090] Using the above method, when a vehicle's location is determined to be lost, the first pulse data from the speed sensor installed on the vehicle can be obtained to determine the vehicle's current target location information, thus completing the vehicle's location. This eliminates the need for degradation processing after the vehicle loses its location, ensuring that the vehicle's normal operation is not affected.

[0091] Figure 6 This is a block diagram illustrating an electronic device 200 according to an exemplary embodiment. Figure 6 As shown, the electronic device 200 may include a processor 201 and a memory 202. The electronic device 200 may also include one or more of a multimedia component 203, an input / output (I / O) interface 204, and a communication component 205.

[0092] The processor 201 controls the overall operation of the electronic device 200 to complete all or part of the steps in the vehicle positioning method described above. The memory 202 stores various types of data to support the operation of the electronic device 200. This data may include, for example, instructions for any application or method operating on the electronic device 200, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 202 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 203 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 202 or transmitted via communication component 205. The audio component also includes at least one speaker for outputting audio signals. I / O interface 204 provides an interface between processor 201 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 205 is used for wired or wireless communication between the electronic device 200 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 205 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0093] In an exemplary embodiment, the electronic device 200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle positioning method described above.

[0094] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle positioning method described above. For example, the computer-readable storage medium may be the memory 202 including the program instructions described above, which may be executed by the processor 201 of the electronic device 200 to complete the vehicle positioning method described above.

[0095] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle positioning method when executed by the programmable device.

[0096] Figure 7 This is a block diagram illustrating a vehicle 300 according to an exemplary embodiment. Figure 7 As shown, the vehicle 300 includes the above-mentioned Figure 6 200 electronic devices.

[0097] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0098] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0099] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for locating a vehicle, characterized in that, Applied to an on-board controller, wherein the vehicle is equipped with a speed sensor, the method includes: If it is determined that the vehicle is lost, the first pulse data accumulated by the speed sensor at the current moment is obtained. The first pulse data includes a first directional pulse of the vehicle along a first driving direction and a second directional pulse of the vehicle along a second driving direction. The vehicle's recorded historical location information is obtained, and the second pulse data accumulated by the speed sensor at the historical time corresponding to the historical location information is obtained. The second pulse data includes a third-direction pulse of the vehicle along the first driving direction and a fourth-direction pulse of the vehicle along the second driving direction. Based on the first pulse data, the historical location information, and the second pulse data, the first target location information of the vehicle at the current moment is determined.

2. The method according to claim 1, characterized in that, The step of determining the first target location information of the vehicle at the current moment based on the first pulse data, the historical location information, and the second pulse data includes: The target driving direction of the vehicle is determined based on the first direction pulse, the second direction pulse, the third direction pulse, and the fourth direction pulse; Based on the first pulse data and the second pulse data, the target mileage traveled by the vehicle after the historical time is determined; The first target location information is determined based on the historical location information, the target driving direction, and the target driving mileage.

3. The method according to claim 2, characterized in that, The step of determining the target mileage traveled by the vehicle after the historical time based on the first pulse data and the second pulse data includes: Based on the first pulse data and the second pulse data, determine the pulse increment of the speed sensor after the historical moment; The target driving mileage is determined based on the pulse increment.

4. The method according to claim 1, characterized in that, Determining the location of the lost vehicle includes: If the vehicle controller stops working, it is determined that the vehicle has lost its location.

5. The method according to claim 4, characterized in that, The method further includes: Record the third pulse data accumulated by the speed sensor during the period from when the on-board controller stops working to when it resumes working; When the vehicle controller resumes operation, the initial position information of the vehicle when the vehicle controller stopped operating is obtained; Based on the third pulse data and the initial position information, the second target position information of the vehicle is determined when the on-board controller resumes operation.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If the vehicle regains its location, and it passes a trackside transponder, it communicates with the trackside transponder and corrects the first target location information based on the received messages from two consecutive trackside transponders.

7. The method according to claim 6, characterized in that, The step of correcting the first target location information based on the received message information from two consecutive trackside transponders includes: Based on the received message information from two consecutive trackside transponders, the third target location information of the vehicle is determined; The first target location information is corrected based on the third target location information.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1 to 7.

9. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that, Includes the electronic device described in claim 9 above.

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