Vehicle orientation method, apparatus, device, and storage medium

Abstract

The application relates to a vehicle orientation method, device, equipment and storage medium, relates to the technical field of vehicles, is applied to a vehicle-mounted terminal of a vehicle, the vehicle is in a stationary state, and the vehicle is further provided with a Bluetooth device and a positioning antenna. The method comprises the following steps: in response to the connection of the Bluetooth device and a user equipment, acquiring a plurality of Bluetooth signals at different times, the Bluetooth signal being a signal between the Bluetooth device and the user equipment; performing Bluetooth positioning based on the signal strength variation of the plurality of Bluetooth signals, and determining a target point; determining the offset direction and the offset angle of the vehicle, the offset angle being an included angle between the line connecting the target point and the positioning antenna and the center line of the vehicle; and adjusting the initial direction of the vehicle based on the offset direction and the offset angle, the adjusted initial direction being used for path planning. Therefore, the problem of difficult orientation of a stationary vehicle can be solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to the field of vehicle orientation technology, specifically to a vehicle orientation method, device, equipment, and storage medium. Background Technology

[0002] With the rapid development of intelligent technologies in the automotive industry, more and more OEMs are starting to develop autonomous driving products, among which driver assistance functions are a hot demand. Therefore, current vehicles are equipped with a variety of sensors, such as forward-facing long-range cameras, forward-facing short-range cameras, panoramic cameras, rear-view cameras, 360-degree cameras, millimeter-wave radar, and lidar. These multiple sensors are combined to identify the vehicle's direction of travel and perform path planning.

[0003] However, while the vehicle's direction is easily determined during operation, it is impossible to accurately determine the vehicle's direction based on information such as speed when the vehicle is stationary, which affects the vehicle's path planning. Summary of the Invention

[0004] This application provides a vehicle orientation method, apparatus, device, and storage medium to at least solve the technical problem of difficult orientation of low-speed or stationary vehicles in related technologies. The technical solution of this application is as follows:

[0005] According to a first aspect of this application, a vehicle orientation method is provided, applied to an in-vehicle terminal. The vehicle is stationary and equipped with a Bluetooth device and a positioning antenna. The vehicle orientation method includes: in response to a connection between the Bluetooth device and a user device, acquiring a Bluetooth signal between the Bluetooth device and the user device; performing positioning based on the Bluetooth signal to determine a target location. After determining the vehicle's offset direction and offset angle, the in-vehicle terminal adjusts the vehicle's initial orientation based on the offset direction and offset angle. The vehicle's offset angle is the angle between the line connecting the target location and the positioning antenna and the vehicle's centerline.

[0006] Based on the above-mentioned technical means, this application can obtain Bluetooth signals through the Bluetooth device installed on the vehicle, and the vehicle terminal can determine the location based on the Bluetooth signal, and perform vehicle orientation based on the vehicle's offset angle and offset direction, thereby improving the accuracy of vehicle orientation.

[0007] In one possible implementation, the above-mentioned positioning based on Bluetooth signals to obtain a target location includes: performing Bluetooth positioning based on the signal strength changes of Bluetooth signals at multiple times to obtain a target location, which includes: determining multiple signal intensity contour lines based on the signal strength changes of the multiple Bluetooth signals; one Bluetooth signal corresponds to one signal intensity contour line, the signal intensity contour lines are closed curves, and the center points of the multiple signal intensity contour lines coincide; and determining the center point of the multiple signal intensity contour lines as the target location.

[0008] Based on the aforementioned technical means, this application can determine the Bluetooth signal strength at various points during the movement of a user device using multiple Bluetooth signals. By constructing signal intensity contour lines and determining the center position of these lines, the location of the Bluetooth device can be obtained. This allows for precise determination of the Bluetooth device's coordinates.

[0009] In one possible implementation, the Bluetooth signal includes the location information of the user equipment, and the above-mentioned positioning based on the Bluetooth signal to obtain the target location includes: determining the target location based on the location information of the user equipment.

[0010] In one possible implementation, there are multiple Bluetooth devices, and these multiple Bluetooth devices are located on both sides of the vehicle. The determination of the vehicle's offset direction includes: determining the offset direction based on the coordinate information of the target point and the positioning information of the positioning antenna; the offset direction is the rotation direction of rotating the connecting line to the center line, the offset angle is less than 90 degrees, and the rotation angle of the connecting line is the offset angle.

[0011] Based on the aforementioned technical means, since the location of a Bluetooth device is generally fixed, the vehicle's offset direction can be accurately determined by setting the location of the Bluetooth device.

[0012] In one possible implementation, the number of Bluetooth devices is one, and determining the offset direction of the vehicle includes: acquiring the installation location information of the Bluetooth device on the vehicle; and determining the offset direction of the vehicle based on the installation location information of the Bluetooth device on the vehicle.

[0013] Based on the aforementioned technical means, this application can determine the vehicle's offset direction according to the installation location of the Bluetooth device when there is only one Bluetooth setting, thereby improving the accuracy of vehicle orientation.

[0014] In one possible implementation, when the Bluetooth device is installed on the left side of the vehicle, the offset direction is clockwise; when the Bluetooth device is installed on the right side of the vehicle, the offset direction is counterclockwise.

[0015] Based on the aforementioned technical means, this application can determine the vehicle's offset direction according to the installation location of the Bluetooth device.

[0016] In one possible implementation, adjusting the initial direction of the vehicle based on the offset direction and the offset angle includes: adjusting the initial direction of the vehicle toward the offset direction, and the adjustment angle being the offset angle.

[0017] Based on the aforementioned technical means, this application can adjust the initial direction according to the offset direction and offset angle, thereby improving the vehicle orientation accuracy.

[0018] In one possible implementation, the method further includes: in response to a user's input of a destination address, outputting a driving route based on the adjusted initial direction; the destination of the driving route is the destination address.

[0019] Based on the aforementioned technical means, this application can perform route planning after vehicle orientation is completed, based on the adjusted initial direction, thereby improving the accuracy of route planning.

[0020] According to a second aspect of this application, a vehicle orientation device is provided, comprising: an acquisition unit for acquiring a Bluetooth signal between the Bluetooth device and the user equipment in response to a connection between the Bluetooth device and the user equipment; a processing unit for performing Bluetooth positioning based on the Bluetooth signal to determine a target location; the processing unit further for determining the offset direction and offset angle of the vehicle, the offset angle being the angle between the line connecting the target location and the positioning antenna and the centerline of the vehicle; and the processing unit further for adjusting the initial direction of the vehicle based on the offset direction and the offset angle, the adjusted initial direction being used for path planning.

[0021] In one possible implementation, the processing unit is specifically used to determine multiple signal intensity contour lines based on the signal strength changes of Bluetooth signals at multiple times; one Bluetooth signal corresponds to one signal intensity contour line, the signal intensity contour line is a closed curve, and the center points of the multiple signal intensity contour lines coincide.

[0022] In one possible implementation, the Bluetooth signal includes the location information of the user equipment, and the processing unit is specifically used to determine the target location based on the location information of the user equipment.

[0023] In one possible implementation, the processing unit is further configured to determine the center point of the plurality of signal intensity lines as the target point.

[0024] In one possible implementation, the processing unit is further configured to determine the offset direction based on the coordinate information of the target point and the positioning information of the positioning antenna; the offset direction is the rotation direction of rotating the connecting line to the center line, the offset angle is less than 90 degrees, and the rotation angle of the connecting line is the offset angle.

[0025] According to a third aspect provided in this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0026] According to a fourth aspect provided in this application, a computer-readable storage medium is provided that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0027] According to the fifth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0028] Therefore, the above-mentioned technical features of this application have the following beneficial effects:

[0029] (1) This application can obtain Bluetooth signals through a Bluetooth device installed on the vehicle. The vehicle terminal determines the coordinates of the Bluetooth device based on the Bluetooth signal, and further determines the vehicle's offset angle and offset direction to perform vehicle orientation and improve the accuracy of vehicle orientation.

[0030] (2) This application can determine the Bluetooth signal strength at various points during the movement of a user device using multiple Bluetooth signals, and determine the center position of the signal strength contour lines to obtain the location of the Bluetooth device. It can accurately determine the coordinates of the Bluetooth device.

[0031] (3) This application can accurately determine the target location through the location information of the user equipment.

[0032] (4) This application can accurately determine the vehicle's offset direction by the number of Bluetooth devices.

[0033] (5) This application can determine the vehicle's offset direction based on the installation location of the Bluetooth device when there is only one Bluetooth setting, thereby improving the accuracy of vehicle orientation.

[0034] (6) Based on the above technical means, this application can determine the vehicle offset direction according to the installation position of the Bluetooth device.

[0035] (7) This application can adjust the initial direction according to the offset direction and offset angle to improve the vehicle orientation accuracy.

[0036] (8) This application can perform route planning based on the adjusted initial direction after vehicle orientation is completed, thereby improving the accuracy of route planning.

[0037] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0040] Figure 1 This is a schematic diagram illustrating a vehicle system according to an exemplary embodiment;

[0041] Figure 2 This is a flowchart illustrating a vehicle orientation method according to an exemplary embodiment;

[0042] Figure 3a This is a positioning schematic diagram according to an exemplary embodiment;

[0043] Figure 3b This is yet another positioning schematic diagram illustrated according to an exemplary embodiment;

[0044] Figure 4 This is a flowchart illustrating a vehicle routing method according to an exemplary embodiment;

[0045] Figure 5 This is a schematic diagram of data transmission in a vehicle system according to an exemplary embodiment;

[0046] Figure 6 This is a schematic diagram of path planning according to an exemplary embodiment;

[0047] Figure 7 This is a block diagram illustrating a vehicle orientation device according to an exemplary embodiment;

[0048] Figure 8 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions 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.

[0050] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0051] With the rapid development of intelligent technologies in the automotive industry, more and more OEMs are starting to develop autonomous driving products. Point-to-B driving assistance is a hot-spot scenario, leading to the addition of numerous sensors to vehicles, such as forward-facing long-range cameras, forward-facing short-range cameras, panoramic cameras, rear-view cameras, 360-degree cameras, millimeter-wave radar, and lidar. These sensors ensure reliable perception during driving, but accurate vehicle direction identification and path planning are only possible after the vehicle is in motion. Path planning after the vehicle is in motion can miss the optimal route or even result in detours. From a vehicle layout and design perspective, some OEMs use dual Global Navigation Satellite System (GNSS) antennas to achieve vehicle orientation functions at low speeds or when stationary. For OEMs' R&D, while excessive hardware can certainly improve the user experience, it's not the only factor that can significantly enhance the driving experience.

[0052] Based on this, this application proposes a vehicle orientation method, which is used to perform accurate path planning for vehicles.

[0053] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating a vehicle system according to an exemplary embodiment.

[0054] The vehicle system includes a Bluetooth device 1, a vehicle positioning antenna 2, and an in-vehicle terminal.

[0055] The Bluetooth device 1 includes door Bluetooth devices and in-vehicle Bluetooth devices 13. The door Bluetooth devices include a left front door Bluetooth device 11 located in the left front door and a right front door Bluetooth device 12 located in the right front door. The in-vehicle Bluetooth device 13 is located in the center console between the driver's seat and the passenger seat. The in-vehicle Bluetooth device 13 receives Bluetooth signals from user devices and transmits the received Bluetooth signal strength to the in-vehicle terminal.

[0056] The vehicle positioning antenna 2 is installed under the rear seat of the vehicle. The vehicle positioning antenna 2 is used to locate the vehicle and send the position coordinates of the vehicle positioning antenna 2 to the vehicle terminal.

[0057] The vehicle-mounted terminal includes a driving control system 3 and a zone control system 4. The zone control system 4 is located under the instrument panel. The vehicle-mounted terminal receives Bluetooth signals and the position coordinates of the vehicle positioning antenna 2, determines the vehicle's direction based on the Bluetooth signals, and adjusts the vehicle's direction accordingly.

[0058] For ease of understanding, the vehicle orientation method provided in this application will be described in detail below with reference to the accompanying drawings.

[0059] Figure 2 This is a flowchart illustrating a vehicle orientation method according to an exemplary embodiment, such as... Figure 2 As shown, the vehicle orientation method includes the following steps:

[0060] S201: In response to the connection between the Bluetooth device and the user equipment, obtain the Bluetooth signal between the Bluetooth device and the user equipment.

[0061] The Bluetooth signal is the signal exchanged between the vehicle's Bluetooth device and the user device after the latter receives a Bluetooth connection request. This signal is then transmitted from the Bluetooth device to the in-vehicle terminal. The Bluetooth signal strength includes the signal strength received by the Bluetooth device. The closer the user device is to the Bluetooth device, the stronger the Bluetooth signal.

[0062] After the user equipment connects to the Bluetooth device, the vehicle terminal can continuously receive Bluetooth signals from the Bluetooth device at multiple points in time.

[0063] S202: Positioning is performed based on Bluetooth signals to determine the target location.

[0064] The target location is the coordinate of the Bluetooth device relative to the vehicle's positioning antenna.

[0065] In one implementation, the vehicle-mounted terminal determines multiple signal strength contour lines based on the signal strength changes of the Bluetooth signal at multiple consecutive time points. Each Bluetooth signal corresponds to one signal strength contour line, and these lines are closed curves with their center points coinciding. The center point of these multiple signal strength contour lines is then determined as the target location.

[0066] For one example, please refer to Figure 3a , Figure 3a This is a schematic diagram illustrating the positioning of a Bluetooth device according to an exemplary embodiment.

[0067] In this application, the vehicle-mounted terminal establishes a coordinate system with the vehicle positioning antenna as the origin. The target position of the Bluetooth device obtained by the above method is the position coordinate relative to the vehicle positioning antenna. Each Bluetooth device has its own Bluetooth signal receiving range, and there are corresponding signal strength lines within the Bluetooth signal receiving range. The closer to the Bluetooth device, the higher the Bluetooth signal strength.

[0068] like Figure 3a As shown, from left to right, the first dashed ellipse represents the Bluetooth signal reception range of the left front door Bluetooth device, the second dashed ellipse represents the Bluetooth signal reception range of the in-vehicle Bluetooth device, and the third dashed ellipse represents the Bluetooth signal reception range of the right front door Bluetooth device. The Bluetooth signal reception ranges of the left and right front door Bluetooth devices do not overlap. The Bluetooth signal reception ranges of the in-vehicle Bluetooth device overlap with those of the left and right front door Bluetooth devices within the vehicle.

[0069] When a user approaches the vehicle and enters the Bluetooth signal reception range of any of the aforementioned Bluetooth devices, the vehicle terminal determines the position coordinates of the Bluetooth device relative to the vehicle's positioning antenna, i.e., the target location, based on the received multiple Bluetooth signals.

[0070] Generally, users approach the vehicle from the left front door or from the right front door. Therefore, when a user's device approaches the vehicle, the in-vehicle terminal can continuously receive multiple Bluetooth signals from the same Bluetooth device and determine the device's position coordinates relative to the vehicle's positioning antenna based on these signals. For example, the coordinates of the Bluetooth device on the left front door can be obtained as (x1, y1) based on multiple Bluetooth signals. Similarly, the coordinates of the Bluetooth device on the right front door can be obtained as (x2, y2) based on multiple Bluetooth signals.

[0071] In another implementation, the vehicle terminal can locate the target point based on the location information of the user device included in the Bluetooth signal.

[0072] For one example, please refer to Figure 3b , Figure 3b This is a positioning schematic diagram according to an exemplary embodiment.

[0073] like Figure 3b As shown, in response to the connection between the user equipment and the Bluetooth device, the user equipment can send its location information (such as Global Positioning System (GPS)) to the in-vehicle terminal. This location information can be carried in the Bluetooth signal. Thus, the in-vehicle terminal can determine whether the user is approaching the vehicle from the left or the right based on the user equipment's location information.

[0074] In some scenarios, when a user device establishes an initial connection with a Bluetooth device, it sends its location information to the in-vehicle terminal. The in-vehicle terminal can then use this location information as a target point.

[0075] In other scenarios, after establishing a connection with a Bluetooth device, the user device can periodically or in real-time transmit its location information to the in-vehicle terminal. The in-vehicle terminal can then use this location information as a target location based on the distance between the vehicle's location information and the user device's location information. When the distance between the received location information from the user device at a certain moment and the vehicle's location information is less than a preset distance, the in-vehicle terminal can use that location information as a target location.

[0076] S203: Determine the vehicle's offset direction and offset angle.

[0077] Among them, the offset angle is the angle between the line connecting the target point and the positioning antenna and the center line of the vehicle, and the offset direction is the direction of the front of the vehicle relative to the initial direction, which is the default direction when the vehicle starts.

[0078] When a user device connects to a Bluetooth device, the default orientation when starting the vehicle is the direction in which the vehicle's positioning antenna points to the target location. Please refer to [link / reference]. Figure 3a or Figure 3b The direction from the origin coordinates to the target location of the Bluetooth device is defined as the Bluetooth direction. Therefore, this application determines the initial direction of the vehicle based on the actual target location connected to the user equipment. And based on the initial direction, it determines the vehicle's offset angle and offset direction.

[0079] The in-vehicle terminal obtains the Bluetooth direction based on the target location. The Bluetooth direction refers to the direction from which the vehicle's positioning antenna points to the target location, and the vehicle's offset angle and direction are determined based on this Bluetooth direction. Specifically, the Bluetooth devices include a left front door Bluetooth device located in the left front door and a right front door Bluetooth device located in the right front door. Please refer to [link / reference]. Figure 3a or Figure 3b When a user device approaches the vehicle from the left, the Bluetooth direction is the direction from the origin coordinates towards the target point of the Bluetooth device on the left front door; when a user device approaches the vehicle from the right, the Bluetooth direction is the direction from the origin coordinates towards the target point of the Bluetooth device on the right front door. The angle between the Bluetooth direction and the direction of the vehicle's front (i.e., the overall vehicle direction) is the offset angle, and the direction of the Bluetooth direction towards the vehicle's front is the offset direction.

[0080] In one implementation, the vehicle-mounted terminal processes Bluetooth signals from all Bluetooth devices in the same way. A pre-set table mapping Bluetooth direction to offset angle is used to determine the vehicle's offset angle.

[0081] In one implementation, there is one Bluetooth device. The in-vehicle terminal obtains the installation location information of the Bluetooth device in the vehicle and determines the offset direction of the vehicle based on the installation location information. If the Bluetooth device is installed on the left side of the vehicle, the offset direction is clockwise; if the Bluetooth device is installed on the right side of the vehicle, the offset direction is counterclockwise.

[0082] In another implementation, multiple Bluetooth devices are used, positioned on both sides of the vehicle. The onboard terminal determines the offset direction based on the coordinates of the target location and the positioning information from the positioning antenna. The direction from the positioning antenna to the target location's coordinates is the Bluetooth direction. If the onboard terminal determines the Bluetooth direction is pointing to the left side of the vehicle, the vehicle offsets clockwise. If the onboard terminal determines the Bluetooth direction is pointing to the right side of the vehicle, the vehicle offsets clockwise.

[0083] The offset direction is the direction of rotation that rotates the connecting line to the center line, the offset angle is less than 90 degrees, and the rotation angle of the connecting line is the offset angle.

[0084] S204: Adjust the initial direction of the vehicle based on the offset direction and offset angle.

[0085] The initial direction of the vehicle is the default direction when the vehicle starts; the adjusted initial direction is used for path planning. This default direction is related to the location of the Bluetooth device connected to the user equipment.

[0086] The on-board terminal adjusts the vehicle's initial orientation based on the offset angle and offset direction. Specifically, the vehicle's initial orientation is adjusted towards the offset direction, and the adjustment angle is the offset angle. For example, if the offset angle is 15 degrees and the offset direction is clockwise, the on-board terminal controls the initial orientation to rotate 15 degrees clockwise.

[0087] The vehicle terminal orients the vehicle based on the above-mentioned vehicle orientation method. The vehicle terminal locates the vehicle based on the vehicle positioning antenna. Combining vehicle orientation and vehicle positioning, in response to the user's input of the destination address, the vehicle terminal outputs the driving route based on the adjusted initial direction.

[0088] Please see Figure 4 , Figure 4 This is a flowchart illustrating a vehicle routing method according to an exemplary embodiment, such as... Figure 4 As shown, the vehicle routing method includes the following steps:

[0089] S401: User equipment Bluetooth identity verification.

[0090] When a user approaches the vehicle with their device and enters the vehicle's Bluetooth signal range, the vehicle's Bluetooth welcome function verifies the user's device identity. Once the verification is successful, the Bluetooth welcome function connects to the user's mobile phone via Bluetooth.

[0091] If the Bluetooth identity verification of the user device is successful, proceed to step S402; if the Bluetooth identity verification of the user device fails, proceed to step S404.

[0092] S402: Wake up the vehicle control system.

[0093] Once the user device is successfully authenticated, the entire vehicle network is activated to initialize and self-test the regional control system, driving control system, and integrated navigation module within the vehicle control system. Specifically, the vehicle control system includes the Bluetooth antenna for the Bluetooth device, the antenna for the GNSS device, perception sensors, and the driving control system, among others.

[0094] This includes activating the Bluetooth device. The Bluetooth antenna of the device is capable of providing a remote control distance of greater than or equal to 30 meters within a 360-degree radius around the vehicle in an interference-free open environment.

[0095] The first step is to activate the GNSS equipment antenna. Table 1 shows the parameters of the GNSS equipment antenna.

[0096] Table 1 Parameters of GNSS Equipment Antennas

[0097]

[0098]

[0099] This includes activating perception sensors. These sensors include forward-looking long-range cameras, forward-looking short-range cameras, panoramic cameras, rear-view cameras, 360-degree cameras, integrated navigation systems, millimeter-wave radar, and lidar.

[0100] Among them, the driving control system is activated. The core physical parameter of the driving control system is the artificial intelligence (AI) computing power of the SoC, which needs to be between 254 AI TOPS (Tera Operations Per Second) and 508 AI TOPS. In addition to processing the perception data from numerous driving sensors, it is used for Bluetooth positioning coordinate information and positioning information from integrated navigation to determine the direction of the vehicle's front.

[0101] If the equipment in the vehicle control system starts successfully, proceed to step S403. If the equipment in the vehicle control system fails to start, proceed to step S404.

[0102] S403: Bluetooth positioning data processing.

[0103] After a Bluetooth device successfully connects to a user device, it acquires Bluetooth signals from the user device at multiple consecutive moments. These Bluetooth signals include the Bluetooth signal strength received by the Bluetooth device.

[0104] The Bluetooth device sends the received Bluetooth signal to the area control system. The area control system uses the Bluetooth signal data to convert the Bluetooth device's location coordinates and then transmits the relevant data to the driving control system.

[0105] Specifically, based on multiple consecutive Bluetooth signal strengths, signal intensity contour lines corresponding to the Bluetooth device are determined. The location coordinates of the Bluetooth device are then determined based on these signal intensity contour lines.

[0106] Specifically, please refer to Figure 3a , Figure 3b and Figure 5 , Figure 5 This is a schematic diagram of vehicle system data transmission according to an exemplary embodiment.

[0107] The Bluetooth devices in the left and right front doors, as well as the in-vehicle Bluetooth device, can all establish Bluetooth connections with the user's device. The Bluetooth devices communicate with the local control system via a Local Interconnect Network (LIN) after receiving the Bluetooth signal.

[0108] The zone control system analyzes the received Bluetooth signals. If only the left front door Bluetooth device receives a signal, it indicates the user device is approaching the vehicle from the left side, and the system obtains the left front door Bluetooth device's location coordinates. If only the right front door Bluetooth device receives a signal, it indicates the user device is approaching the vehicle from the right side, and the system obtains the right front door Bluetooth device's location coordinates. If both the left front door Bluetooth device and the in-vehicle Bluetooth device receive signals, it indicates the user device is located in the driver's seat, and the system does not obtain the Bluetooth device's location coordinates. If both the right front door Bluetooth device and the in-vehicle Bluetooth device receive signals, it indicates the user device is located in the passenger seat, and the system does not obtain the Bluetooth device's location coordinates.

[0109] The area control system sends the location coordinates of the Bluetooth device to the driving control system via Ethernet.

[0110] If Bluetooth location data processing fails, proceed to step S404. If Bluetooth location data processing succeeds, proceed to step S405.

[0111] S404: Indicates a vehicle malfunction to the user.

[0112] If any data step in the above process fails, the user will be prompted to retry the device or manually drive the vehicle.

[0113] S405: The driving control system orients the vehicle.

[0114] The driving control system uses the received target location data and the vehicle's origin coordinates to perform directional transformation of the vehicle's direction.

[0115] Specifically, this application determines the initial direction of the vehicle based on the actual target location connected to the user equipment. And based on the initial direction, it determines the vehicle's offset angle and offset direction.

[0116] The vehicle-mounted terminal obtains the Bluetooth direction based on the target location. The Bluetooth direction refers to the direction from which the vehicle's positioning antenna points to the location coordinates, and the vehicle's offset angle and direction are determined based on this Bluetooth direction.

[0117] The in-vehicle terminal processes Bluetooth signals from different types of Bluetooth devices differently. Based on the type of Bluetooth device on the vehicle door, it obtains the corresponding offset direction and angle.

[0118] Specifically, when the in-vehicle terminal determines that the Bluetooth direction is pointing to the left side of the vehicle, it identifies the Bluetooth device as the left front door Bluetooth device. In the case of a left front door Bluetooth device, the vehicle's offset direction corresponding to this device is clockwise. The vehicle's offset angle is determined based on the correspondence table between the Bluetooth direction and offset angle of the left front door Bluetooth device.

[0119] When the in-vehicle terminal determines that the Bluetooth direction is pointing to the right side of the vehicle, it identifies the Bluetooth device as the right front door Bluetooth device. If the Bluetooth device type is right front door Bluetooth device, the vehicle's offset direction corresponding to the right front door Bluetooth device is counter-clockwise. The vehicle's offset angle is determined based on the correspondence table between the Bluetooth direction and offset angle of the right front door Bluetooth device.

[0120] The vehicle-mounted terminal adjusts the initial direction based on the offset angle and offset direction.

[0121] If the driving control system successfully orients the vehicle, proceed to step S406; if the driving control system fails to orient the vehicle, proceed to step S407.

[0122] S406: Path planning.

[0123] The GNSS antenna is connected to the integrated inertial navigation module via a coaxial cable, and transmits the received Global Positioning System (GPS), BeiDou, GLONASS and Galileo satellite signals to the integrated inertial navigation module. The integrated inertial navigation module then transmits the vehicle's position information to the driving control system via Ethernet.

[0124] By combining the coordinates provided by the GNSS antenna through the integrated inertial navigation module, a relatively accurate path planning from point A to point B can be performed.

[0125] The driving control system connects the coordinate information obtained from Bluetooth positioning with the origin of the vehicle coordinate system to point to the target location. It provides a compensation angle based on the actual vehicle calibration of the Bluetooth radio frequency positioning signal. If the Bluetooth signal is on the left front of the vehicle, the connection needs to be compensated by clockwise rotation with respect to the origin of the vehicle coordinate system; if it is on the right, it is compensated by reverse rotation. The direction of the compensated connection is the direction of the vehicle's head. Combined with the positioning information input from the integrated navigation, the starting direction from point A to point B is determined. After the vehicle starts, the driving route is corrected based on the high-precision map and data fusion from multiple sensors.

[0126] Specifically, please refer to Figure 6 , Figure 6 This is a schematic diagram of path planning according to an exemplary embodiment.

[0127] Figure 6 (a) in the diagram is a path planning diagram for an unknown vehicle heading angle. Figure 6 (b) in the diagram is the path planning diagram with the vehicle heading angle specified.

[0128] Figure 6 As shown in (a), a triangle marks the vehicle's starting point, and a circle marks the vehicle's ending point. For a stationary vehicle, when the vehicle's heading angle (i.e., the direction the vehicle is facing) is unknown, multiple choices may arise during the initial path planning phase at the time of vehicle startup, such as incorrect U-turns or incorrect turns. For example, path 1 and path 2 may occur. Among them, path 2 may result in incorrect turns.

[0129] Figure 6 As shown in (b), a triangle marks the vehicle's starting point, and a circle marks the vehicle's ending point. For a stationary vehicle, when the vehicle's heading angle is known, i.e., the vehicle's frontal orientation is known, path 3 can be accurately planned when the vehicle starts. This can accelerate vehicle attitude initialization, accelerate path planning convergence, and reduce the path planning error rate.

[0130] If path planning fails, proceed to step S407.

[0131] S407: Prompts the user to drive manually.

[0132] After the user enters the vehicle and selects a destination on the in-vehicle map, the vehicle system will quickly provide a planned route so that the user can choose whether to switch to driving assistance mode.

[0133] This application targets intelligent driving vehicles equipped with numerous sensing sensors (such as forward-facing long-range cameras, forward-facing short-range cameras, panoramic cameras, rear-view cameras, 360-degree cameras, integrated navigation systems, millimeter-wave radar, lidar, etc.), GNSS antennas, and Bluetooth receiving antennas. The Bluetooth antenna receives Bluetooth radio frequency signals for positioning, performs coordinate transformation, and transmits the results to the driving control system. Based on the received Bluetooth positioning coordinates and the integrated navigation positioning information, the driving control system determines the vehicle's heading, assisting in path planning from point A to point B when the vehicle is stationary.

[0134] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the vehicle orientation device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0135] This application embodiment can, based on the above method, exemplarily divide a vehicle orientation device or electronic device into functional modules. For example, the vehicle orientation device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0136] Figure 7 This is a block diagram illustrating a vehicle orientation device according to an exemplary embodiment. (Refer to...) Figure 7 The vehicle orientation device 700 includes an acquisition unit 701 and a processing unit 702.

[0137] The acquisition unit 701 is used to acquire Bluetooth signals at multiple times in response to the connection between the Bluetooth device and the user equipment. The Bluetooth signals are signals between the Bluetooth device and the user equipment. For example, the acquisition unit 701 is used to perform the above-described S201.

[0138] The processing unit 702 is used to perform Bluetooth positioning based on the signal strength changes of multiple Bluetooth signals to determine the target location; for example, the processing unit 702 is used to execute the above-described S202.

[0139] The processing unit 702 is also used to determine the vehicle's offset direction and offset angle, the offset angle being the angle between the line connecting the target point and the positioning antenna and the vehicle's centerline; for example, the processing unit 702 is used to execute the above-described S203.

[0140] The processing unit 702 is also configured to adjust the initial direction of the vehicle based on the offset direction and offset angle, and the adjusted initial direction is used for path planning. For example, the processing unit 702 is configured to execute the above-described S204.

[0141] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0142] Figure 8 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 8 As shown, the electronic device 800 includes, but is not limited to, a processor 801 and a memory 802.

[0143] The memory 802 described above is used to store the executable instructions of the processor 801. It is understood that the processor 801 is configured to execute instructions to implement the vehicle orientation method in the above embodiments.

[0144] It should be noted that those skilled in the art will understand that Figure 8 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 8 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0145] The processor 801 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 802, and by calling data stored in the memory 802, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. The processor 801 may include one or more processing units. Optionally, the processor 801 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 801.

[0146] The memory 802 can be used to store software programs and various data. The memory 802 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0147] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 802 including instructions, which can be executed by a processor 801 of an electronic device 800 to implement the vehicle orientation method in the above embodiments.

[0148] In actual implementation, Figure 7 The functions of the acquisition unit 701 and the processing unit 702 can both be provided by Figure 8 The processor 801 calls the computer program stored in the memory 802 to implement the process. The specific execution process can be found in the method section of the previous embodiment, and will not be repeated here.

[0149] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0150] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by a processor 801 of an electronic device to complete the vehicle orientation method in the above embodiments.

[0151] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0152] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0154] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the constituent units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0155] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0156] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0157] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle orientation method, applied to an in-vehicle terminal of a vehicle, wherein the vehicle is stationary and is equipped with a Bluetooth device and a positioning antenna, characterized in that, include: In response to the connection between the Bluetooth device and the user equipment, the Bluetooth signal between the Bluetooth device and the user equipment is acquired; Based on the signal strength changes of Bluetooth signals at multiple times, multiple signal intensity contour lines are determined; one Bluetooth signal corresponds to one signal intensity contour line, the signal intensity contour line is a closed curve, and the center points of the multiple signal intensity contour lines coincide. The center point of the multiple signal intensity lines is determined as the target point; Determine the offset direction and offset angle of the vehicle, wherein the offset angle is the angle between the line connecting the target point and the positioning antenna and the centerline of the vehicle; The initial orientation of the vehicle is adjusted based on the offset direction and the offset angle.

2. The method according to claim 1, characterized in that, The number of Bluetooth devices is multiple, and the multiple Bluetooth devices are arranged on both sides of the vehicle. Determining the offset direction of the vehicle includes: The offset direction is determined based on the coordinate information of the target point and the positioning information of the positioning antenna; the offset direction is the rotation direction of rotating the connecting line to the center line, the offset angle is less than 90 degrees, and the rotation angle of the connecting line is the offset angle.

3. The method according to claim 1, characterized in that, The number of Bluetooth devices is one, and determining the vehicle's offset direction includes: Obtain the installation location information of the Bluetooth device on the vehicle; The vehicle's offset direction is determined based on the installation location information of the Bluetooth device on the vehicle.

4. The method according to claim 3, characterized in that, When the Bluetooth device is installed on the left side of the vehicle, the offset direction is clockwise; When the Bluetooth device is installed on the right side of the vehicle, the offset direction is counterclockwise.

5. The method according to claim 1, characterized in that, Adjusting the initial orientation of the vehicle based on the offset direction and the offset angle includes: The initial direction of the vehicle is adjusted toward the offset direction, and the adjustment angle is the offset angle.

6. The method according to claim 1, characterized in that, The method further includes: In response to the user's input of a destination address, a driving route is output based on the adjusted initial direction; the destination address is the endpoint of the driving route.

7. A vehicle orientation device applied to an in-vehicle terminal of a vehicle, wherein the vehicle is stationary and the vehicle is equipped with a Bluetooth device and a positioning antenna, characterized in that, include: The acquisition unit is configured to acquire the Bluetooth signal between the Bluetooth device and the user equipment in response to the connection between the Bluetooth device and the user equipment. The processing unit is used to determine multiple signal intensity contour lines based on the signal strength changes of Bluetooth signals at multiple times; one Bluetooth signal corresponds to one signal intensity contour line, the signal intensity contour line is a closed curve, and the center points of the multiple signal intensity contour lines coincide; the center point of the multiple signal intensity contour lines is determined as the target point. The processing unit is further configured to determine the offset direction and offset angle of the vehicle, wherein the offset angle is the angle between the line connecting the target point and the positioning antenna and the centerline of the vehicle. The processing unit is also configured to adjust the initial direction of the vehicle based on the offset direction and the offset angle.

8. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the vehicle orientation method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the vehicle orientation method as described in any one of claims 1 to 6.

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