Positioning method, controller and vehicle for a vehicle

Abstract

The present disclosure relates to a positioning method and controller of a vehicle, and relates to the field of vehicle positioning. The method comprises: obtaining a plurality of wireless ranging signals from a vehicle beacon in a vehicle-mounted device, the plurality of wireless ranging signals being periodically transmitted by one or more ground devices to the vehicle beacon; determining a target time point at which the vehicle beacon is closest to the ground device according to the plurality of wireless ranging signals; and determining the position of the vehicle according to the target time point and the position of the ground device. The present disclosure determines the position of the vehicle according to the obtained plurality of wireless ranging signals, and can improve the accuracy and anti-interference capability of vehicle positioning.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of vehicle positioning, in particular to a positioning method of a vehicle, a controller and the vehicle. BACKGROUND

[0002] At present, the positioning system commonly used in the field of rail transit is composed of ground equipment and vehicle-mounted equipment, wherein the ground equipment includes passive transponders, active transponders, LEU (English: Lineside Electronic Unit, Chinese: ground electronic unit) and transponder reading and writing tools; the vehicle-mounted equipment includes BTM (English: Balise Transmission Module, Chinese: transponder transmission module) and an antenna. Since the communication distance of the BTM and the transponder is relatively short, when the vehicle passes through the transponder, the BTM on the vehicle only communicates with the transponder once to position the vehicle, and if the communication fails, the position of the vehicle cannot be obtained, which affects the accuracy of vehicle positioning. SUMMARY

[0003] The purpose of the present disclosure is to provide a positioning method of a vehicle, a controller and the vehicle, for improving the accuracy of vehicle positioning.

[0004] According to a first aspect of an embodiment of the present disclosure, a positioning method of a vehicle is provided, applied to a processor in a vehicle-mounted device, and the method comprises:

[0005] Obtaining a plurality of wireless ranging signals from a vehicle-mounted beacon in the vehicle-mounted device, wherein the plurality of wireless ranging signals are periodically transmitted by one or more ground devices to the vehicle-mounted beacon;

[0006] Determining a target time point at which the vehicle-mounted beacon is closest to the ground device according to the plurality of wireless ranging signals;

[0007] Determining the position of the vehicle according to the target time point and the position of the ground device.

[0008] Optionally, the wireless ranging signal comprises an identifier of the ground device and a ranging distance between the ground device and the vehicle-mounted beacon; and the determining of the target time point at which the vehicle-mounted beacon is closest to the ground device according to the plurality of wireless ranging signals comprises:

[0009] For each ranging distance, a target distance corresponding to the ranging distance is determined, wherein the target distance indicates the projection length of the ranging distance between the vehicle-mounted beacon and the ground device in the horizontal direction;

[0010] The target time point is determined according to the change trend of the target distance.

[0011] Optionally, when the ground device is one, the determining the target time according to the change trend of the target distance comprises:

[0012] fitting a target curve according to the target distance, the target curve comprising a corresponding relationship between the target distance and time;

[0013] taking a time corresponding to an inflection point of the target curve as the target time.

[0014] Optionally, when the ground device is multiple, the determining the target time according to the change trend of the target distance comprises:

[0015] screening a ground device whose target distance decreases in time sequence according to the change trend of the target distance corresponding to each ground device;

[0016] fitting a target curve according to the target distance corresponding to the screened ground device;

[0017] taking a time corresponding to an inflection point of the target curve as the target time.

[0018] Optionally, the determining the target distance corresponding to the ranging distance comprises:

[0019] determining the target distance according to the ranging distance and a straight-line distance when the vehicle-mounted beacon and the ground device are located in the same vertical plane.

[0020] Optionally, the method further comprises:

[0021] determining whether a target distance corresponding to the target time satisfies a preset interference rule, the preset interference rule being used to determine whether inter-track interference occurs;

[0022] the determining the position of the vehicle according to the target time and the position of the ground device comprises:

[0023] in a case where the preset interference rule is satisfied, determining the position of the vehicle according to the target time and the position of the ground device.

[0024] Optionally, the preset interference rule comprises:

[0025] the target distance corresponding to the target time is greater than or equal to a preset distance threshold;

[0026] the target distance corresponding to the target time is less than or equal to a sum of the preset distance threshold, a track width and an adjacent track spacing, the adjacent track spacing being a spacing between the track where the vehicle is located and an adjacent track.

[0027] Optionally, the method further comprises:

[0028] obtaining a vehicle speed of the vehicle at a current time;

[0029] the determining the position of the vehicle according to the target time and the position of the ground device comprises:

[0030] determining a moving distance of the vehicle from the target time to the current time according to the vehicle speed, the target time and the current time;

[0031] determining a position of the vehicle at the current time according to the position of the ground device, the running direction of the vehicle and the moving distance.

[0032] Optionally, the method further comprises:

[0033] in a case that a duration that the vehicle-mounted beacon is located within a preset range of any ground device is greater than a preset duration threshold, and a wireless ranging signal sent by the ground device is not received, determining that the ground device is malfunctioning.

[0034] According to a second aspect of an embodiment of the present disclosure, a controller is provided, comprising:

[0035] a memory having a computer program stored thereon;

[0036] a processor configured to execute the computer program in the memory to implement the steps of the method in the first aspect of the present disclosure.

[0037] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, which is configured to execute the steps of the method in the first aspect of the present disclosure.

[0038] Through the above technical solution, the present disclosure first obtains a plurality of wireless ranging signals periodically sent by a ground device to a vehicle-mounted beacon in a vehicle-mounted device, then determines a target time at which the vehicle-mounted beacon is closest to the ground device according to the plurality of wireless ranging signals, and determines a position of the vehicle according to the target time and the position of the ground device. The present disclosure determines the position of the vehicle according to the plurality of obtained wireless ranging signals, which can improve the accuracy and anti-interference capability of vehicle positioning.

[0039] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, which together with the following detailed description, serve to explain the present disclosure. In the drawings:

[0041] Figure 1is a flow chart of a positioning method of a vehicle according to an exemplary embodiment;

[0042] Figure 2 is a flow chart of another positioning method of a vehicle according to an exemplary embodiment;

[0043] Figure 3 is a flow chart of another positioning method of a vehicle according to an exemplary embodiment;

[0044] Figure 4 is a flow chart of another positioning method of a vehicle according to an exemplary embodiment;

[0045] Figure 5 is a block diagram of a controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0046] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0047] Before introducing the positioning method of a vehicle, the controller and the vehicle shown in the present disclosure, the application scenario related to the embodiments of the present disclosure is introduced first. The vehicle in the application scenario can be any vehicle running according to a preset track, for example, a train, a subway, a light rail, a tram, etc. The vehicle positioning system shown in the present disclosure includes ground equipment and vehicle equipment, wherein the ground equipment includes a group of inquirers and a safety host, and the vehicle equipment includes a group of vehicle beacons and a safety positioning host, which is also the processor in the embodiments of the present disclosure. The safety positioning host can adopt a redundant safety computer with a two-by-two voting structure, and the devices can be connected by a redundant network. Compared with a BTM system with a complex structure and a large size, the safety positioning host in the present disclosure can be integrated into an existing vehicle control system on the vehicle, or can be a separate device, which is simple in structure, easy to implement, small in space occupation and low in cost.

[0048] Each query group can include multiple queryers, and the multiple queryers in the query group need to complete time synchronization, and the synchronization accuracy is not less than 10ms. The query group can be arranged on the center line of the track, and a group of queryers is arranged every n meters, where the value range of n can be 0≤n≤250. Each vehicle-mounted beacon group can include multiple vehicle-mounted beacons, and the vehicle-mounted beacon can be arranged on the center line of the vehicle head or position. The queryer can periodically initiate a train-ground wireless communication broadcast, wherein the train-ground wireless communication broadcast includes the identification of the queryer and a wireless ranging request. The normal state of the vehicle-mounted beacon is a receiving state, and after receiving the train-ground wireless communication broadcast sent by the queryer, the vehicle-mounted beacon responds to the train-ground wireless ranging request, so that the queryer calculates the ranging distance between the vehicle-mounted beacon and the queryer, and sends a wireless ranging signal including the ranging distance to the vehicle-mounted beacon.

[0049] The vehicle-mounted positioning system in the present disclosure adopts UWB (English: Ultra Wide Band, Chinese: Ultra Wide Band) wireless ranging technology. Compared with the RFID (English: Radio Frequency Identification, Chinese: Radio Frequency Identification technology) technology adopted in the prior art, the detection range is wider, the distance requirement between the detection target and the detection equipment is reduced, and the equipment installation mode can be more diversified.

[0050] Figure 1 is a flow chart of a positioning method of a vehicle according to an exemplary embodiment, as shown in Figure 1 As shown in the figure, applied to a processor in a vehicle-mounted device, the method comprises:

[0051] Step 101, obtaining multiple wireless ranging signals from a vehicle-mounted beacon in a vehicle-mounted device, the multiple wireless ranging signals being periodically sent by one or more ground devices to the vehicle-mounted beacon.

[0052] For example, the vehicle-mounted beacon can continuously receive the wireless ranging signals periodically sent by one or more ground devices around it, and then send the received wireless ranging signals to the processor in the vehicle-mounted device. Wherein, the one or more ground devices are ground devices within the communication range of the vehicle-mounted beacon, if there are multiple ground devices, the ground devices need to be screened according to the multiple wireless ranging signals continuously sent by each ground device, to avoid ranging interference.

[0053] Step 102, determining the target moment when the vehicle-mounted beacon is closest to the ground device according to the multiple wireless ranging signals.

[0054] For example, after receiving the wireless ranging signals sent by the ground device, the processor can parse the plurality of continuously received wireless ranging signals to obtain the ranging distances between the plurality of ground devices and the vehicle-mounted beacon and the identification of each ground device, and then fit the plurality of ranging distances and the receiving time of the wireless ranging signal corresponding to each ranging distance to obtain a relationship curve between the ranging distance and the time. Alternatively, the projection distance of each ranging distance on the horizontal plane can be calculated first, and then the plurality of projection distances and the receiving time of the wireless ranging signal corresponding to each projection distance can be fitted to obtain a relationship curve between the projection distance and the time. The present disclosure does not make specific limitations on this.

[0055] When the vehicle approaches the ground device, the distance between the vehicle-mounted beacon and the ground device gradually decreases, that is, the ranging distance and the projection distance corresponding to the ranging distance gradually decrease. When the vehicle moves away from the ground device, the distance between the vehicle-mounted beacon and the ground device gradually increases, that is, the ranging distance and the projection distance corresponding to the ranging distance gradually increase. When the vehicle-mounted beacon is directly above the ground device, the distance between the vehicle-mounted beacon and the ground device is the smallest, that is, the ranging distance and the projection distance corresponding to the ranging distance are the smallest. Therefore, the inflection point of the relationship curve can be found, and the time corresponding to the inflection point of the relationship curve can be taken as the target time when the vehicle-mounted beacon is closest to the ground device.

[0056] In some embodiments, the ranging distance less than a preset distance can be taken as a sample point for fitting the relationship curve, where the preset distance can be 5 m for example. After receiving a preset number of wireless ranging signals with the ranging distances sequentially increasing in time order, it can be considered that the vehicle-mounted beacon has passed directly above the ground device, and then the plurality of ranging distances or projection distances indicated by the plurality of wireless ranging signals sent by the ground device can be fitted to obtain the target time corresponding to the inflection point of the relationship curve, where the preset number can be 2 for example. In this way, by fitting to obtain the relationship curve representing the change trend of the distance of the vehicle relative to the ground device, and taking the inflection point of the relationship curve as the update point of the position of the vehicle, the anti-interference capability of the vehicle positioning can be improved, and the vehicle can be accurately positioned under complex conditions such as curves, obstructions, uphill and downhill roads, etc.

[0057] In step 103, the position of the vehicle is determined according to the target time and the position of the ground device.

[0058] In an example, after obtaining the target time point, the identifier of the ground device can be determined, and the position of the ground device in the preset electronic map can be found according to the identifier of the ground device. The position of the vehicle at the target time point is the position of the ground device. Then, the position of the vehicle at the current time point can be further obtained according to the time difference between the current time point and the target time point, the running speed of the vehicle, and the position of the ground device. In some embodiments, the vehicle speed of the vehicle at the current time point and the target time difference between the current time point and the target time point can be obtained, and the product of the vehicle speed at the current time point and the target time difference is taken as the moving distance of the vehicle between the target time point and the current time point. Then, the position of the vehicle at the current time point is taken as the position of the vehicle at the current time point, which is obtained by extending the position of the ground device along the running direction of the vehicle by the moving distance.

[0059] It should be noted that after obtaining the target time point and the position of the ground device, the vehicle-mounted device can obtain the running speed of the vehicle from the VOBC (English: Vehicle On-Board Controller, Chinese: vehicle-mounted controller), so as to obtain the position of the vehicle at the current time point. After obtaining the target time point and the position of the ground device, the vehicle-mounted device can also send the target time point and the position of the ground device to the VOBC, so as to determine the position of the vehicle at the current time point according to the time difference between the current time point and the target time point, the running speed of the vehicle, and the position of the ground device.

[0060] In summary, the present disclosure first obtains the plurality of wireless ranging signals periodically sent by the ground device to the vehicle-mounted beacon from the vehicle-mounted beacon in the vehicle-mounted device, and then determines the target time point at which the vehicle-mounted beacon is closest to the ground device according to the plurality of wireless ranging signals, and determines the position of the vehicle according to the target time point and the position of the ground device. The present disclosure determines the position of the vehicle according to the plurality of wireless ranging signals obtained, which can improve the accuracy and anti-interference ability of vehicle positioning.

[0061] Figure 2 is a flowchart of another vehicle positioning method according to an example embodiment, as shown in Figure 2 As shown in FIG. 1, step 102 can be implemented by the following steps:

[0062] Step 1021, for each ranging distance, a target distance corresponding to the ranging distance is determined, and the target distance indicates the projection length of the ranging distance between the vehicle-mounted beacon and the ground device in the horizontal direction.

[0063] Step 1022, the target time point is determined according to the change trend of the target distance.

[0064] For example, the ground device can include an identifier of the ground device and a ranging distance between the ground device and the vehicle-mounted beacon in each wireless ranging signal sent by the ground device. For the ranging distance in each wireless ranging signal, a target distance corresponding to the ranging distance can be determined, where the target distance can be understood as a projection length of the ranging distance between the vehicle-mounted beacon and the ground device in a horizontal direction, and the horizontal direction can be understood as an extension direction of the track. In some embodiments, the target distance can be obtained according to the ranging distance and a straight-line distance between the vehicle-mounted beacon and the ground device when they are located in the same vertical plane by using the Pythagorean theorem. For example, the target distance can be calculated by using Formula 1:

[0065] (Formula 1)

[0066] where S is the target distance, L is the ranging distance, H1 is a distance between an upper surface of the ground device and a beam surface of the track, H2 is a distance between a lower surface of the vehicle-mounted beacon and a bottom of the wheel, and H1+H2 is the straight-line distance between the vehicle-mounted beacon and the ground device when they are located in the same vertical plane.

[0067] Then, a target moment when the vehicle-mounted beacon is closest to the ground device can be determined according to a change trend of the target distance. In some embodiments, first, a target curve representing the change trend of the target distance can be fitted according to the target distance, where the target curve can be an S-t curve, S is a distance between the vehicle-mounted beacon and the ground device, and t is time, that is, the target curve is a relationship curve between the distance between the vehicle-mounted beacon and the ground device and time. When the vehicle moves toward the ground device, the distance between the vehicle-mounted beacon and the ground device gradually decreases, when the vehicle-mounted beacon is directly above the ground device, the distance between the vehicle-mounted beacon and the ground device is the smallest, and when the vehicle moves away from the ground device, the distance between the vehicle-mounted beacon and the ground device gradually increases. Therefore, an inflection point of the target curve can be found, and a moment corresponding to the inflection point of the target curve is taken as the target moment. In this way, by fitting the target curve representing the change trend of the distance between the vehicle and the ground device, and taking the inflection point of the target curve as an update point of the position of the vehicle instead of determining the position of the vehicle according to only one communication, the vehicle can be accurately positioned, and the anti-interference capability of the vehicle positioning is improved.

[0068] In the case where the ground device includes one, the target curve can be fitted directly according to the obtained multiple target distances. In the case where the ground device includes multiple, since the vehicle beacon can receive the wireless ranging signals transmitted by the ground devices farther and farther away from the vehicle beacon, and since the vehicle beacon has passed the ground devices, the wireless ranging signals transmitted by the ground devices do not need to be used for vehicle positioning, therefore, first, the ground devices whose target distances decrease in time sequence can be screened out according to the variation trend of the target distances corresponding to each ground device, i.e., the ground device that the vehicle beacon is heading to, and then the target curve can be fitted according to the target distances corresponding to the screened ground devices.

[0069] Figure 3 FIG. 6 is a flowchart illustrating another method for positioning a vehicle according to an example embodiment, as shown in FIG. 6, the method further includes: Figure 3

[0070] In step 104, it is determined whether the target distance corresponding to the target time meets a preset interference rule, wherein the preset interference rule is used to determine whether inter-track interference occurs.

[0071] Correspondingly, one implementation of step 103 can be:

[0072] In the case where the preset interference rule is met, the position of the vehicle is determined according to the target time and the position of the ground device.

[0073] For example, in the case where the distance between two tracks is relatively small, the vehicle beacon arranged on the vehicle can receive the wireless ranging signals transmitted by the ground device arranged on the adjacent track, which can interfere with the positioning of the vehicle. Therefore, after the target time is obtained, it can be further determined whether the target distance corresponding to the target time meets the preset interference rule. If the preset interference rule is met, it indicates that the target distance is obtained according to the wireless ranging signals transmitted by the ground device arranged on the track where the vehicle is located, and no inter-track interference occurs, and then the position of the vehicle can be determined according to the target time and the position of the ground device, so as to accurately position the vehicle. If the preset interference condition is not met, it indicates that the target distance is obtained according to the wireless ranging signals transmitted by the ground device arranged on the adjacent track of the track where the vehicle is located, and inter-track interference occurs, and then the target distance can be discarded to avoid interference with the positioning of the vehicle.

[0074] In one embodiment, the preset interference rule includes that the target distance corresponding to the target time is greater than or equal to a preset distance threshold, and the target distance corresponding to the target time is less than or equal to the sum of the preset distance threshold, the track width and the adjacent track spacing, wherein the adjacent track spacing is the spacing between the track where the vehicle is located and the adjacent track, and the preset distance threshold can be the straight-line distance when the vehicle beacon and the ground device are located in the same vertical plane, i.e., H1+H2. ​

[0075] Figure 4 is a flowchart of another method of positioning a vehicle according to an example embodiment, as Figure 4 shown, the method further includes:

[0076] At step 105, if the time duration that the on-board beacon is located within the preset range of any ground device is greater than a preset time duration threshold, and the wireless ranging signal sent by the ground device is not received, it is determined that the ground device is malfunctioning.

[0077] For example, if the on-board beacon is within the preset range of the ground device, and the ground device is in a normal state, the on-board beacon will receive the wireless ranging signal sent by the ground device. If the time duration that the on-board beacon is located within the preset range of any ground device is greater than a preset time duration threshold, but the wireless ranging signal sent by the ground device is not received, it indicates that the ground device is malfunctioning and cannot send the wireless ranging signal. In this case, the malfunction information can be sent to the VOBC so that the ground device can be repaired in time.

[0078] In summary, the present disclosure first acquires a plurality of wireless ranging signals periodically sent by the ground device to the on-board beacon in the on-board device, then determines a target time at which the on-board beacon is closest to the ground device according to the plurality of wireless ranging signals, and determines the position of the vehicle according to the target time and the position of the ground device. The present disclosure determines the position of the vehicle according to the acquired plurality of wireless ranging signals, which can improve the accuracy and anti-interference capability of vehicle positioning.

[0079] Figure 5 is a block diagram of a controller according to an example embodiment. As Figure 5 shown, the electronic device 200 can include a processor 201 and a memory 202. The electronic device 200 can further include one or more of a multimedia component 203, an input / output (I / O) interface 204, and a communication component 205.

[0080] The processor 201 is configured to control overall operations of the electronic device 200 to complete all or part of the steps in the positioning method of the vehicle described above. The memory 202 is configured to store various types of data to support operations of the electronic device 200, which can 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, and the like. 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. The multimedia component 203 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 202 or transmitted through the communication component 205. The audio component also includes at least one speaker configured to output audio signals. The I / O interface 204 provides an interface between the processor 201 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 205 is configured to perform 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, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 205 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0081] In an exemplary embodiment, the electronic device 200 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic elements for performing the above-mentioned positioning method of a vehicle.

[0082] 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 above-mentioned positioning method of a vehicle. For example, the computer readable storage medium can be the above-mentioned memory 202 including program instructions, which can be executed by the processor 201 of the electronic device 200 to complete the above-mentioned positioning method of a vehicle.

[0083] In another exemplary embodiment, a computer program product is also provided, which contains a computer program capable of being executed by a programmable device, and the computer program has code portions for performing the above-mentioned positioning method of a vehicle when executed by the programmable device.

[0084] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0085] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0086] In addition, any combination of various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as the disclosed content of the present disclosure.

Claims

1. A method for locating a vehicle, characterized in that, The method, applied to a processor in an in-vehicle device, includes: Multiple wireless ranging signals are acquired from the vehicle-mounted beacon in the vehicle-mounted equipment, and the multiple wireless ranging signals are periodically sent to the vehicle-mounted beacon by one or more ground devices; The time when the vehicle-mounted beacon is closest to the ground equipment is determined based on multiple wireless ranging signals. The vehicle's position is determined based on the target time and the location of the ground equipment; The wireless ranging signal includes the identifier of the ground equipment and the ranging distance between the ground equipment and the vehicle-mounted beacon; determining the target time when the vehicle-mounted beacon and the ground equipment are closest based on multiple wireless ranging signals includes: For each of the ranging distances, a target distance corresponding to the ranging distance is determined, wherein the target distance indicates the horizontal projection length of the ranging distance between the vehicle-mounted beacon and the ground equipment; The target time is determined based on the changing trend of the target distance.

2. The method according to claim 1, characterized in that, When there is only one ground device; determining the target time based on the changing trend of the target distance includes: Based on the target distance, a target curve is fitted, and the target curve includes the correspondence between the target distance and time; The time corresponding to the inflection point of the target curve is taken as the target time.

3. The method according to claim 1, characterized in that, When there are multiple ground devices; determining the target time based on the changing trend of the target distance includes: Based on the changing trend of the target distance corresponding to each ground device, ground devices whose target distance decreases sequentially over time are selected. Based on the target distances corresponding to the selected ground equipment, a target curve is fitted to obtain the target curve. The time corresponding to the inflection point of the target curve is taken as the target time.

4. The method according to claim 1, characterized in that, Determining the target distance corresponding to the ranging distance includes: The target distance is determined based on the ranging distance and the straight-line distance between the vehicle-mounted beacon and the ground equipment when they are on the same vertical plane.

5. The method according to claim 1, characterized in that, Determining the vehicle's position based on the target time and the position of the ground equipment includes: Under the condition that the preset interference rules are met, the position of the vehicle is determined according to the target time and the position of the ground equipment. The preset interference rules are used to determine whether inter-track interference occurs.

6. The method according to claim 5, characterized in that, The preset interference rules include: The target distance at the target time is greater than or equal to a preset distance threshold. The target distance corresponding to the target time is less than or equal to the sum of the preset distance threshold, the track width, and the adjacent track spacing, where the adjacent track spacing is the distance between the track where the vehicle is located and the adjacent track.

7. The method according to claim 1, characterized in that, The method further includes: Obtain the vehicle speed at the current moment; Determining the vehicle's position based on the target time and the position of the ground equipment includes: Based on the vehicle speed, the target time, and the current time, determine the distance the vehicle has traveled from the target time to the current time; The current location of the vehicle is determined based on the location of the ground equipment, the direction of travel of the vehicle, and the distance traveled.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: If the duration of the vehicle-mounted beacon within a preset range of any ground device exceeds a preset duration threshold, and no wireless ranging signal is received from the ground device, it is determined that the ground device has malfunctioned.

9. A controller, 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 1-8.

10. A vehicle, characterized in that, The vehicle is used to perform the steps of the method according to any one of claims 1-8.

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