Passenger positioning method, passenger positioning device, vehicle machine and readable storage medium

Abstract

The invention is suitable for the technical field of online car-hailing, and provides a passenger positioning method, a passenger positioning device, a car machine and a readable storage medium. The passenger positioning method comprises the steps that after order information is received, the distance between a passenger and a vehicle is determined based on a first positioning mode; if the distance between the passenger and the vehicle is smaller than a preset distance, the first positioning mode is switched into a second positioning mode, and the positioning precision of the second positioning mode is higher than that of the first positioning mode; and determining the position information of the passenger based on the second positioning mode. According to the invention, accurate positioning of passengers can be realized.

Description

Technical Field

[0001] The present application belongs to the technical field of online car-hailing, and in particular relates to a passenger positioning method, a passenger positioning device, a vehicle computer and a readable storage medium. Background Art

[0002] Current online ride-hailing services require the positioning of passengers. However, in some environments (for example, in urban environments with tall buildings), it may not be possible to accurately locate passengers, making it difficult for drivers to accurately find passengers. In addition, passengers may move while waiting, further increasing the difficulty of positioning. Summary of the invention

[0003] The embodiments of the present application provide a passenger positioning method, a passenger positioning device, a vehicle computer and a readable storage medium to achieve accurate positioning of passengers.

[0004] In a first aspect, an embodiment of the present application provides a passenger positioning method, comprising:

[0005] After receiving the order information, determining the distance between the passenger and the vehicle based on the first positioning method;

[0006] If the distance between the passenger and the vehicle is less than a preset distance, the first positioning mode is switched to a second positioning mode, and the positioning accuracy of the second positioning mode is higher than that of the first positioning mode;

[0007] Based on the second positioning method, the location information of the passenger is determined.

[0008] In the embodiment of the present application, after the online car-hailing service receives the order information, the passenger is widely located by using the first positioning method with lower positioning accuracy, and when the vehicle approaches the passenger, it switches to the second positioning method with higher positioning accuracy for positioning, which can achieve more accurate passenger positioning, thereby assisting the online car-hailing service driver to accurately find the passenger's location.

[0009] In a second aspect, an embodiment of the present application provides a passenger positioning device, comprising:

[0010] A distance determination module, configured to determine the distance between the passenger and the vehicle based on the first positioning method after receiving the order information;

[0011] a positioning switching module, configured to switch the first positioning mode to a second positioning mode if the distance between the passenger and the vehicle is less than a preset distance, wherein the positioning accuracy of the second positioning mode is higher than that of the first positioning mode;

[0012] A position determination module is used to determine the position information of the passenger based on the second positioning method.

[0013] In a third aspect, an embodiment of the present application provides a vehicle computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the passenger positioning method as described in the first aspect above is implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the passenger positioning method as described in the first aspect above is implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle computer, the vehicle computer executes the passenger positioning method described in the first aspect above.

[0016] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of a system for accurately locating passengers and guiding parking for online car-hailing vehicles based on the combination of GPS and UWB provided in an embodiment of the present application;

[0019] Figure 2 is a schematic flow chart of a passenger positioning method provided in an embodiment of the present application;

[0020] Figure 3 is another schematic flow chart of the passenger positioning method provided in an embodiment of the present application;

[0021] Figure 4 is another schematic flow chart of the passenger positioning method provided in an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of the structure of a passenger positioning device provided in an embodiment of the present application;

[0023] Figure 6 It is a structural schematic diagram of the vehicle computer provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0025] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0026] It should also be understood that the term "and / or" used in the present specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0027] It should also be understood that in the embodiments of the present application, "plurality" refers to two or more than two.

[0028] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0029] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0031] Before explaining the present application scheme, in order to facilitate the reader's understanding, the terms involved in the present scheme are first explained.

[0032] The first positioning method and the second positioning method are two positioning methods with different positioning accuracy, and the positioning accuracy of the second positioning method is higher than the positioning accuracy of the first positioning method.

[0033] For example, the first positioning method can be any positioning technology such as the Global Positioning System (GPS), mobile phone base station positioning, Beidou Navigation Satellite System (BDS), Galileo Satellite Navigation System, and GLONASS Satellite Navigation System.

[0034] The second positioning method may be any positioning technology such as Ultra Wide Band (UWB) positioning, Real-Time Kinematic (RTK) positioning, Precise Point Positioning (PPP), etc.

[0035] UWB is a wireless communication technology with centimeter-level positioning accuracy.

[0036] RTK performs positioning through carrier phase differential between the base station and the mobile station, with an accuracy of centimeters.

[0037] PPP uses precise satellite orbit and clock error data to improve positioning accuracy, typically to the centimeter to decimeter level.

[0038] For ease of understanding, the embodiments of the present application take GPS positioning and UWB positioning as examples to describe the first positioning method and the second positioning method respectively, but this does not constitute a limitation on the first positioning method and the second positioning method.

[0039] The current online car-hailing service mainly relies on GPS technology to determine the location of passengers. However, there is a certain accuracy error in GPS positioning, especially in urban environments with tall buildings, which may make it difficult for drivers to accurately find passengers. In addition, passengers may move while waiting, further increasing the difficulty of positioning. These problems reduce the efficiency of connecting drivers and passengers, increase the waiting time of passengers and the searching time of drivers. In the embodiment of the present application, after the online car-hailing service receives the order information, the passenger is widely located by GPS, and when the vehicle (such as an online car-hailing service) approaches the passenger, it switches to UWB for precise positioning, thereby achieving more accurate passenger positioning, assisting the online car-hailing service driver to accurately find the passenger's position, and accurately stop the vehicle in front of the passenger, thereby improving the efficiency of connecting drivers and passengers, reducing the waiting time of passengers, and improving passenger service satisfaction.

[0040] For example, Figure 1 A schematic diagram of a system for accurately locating passengers and guiding parking for online ride-hailing vehicles based on the combination of GPS and UWB provided in an embodiment of the present application is shown. Figure 1 As shown, the system includes a passenger device 11, an online car-hailing platform 12 and a vehicle computer 13. The passenger device 11 can be a smart phone, a smart bracelet, a tablet computer, etc. used by the passenger. The vehicle computer 13 is installed on the vehicle.

[0041] The passenger device 11 can be connected to the online car-hailing platform 12 to call an online car-hailing vehicle through the online car-hailing platform 12, and report information such as the passenger's destination GPS information, current location GPS information, and UWB information of the passenger device 11 to the online car-hailing platform 12.

[0042] The online car-hailing platform 12 can receive the online car-hailing order from the passenger, notify the corresponding online car-hailing vehicle to go to the passenger's location to pick up the passenger, and record and save the relevant information of the passenger's historical orders.

[0043] The vehicle computer 13 is connected to the online car-hailing platform 12 via a mobile network and receives order information issued by the online car-hailing platform 12.

[0044] The passenger device 11 may include a GPS module, a UWB module and a communication module. The GPS module in the passenger device 11 is used to obtain its own location in a wide area and report it to the online car-hailing platform. The UWB module in the passenger device 11 is used to accurately locate the passenger after the online car-hailing vehicle detects that it has arrived near the passenger through the GPS module. The communication module in the passenger device 11 is used for real-time data transmission between the passenger and the online car-hailing platform. Among them, the UWB information of the above-mentioned passenger device 11 may refer to the identifier of the UWB module in the passenger device 11, which is used to characterize the uniqueness of the UWB module.

[0045] The online car-hailing platform 12 may include an order processing module and a data processing module. The order processing module is used to receive online car-hailing orders from passengers and send order information related to online car-hailing orders to the most suitable online car-hailing vehicle machine 13. The data processing module is used to process current and all historical order information and analyze some historical riding habits of each passenger. Among them, the above order information includes but is not limited to the passenger's destination GPS information, current location GPS information and UWB information of the passenger device 11.

[0046] The vehicle computer 13 may include a GPS module, a UWB module and a communication module. The GPS module in the vehicle computer 13 is used to locate the approximate location of the passenger in a wide area. The UWB module in the vehicle computer 13 can be installed in the vehicle to accurately locate the passenger when the vehicle approaches the passenger. The communication module in the vehicle computer 13 is used for real-time data transmission between the vehicle computer 13 and the online car-hailing platform 12.

[0047] In one application scenario, when a passenger sends a ride request through an online car-hailing application, the passenger enters the destination on the online car-hailing application and confirms the ride (i.e., places an order). The passenger device 11 uses a GPS module to determine the approximate location of the passenger. Then, the information carrying the passenger's destination GPS information, current location GPS information, and the UWB identifier of the passenger device 11 are reported to the online car-hailing platform corresponding to the online car-hailing application. The UWB identifier of the passenger device 11 may refer to the identifier of the UWB module deployed in the passenger device 11. When the online car-hailing arrives near the passenger, the UWB identifier can be used to determine which of the people around is the passenger waiting for the car. Among them, the above-mentioned online car-hailing platform may refer to the background server of the online car-hailing application.

[0048] After receiving the passenger's online car-hailing order, the online car-hailing platform 12 dispatches a suitable online car-hailing, and sends the order information related to the online car-hailing order to the online car-hailing vehicle computer 13. Of course, when dispatching online car-hailing, the online car-hailing can also be specified by the passenger when placing an order, and this application does not limit this.

[0049] After receiving the order information, the vehicle computer 13 displays the passenger's destination location on the navigation map according to the passenger's destination GPS information, and plans the optimal driving route at the same time; the online car-hailing driver drives according to the route indicated by the navigation map. During the driving process, the vehicle's GPS module continues to work and updates the vehicle's GPS information in real time.

[0050] The vehicle computer 13 calculates the distance between the vehicle and the passenger's destination GPS information in real time based on the vehicle's GPS information and the passenger's destination GPS information. When the distance between the vehicle and the passenger is less than a preset distance (e.g., 50 meters), the vehicle computer 13 and the passenger device 11 automatically switch their positioning methods from GPS positioning to UWB module positioning, thereby determining the specific location of the passenger based on the UWB module and achieving accurate positioning of the passenger. At this time, the UWB module begins to prepare to receive and send UWB signals for accurate positioning.

[0051] The vehicle computer 13 exchanges signals with the UWB module of the passenger device 11 through its own UWB module, and can locate the passenger's position to the centimeter level, thereby realizing accurate positioning of the passenger.

[0052] The online car-hailing platform 12 can call the data processing module, find the passenger's historical order information through the passenger's account information (such as account ID), analyze the passenger's historical riding habits based on the historical order information, and send the analyzed historical riding habits to the vehicle computer 13. Optionally, the above order information can also include the passenger's historical riding location. The vehicle computer 13 can guide the driver to park the vehicle accurately in front of the passenger by combining the precise positioning information and historical riding habits.

[0053] The above-mentioned historical riding habits may refer to historical riding positions, that is, the positions that the passenger often sat in when taking online ride-hailing cars before. For example, if the passenger is used to sitting in the front passenger seat, then the historical riding position is the front passenger seat, and the embodiment of the present application can accurately stop the front door in front of the passenger; if the passenger is used to sitting in the back row, then the historical riding position is the back row position, and the embodiment of the present application can accurately stop the back door in front of the passenger.

[0054] After the online car-hailing service completes the order, the vehicle computer 13 will report the order information including the total mileage, total amount, riding position and other data of the passenger to the online car-hailing service platform 12, which will keep a record to provide historical data support for better subsequent services to the passengers (for example, the online car-hailing service platform 12 can analyze the passenger's historical riding habits based on these historical order information).

[0055] See also Figure 2 , Figure 2 A schematic flow chart of a passenger positioning method provided in an embodiment of the present application is shown. As an example but not a limitation, the method includes the following steps:

[0056] Step 201, after receiving the order information, determine the distance between the passenger and the vehicle based on the first positioning method.

[0057] After receiving the order information, the vehicle computer can determine the location information of the vehicle based on the first positioning method, and calculate the distance between the passenger and the vehicle based on the passenger's destination location information (such as destination GPS information) in the order information and the vehicle's location information. The passenger's destination location information can be determined by the passenger device based on the destination name entered by the passenger and the first positioning method.

[0058] Since the vehicle needs to drive to the destination to pick up passengers after receiving the order, the vehicle's location information changes in real time during driving. Therefore, the vehicle computer can determine the vehicle's location information based on the first positioning method at a preset time interval, thereby updating the vehicle's location information in real time. Based on the passenger's destination location information and the real-time updated vehicle location information, the distance between the passenger and the vehicle can be updated in real time.

[0059] Exemplarily, the first positioning method is GPS positioning, and the preset time interval is 2 seconds. Then the vehicle computer can use the GPS module to obtain the vehicle's GPS information once every 2 seconds. Based on the vehicle's GPS information and the passenger's destination GPS information obtained each time, the distance between the passenger and the vehicle can be determined, thereby realizing the update of the distance between the passenger and the vehicle.

[0060] Step 202: If the distance between the passenger and the vehicle is less than a preset distance, the first positioning method is switched to a second positioning method, and the positioning accuracy of the second positioning method is higher than the positioning accuracy of the first positioning method.

[0061] Optionally, the preset distance can be set based on the communication distance of the second positioning method. In order to ensure that the vehicle computer and the passenger can achieve accurate positioning based on the second positioning method within the preset distance, the preset distance can be set to be less than or equal to the communication distance of the second positioning method. For example, if the second positioning method is UWB positioning and the communication distance of UWB positioning is 60 meters, then the preset distance can be set to 50 meters.

[0062] The switching of the first positioning mode to the second positioning mode may refer to turning on the second positioning mode and turning off the first positioning mode.

[0063] Step 203: Determine the passenger's location information based on the second positioning method.

[0064] The embodiment of the present application performs wide-area positioning of passengers through the first positioning method, which can ensure that the driver can quickly approach the passenger's position. When the vehicle approaches the passenger, switching to the second positioning method can perform high-precision positioning of the passenger, reduce positioning errors, and improve positioning accuracy to centimeter level, allowing the driver to find the passenger more accurately.

[0065] In a possible implementation, the second positioning method is ultra-wideband UWB positioning, a first ultra-wideband UWB module is deployed in the passenger device, and at least three second UWB modules are deployed in the vehicle. Figure 3 The vehicle computer can achieve accurate positioning of the passenger through the following steps 301 and 302.

[0066] The at least three second UWB modules may be evenly distributed at different locations of the vehicle, such as the front of the vehicle, the rear of the vehicle, and both sides of the vehicle.

[0067] Step 301: Based on a first UWB module and at least three second UWB modules, determine respective distances between the first UWB module and at least three second UWB modules.

[0068] In a possible implementation, a two-way ranging (TWR) technology may be used to achieve high-precision distance measurement by measuring a round-trip time difference of a signal.

[0069] Specifically, for each second UWB module, a first UWB signal is sent to the surroundings through the second UWB module, and the sending time is recorded, the first UWB signal is used to instruct the UWB module that receives the first UWB signal to send the second UWB signal, and the sending time is the time point when the first UWB signal is sent;

[0070] When the second UWB module receives the second UWB signal from the first UWB module, the receiving time is recorded, where the receiving time is the time point when the second UWB module receives the second UWB signal;

[0071] Based on the transmission time and the reception time, a distance between the first UWB module and the second UWB module is determined.

[0072] The second UWB signal is sent after the first UWB module receives the first UWB signal, so the second UWB signal can also be called an echo signal or a response signal.

[0073] For the i-th UWB module, the i-th UWB module is any second UWB module among at least three second UWB modules, and i is an integer greater than zero and less than or equal to the total number of second UWB modules. The vehicle computer sends the first UWB signal to the surrounding through the i-th UWB module and records the sending time T1; after the first UWB module receives the first UWB signal, it records the receiving time T2, and then sends the second UWB signal after a certain delay of time δ; the i-th UWB module receives the second UWB signal and records the receiving time T3 of the signal; based on the time recorded in the above process, the round-trip time RTT between the first UWB module and the i-th UWB module can be calculated = T3-T1-δ; the calculation formula for the distance between the first UWB module and the i-th UWB module is as follows:

[0074]

[0075] Wherein, d represents the distance between the first UWB module and the i-th UWB module, and c represents the propagation speed of the signal in the air.

[0076] It should be understood that after the first UWB module receives the first UWB signal, it delays for a certain time δ before sending the second UWB signal, which can avoid echo interference. If the first UWB module sends the second UWB signal immediately after receiving the first UWB signal, it may cause echo interference, that is, the sent signal and the received signal are too close in time, thereby affecting the accuracy of the signal and the measurement accuracy. Introducing a delay time can effectively avoid such interference.

[0077] The delay time can also help distinguish different signal paths, especially in complex environments where multipath effects may cause signal reflections and attenuation. The delay time δ ensures that the response signal is distinguished from other possible reflected signals when it is sent, thereby improving the accuracy of the measurement.

[0078] In one possible implementation, in order to more accurately find the passenger, the second UWB signal may carry the identifier of the UWB module that sends the signal. When the second UWB module receives the second UWB signal, the identifier of the UWB module that sends the signal can be parsed from the second UWB signal. If the identifier of the UWB module that sends the second UWB signal is the identifier of the first UWB module, it is determined that the UWB module that sends the second UWB signal is the first UWB module, and it is determined that the second UWB module receives the second UWB signal from the first UWB module. In this case, the receiving time is recorded, and the passenger can be accurately positioned based on the receiving time.

[0079] Step 302 : determining the position information of the passenger based on the distances between the first UWB module and the at least three second UWB modules, and the position information of the at least three second UWB modules in the vehicle.

[0080] The position information of at least three second UWB modules in the vehicle may be preset, and on this basis, the position information of the passenger may be calculated in combination with the distances between the first UWB module and the at least three second UWB modules.

[0081] In one application scenario, three second UWB modules are installed in the vehicle, and the position information of the three second UWB modules in the vehicle is (x1, y1), (x2, y2), (x3, y3), respectively. The distances between the first UWB module and the three second UWB modules are d1, d2, d3, respectively, and the position information of the passenger is (x, y). The position information of the passenger can be obtained by solving the following set of equations.

[0082]

[0083] The above system of equations is a nonlinear system of three equations that can be solved by numerical methods.

[0084] For example, assuming that three second UWB modules are installed on the vehicle, and their position information is (0,0), (4,0), (0,4), respectively, and the distances between the passenger device and the three second UWB modules are d1 = 3 meters, d2 = 2 meters, and d3 = 5 meters, respectively, then the equation group is:

[0085]

[0086] The passenger's position information (x, y) can be obtained through numerical solution methods.

[0087] See also Figure 4 After determining the passenger's location information, the vehicle computer can implement parking guidance through the following steps 401 and 402.

[0088] Step 401, determining the parking position of the vehicle based on the position information of the passenger and the historical riding position of the passenger.

[0089] The vehicle computer can parse the passenger's historical riding position from the received order information. Based on the passenger's location information and the passenger's historical riding position, it can analyze the position where the vehicle can be parked next to the passenger and where the historical riding position is close to the passenger, and determine the analyzed position as the parking position of the vehicle.

[0090] In a possible implementation, the vehicle computer can determine the corresponding target door based on the historical riding position; and determine the parking position of the vehicle based on the passenger position information and the target door position information.

[0091] Among them, the above-mentioned target door may refer to a door through which a passenger can move to a historical seating position after opening.

[0092] Exemplarily, if the historical sitting position is the front passenger seat, then the corresponding target door is determined to be the front door of the vehicle; if the historical sitting position is the rear seat, then the corresponding target door is determined to be the rear door of the vehicle.

[0093] In order to facilitate the analysis of the position information of the passenger and the door, the position information of the passenger and the position information of the target door are located in the same coordinate system. The coordinate system may refer to a coordinate system established in the vehicle, and during the driving of the vehicle, the relative position between the target door and the at least three second UWB modules in the coordinate system remains unchanged, and the position information of the passenger in the coordinate system changes as the vehicle drives, so by changing the parking position or driving position of the vehicle, the position information of the passenger in the coordinate system can be adjusted.

[0094] It should be noted that the position information of the passenger, the position information of the second UWB module and the position information of the target door are all position information in the above coordinate system. In the above coordinate system, the position information of the front door and the rear door of the vehicle can be marked and stored in advance, and after the target door is determined, the position information of the target door is called.

[0095] Since the position information of the passenger in the above coordinate system is adjustable, based on this, based on the position information of the passenger and the position information of the target door, the position information that can make the distance between the passenger and the target door less than the specified distance can be calculated, and the position information can guide the vehicle to park next to the passenger and the historical riding position is close to the passenger, that is, the position represented by the position information is the parking position of the vehicle. Among them, the above specified distance is less than the preset distance. Optionally, the above specified distance can be set according to actual needs, for example, the above specified distance is 20 centimeters.

[0096] Exemplarily, the passenger's position information is (x, y), and the passenger's historical sitting position is the front row. Then, the vehicle position where the passenger's position can be adjusted to coincide with the position of the front door (that is, the passenger's position information is the same as the front door's position information) is the vehicle's parking position, or the vehicle position where the distance between the passenger and the front door is less than 20 centimeters is the vehicle's parking position.

[0097] In one possible implementation, after a passenger gets on a vehicle, the actual riding position of the passenger during the ride is obtained; the actual riding position is sent to the online car-hailing platform, and the actual riding position is used to determine the historical riding position.

[0098] When a passenger rides in a vehicle, he or she may sit in a historical riding position or in other positions. Therefore, the passenger's actual riding position can be obtained. By sending the actual riding position to the online ride-hailing platform, historical data support can be provided for better subsequent services to the passenger, making it easier for the online ride-hailing platform to analyze the passenger's historical riding position based on historical data.

[0099] In a possible implementation, a facial image of a passenger may be captured by a camera in a vehicle, and the actual sitting position of the passenger may be analyzed based on the facial image. For example, the camera is installed at a position close to the front passenger seat and far from the rear seat, and both the front passenger seat and the rear seat are within the camera's shooting range. If the size of the facial area in the facial image is larger than a preset size, the actual sitting position of the passenger is determined to be the front passenger seat; if the size of the facial area in the facial image is smaller than or equal to the preset size, the actual sitting position of the passenger is determined to be the rear seat. The preset size is a pre-set size threshold for determining the actual sitting position of the passenger.

[0100] In another possible implementation, pressure sensors may be installed on the seating surfaces of the front passenger seat and the rear seat, respectively. If a pressure sensor detects a pressure value greater than a preset pressure value, the position where the pressure sensor is located is determined to be the actual seating position of the passenger. For example, if the pressure sensor on the front passenger seat detects a pressure value greater than a preset pressure value, the actual seating position of the passenger is determined to be the front passenger seat. The preset pressure value is a pre-set pressure threshold for determining the actual seating position of the passenger.

[0101] Step 402, based on the parking position, control the vehicle to park.

[0102] Based on the parking position, the car computer can provide more humane parking guidance, intelligently guiding the driver to park the vehicle in the seating position that passengers are accustomed to (such as the front passenger seat or the back seat), thereby improving passenger comfort and satisfaction.

[0103] In this embodiment, after the online car-hailing service receives the order information, it performs wide-area positioning of the passenger using a first positioning method with lower positioning accuracy, and switches to a second positioning method with higher positioning accuracy when the vehicle approaches the passenger. This can achieve more accurate passenger positioning, thereby assisting the online car-hailing service driver in accurately finding the passenger's location.

[0104] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0105] Corresponding to the passenger positioning method described in the above embodiment, Figure 5 A schematic diagram of the structure of a passenger positioning device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0106] Reference Figure 5 , the passenger positioning device comprises:

[0107] A distance determination module 51 is used to determine the distance between the passenger and the vehicle based on the first positioning method after receiving the order information;

[0108] A positioning switching module 52, configured to switch the first positioning mode to a second positioning mode if the distance between the passenger and the vehicle is less than a preset distance, wherein the positioning accuracy of the second positioning mode is higher than that of the first positioning mode;

[0109] The position determination module 53 is used to determine the position information of the passenger based on the second positioning method.

[0110] Optionally, the above-mentioned passenger positioning device further includes:

[0111] A location determination module, configured to determine a parking location of the vehicle based on the location information of the passenger and the historical riding location of the passenger;

[0112] A parking control module is used to control the parking of the vehicle based on the parking position.

[0113] Optionally, the above-mentioned location determination module is specifically used for:

[0114] Based on the historical seating position, determining a corresponding target door;

[0115] Based on the position information of the passenger and the position information of the target door, a parking position of the vehicle is determined.

[0116] Optionally, the above-mentioned passenger positioning device further includes:

[0117] A position acquisition module, used for acquiring the actual riding position of the passenger in the vehicle after the passenger gets on the vehicle;

[0118] A location sending module is used to send the actual riding location to the online car-hailing platform, and the actual riding location is used to determine the historical riding location.

[0119] Optionally, the second positioning method is ultra-wideband UWB positioning, a first ultra-wideband UWB module is deployed in the passenger device, and at least three second UWB modules are deployed in the vehicle; the position determination module 53 includes:

[0120] A first determining unit, configured to determine, based on the first UWB module and the at least three second UWB modules, respective distances between the first UWB module and the at least three second UWB modules;

[0121] The second determining unit is used to determine the position information of the passenger based on the distances between the first UWB module and the at least three second UWB modules, and the position information of the at least three second UWB modules in the vehicle.

[0122] Optionally, the first determining unit is specifically configured to:

[0123] For each of the second UWB modules, a first UWB signal is sent to the surroundings through the second UWB module, and a sending time is recorded, wherein the first UWB signal is used to instruct the UWB module that receives the first UWB signal to send a second UWB signal, and the sending time is the time point when the first UWB signal is sent;

[0124] When the second UWB module receives the second UWB signal from the first UWB module, recording a receiving time, where the receiving time is a time point when the second UWB module receives the second UWB signal;

[0125] Based on the sending time and the receiving time, a distance between the first UWB module and the second UWB module is determined.

[0126] Optionally, the first determining unit is specifically configured to:

[0127] When the second UWB module receives the second UWB signal, determining an identifier of the UWB module that sends the second UWB signal;

[0128] If the identifier of the UWB module that sends the second UWB signal is the identifier of the first UWB module, it is determined that the second UWB module receives the second UWB signal from the first UWB module.

[0129] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0130] Figure 6This is a schematic diagram of the structure of the vehicle computer provided in the embodiment of the present application. Figure 6 As shown, the vehicle computer 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps of any of the above-mentioned passenger positioning method embodiments when executing the computer program 62.

[0131] The vehicle computer may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the vehicle computer 6 and does not constitute a limitation on the vehicle computer 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0132] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0133] In some embodiments, the memory 61 may be an internal storage unit of the vehicle computer 6, such as a hard disk or memory of the vehicle computer 6. In other embodiments, the memory 61 may also be an external storage device of the vehicle computer 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle computer 6. Further, the memory 61 may also include both an internal storage unit of the vehicle computer 6 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0134] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0135] An embodiment of the present application further provides a vehicle computer, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0136] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0137] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle computer, the vehicle computer can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0138] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / vehicle machine, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0139] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0140] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0141] In the embodiments provided in the present application, it should be understood that the disclosed devices / vehicle machines and methods can be implemented in other ways. For example, the device / vehicle machine embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A passenger positioning method, characterized in that: include: After receiving the order information, determining the distance between the passenger and the vehicle based on the first positioning method; If the distance between the passenger and the vehicle is less than a preset distance, the first positioning mode is switched to a second positioning mode, and the positioning accuracy of the second positioning mode is higher than that of the first positioning mode; Based on the second positioning method, the location information of the passenger is determined.

2. The passenger positioning method according to claim 1, characterized in that: After determining the location information of the passenger, the method further includes: Determining a parking location of the vehicle based on the location information of the passenger and the historical riding location of the passenger; Based on the parking position, the vehicle is controlled to park.

3. The passenger positioning method according to claim 2, characterized in that: The determining the parking position of the vehicle based on the position information of the passenger and the historical riding position of the passenger includes: Based on the historical seating position, determining a corresponding target door; Based on the position information of the passenger and the position information of the target door, a parking position of the vehicle is determined.

4. The passenger positioning method according to claim 2, characterized in that: After determining the parking position of the vehicle, the method further includes: After the passenger gets on the vehicle, obtaining the actual seat position of the passenger during this ride; The actual riding position is sent to the online car-hailing platform, and the actual riding position is used to determine the historical riding position.

5. The passenger positioning method according to any one of claims 1 to 4, characterized in that: The second positioning method is ultra-wideband (UWB) positioning, a first ultra-wideband (UWB) module is deployed in the passenger device, and at least three second UWB modules are deployed in the vehicle; determining the position information of the passenger based on the second positioning method includes: Based on the first UWB module and the at least three second UWB modules, determining respective distances between the first UWB module and the at least three second UWB modules; The position information of the passenger is determined based on the respective distances between the first UWB module and the at least three second UWB modules, and the respective position information of the at least three second UWB modules in the vehicle.

6. The passenger positioning method according to claim 5, characterized in that: The determining, based on the first UWB module and the at least three second UWB modules, respective distances between the first UWB module and the at least three second UWB modules comprises: For each of the second UWB modules, a first UWB signal is sent to the surroundings through the second UWB module, and a sending time is recorded, wherein the first UWB signal is used to instruct the UWB module that receives the first UWB signal to send a second UWB signal, and the sending time is the time point when the first UWB signal is sent; When the second UWB module receives the second UWB signal from the first UWB module, recording a receiving time, where the receiving time is a time point when the second UWB module receives the second UWB signal; Based on the sending time and the receiving time, a distance between the first UWB module and the second UWB module is determined.

7. The passenger positioning method according to claim 6, characterized in that: After recording the sending time, it also includes: When the second UWB module receives the second UWB signal, determining an identifier of the UWB module that sends the second UWB signal; If the identifier of the UWB module that sends the second UWB signal is the identifier of the first UWB module, it is determined that the second UWB module receives the second UWB signal from the first UWB module.

8. A passenger positioning device, characterized in that: include: A distance determination module, configured to determine the distance between the passenger and the vehicle based on the first positioning method after receiving the order information; a positioning switching module, configured to switch the first positioning mode to a second positioning mode if the distance between the passenger and the vehicle is less than a preset distance, wherein the positioning accuracy of the second positioning mode is higher than that of the first positioning mode; A position determination module is used to determine the position information of the passenger based on the second positioning method.

9. A vehicle computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the passenger positioning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the passenger positioning method according to any one of claims 1 to 7 is implemented.

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