Electronic equipment, positioning method thereof and medium

Abstract

The invention relates to the technical field of intelligent driving. The invention relates to electronic equipment, a positioning method thereof and a medium. The positioning method comprises the following steps: acquiring an ultrasonic detection signal sent by at least one signal source and received by a mobile terminal; determining a target signal source for sending the ultrasonic detection signal based on the ultrasonic detection signal; and determining a target position of the mobile terminal in the vehicle based on the determined position of the target signal source in the vehicle cabin. According to the positioning method, the ultrasonic detection signals are played by using the existing signal sources in the vehicle cabin, and different signal sources playing the ultrasonic detection signals are distinguished by comparing the signal features in the ultrasonic detection signals received by the mobile terminal. And determining the accurate position of the mobile terminal according to the sequence of time points when the mobile terminal receives the ultrasonic detection signals and the layout of loudspeakers in a cabin of the automobile. The cost is reduced; and the accuracy of positioning the mobile terminal is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent driving, and more particularly to an electronic device and a positioning method and medium thereof. Background Art

[0002] With the development of smart cars, multiple on-board devices (such as multiple display screens, speakers, etc.) are usually configured in the cockpit of smart cars, which improves the user experience of drivers and passengers. In order to facilitate the driver or passenger's mobile terminal to interact with the on-board device in the cockpit or control the passenger's mobile terminal through the car computer, it is necessary to determine the position of the mobile terminal in the cockpit. However, traditional wireless signal positioning technologies, such as Wi-Fi positioning, Bluetooth positioning, and ultra-wideband positioning (Ultra Wide Bandwidth, UWB) often require additional signal equipment to be deployed in the cockpit in advance, and the cost of positioning is high; at the same time, Wi-Fi positioning and Bluetooth positioning still have the problem of low accuracy, especially for cockpits with smaller space. Through Wi-Fi positioning and Bluetooth positioning, it can only be determined that the mobile terminal is in the cockpit, and the specific location of the mobile terminal in the cockpit cannot be accurately determined (such as: front passenger seat, left side of the rear row, right side of the rear row, etc.). Therefore, a low-cost and high-accuracy positioning solution for locating the position of the mobile terminal in the cockpit is needed. Summary of the invention

[0003] The present application provides an electronic device and a positioning method and medium thereof.

[0004] In a first aspect, the present application provides a positioning method, which is applied to an electronic device, and the method includes:

[0005] Acquiring an ultrasonic detection signal sent by at least one signal source and received by a mobile terminal, wherein the electronic device and the at least one signal source are located inside a vehicle cabin;

[0006] Based on the ultrasonic detection signal, determining the target signal source sending the ultrasonic detection signal;

[0007] Based on the determined position of the target signal source inside the vehicle cabin, the target position of the mobile terminal in the vehicle cabin is determined.

[0008] In the present application, the electronic devices and mobile terminals here may include: various electronic devices that can support wireless communication connection or wired communication connection, for example: electronic devices may include vehicle-mounted devices, car computers, etc. in the vehicle cockpit, and mobile terminals may include mobile phones, tablet computers, laptops, wearable devices, etc. carried by users. The signal source here can be a speaker in the vehicle cockpit (the cockpit of a car). The ultrasonic detection signal here is a sound wave with a frequency range of 17kHz to 24kHz. The frequency of ultrasonic waves exceeds the frequency range that the normal human ear can hear (20Hz to 15kHz), and will not generate noise to affect the user experience.

[0009] The ultrasonic detection signals played by the signal source set in the vehicle cabin all have their own unique signal characteristics. The electronic device can obtain the signal characteristics of the ultrasonic detection signal received by the mobile terminal to determine the target signal source corresponding to the ultrasonic detection signal, that is, the speaker playing the ultrasonic detection signal; based on the position of the target signal source inside the vehicle cabin, determine the target position of the mobile terminal inside the vehicle. The signal characteristics here can be pre-set.

[0010] It can be seen that by utilizing existing signal sources in the vehicle cabin, such as speakers, each speaker is controlled to play the ultrasonic detection signal, and by comparing the signal features in the ultrasonic detection signal received by the mobile terminal, different speakers that play the ultrasonic detection signal can be distinguished. Then, according to the sequence of time points when the mobile terminal receives the ultrasonic detection signal, the relative position relationship between the mobile terminal and the speaker is determined, and combined with the layout of the speakers in the car's cabin, the exact position of the mobile terminal is determined. There is no need to add additional signal equipment to the vehicle cabin, which reduces costs and ensures the accuracy of locating the mobile terminal.

[0011] In a possible implementation of the first aspect, the present invention further includes:

[0012] When the electronic device communicates with the mobile terminal, multiple signal sources inside the vehicle cabin are controlled to send ultrasonic detection signals.

[0013] In the present application, the electronic device communicating with the mobile terminal may include: a user carries the mobile terminal into a vehicle cabin, the mobile terminal accesses the vehicle's network or the mobile terminal accesses the car's network, and the vehicle cabin door is opened.

[0014] In a possible implementation of the first aspect, controlling multiple signal sources in a vehicle cabin to send ultrasonic detection signals includes:

[0015] Controlling each of the plurality of signal sources to simultaneously send an ultrasonic detection signal group in a first sending cycle, wherein at least one measurement signal exists in the ultrasonic detection signal groups sent by different signal sources, and different signal sources send the measurement signals at different times; and

[0016] Based on the ultrasonic detection signal, determining a target signal source sending the ultrasonic detection signal includes:

[0017] Based on the measurement signal in the ultrasonic detection signal group received by the mobile terminal, a target signal source for sending the ultrasonic detection signal group is determined.

[0018] In the present application, the first sending period here can be the duration of a signal source sending / playing an ultrasonic detection signal, that is, sending / playing an ultrasonic detection signal group. The electronic device can control all signal sources to send / play an ultrasonic detection signal group at the same time, wherein the ultrasonic detection signal group can include at least two identification signals (also referred to as a start signal and an end signal) and a measurement signal in sequence, and the time interval between the two identification signals represents the first sending period. The different times at which different signal sources send measurement signals here represent: the time interval between the start signal and the measurement signal in the ultrasonic detection signal group sent / played by different signal sources, that is, the signal time interval is different. The time interval between the start signal and the measurement signal here can represent the signal characteristics of the ultrasonic detection signal corresponding to the signal source. Here, based on the measurement signal in the ultrasonic detection signal group received by the mobile terminal, determining the target signal source for sending the ultrasonic detection signal group represents: the signal source corresponding to the ultrasonic detection signal group can be determined according to the time interval between the start signal and the measurement signal in the ultrasonic detection signal group.

[0019] In a possible implementation of the first aspect, the ultrasonic detection signal group includes a start signal, a measurement signal, and an end signal, wherein:

[0020] The start signal is sent at the start time of the first sending cycle, the end signal is sent at the end time of the first sending cycle, the measurement signal is sent at the mark time between the start time and the end time, and

[0021] In the ultrasonic detection signal groups sent by different signal sources, the time intervals between the identification time and the start time or the end time are different.

[0022] In the present application, the ultrasonic detection signal group here may include 1 identification signal (also called a start signal), 1 measurement signal and 1 identification signal (also called an end signal) in sequence. That is, the signal source sends / plays the start signal at the start time, sends / plays the measurement signal at the identification time, and sends / plays the end signal at the end time. Among them, in the ultrasonic detection signal groups sent by different signal sources, the time interval between the identification time and the start time or the end time is different, and the time interval here can be the unique signal feature of the ultrasonic detection signal group sent by each signal source.

[0023] In a possible implementation of the first aspect, determining a target signal source for sending the ultrasonic detection signal group based on a measurement signal in the ultrasonic detection signal group received by the mobile terminal includes:

[0024] Determine that in all ultrasonic detection signal groups received by the mobile terminal, the time interval between the sending time of the start signal and the sending time of the measurement signal is the first time interval;

[0025] It is determined that the first time interval is the same as a second time interval corresponding to a first signal source among the multiple signal sources, and the first signal source is used as a target signal source.

[0026] In the present application, the determination that the time interval between the sending time of the start signal and the measurement signal in all ultrasonic detection signal groups received by the mobile terminal is the first time interval indicates that the time interval between the identification moment and the start moment or the end moment in all ultrasonic detection signal groups received by the mobile terminal is the first time interval, that is, all ultrasonic detection signal groups are from the same signal source. By comparing the time intervals of ultrasonic detection signal groups sent / played by various signal sources that are preset, it can be determined that the first signal source corresponding to the second time interval that is the same as the first time interval is the target signal source.

[0027] In a possible implementation of the first aspect, the present invention further includes:

[0028] Determine that in all ultrasonic detection signal groups received by the mobile terminal, the time interval between the sending time of the start signal and the sending time of the measurement signal includes the third time interval and the fourth time interval, and

[0029] In the ultrasonic detection signal group received by the mobile terminal for the first time, the time interval between the sending time of the start signal and the sending time of the measurement signal is the third time interval;

[0030] It is determined that the third time interval is the same as a fifth time interval corresponding to a second signal source among the multiple signal sources, and the second signal source is used as a target signal source.

[0031] In the present application, the determination here that among all ultrasonic detection signal groups received by the mobile terminal, the time interval between the sending time of the start signal and the measurement signal includes the third time interval and the fourth time interval indicates that there is a difference between the time interval between the identification moment and the start moment or the end moment in all ultrasonic detection signal groups received by the mobile terminal, that is, there are at least the third time interval and the fourth time interval. In the ultrasonic detection signal group first received by the mobile terminal, the time interval between the sending time of the start signal and the measurement signal is the third time interval indicates that the mobile terminal receives the ultrasonic detection signal group corresponding to the third time interval earlier than the ultrasonic detection signal group corresponding to the fourth time interval, that is, the mobile terminal is closer to the signal source that sends / plays the ultrasonic detection signal group corresponding to the third time interval, and determines that the signal source that sends / plays the ultrasonic detection signal group corresponding to the third time interval is the target signal source.

[0032] In a possible implementation of the first aspect, determining the target position of the mobile terminal in the vehicle cabin based on the determined position of the target signal source inside the vehicle cabin includes:

[0033] The position of the target signal source inside the vehicle cabin is used as the target position of the mobile terminal.

[0034] In the present application, the position of the target signal source is the left passenger seat in the second row of the vehicle cabin, and the target position of the mobile terminal is also determined to be the left passenger seat in the second row.

[0035] In a possible implementation of the first aspect, the electronic device communicates with the mobile terminal, including:

[0036] The mobile terminal is connected to the local area network covering the vehicle cabin.

[0037] In a possible implementation of the first aspect, the present invention further includes:

[0038] An opening of a vehicle cabin door is detected.

[0039] In the present application, the electronic device communicating with the mobile terminal may include: a user carries the mobile terminal into a vehicle cabin, the mobile terminal accesses the vehicle's network or the mobile terminal accesses the car's network, and the vehicle cabin door is opened.

[0040] In a possible implementation of the first aspect, the electronic device is a vehicle computer in a vehicle cabin.

[0041] In a second aspect, the present application provides a positioning method, characterized in that it is applied to an electronic device, and the method includes:

[0042] Receiving an ultrasonic detection signal sent by at least one signal source, wherein at least one signal source is located inside a vehicle cabin;

[0043] Based on the ultrasonic detection signal, determining the target signal source sending the ultrasonic detection signal;

[0044] Based on the determined position of the target signal source inside the vehicle cabin, a target position of the electronic device in the vehicle cabin is determined.

[0045] In this application, the electronic devices here may include mobile phones, tablet computers, laptop computers, wearable devices, etc. carried by users. The signal source here may be a speaker in the vehicle cabin. The frequency of the ultrasonic detection signal here exceeds the frequency range that can be heard by normal human ears, and will not generate noise to affect the user experience.

[0046] The ultrasonic detection signals played by the signal source set in the vehicle cabin all have their own unique signal characteristics. The electronic device can determine the target signal source corresponding to the ultrasonic detection signal, that is, the speaker playing the ultrasonic detection signal, based on the signal characteristics of the received ultrasonic detection signal; based on the position of the target signal source inside the vehicle cabin, determine the target position of the mobile terminal inside the vehicle. The signal characteristics here can be pre-set.

[0047] It can be seen that by utilizing existing signal sources in the vehicle cabin, such as speakers, each speaker is controlled to play the ultrasonic detection signal, and by comparing the signal features in the ultrasonic detection signal received by the electronic device, the different speakers playing the ultrasonic detection signal can be distinguished. Then, according to the sequence of time points when the ultrasonic detection signal is received, the relative position relationship between the electronic device and the speaker is determined, and combined with the layout of the speakers in the car's cabin, the exact position of the electronic device is determined. There is no need to add additional signal equipment to the vehicle cabin, which reduces costs and ensures the accuracy of locating electronic equipment.

[0048] In a possible implementation of the second aspect, the method further includes:

[0049] When the electronic device communicates with the control end of the vehicle cockpit, the control end controls multiple signal sources inside the vehicle cockpit to send ultrasonic detection signals.

[0050] In the present application, the control end here may include an onboard device in a vehicle cabin, a vehicle computer, etc. The electronic device communicating with the control end may include: a user brings the electronic device into the vehicle cabin, the electronic device accesses the vehicle network or the electronic device accesses the car network, and the door of the vehicle cabin is opened.

[0051] In a possible implementation of the second aspect, the control end controls multiple signal sources inside the vehicle cabin to send ultrasonic detection signals, including:

[0052] The control end controls each of the plurality of signal sources to simultaneously send an ultrasonic detection signal group in a first sending period, wherein at least one measurement signal exists in the ultrasonic detection signal groups sent by different signal sources, and different signal sources send the measurement signals at different times; and

[0053] Based on the ultrasonic detection signal, determining a target signal source sending the ultrasonic detection signal includes:

[0054] Based on the measurement signals in the received ultrasonic detection signal group, the electronic device determines the target signal source that transmits the ultrasonic detection signal group.

[0055] In the present application, the first sending period here can be the duration of a signal source sending / playing an ultrasonic detection signal, that is, sending / playing an ultrasonic detection signal group. The control end can control all signal sources to send / play an ultrasonic detection signal group at the same time, wherein the ultrasonic detection signal group can include at least two identification signals (also referred to as a start signal and an end signal) and a measurement signal in sequence, and the time interval between the two identification signals represents the first sending period. The different times at which different signal sources send measurement signals here represent: the time interval between the start signal and the measurement signal in the ultrasonic detection signal group sent / played by different signal sources, that is, the signal time interval is different. The time interval between the start signal and the measurement signal here can represent the signal characteristics of the ultrasonic detection signal corresponding to the signal source. Here, based on the measurement signal in the ultrasonic detection signal group received by the electronic device, determining the target signal source for sending the ultrasonic detection signal group represents: the signal source corresponding to the ultrasonic detection signal group can be determined according to the time interval between the start signal and the measurement signal in the ultrasonic detection signal group.

[0056] In a possible implementation of the second aspect, the ultrasonic detection signal group includes a start signal, a measurement signal, and an end signal, wherein:

[0057] The start signal is sent at the start time of the first sending cycle, the end signal is sent at the end time of the first sending cycle, the measurement signal is sent at the mark time between the start time and the end time, and

[0058] In the ultrasonic detection signal groups sent by different signal sources, the time intervals between the identification time and the start time or the end time are different.

[0059] In the present application, the ultrasonic detection signal group here may include 1 identification signal (also called a start signal), 1 measurement signal and 1 identification signal (also called an end signal) in sequence. That is, the signal source sends / plays the start signal at the start time, sends / plays the measurement signal at the identification time, and sends / plays the end signal at the end time. Among them, in the ultrasonic detection signal groups sent by different signal sources, the time interval between the identification time and the start time or the end time is different, and the time interval here can be the unique signal feature of the ultrasonic detection signal group sent by each signal source.

[0060] In a possible implementation of the second aspect, based on the received measurement signal in the ultrasonic detection signal group, the electronic device determines the target signal source that sends the ultrasonic detection signal group, including:

[0061] Determine that in all received ultrasonic detection signal groups, the time interval between the sending time of the start signal and the sending time of the measurement signal is the first time interval;

[0062] It is determined that the first time interval is the same as a second time interval corresponding to a first signal source among the multiple signal sources, and the first signal source is used as a target signal source.

[0063] In the present application, the determination that the time interval between the sending time of the start signal and the measurement signal in all ultrasonic detection signal groups received by the electronic device is the first time interval indicates that the time interval between the identification moment and the start moment or the end moment in all ultrasonic detection signal groups received by the electronic device is the first time interval, that is, all ultrasonic detection signal groups are from the same signal source. By comparing the time intervals of ultrasonic detection signal groups sent / played by various preset signal sources, it can be determined that the first signal source corresponding to the second time interval that is the same as the first time interval is the target signal source.

[0064] In a possible implementation of the second aspect, the method further includes:

[0065] Determine that in all received ultrasonic detection signal groups, the time interval between the sending time of the start signal and the sending time of the measurement signal includes the third time interval and the fourth time interval, and

[0066] In the ultrasonic detection signal group received for the first time, the time interval between the sending time of the start signal and the sending time of the measurement signal is the third time interval;

[0067] It is determined that the third time interval is the same as a fifth time interval corresponding to a second signal source among the multiple signal sources, and the second signal source is used as a target signal source.

[0068] In the present application, the determination here that among all ultrasonic detection signal groups received by the electronic device, the time interval between the sending time of the start signal and the measurement signal includes the third time interval and the fourth time interval, indicating that the time interval between the identification moment and the start moment or the end moment in all ultrasonic detection signal groups received by the electronic device is different, that is, there are at least the third time interval and the fourth time interval. In the ultrasonic detection signal group first received by the electronic device, the time interval between the sending time of the start signal and the measurement signal is the third time interval, indicating that the electronic device receives the ultrasonic detection signal group corresponding to the third time interval earlier than the ultrasonic detection signal group corresponding to the fourth time interval, that is, the electronic device is closer to the signal source of the ultrasonic detection signal group corresponding to the third time interval, and determines that the signal source of the ultrasonic detection signal group corresponding to the third time interval is the target signal source.

[0069] In a possible implementation of the second aspect, determining a target position of the electronic device in the vehicle cabin based on the determined position of the target signal source inside the vehicle cabin includes:

[0070] The position of the target signal source inside the vehicle cabin is used as the target position of the electronic device.

[0071] In the present application, the position of the target signal source is the left passenger seat in the second row of the vehicle cabin, and the target position of the electronic device is also determined to be the left passenger seat in the second row.

[0072] In a possible implementation of the second aspect, the electronic device communicates with a control terminal of a vehicle cockpit, including:

[0073] The electronic devices are connected to the local area network covering the vehicle cabin.

[0074] In a possible implementation of the second aspect, the method further includes:

[0075] An opening of a vehicle cabin door is detected.

[0076] In the present application, the communication between the electronic device and the control end may include: the user carries the electronic device into the vehicle cabin, the electronic device accesses the vehicle's network or the electronic device accesses the car's network, and the door of the vehicle cabin is opened.

[0077] In a possible implementation of the second aspect above, the electronic device includes at least one of a mobile phone and a tablet computer, and the control end includes a vehicle computer in a vehicle cabin.

[0078] In a third aspect, the present application provides an electronic device, including:

[0079] a memory for storing instructions to be executed by one or more processors of the electronic device, and

[0080] The processor is one of the processors of the electronic device, and is used to execute the positioning method of the first aspect and the second aspect.

[0081] In a fourth aspect, the present application provides a readable medium having instructions stored thereon, which, when executed on an electronic device, enables the electronic device to execute the positioning methods of the first aspect and the second aspect.

[0082] In a fifth aspect, the present application provides a computer program product, comprising: a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium contains a computer program code for executing the positioning method of the first aspect and the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Figure 1(a) to Figure 1(c) A schematic diagram of a scenario for determining the position of a mobile terminal in a cockpit provided in an embodiment of the present application;

[0084] Figure 2 A schematic diagram of a scenario for determining the position of a mobile terminal in a cockpit by Wi-Fi positioning provided in an embodiment of the present application;

[0085] FIG3( a ) is a schematic diagram of a speaker provided in an embodiment of the present application that periodically plays an ultrasonic detection signal simultaneously;

[0086] FIG3( b ) is a schematic diagram of a mobile terminal receiving an ultrasonic detection signal provided by an embodiment of the present application;

[0087] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0088] Figure 5 A software structure block diagram of an electronic device provided in an embodiment of the present application;

[0089] Figure 6 A schematic diagram of a flow chart of a positioning method provided in an embodiment of the present application;

[0090] Figure 7 A schematic diagram of a speaker provided in an embodiment of the present application periodically playing an ultrasonic detection signal and a mobile terminal receiving the ultrasonic detection signal;

[0091] FIG8( a ) and FIG8 ( b ) are schematic diagrams of determining the position of a mobile terminal through an arrival time difference positioning algorithm provided in an embodiment of the present application. DETAILED DESCRIPTION

[0092] The technical solutions in the embodiments of the present application will be described clearly and in detail below with reference to the accompanying drawings.

[0093] It can be understood that the technical method of the present application is applicable to various electronic devices that can support wireless communication connections or wired communication connections, including: vehicle-mounted equipment and mobile terminals, such as mobile phones, tablets, laptops, wearable devices, car computers, speakers, etc.

[0094] refer to Figure 1(a) to Figure 1(c) , Figure 1(a) to Figure 1(c) A schematic diagram of a scenario in which the position of the mobile terminal in the cockpit is determined to achieve interaction between the mobile terminal and the on-board equipment in the cockpit provided in an embodiment of the present application is exemplarily shown.

[0095] As shown in FIG1(a), the cockpit of the car 100 is equipped with a car machine 101, a display screen 102, a display screen 103 and a display screen 104. It can be seen that if the display screen 102, the display screen 103 and the display screen 104 are respectively fixedly arranged on the driver's seat, the co-pilot seat and the second row right passenger seat, the car machine 101 can display the positions of the display screens 102, 103 and 104 through the screen. Exemplarily, the user (driver or passenger) can also control the display screens 102, 103 and 104 through the car machine 101, such as: displaying the application interface of the car machine 101 on the display screen 102 in a split screen, etc. As shown in FIG1(b), if a passenger carries a mobile terminal 105 (such as a mobile phone) and enters the cockpit from the right, he sits in the third row right passenger seat. At this time, if the vehicle computer 101 determines that the mobile terminal 105 is located in the cabin of the car 100, that is, the mobile terminal 105 is located behind the display screen 104, then the vehicle computer 101 can control the mobile terminal 105 to interact with the display screen 104. For example: the passenger uses the mobile terminal 105 to watch a video, and the vehicle computer 101 can control the mobile terminal 105 to project the video onto the display screen 104.

[0096] Continuing with reference to FIG. 1( c ), a plurality of speakers may be further configured in the cabin of the car 100. Taking the cabin of the car 100 shown in FIG. 1( c ) as an example, six speakers may be configured in the cabin of the car 100, namely, speakers 106 - 1 to 106 - 6, which are respectively located on both sides of the cabin. The vehicle computer 101 may also control the mobile terminal 105 to interact with the speakers, for example, playing the sound of the video that the passenger is watching using the mobile terminal 105 through the speakers.

[0097] In some embodiments, the vehicle computer 101 may determine the location of the mobile terminal 105 in the cabin of the vehicle 100 by: Wi-Fi positioning, Bluetooth positioning, and ultra-wideband positioning. Figure 2As shown, taking Wi-Fi positioning as an example, at least two Wi-Fi signal devices need to be deployed in the cabin of the car 100, namely, the Wi-Fi node 201 (Access Point, AP) and the Wi-Fi node 202. The mobile terminal 105 transmits Wi-Fi signals to the Wi-Fi node 201 and the Wi-Fi node 202 respectively to determine the distance or angle between the mobile terminal 105 and the Wi-Fi node 201 and the Wi-Fi node 202 respectively, and then the position of the mobile terminal 105 is determined according to the triangulation positioning method, that is, according to the positions of the Wi-Fi node 201 and the Wi-Fi node 202 in the three-dimensional coordinate system (xyz coordinate system) formed by the cabin of the car 100, and the distance or angle between the mobile terminal 105 and the Wi-Fi node 201 and the Wi-Fi node 202 respectively, the position of the mobile terminal 105 in the three-dimensional coordinate system is determined.

[0098] Similarly, for Bluetooth positioning and ultra-wideband positioning, at least two Bluetooth signal devices need to be installed in the cabin of the car 100 to locate the mobile terminal 105. Since the accuracy of Bluetooth positioning and Wi-Fi positioning is usually between a few meters and a few hundred meters, and the cabin of the car 100 is often a few square meters, for a cabin with a small space, Wi-Fi positioning and Bluetooth positioning can only determine that the mobile terminal 105 is in the cabin, but cannot accurately determine the specific location of the mobile terminal in the cabin.

[0099] In order to solve the problems of high cost and low accuracy in positioning a mobile terminal in a car cabin, an embodiment of the present application provides a positioning method, which controls a speaker provided inside the car cabin to play an ultrasonic detection signal, and determines the specific speaker corresponding to the ultrasonic detection signal based on the signal characteristics of the ultrasonic detection signal received by the mobile terminal after the user carries the mobile terminal into the car cabin; if it is determined that the ultrasonic detection signal comes from multiple speakers, then based on the time difference (time sequence) of the ultrasonic detection signals received by the mobile terminal, a target speaker is determined, that is, the speaker closest to the mobile terminal; and the position of the mobile terminal in the cabin is determined according to the layout of the speakers in the cabin.

[0100] Specifically, for example, after the vehicle computer detects that the mobile terminal is connected to the vehicle network, it controls multiple speakers in the cabin to play ultrasonic detection signals at the same time, and notifies the mobile terminal to receive and store the ultrasonic detection signals, wherein each ultrasonic detection signal played by a speaker has a unique signal feature, so the mobile terminal can identify the speaker playing the ultrasonic detection signal through the signal feature corresponding to the stored ultrasonic detection signal. Then, based on the time difference between the ultrasonic detection signal played by the identified speaker playing the ultrasonic detection signal and the ultrasonic detection signal received by the mobile terminal, the speaker closest to the mobile terminal can be calculated, thereby determining the location of the mobile terminal in the cabin.

[0101] In some embodiments, the speaker may be a vehicle-mounted device capable of generating an ultrasonic detection signal. The ultrasonic detection signal here may include an identification signal and a measurement signal played by the speaker, wherein the frequencies of the identification signal and the measurement signal may be the same or different. In conjunction with FIG. 1(c) and FIG. 3(a), the vehicle computer 101 may be used to detect whether a mobile terminal has entered the cabin of the car 100, for example, to determine whether the mobile terminal 105 is connected to the local area network of the cabin of the car 100. After determining that a mobile terminal 105 has entered the cabin of the car 100, the vehicle computer 101 may send a positioning instruction to the mobile terminal 105 through the local area network, and control the speakers 106-1 to 106-6 to play the ultrasonic detection signal. The positioning instruction here is used to notify the mobile terminal 105 to start receiving and storing the ultrasonic detection signal. Taking the speaker 106-1 as an example, within a signal cycle of an ultrasonic detection signal, the speaker 106-1 plays 1 identification signal (also referred to as a start signal), 1 measurement signal, and 1 identification signal (also referred to as an end signal) in sequence. Among them, the time interval between the two identification signals played by the speaker 106-1 represents the duration of the signal cycle. Within one signal cycle, the signal time interval between the first identification signal and the measurement signal represents the signal characteristics corresponding to the ultrasonic detection signal played by the speaker 106-1, that is, within one signal cycle, there is a signal time interval between the first identification signal and the measurement signal played by each speaker, and the signal time interval corresponding to each speaker is different.

[0102] Continuing to refer to FIG. 1(c) and FIG. 3(a), the speakers 106-1 to 106-6 may have first to sixth signal time intervals, respectively. In the process of the plurality of speakers simultaneously and periodically playing the ultrasonic detection signal, in each signal cycle, after the plurality of speakers simultaneously play the first identification signal, they sequentially and separately play the measurement signal at their respective different signal time intervals and simultaneously play the second identification signal, thus completing a signal cycle.

[0103] In some embodiments, the vehicle computer 101 may also send the signal time interval set by the speaker 106-1 to the speaker 106-6 in the cabin of the car 100 to the mobile terminal 105. The mobile terminal 105 may temporarily store the signal time interval set by the speaker 106-1 to the speaker 106-6, and determine the speaker that plays the ultrasonic detection signal from the received and stored ultrasonic detection signals according to the signal time interval, that is, determine which speaker the at least one received ultrasonic detection signal comes from.

[0104] In other embodiments, after the mobile terminal 105 continuously stores the ultrasonic detection signal for a period of time, the mobile terminal 105 may return the audio file of the stored ultrasonic detection signal to the vehicle computer 101. The vehicle computer 101 may parse the ultrasonic detection signal in the audio file based on the signal time interval set by the speakers 106-1 to 106-6 in the cabin of the car 100, and determine the speaker corresponding to the ultrasonic detection signal received by the mobile terminal 105.

[0105] Continuing with reference to FIG3(b), the mobile terminal 105 receives an ultrasonic detection signal. Based on the signal time interval between the first identification signal and the measurement signal in the ultrasonic detection signal of each received signal period, for example, the signal time interval between the identification signal and the measurement signal in the ultrasonic detection signal received by the mobile terminal 105 includes the above-mentioned first signal time interval and second signal time interval, it can be determined that the mobile terminal 105 receives the ultrasonic detection signal from the speaker 106-1 and the speaker 106-2. Furthermore, it is possible to determine that the time point of the ultrasonic detection signal of speaker 106-2 is earlier than that of speaker 106-1 based on the order of time points when the mobile terminal 105 receives the ultrasonic detection signal, that is, the time points between the identification signals in the ultrasonic detection signals played by different speakers. For example: it is determined that the identification signal in the ultrasonic detection signal of speaker 106-2 received by the mobile terminal 105 is earlier than the identification signal in the ultrasonic detection signal of speaker 106-1, and it is obtained that the mobile terminal 105 is closer to speaker 106-2 than to speaker 106-1. Based on the position of speaker 106-2 in the cabin of the car 100, that is, close to the co-pilot seat, it is determined that the mobile terminal 105 is located at the co-pilot seat.

[0106] In some embodiments, the ultrasonic detection signal here is a sound wave with a frequency range of 17kHz to 24kHz. The frequency of the ultrasonic wave exceeds the frequency range that the normal human ear can hear (20Hz to 15kHz). In the process of using the positioning method of the embodiment of the present application to determine the position of the mobile terminal in the cabin, no noise will be generated to affect the user experience.

[0107] It can be seen that through the positioning method in the embodiment of the present application, the existing speakers in the car's cabin can be used, without adding additional signal equipment, thereby reducing costs. Each speaker is controlled to play the ultrasonic detection signal according to the signal period, and by comparing the difference in the signal time interval between the identification signal and the measurement signal in the ultrasonic detection signal, the mobile terminal can receive and distinguish the ultrasonic detection signals played by different speakers. According to the sequence of time points when the mobile terminal receives the ultrasonic detection signal, the relative position relationship between the mobile terminal and the speaker is determined, and combined with the layout of the speakers in the car's cabin, the accurate position of the mobile terminal is determined.

[0108] Continuing to refer to FIG. 1(c) and FIG. 3(a), six speakers are arranged in the cabin of the automobile 100, namely, speakers 106-1 to 106-6, and the signal period of the ultrasonic detection signal played by the speakers and the signal time interval corresponding to the ultrasonic detection signal, namely, the signal time interval between the identification signal and the measurement signal in the ultrasonic detection signal can be determined according to the space size of the cabin of the automobile 100. For example, taking the cabin space of the automobile 100 as an example, the space is 3m*2m (3 meters*2 meters) in size, wherein the maximum distance between the speaker 106-1 and the speaker 106-6 is 3.6m, and the propagation speed of sound is 340m / s (meters / second), that is, it takes 3.6m / 340m / s≈10ms (milliseconds) for the sound to be transmitted from the speaker 106-1 to the speaker 106-6, namely, the longest time for the ultrasonic detection signal to be transmitted in the cabin. For example, the signal period can be set to 500ms, the signal time interval corresponding to the speaker 106-1 can be 50ms, and the signal time interval corresponding to the speaker 106-2 can be 100ms. For example, for the speakers 106-1 to 106-6, after playing the first identification signal, the second identification signal is played after 500ms. For the speaker 106-1, after playing the first identification signal, the measurement signal is played after 50ms, and then the second identification signal is played after 450ms, and the ultrasonic detection signal of one signal period is played. For the speaker 106-2, after playing the first identification signal, the measurement signal is played after 100ms, and then the second identification signal is played after 400ms, and the ultrasonic detection signal of one signal period is played. By analogy, the signal time interval of the speaker 106-6 can be 300ms. It can be seen that the duration of the signal time interval can be much longer than the longest time the ultrasonic detection signal is transmitted in the cabin, thereby avoiding overlap between identification signals and measurement signals in multiple ultrasonic detection signals received by the mobile terminal or a small time interval, which causes the mobile terminal to erroneously distinguish between different speakers.

[0109] Figure 4 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown, the electronic device (such as a mobile phone, a car computer, etc.) may include: a processor 410, an external memory interface 420, an internal memory 421, a universal serial bus (USB) interface 430, a charging management module 440, a power management module 441, a battery 442, an antenna 1, an antenna 2, a mobile communication module 450, a wireless communication module 460, an audio module 470, a speaker 470A, a receiver 470B, a microphone 470C, an earphone interface 470D, a sensor module 480, a button 490, a motor 491, an indicator 492, a camera 493, a display screen 494, and a subscriber identification module (SIM) card interface 495, etc.

[0110] Among them, the above-mentioned sensor module 480 may include sensors such as a pressure sensor, a gyroscope sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor and an ambient light sensor.

[0111] It is to be understood that the structure illustrated in this embodiment does not constitute a specific limitation on the electronic device. In other embodiments, the electronic device may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0112] The processor 410 may include one or more processing units, for example, the processor 410 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0113] The processor 410 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 410 is a cache memory. The memory may store instructions or data that the processor 410 has just used or cyclically used. If the processor 410 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 410, and thus improves the efficiency of the system.

[0114] In some embodiments, the processor 410 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0115] It is understandable that the interface connection relationship between the modules illustrated in this embodiment is only a schematic illustration and does not constitute a structural limitation of the electronic device. In other embodiments, the electronic device may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0116] The electronic device implements the display function through a GPU, a display screen 494, and an application processor. The GPU is a microprocessor for image processing, connecting the display screen 494 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 410 may include one or more GPUs that execute program instructions to generate or change display information.

[0117] The display screen 494 is used to display images, videos, etc. The display screen 494 includes a display panel.

[0118] The electronic device can realize the shooting function through ISP, camera 493, video codec, GPU, display screen 494 and application processor. ISP is used to process the data fed back by camera 493. Camera 493 is used to capture static images or videos. In some embodiments, the electronic device may include 1 or N cameras 493, where N is a positive integer greater than 1.

[0119] The external memory interface 420 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device. The external memory card communicates with the processor 410 through the external memory interface 420 to implement a data storage function. For example, files such as music and videos can be stored in the external memory card.

[0120] The internal memory 421 may be used to store computer executable program codes, which include instructions. The processor 410 executes various functional applications and data processing of the electronic device by running the instructions stored in the internal memory 421. For example, in an embodiment of the present application, the processor 410 may execute the instructions stored in the internal memory 421, and the internal memory 421 may include a program storage area and a data storage area.

[0121] The program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the electronic device (such as audio data, a phone book, etc.), etc. In addition, the internal memory 421 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0122] It is understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device (such as a mobile phone, a car computer, etc.) may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0123] Figure 5 It is a software structure block diagram of the electronic device according to an embodiment of the present invention.

[0124] The layered architecture divides the software into several layers, each with clear roles and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom: application layer, application framework layer, Android runtime and system library, and kernel layer.

[0125] like Figure 5 As shown, the application layer may include applications such as life, video, reading, shopping, gallery, calendar, call, navigation and music. It is understood that the application here may be an application or service installed by the electronic device 100, or an application or service not installed by the electronic device 100 retrieved by the quick service center.

[0126] The application framework layer may include layout services, window management services, event input services, cockpit positioning services, etc. Among them, the layout subsystem is used to determine the position of each display element on the screen of the electronic device. The event input service is used to respond to the user's operation on the electronic device and change the display content on the screen of the electronic device. The window management service is used to obtain the properties of the window corresponding to the application. Figure 5 In the case where the electronic device shown is a vehicle computer, the cabin positioning service is used to detect whether a mobile terminal has entered the vehicle cabin, send a positioning instruction to the mobile terminal, control the speaker set in the cabin to play an ultrasonic detection signal, and determine the location of the mobile terminal in the cabin based on the ultrasonic detection signal returned by the mobile terminal. Figure 5 In the case where the electronic device shown is a mobile terminal, the cabin positioning service is used to respond to the positioning instruction, receive and store the ultrasonic detection signal, determine the speaker corresponding to the ultrasonic detection signal from the received and stored ultrasonic detection signal according to the signal characteristics of the ultrasonic detection signal played by the speaker set in the cabin sent by the vehicle computer, and determine the position of the mobile terminal in the cabin according to the position of the speaker.

[0127] The hardware abstraction layer may include a drawing service module (SurfaceFlinger), a call module, etc. Among them, the drawing service module (SurfaceFlinger) is used to draw and synthesize one or more layers in the windows of one or more applications to obtain frame data. The call module can be used to transfer the received incoming call message to the call processing module, process and transfer the received hang-up message, etc.

[0128] The kernel layer includes display driver, event driver, sensor driver, etc.

[0129] The following is based on Figure 6 The method flow chart shown is used to describe in detail the positioning method provided in the embodiment of the present application. Figure 6 The method shown can be implemented by the processor of the vehicle-mounted device and the mobile terminal executing relevant instructions.

[0130] refer to Figure 6 , the positioning method may include the following steps:

[0131] S601: The vehicle computer 101 establishes a wireless communication service end.

[0132] For example, the vehicle computer 101 of the automobile 100 can be used as a master device to form a local area network through a wireless network (for example, a local area network of the 192.168.1.a / 255.255.255.0 network segment is established through WiFi technology), and the local area network here can cover the area corresponding to the cockpit of the automobile 100. The vehicle computer 101 establishes a TCP (Transmission Control Protocol) server based on the wireless network.

[0133] S602: The mobile phone 105-1 and the tablet computer 105-2 respectively establish wireless communication clients.

[0134] Exemplarily, the mobile phone 105 - 1 and the tablet computer 105 - 2 can be used as slave devices to establish a TCP client, and the TCP client can be used to establish a TCP server communication connection with the master device.

[0135] S603: The mobile phone 105 - 1 and the tablet computer 105 - 2 establish communication connections with the vehicle computer 101 respectively.

[0136] For example, when a passenger brings a mobile phone 105-1 and a tablet computer 105-2 into the cabin of the car 100, the mobile phone 105-1 and the tablet computer 105-2 detect the local area network corresponding to the vehicle computer 101, and the mobile phone 105-1 and the tablet computer 105-2 can respectively establish a communication connection with the TCP server of the vehicle computer 101 through the TCP client.

[0137] In some embodiments, after the mobile phone 105 - 1 and the tablet computer 105 - 2 establish a communication connection with the TCP server of the vehicle computer 101 , the local area network addresses of the mobile phone 105 - 1 and the tablet computer 105 - 2 may be 192.168.1.b and 192.168.1.c respectively.

[0138] In some embodiments, Figure 7 As shown, passenger A is sitting in the co-pilot seat of the cabin with a mobile phone 105-1, and passenger B is sitting on the left side of the second row with a tablet computer 105-2. At this time, the vehicle computer 101 only determines to establish a communication connection with the mobile phone 105-1 and the tablet computer 105-2, and has not yet determined the specific locations of the mobile phone 105-1 and the tablet computer 105-2 in the cabin.

[0139] S604: The vehicle computer 101 sends an activation instruction to the mobile phone 105-1 and the tablet computer 105-2, notifying the mobile phone 105-1 and the tablet computer 105-2 to activate positioning.

[0140] Exemplarily, after the vehicle computer 101 determines to establish a communication connection with the mobile phone 105-1 and the tablet computer 105-2, it sends an opening instruction to the mobile phone 105-1 and the tablet computer 105-2 through the local area network, notifying the mobile phone 105-1 and the tablet computer 105-2 to turn on positioning. It can be understood that the vehicle computer 101 sends the opening instruction to the mobile phone 105-1 and the tablet computer 105-2, that is, the vehicle computer 101 notifies the mobile phone 105-1 and the tablet computer 105-2 to turn on positioning.

[0141] In some embodiments, the start command sent by the vehicle computer 101 may also carry the signal time interval set by the vehicle computer 101 for the speakers 106-1 to 106-6 in the cabin of the car 100. The mobile phone 105-1 and the tablet computer 105-2 may temporarily store the signal time interval set by the speakers 106-1 to 106-6 to determine which speaker the received at least one ultrasonic detection signal comes from.

[0142] In other embodiments, the area corresponding to the local area network formed by the vehicle computer 101 through the wireless network may also be larger than the area corresponding to the cabin of the car 100. At this time, the triggering conditions for the vehicle computer 101 to send an opening instruction to the mobile phone 105-1 and the tablet computer 105-2 may also include the vehicle computer 101 detecting that the mobile phone 105-1 and the tablet computer 105-2 have established a communication connection with the vehicle computer 101, and the vehicle computer 101 detecting that the door of the cabin of the car 100 is open.

[0143] S605: The mobile phone 105-1 and the tablet computer 105-2 respond to the start instruction and start positioning.

[0144] Exemplarily, the activation of positioning here may include the mobile phone 105-1 and the tablet computer 105-2 setting the microphone to enter an idle state, so that the mobile phone 105-1 and the tablet computer 105-2 can control the microphone to record the ultrasonic detection signal played by the speakers 106-1 to 106-6 set in the cabin of the car 100, that is, the mobile phone 105-1 and the tablet computer 105-2 can start recording. In some embodiments, if the mobile phone 105-1 or the tablet computer 105-2 determines that the microphone is still in use after receiving the activation instruction, for example: the passenger is making a voice call using the mobile phone 105-1, then the mobile phone 105-1 or the tablet computer 105-2 can prompt the user that the positioning is about to be activated and the use of the microphone is suspended first.

[0145] S606: The vehicle computer 101 controls the speakers 106-1 to 106-6 to play the ultrasonic detection signal.

[0146] Exemplarily, after the vehicle computer 101 sends the start command, it can control the speakers 106-1 to 106-6 to repeatedly play the ultrasonic detection signal within a preset time period, and each playback of the ultrasonic detection signal can be based on a signal cycle, that is, the ultrasonic detection signal can be repeatedly played based on multiple signal cycles. In some embodiments, when the mobile phone 105-1 and the tablet computer 105-2 return the positioning result to the vehicle computer 101, or the vehicle computer 101 determines the positioning result based on the stored ultrasonic detection signal returned by the mobile phone 105-1 and the tablet computer 105-2, the vehicle computer 101 can control the speakers 106-1 to 106-6 to stop playing the ultrasonic detection signal.

[0147] Wherein, based on one signal cycle, the process of the vehicle computer executing step S606 may include the following steps:

[0148] S606a: The vehicle computer 101 controls the speakers 106-1 to 106-6 to play the first identification signal simultaneously.

[0149] For example, taking the signal period of 500ms as an example, refer to Figure 7 The vehicle computer 101 can control the speakers 106 - 1 to 106 - 6 to play the first identification signal at the start time of a signal cycle.

[0150] S606b: The vehicle computer 101 controls the speakers 106 - 1 to 106 - 6 to play a measurement signal based on their respective signal time intervals.

[0151] For example, based on the signal cycle of 500ms, the vehicle computer 101 can set the first signal time interval to the sixth signal time interval for the speakers 106-1 to 106-6, for example, the first signal time interval corresponding to the speaker 106-1 can be 50ms, the second signal time interval corresponding to the speaker 106-2 can be 100ms, and so on, the sixth signal time interval of the speaker 106-6 can be 300ms. Figure 7 Taking the ultrasonic detection signals played by the speakers 106-1 and 106-2 as an example, based on one signal cycle, the time interval between the speaker 106-1 playing the first identification signal and playing the measurement signal may be 50ms. Based on one signal cycle, the time interval between the speaker 106-2 playing the first identification signal and playing the measurement signal may be 100ms.

[0152] S606c: The vehicle computer 101 controls the speakers 106 - 1 to 106 - 6 to play the second identification signal simultaneously.

[0153] For example, the vehicle computer 101 can control the speakers 106-1 to 106-6 to play the second identification signal at the end time of a signal cycle. It can be understood that a cycle interval can also be set between adjacent signal cycles. For example, the cycle interval can be set to 70ms.

[0154] In some embodiments, for an ultrasonic detection signal with a signal cycle, the frequencies of the identification signal and the measurement signal in the ultrasonic detection signal may be different, so as to more clearly distinguish the identification signal and the measurement signal. For example, the frequency of the identification signal may be 18 kHz, while the frequency of the measurement signal may be 20 kHz.

[0155] S607: The mobile phone 105-1 and the tablet computer 105-2 receive and record the ultrasonic detection signals, and determine the positioning results based on the ultrasonic detection signals.

[0156] Exemplarily, the mobile phone 105-1 and the tablet computer 105-2 can start recording and record the received ultrasonic detection signal in response to the start-up command sent by the vehicle computer 101. Based on the signal time interval between the identification signal and the measurement signal in each received ultrasonic detection signal, the speaker that plays the ultrasonic detection signal is determined. Further, based on the time point between the measurement signals in each received ultrasonic detection signal, the relative position relationship with the speaker, that is, the positioning result, is determined. The vehicle computer 101 can determine the exact position of the mobile phone 105-1 and the tablet computer 105-2 in combination with the layout of the speakers in the cockpit, for example: the co-pilot seat, the left passenger seat of the second row, etc.

[0157] The process of the mobile phone 105-1 and the tablet computer 105-2 performing step S607 may include the following steps:

[0158] S607a: The mobile phone 105-1 and the tablet computer 105-2 start recording and receive the ultrasonic detection signal.

[0159] For example, the mobile phone 105 - 1 and the tablet computer 105 - 2 can start the recording function, receive the ultrasonic detection signal through the microphone, and record the ultrasonic detection signal in an audio file.

[0160] In some embodiments, Figure 7 As shown, the mobile phone 105-1 and the tablet computer 105-2 can receive the ultrasonic detection signal according to the preset recording cycle, record the ultrasonic detection signal in an audio file, and after recording the audio file corresponding to the ultrasonic detection signal of a preset recording cycle, start analyzing the ultrasonic detection signal in the audio file.

[0161] S607b: The mobile phone 105 - 1 and the tablet computer 105 - 2 identify the speaker corresponding to the ultrasonic detection signal.

[0162] For example, in the cabin of the car 100, seats, passengers and other objects may block the transmission of the ultrasonic detection signal, and the mobile phone 105-1 and the tablet computer 105-2 may not receive the ultrasonic detection signal played by each speaker. Figure 7 As shown, the mobile phone 105-1 and the tablet computer 105-2 can identify the speaker corresponding to the ultrasonic detection signal according to the received ultrasonic detection signal. Figure 7 , the mobile phone 105-1 can determine the signal time interval between the first identification signal and the measurement signal in the received ultrasonic detection signal of a signal cycle, such as: the signal time interval is 100ms, based on the signal time interval of the ultrasonic detection signal played by the speakers 106-1 to 106-6 set by the vehicle computer 101, and determine that the received ultrasonic detection signal comes from the speaker 106-2. Similarly, for the tablet computer 105-2, continue to refer to Figure 7 , the tablet computer 105-2 can determine that the ultrasonic detection signals are received from the speaker 106-3 and the speaker 106-4, that is, in the ultrasonic detection signals received by the tablet computer 105-2, the signal time intervals between the first identification signal and the measurement signal are 150ms and 200ms respectively.

[0163] In some embodiments, if the frequencies of the identification signal and the measurement signal in the ultrasonic detection signal are different, for example, the frequency of the identification signal may be 18 kHz, and the frequency of the measurement signal may be 20 kHz, the identification signal and the measurement signal in the ultrasonic detection signal of the signal period may also be determined according to the signal strengths corresponding to the frequencies of the identification signal and the measurement signal. For example, the signal strength of the identification signal with a frequency of 18 kHz may be 2.5 dB (decibel), and the signal strength of the measurement signal with a frequency of 20 kHz may be 2.8 dB.

[0164] S607c: The mobile phone 105-1 and the tablet computer 105-2 determine the positioning result based on the layout of the speakers and the time point when the ultrasonic detection signal is received.

[0165] For example, continue to refer to Figure 7 Taking mobile phone 105-1 as an example, since mobile phone 105-1 only receives the ultrasonic detection signal played by speaker 106-2, it can be determined that the relative position relationship of mobile phone 105-1 is close to speaker 106-2. For tablet computer 105-2, it is determined that ultrasonic detection signals from speakers 106-3 and 106-4 are received. Further, according to the time points between the identification signals in the received ultrasonic detection signals, it can be determined that the relative position relationship of tablet computer 105-2 is close to speaker 106-3.

[0166] In some embodiments, continue to refer to Figure 7 , the tablet computer 105-2 receives the ultrasonic detection signals of the speakers 106-3 and 106-4. Since the distances between the speakers 106-3 and 106-4 and the tablet computer 105-2 are different, there is a time difference between the time points of the identification signals in the ultrasonic detection signals corresponding to the speakers 106-3 and 106-4 received by the tablet computer 105-2. For example: assuming that the distances between the speakers 106-3 and 106-4 and the tablet computer 105-2 are 0.6m and 0.2m respectively, the time difference can be (0.6m-0.2m) / 340m / s≈1ms. The signal time intervals corresponding to the ultrasonic detection signals of the speakers 106-3 and 106-4 are 150ms and 200ms respectively. Therefore, the time difference between the identification signals in different ultrasonic detection signals will not affect the signal time interval between the identification signal and the measurement signal in the ultrasonic detection signal, causing misjudgment of the positioning result.

[0167] S608: The mobile phone 105 - 1 and the tablet computer 105 - 2 return the positioning result to the vehicle computer 101 .

[0168] Exemplarily, the mobile phone 105 - 1 and the tablet computer 105 - 2 can return the positioning result to the vehicle computer 101 through a communication connection.

[0169] S609: The vehicle computer 101 determines the exact positions of the mobile phone 105-1 and the tablet computer 105-2 based on the positioning results of the mobile phone 105-1 and the tablet computer 105-2.

[0170] Exemplarily, the vehicle computer 101 can be based on the layout of each speaker in the cabin of the car 100 and the positioning results of the mobile phone 105-1 and the tablet computer 105-2. For example, based on the position of the speaker 106-2 at the front passenger seat and the position of the speaker 106-3 at the left passenger seat in the second row, it can be determined that the mobile phone 105-1 is located at the front passenger seat and the tablet computer 105-2 is located at the left passenger seat in the second row.

[0171] It can be understood that in some embodiments, after the mobile phone 105-1 and the tablet computer 105-2 turn on the recording function, receive the ultrasonic detection signal through the microphone, and record the ultrasonic detection signal in an audio file, the mobile phone 105-1 and the tablet computer 105-2 can also directly return the audio file to the vehicle computer 101. The vehicle computer 101 can parse the ultrasonic detection signal in the audio file to determine the positioning results of the mobile phone 105-1 and the tablet computer 105-2.

[0172] In some embodiments, if it is determined that the ultrasonic detection signal received by the mobile terminal comes from at least three speakers in the car's cabin, the exact position of the mobile terminal in the car's cabin can also be determined by a Time Difference of Arrival (TDOA) positioning algorithm. The time difference of arrival positioning algorithm can be used to calculate the distance difference between the mobile terminal and the speaker based on the time difference between the ultrasonic detection signals sent by at least three speakers arriving at the mobile terminal, and combine the coordinates of the speakers in the car's cabin with the distance difference to determine the coordinates of the mobile terminal in the car's cabin.

[0173] FIG. 8( a ) and FIG. 8( b ) are schematic diagrams showing a method of determining the position of the mobile phone 105 - 1 in the cabin of the car 100 by using a time difference of arrival positioning algorithm.

[0174] As shown in FIG8(a), six speakers are arranged in the cabin of the car 100, namely, speakers 106-1 to 106-6. In the two-dimensional coordinate system (xy coordinate system) formed by the cabin of the car 100, the positions of the speakers 106-1 to 106-6 can be determined by the coordinates in the two-dimensional coordinate system, for example: the coordinates of the speaker 106-1 can be the speaker 106-1 (x1, y1), the coordinates of the speaker 106-2 can be the speaker 106-2 (x2, y2), and so on, and the coordinates of the speaker 106-6 can be the speaker 106-6 (x6, y6). After the user carries the mobile phone 105-1 into the cabin of the car 100, the car machine 101 can control the speakers 106-1 to 106-6 to play the ultrasonic detection signal, and according to the signal characteristics of the ultrasonic detection signal received by the mobile phone 105-1, it is determined that the ultrasonic detection signal comes from the speaker 106-2, the speaker 106-3 and the speaker 106-4. As shown in FIG8(b), according to the time point when the car computer 101 controls the speaker 106-2 (point A), the speaker 106-3 (point B) and the speaker 106-4 (point C) to play the ultrasonic detection signal at the same time, and the time point when the ultrasonic detection signals played by the speakers 106-2, 106-3 and 106-4 reach the mobile phone 105-1 (point M), the time differences tMA, tMB and tMC of the ultrasonic detection signals played by the speakers 106-2, 106-3 and 106-4 reaching the mobile phone 105-1 are obtained. According to the propagation speed c (such as: 340m / s) of the ultrasonic detection signal and the time difference, the distance difference can be calculated, that is, the distance difference dMA=c*tMA, dMB=c*tMB, dMC=c*tMC between the speaker 106-2, the speaker 106-3 and the speaker 106-4 and the mobile phone 105-1 respectively. According to the triangulation principle, the distances from the mobile phone 105-1 (point M) to the three speakers form three circles, and the intersection of the three circles is the coordinate of the mobile phone 105-1 (point M). The coordinates (x, y) of the mobile phone 105-1 (point M) can be determined by solving the following set of equations, that is, (x-x2)^2+(y-y2)^2-dMA^2=0, (x-x3)^2+(y-y3)^2-dMB^2=0, and (x-x4)^2+(y-y4)^2-dMC^2=0. According to the coordinates (x, y) of the mobile phone 105-1 (point M) in the two-dimensional coordinate system (xy coordinate system) formed by the cockpit of the car 100, the accurate position of the mobile phone 105-1 in the cockpit of the car 100 is determined.

[0175] It should be understood that although the terms "first", "second", etc. may be used herein to describe various features, these features should not be limited by these terms. These terms are used only to distinguish and should not be understood as indicating or implying relative importance. For example, a first feature may be referred to as a second feature, and similarly a second feature may be referred to as a first feature without departing from the scope of the exemplary embodiments.

[0176] In addition, various operations will be described as multiple separate operations in a manner that is most helpful for understanding the illustrative embodiments; however, the order of description should not be interpreted as implying that these operations must rely on the order of description, and many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can also be rearranged. When the described operations are completed, the process can be terminated, but there can also be additional operations not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0177] References in the specification to "one embodiment," "an embodiment," "an illustrative embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or property, but each embodiment may or may not necessarily include the particular feature, structure, or property. Moreover, these phrases are not necessarily directed to the same embodiment. In addition, when particular features are described in conjunction with a specific embodiment, the knowledge of those skilled in the art can affect the combination of these features with other embodiments, whether or not these embodiments are explicitly described.

[0178] Unless the context dictates otherwise, the terms "comprising," "having," and "including" are synonymous. The phrase "A / B" means "A or B." The phrase "A and / or B" means "(A), (B), or (A and B)."

[0179] As used herein, the term "module" may refer to, be part of, or include: a memory (shared, dedicated, or group) for running one or more software or firmware programs, an application-specific integrated circuit (ASIC), an electronic circuit and / or processor (shared, dedicated, or group), a combinational logic circuit, and / or other suitable components that provide the described functionality.

[0180] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order is not required. Instead, in some embodiments, these features may be described in a manner and / or order different from that shown in the illustrative drawings. In addition, the structural or method features included in a specific figure do not mean that all embodiments need to include such features. In some embodiments, these features may not be included, or these features may be combined with other features.

[0181] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the use of the technical solution of the present application is not limited to the various applications mentioned in the embodiments of the present patent. Various structures and variations can be easily implemented with reference to the technical solution of the present application to achieve the various beneficial effects mentioned herein. Various changes made within the knowledge of ordinary technicians in the field without departing from the purpose of the present application should all fall within the scope of the patent application.

Claims

1. A positioning method, characterized in that: Applied to electronic equipment, the method comprises: Acquiring an ultrasonic detection signal sent by at least one signal source and received by a mobile terminal, wherein the electronic device and the at least one signal source are located inside a vehicle cabin; Based on the ultrasonic detection signal, determining a target signal source that sends the ultrasonic detection signal; Based on the determined position of the target signal source inside the vehicle cabin, a target position of the mobile terminal in the vehicle cabin is determined.

2. The method according to claim 1, characterized in that Also includes: When the electronic device communicates with the mobile terminal, a plurality of signal sources inside the vehicle cabin are controlled to send ultrasonic detection signals.

3. The method according to claim 2, characterized in that The controlling multiple signal sources in the vehicle cabin to send ultrasonic detection signals comprises: Controlling each of the plurality of signal sources to simultaneously send an ultrasonic detection signal group in a first sending cycle, wherein at least one measurement signal exists in the ultrasonic detection signal groups sent by different signal sources, and different signal sources send the measurement signals at different times; and The step of determining a target signal source that sends the ultrasonic detection signal based on the ultrasonic detection signal includes: Based on the measurement signal in the ultrasonic detection signal group received by the mobile terminal, a target signal source for sending the ultrasonic detection signal group is determined.

4. The method according to claim 3, characterized in that The ultrasonic detection signal group includes a start signal, a measurement signal and an end signal, wherein: The start signal is sent at the start time of the first sending cycle, the end signal is sent at the end time of the first sending cycle, and the measurement signal is sent at a mark time between the start time and the end time, and In the ultrasonic detection signal groups sent by different signal sources, the time intervals between the identification time and the start time or the end time are different.

5. The method according to claim 4, characterized in that The determining, based on the measurement signal in the ultrasonic detection signal group received by the mobile terminal, a target signal source for sending the ultrasonic detection signal group comprises: Determine that the time interval between the sending time of the start signal and the sending time of the measurement signal in all the ultrasonic detection signal groups received by the mobile terminal is the first time interval; It is determined that the first time interval is the same as a second time interval corresponding to a first signal source among the multiple signal sources, and the first signal source is used as the target signal source.

6. The method according to claim 4, characterized in that Also includes: Determine that in all ultrasonic detection signal groups received by the mobile terminal, the time interval between the sending time of the start signal and the sending time of the measurement signal includes the third time interval and the fourth time interval, and In the ultrasonic detection signal group first received by the mobile terminal, the time interval between the sending time of the start signal and the sending time of the measurement signal is the third time interval; It is determined that the third time interval is the same as a fifth time interval corresponding to a second signal source among the multiple signal sources, and the second signal source is used as the target signal source.

7. The method according to claim 1, characterized in that Determining the target position of the mobile terminal in the vehicle cabin based on the determined position of the target signal source inside the vehicle cabin includes: The position of the target signal source inside the vehicle cabin is used as the target position of the mobile terminal.

8. The method according to claim 2, characterized in that: The electronic device communicates with the mobile terminal, including: The mobile terminal accesses a local area network covering the vehicle cabin.

9. The method according to claim 2, characterized in that: Also includes: An opening of a door of the vehicle cabin is detected.

10. The method according to claim 1, characterized in that The electronic device is a vehicle computer in the vehicle cockpit.

11. A positioning method, characterized in that: Applied to electronic equipment, the method comprises: receiving an ultrasonic detection signal sent by at least one signal source, wherein the at least one signal source is located inside a vehicle cabin; Based on the ultrasonic detection signal, determining a target signal source that sends the ultrasonic detection signal; Based on the determined position of the target signal source inside the vehicle cabin, a target position of the electronic device in the vehicle cabin is determined.

12. The method according to claim 11, characterized in that Also includes: When the electronic device communicates with the control end of the vehicle cockpit, the control end controls multiple signal sources inside the vehicle cockpit to send ultrasonic detection signals.

13. The method according to claim 12, characterized in that The control end controls multiple signal sources inside the vehicle cabin to send ultrasonic detection signals, including: The control end controls each of the plurality of signal sources to simultaneously send an ultrasonic detection signal group in a first sending period, wherein at least one measurement signal exists in the ultrasonic detection signal groups sent by different signal sources, and different signal sources send the measurement signals at different times; and The step of determining a target signal source that sends the ultrasonic detection signal based on the ultrasonic detection signal includes: Based on the measurement signals in the received ultrasonic detection signal group, the electronic device determines a target signal source that sends the ultrasonic detection signal group.

14. The method according to claim 13, characterized in that The ultrasonic detection signal group includes a start signal, a measurement signal and an end signal, wherein: The start signal is sent at the start time of the first sending cycle, the end signal is sent at the end time of the first sending cycle, and the measurement signal is sent at a mark time between the start time and the end time, and In the ultrasonic detection signal groups sent by different signal sources, the time intervals between the identification time and the start time or the end time are different.

15. The method according to claim 14, characterized in that The electronic device determines, based on the measurement signal in the received ultrasonic detection signal group, a target signal source that sends the ultrasonic detection signal group, including: Determine that in all received ultrasonic detection signal groups, the time interval between the sending time of the start signal and the sending time of the measurement signal is the first time interval; It is determined that the first time interval is the same as a second time interval corresponding to a first signal source among the multiple signal sources, and the first signal source is used as the target signal source.

16. The method according to claim 14, characterized in that Also includes: Determine that in all received ultrasonic detection signal groups, the time interval between the sending time of the start signal and the sending time of the measurement signal includes the third time interval and the fourth time interval, and In the ultrasonic detection signal group received for the first time, the time interval between the sending time of the start signal and the sending time of the measurement signal is the third time interval; It is determined that the third time interval is the same as a fifth time interval corresponding to a second signal source among the multiple signal sources, and the second signal source is used as the target signal source.

17. The method according to claim 11, characterized in that The determining the target position of the electronic device in the vehicle cabin based on the determined position of the target signal source inside the vehicle cabin comprises: The position of the target signal source inside the vehicle cabin is used as the target position of the electronic device.

18. The method according to claim 12, characterized in that The electronic device communicates with the control end of the vehicle cockpit, including: The electronic device is connected to a local area network covering the vehicle cabin.

19. The method according to claim 12, characterized in that Also includes: An opening of a door of the vehicle cabin is detected.

20. The method according to claim 12, characterized in that The electronic device includes at least one of a mobile phone and a tablet computer, and the control end includes a vehicle computer in the vehicle cabin.

21. An electronic device, characterized in that: include: a memory for storing instructions to be executed by one or more processors of the electronic device, and The processor is one of the processors of the electronic device, and is used to execute the positioning method described in any one of claims 1-10 or claims 11-20.

22. A computer storage medium, characterized in that The computer storage medium contains computer program code for executing the positioning method of any one of claims 1-10 or claims 11-20.

23. A computer program product, characterized in that include: A non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium contains a computer program code for executing the positioning method according to any one of claims 1 to 10 or claims 11 to 20.

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