Vehicle positioning method, device, equipment and medium

Abstract

The invention relates to a vehicle positioning method and device, equipment and a medium, and the method comprises the steps: obtaining the wheel speed information of a vehicle, and obtaining the gear information and positioning system data of the vehicle under the condition that the wheel speed of the vehicle is zero; if the gear information is a preset gear and the positioning system data meets a preset condition, determining that the vehicle is in a moving state; otherwise, determining that the vehicle is in a static state; and carrying out position calculation according to the motion state or the static state to obtain positioning information of the vehicle. According to the technical scheme provided by the invention, the problem that the calculation result of the algorithm is wrong due to divergence of positioning algorithm filter parameter values caused by inconsistent performance of multi-sensor data sources is solved, and the accuracy of vehicle positioning is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle positioning method, device, equipment and medium. Background Art

[0002] In recent years, with the vigorous development of electric vehicles and the popularization of automotive intelligence, advanced driver assistance systems and car navigation have become common functions of smart cars. Both advanced driver assistance systems and car navigation rely on high-precision positioning.

[0003] High-precision positioning mainly relies on the combined navigation algorithm to output high-precision vehicle posture. Different from the traditional satellite positioning system, the data source of the combined navigation system includes GNSS-RTK (Global Navigation Satellite System; Real-time Kinematic, carrier phase difference), IMU (Inertial Measurement Unit), wheel speed, gear position and other information. The vehicle positioning information is obtained by calculating the position through multiple information.

[0004] However, in actual applications, there are many different vehicle driving scenarios. For example, in specific scenarios such as ferries and trailers, the above data sources may have inconsistent performance of the vehicle's dynamic and static states. Due to the inconsistent performance of multiple sensor data sources, the algorithm filter parameter values ​​will diverge, causing errors in the algorithm solution, thereby affecting the accuracy of the pose calculation. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a vehicle positioning method, device, equipment and storage medium.

[0006] In a first aspect, an embodiment of the present disclosure provides a vehicle positioning method, comprising:

[0007] Acquire wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, acquire gear information and positioning system data of the vehicle;

[0008] If the gear information is a preset gear and the positioning system data meets a preset condition, it is determined that the vehicle is in motion;

[0009] Otherwise, determining that the vehicle is stationary;

[0010] Position calculation is performed according to the motion state or the static state to obtain positioning information of the vehicle.

[0011] In a second aspect, an embodiment of the present disclosure provides a vehicle positioning device, comprising:

[0012] An acquisition module, used to acquire wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, acquire gear information and positioning system data of the vehicle;

[0013] A first determination module, configured to determine that the vehicle is in motion if the gear information is a preset gear and the positioning system data meets a preset condition;

[0014] a second determination module, configured to otherwise determine that the vehicle is in a stationary state;

[0015] The positioning module is used to perform position calculation according to the motion state or the static state to obtain the positioning information of the vehicle.

[0016] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the vehicle positioning method described in the first aspect above.

[0017] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle positioning method described in the first aspect is implemented.

[0018] In a fifth aspect, an embodiment of the present disclosure provides a vehicle, comprising the vehicle positioning device as described in the second aspect above, or the electronic device as described in the third aspect above.

[0019] Compared with the prior art, the technical solution provided by the disclosed embodiment has the following advantages: by acquiring the wheel speed information of the vehicle, when the wheel speed of the vehicle is zero, the gear information and positioning system data of the vehicle are acquired; if the gear information is a preset gear and the positioning system data satisfies the preset conditions, it is determined that the vehicle is in motion; otherwise, it is determined that the vehicle is stationary; and then, the position is solved according to the motion state or the stationary state to obtain the positioning information of the vehicle. Thus, on the basis of the wheel speed of the vehicle, the vehicle is dynamically and statically identified in combination with the gear information and the positioning system data; for scenes with passive movement of vehicles such as trailers and ferries, the motion state / stationary state of the vehicle can also be accurately identified, thereby improving the accuracy of the dynamic and static model judgment of the vehicle, further solving the problem that the inconsistent performance of the multi-sensor data source leads to the divergence of the positioning algorithm filter parameter values, resulting in errors in the algorithm solution results, thereby improving the accuracy of vehicle positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 A schematic diagram of a vehicle positioning method provided by an embodiment of the present disclosure;

[0023] Figure 2 A schematic diagram of a flow chart of another vehicle positioning method provided by an embodiment of the present disclosure;

[0024] Figure 3 A schematic structural diagram of a vehicle positioning device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0027] The method of the disclosed embodiment can be used in a scenario where a vehicle is positioned using an INS (Inertial Navigation System) algorithm in an integrated navigation system. The data sources of the integrated navigation system include GNSS-RTK (Global Navigation Satellite System; Real-time Kinematic, carrier phase difference), IMU (Inertial Measurement Unit), wheel speed, gear position and other vehicle information.

[0028] The current INS algorithm sensor input information logic is as follows: All data are input into the algorithm filter. The input data sources include the vehicle's stationary state / moving state, IMU, GNSS, etc., and then the vehicle's position is solved and the final output is the result. Among them, the vehicle's stationary and moving judgment is based on the wheel speed. If the wheel speed is 0, the vehicle is stationary. If the wheel speed is not 0, the vehicle is in motion. However, the above judgment logic cannot take into account the passive movement of the vehicle, such as trailer or ferry scenarios. In related scenarios, the vehicle body position and posture reflected by the data sources of different sensors conflict, affecting the dynamic and static model results of the vehicle. Due to the inconsistent performance of multiple sensor data sources, the INS algorithm filter parameter values ​​will diverge, causing errors in the INS algorithm solution, which in turn affects the position and posture calculation and output of the entire INS, and further affects the vehicle navigation and assisted driving functions.

[0029] Figure 1 This is a flow chart of a vehicle positioning method provided in an embodiment of the present disclosure. The method provided in an embodiment of the present disclosure can be executed by a vehicle positioning device, which can be implemented using software and / or hardware and can be integrated on any electronic device with computing capabilities, such as a vehicle-mounted terminal.

[0030] In order to solve the above problems, Figure 1 As shown, the vehicle positioning method provided by the embodiment of the present disclosure may include:

[0031] Step 101, obtaining the wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, obtaining the gear information and positioning system data of the vehicle.

[0032] In this embodiment, when positioning the vehicle, the wheel speed information of the vehicle is obtained, and the wheel speed information represents the wheel speed of the vehicle. The wheel speed of the vehicle is used for the dynamic and static models of the vehicle to perform dynamic and static identification of the vehicle. The identification results include the vehicle being in a moving state and the vehicle being in a stationary state. The identified moving state or stationary state is used for INS algorithm positioning solution.

[0033] An example of the process of dynamic and static vehicle identification is as follows.

[0034] As an example, if the wheel speed of the vehicle is not zero, it is determined that the vehicle is in motion.

[0035] As another example, if the wheel speed of the vehicle is zero, the gear information and positioning system data of the vehicle are obtained to further determine whether the vehicle is in motion or stationary state through the gear information and positioning system data of the vehicle. The gear information of the vehicle includes D gear (driving gear), R gear (reverse gear), N gear (neutral gear), and P gear (parking gear), the positioning system includes but is not limited to the global satellite navigation system, and the positioning system data is the data provided by the positioning system.

[0036] It should be noted that if the wheel speed of the vehicle is not zero, it can be directly determined that the vehicle is in motion, and then step 104 is directly executed.

[0037] Step 102: If the gear information is a preset gear and the positioning system data meets the preset conditions, it is determined that the vehicle is in motion.

[0038] The positioning system data is used to determine the position change of the vehicle. For example, when the positioning system data indicates that the position of the vehicle has changed, the positioning system data meets the preset conditions and determines that the vehicle is in motion.

[0039] As an example, the preset gear is P gear or N gear, and the positioning system data is GPS (Global Positioning System) speed. When the vehicle's wheel speed is zero, if the vehicle's gear information is P gear or N gear, and the GPS speed provided by the positioning system is greater than or equal to the preset threshold, it is determined that the vehicle is in motion. The GPS speed is obtained through satellite calculation, and the preset threshold can be set according to actual conditions.

[0040] In this example, for the scenario of passive vehicle movement, when the wheel speed of the vehicle is zero, the gear information of the vehicle and the positioning system data are used to assist in determining whether the vehicle is in motion. For example, when the vehicle is in a trailer scenario, the wheel speed of the towed vehicle is zero. At this time, when the vehicle is identified as static or dynamic only based on the wheel speed, the identification result is that the vehicle is in a stationary state, but the vehicle is actually in motion relative to the ground. Therefore, for the trailer scenario, by detecting that the gear information of the vehicle is P gear or N gear, and the GPS speed is greater than or equal to the preset threshold, it is determined that the vehicle is in motion. For another example, when the vehicle is in a ferry scenario, the wheel speed of the vehicle is zero. For the ferry scenario, by detecting that the gear information of the vehicle is P gear or N gear, and the GPS speed is greater than or equal to the preset threshold, it is determined that the vehicle is in motion. Therefore, for the scenario of passive vehicle movement such as trailer or ferry scenarios, the gear information of the vehicle and the positioning system data are used to assist in determining whether the vehicle is in motion, and the dynamic and static identification of the vehicle can be accurately performed, thereby improving the accuracy of the dynamic and static model judgment of the vehicle.

[0041] Step 103: otherwise, determine that the vehicle is in a stationary state.

[0042] In this embodiment, if the gear information is not a preset gear, or the positioning system data does not meet the preset conditions, it is determined that the vehicle is in a stationary state. For example, when the positioning system data indicates that the vehicle position has not changed, the positioning system data does not meet the preset conditions, and it is determined that the vehicle is in a stationary state.

[0043] As an example, the positioning system data is the GPS speed. If the GPS speed provided by the positioning system is less than a preset threshold, it is determined that the vehicle is stationary.

[0044] Step 104, performing position calculation according to the moving state or the stationary state to obtain the positioning information of the vehicle.

[0045] In this embodiment, the position is solved by the INS algorithm to realize the vehicle positioning. Optionally, the recognition results of the dynamic and static models of the vehicle, that is, the vehicle is in a moving state or a stationary state, as well as the inertial measurement data collected by the IMU, the positioning data provided by the GNSS, etc., are used as the input of the filter, and then the position is solved by the INS algorithm to obtain the positioning information of the vehicle.

[0046] According to the technical solution of the embodiment of the present disclosure, by acquiring the wheel speed information of the vehicle, when the wheel speed of the vehicle is zero, the gear information and positioning system data of the vehicle are acquired. If the gear information is a preset gear and the positioning system data satisfies the preset conditions, it is determined that the vehicle is in motion. Otherwise, it is determined that the vehicle is in a stationary state. Then, the position is solved according to the motion state or the stationary state to obtain the positioning information of the vehicle. Thus, on the basis of the wheel speed of the vehicle, the vehicle is dynamically and statically identified in combination with the gear information and the positioning system data. For scenes with passive movement of vehicles such as trailers and ferries, the motion state / stationary state of the vehicle can also be accurately identified, thereby improving the accuracy of the dynamic and static model judgment of the vehicle, further solving the problem that the inconsistent performance of multiple sensor data sources leads to the divergence of INS algorithm filter parameter values, resulting in errors in INS algorithm solution, and improving the accuracy of vehicle positioning.

[0047] Based on the above embodiments, Figure 2 A flow chart of another vehicle positioning method provided by an embodiment of the present disclosure is shown as follows: Figure 2 As shown, the method includes:

[0048] Step 201, obtaining the wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, obtaining the gear information and positioning system data of the vehicle.

[0049] Among them, the positioning system data includes GPS speed and GNSS data. The GNSS data includes the number of available satellites and solution status.

[0050] Step 202: compare the number of available satellites with a preset number to determine whether the GNSS data meets the auxiliary determination condition.

[0051] Among them, the number of available satellites refers to the number of satellites that can currently be used for solution in the GNSS system. The preset number can be set according to actual conditions. The solution status is a data provided by the GNSS system. The solution status includes a fixed solution. When the solution status is expressed as a fixed solution, it is determined that the GPS speed solved by the satellite is stable and reliable.

[0052] In this embodiment, the number of available satellites is compared with a preset number to determine whether the current satellite solution result meets the accuracy requirement. Optionally, when the number of available satellites is greater than or equal to the preset number, it is determined that the GNSS data meets the auxiliary judgment condition.

[0053] As an example, the number of available satellites is compared with a preset number to determine whether the GNSS data meets the auxiliary judgment condition, including: when the solution state is represented as a fixed solution, the number of available satellites is compared with a first number, and when the number of available satellites is greater than or equal to the first number, it is determined that the GNSS data meets the auxiliary judgment condition.

[0054] As another example, the number of available satellites is compared with a preset number to determine whether the GNSS data meets the auxiliary judgment condition, including: when the solution state indicates that it is not a fixed solution, the number of available satellites is compared with a second number, and when the number of available satellites is greater than or equal to the second number, it is determined that the GNSS data meets the auxiliary judgment condition.

[0055] In the above example, the first number is smaller than the second number, and the number of available satellites and the solution state affect the credibility of the solution result. When the solution state indicates a fixed solution, when the number of available satellites reaches a relatively small first number, it is determined that the solution result meets the accuracy requirement. When the solution state table indicates that it is not a fixed solution, when the number of available satellites reaches a relatively large second number, it is determined that the solution result meets the accuracy requirement.

[0056] Step 203, when the GNSS data meets the auxiliary judgment conditions, if the gear information is parking gear or neutral gear, and the GPS speed is greater than or equal to the preset threshold, it is determined that the vehicle is in motion; otherwise, it is determined that the vehicle is stationary.

[0057] In this embodiment, when the solution state is indicated as a fixed solution and the number of available satellites is greater than or equal to a first number, or when the solution state is indicated as not a fixed solution and the number of available satellites is greater than or equal to a second number, it is determined whether the gear information is a preset gear and the GPS speed is compared with a preset threshold. If the gear information is P gear or N gear, and the GPS speed is greater than or equal to the preset threshold, it is determined that the vehicle is in motion.

[0058] In this embodiment, if the GNSS data does not meet the auxiliary judgment condition, or the GPS speed is less than a preset threshold, it is determined that the vehicle is stationary.

[0059] As an example, the GPS speed is greater than or equal to the preset threshold. If the GNSS data does not meet the auxiliary judgment conditions, for example, the number of available satellites is less than the second number, or the solution state is represented as a fixed solution, but the number of available satellites is less than the first number, then it is determined that the satellite solution result does not meet the accuracy requirements at this time, and there is a risk of misjudgment due to jumping points, and the vehicle is determined to be stationary.

[0060] Step 204, performing position calculation according to the moving state or the stationary state to obtain the positioning information of the vehicle.

[0061] In this embodiment, the vehicle is in motion or at rest, and the inertial measurement data collected by the IMU, the positioning data provided by the GNSS, etc. are used as the input of the filter, and then the position is solved through the INS algorithm to obtain the vehicle's positioning information.

[0062] In the disclosed embodiment, the solution state and the number of available satellites in GNSS are used to assist in judging the dynamic and static state of the vehicle, taking into account the factors that affect GNSS by the environment, and avoiding the situation where jumping points occur when the GNSS state is not good and causing misjudgment. In addition, on the basis of wheel speed, gear information and GPS speed in GNSS positioning are added for dynamic and static identification of the vehicle, thereby improving the accuracy of dynamic and static model judgment of the vehicle and further improving the accuracy of vehicle positioning.

[0063] The disclosed embodiment also provides a vehicle positioning device.

[0064] Figure 3 A schematic diagram of the structure of a vehicle positioning device provided by an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the vehicle positioning device includes: an acquisition module 31 , a first determination module 32 , a second determination module 33 , and positioning information 34 .

[0065] The acquisition module 31 is used to acquire the wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, acquire the gear information and positioning system data of the vehicle;

[0066] A first determination module 32, configured to determine that the vehicle is in motion if the gear information is a preset gear and the positioning system data meets a preset condition;

[0067] A second determination module 33 is used to determine that the vehicle is in a stationary state otherwise;

[0068] A positioning module is used to perform position calculation according to the motion state or the static state to obtain positioning information 34 of the vehicle.

[0069] In one embodiment of the present disclosure, the positioning system data is GPS speed, and the first determination module 32 is specifically used to: if the gear information is parking gear or neutral gear, and the GPS speed is greater than or equal to a preset threshold, determine that the vehicle is in motion.

[0070] In one embodiment of the present disclosure, the positioning system data is GPS speed and GNSS data, the GNSS data includes the number of available satellites, and the first determination module 32 is specifically used to: compare the number of available satellites with a preset number to determine whether the GNSS data meets the auxiliary judgment condition; when the GNSS data meets the auxiliary judgment condition, if the gear information is parking gear or neutral gear, and the GPS speed is greater than or equal to a preset threshold, it is determined that the vehicle is in motion.

[0071] In one embodiment of the present disclosure, the GNSS data also includes a solution state, and the first determination module 32 is specifically used to: when the solution state is represented as a fixed solution, compare the number of available satellites with a first number; wherein, when the number of available satellites is greater than or equal to the first number, determine that the GNSS data meets the auxiliary judgment condition.

[0072] In one embodiment of the present disclosure, the first determination module 32 is specifically used to: when the solution state indicates that it is not a fixed solution, compare the number of available satellites with a second number; the first number is less than the second number; wherein, when the number of available satellites is greater than or equal to the second number, determine that the GNSS data meets the auxiliary judgment condition.

[0073] In one embodiment of the present disclosure, the device further includes: a third determination module, configured to determine that the vehicle is in motion if the wheel speed of the vehicle is not zero.

[0074] The vehicle positioning device provided in the embodiment of the present disclosure can execute any vehicle positioning method provided in the embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in the embodiment of the device of the present disclosure can refer to the description in any method embodiment of the present disclosure.

[0075] An embodiment of the present disclosure also provides an electronic device, which includes one or more processors and a memory.

[0076] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0077] The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and a processor may run the program instructions to implement the method of the embodiments of the present disclosure above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0078] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected through a bus system and / or other forms of connection mechanisms. In addition, the input device may also include, for example, a keyboard, a mouse, etc. The output device may output various information to the outside, including determined distance information, direction information, etc. The output device may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0079] Of course, for simplicity, only some of the components in the electronic device related to the present disclosure are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application scenarios.

[0080] In addition to the above methods and devices, the embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0081] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0082] In addition, the embodiments of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0083] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0084] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0085] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle positioning method, characterized in that: include: Acquire wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, acquire gear information and positioning system data of the vehicle; If the gear information is a preset gear and the positioning system data meets a preset condition, it is determined that the vehicle is in motion; Otherwise, determining that the vehicle is stationary; Position calculation is performed according to the motion state or the static state to obtain positioning information of the vehicle.

2. The method according to claim 1, characterized in that The positioning system data is a GPS speed, and if the gear information is a preset gear and the positioning system data satisfies a preset condition, determining that the vehicle is in a moving state includes: If the gear information is parking gear or neutral gear, and the GPS speed is greater than or equal to a preset threshold, it is determined that the vehicle is in a moving state.

3. The method according to claim 1, characterized in that The positioning system data is GPS speed and GNSS data, the GNSS data includes the number of available satellites, and if the gear information is a preset gear and the positioning system data meets a preset condition, determining that the vehicle is in motion includes: Comparing the number of available satellites with a preset number to determine whether the GNSS data meets the auxiliary determination condition; When the GNSS data satisfies the auxiliary judgment condition, if the gear information is parking gear or neutral gear, and the GPS speed is greater than or equal to a preset threshold, it is determined that the vehicle is in motion.

4. The method according to claim 3, characterized in that The GNSS data also includes a solution state, and the comparing the number of available satellites with a preset number to determine whether the GNSS data meets the auxiliary judgment condition includes: When the solution state indicates a fixed solution, comparing the number of available satellites with a first number; When the number of available satellites is greater than or equal to the first number, it is determined that the GNSS data meets the auxiliary judgment condition.

5. The method according to claim 4, characterized in that The comparing the number of available satellites with a preset number to determine whether the GNSS data meets the auxiliary judgment condition includes: When the solution state indicates that it is not a fixed solution, comparing the number of available satellites with a second number; the first number is smaller than the second number; When the number of available satellites is greater than or equal to the second number, it is determined that the GNSS data meets the auxiliary judgment condition.

6. The method according to claim 1, characterized in that Before performing position calculation according to the motion state or the static state, the method further includes: If the wheel speed of the vehicle is not zero, it is determined that the vehicle is in motion.

7. A vehicle positioning device, characterized in that: include: An acquisition module, used to acquire wheel speed information of the vehicle, and when the wheel speed of the vehicle is zero, acquire gear information and positioning system data of the vehicle; A first determination module, configured to determine that the vehicle is in motion if the gear information is a preset gear and the positioning system data meets a preset condition; a second determination module, configured to otherwise determine that the vehicle is in a stationary state; The positioning module is used to perform position calculation according to the motion state or the static state to obtain the positioning information of the vehicle.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the vehicle positioning method described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle positioning method described in any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: include: The device as claimed in claim 7, or the electronic device as claimed in claim 8.

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