Vehicle positioning method, system and device and storage medium

Abstract

The invention provides a vehicle positioning method, system and device and a storage medium, and the method comprises the steps: collecting the state information and positioning information corresponding to a plurality of continuous positioning points of a shared vehicle in a preset time period, screening out the positioning points of which the state information is a parking state or a temporary pause state, and obtaining a plurality of parking points, a plurality of preorder positioning points of the drifting parking points are obtained, a clustering algorithm is adopted to obtain a plurality of positioning point clusters, and the positioning center point with the minimum mean value of the distances to other positioning center points is obtained to serve as an optimal positioning center point; and updating the coordinate position of the drifting parking point to the coordinate position of the preferable positioning center point. After the scheme is adopted, the static positioning drift problem can be corrected.

Description

Technical Field

[0001] The present invention relates to the field of computer information processing technology, and in particular to a vehicle positioning method, system, device and storage medium. Background Art

[0002] At present, shared vehicles have gradually become the preferred choice for urban residents for short-distance travel, with advantages such as green environmental protection. In terms of the parking method of shared vehicles, the return method using electronic fences has also become the mainstream, that is, users only need to park the shared vehicle in the return area specified by the electronic fence to successfully return the vehicle.

[0003] However, when collecting positioning data of shared vehicles in a non-driving state, the existing technology is easily blocked by tall buildings or has weak signals, and static positioning drift of shared vehicles often occurs, resulting in a large deviation between the collected positioning data and the actual situation. It is obviously unreliable to use such inaccurate positioning data to make subsequent user vehicle return decisions. It is easy for users to park their vehicles in the return area specified by the electronic fence, but fail to return the vehicles due to vehicle positioning drift, which seriously affects the user experience.

[0004] In addition, most electronic fences in cities are set up near landmark buildings such as residential areas or shopping malls, or in areas with high traffic. However, this planning method does not accurately plan the location of the electronic fence based on the actual shared vehicle driving data, which can easily lead to problems such as users wanting to return the bike midway but being far from the set electronic fence. Even if the actual shared vehicle driving data is used, the accuracy of the site selection will be affected by the presence of drifting positioning points in the collected shared bicycle positioning data. Summary of the invention

[0005] In order to overcome the above technical defects, the object of the present invention is to provide a vehicle positioning method, system, device and medium.

[0006] The present invention discloses a vehicle positioning method, comprising the following steps:

[0007] Collecting continuous positioning information of the shared vehicle within a preset time period, wherein the continuous positioning information includes a plurality of continuous positioning points and state information and position information corresponding to each positioning point, the position information includes a coordinate position and a positioning time, and the state information is one of a parking state, a temporary pause state, and a riding state;

[0008] Filtering out the positioning points whose corresponding status information is a parking state or a temporary parking state from the multiple positioning points, and obtaining N parking points corresponding to the shared vehicle;

[0009] Determine whether any of the parking points has drifted according to the position information, and when any of the parking points has drifted, obtain multiple preceding positioning points corresponding to the parking point that has drifted in the continuous positioning information, wherein the multiple preceding positioning points are positioning points whose interval time with the positioning time of the parking point that has drifted is less than a first timing threshold;

[0010] Based on the multiple preceding positioning points, a clustering algorithm is used to calculate multiple positioning point clusters and positioning center points corresponding to each positioning point cluster, a preferred positioning center point is screened out from the multiple positioning center points, and the coordinate position of the parking point that has drifted is updated according to the coordinate position of the preferred positioning center point.

[0011] Preferably, the N parking points are divided into multiple parking point groups, the coordinate positions corresponding to all the parking points in any parking point group are averaged, an electronic fence planning point corresponding to any parking point group is calculated and obtained, and multiple electronic fence planning points corresponding to the shared vehicle are obtained.

[0012] Preferably, the acquiring of N parking spots corresponding to the shared vehicle further comprises:

[0013] The pause duration corresponding to each parking point is obtained, and the parking points whose corresponding pause duration is less than the second timing threshold are screened out.

[0014] Preferably, the collecting of continuous positioning information of the shared vehicle within a preset time period also includes:

[0015] Collecting shutdown information corresponding to any of the positioning points through a controller disposed on the shared vehicle;

[0016] For the positioning point whose corresponding closing information is locked, the state information corresponding to the positioning point is obtained as a parking state.

[0017] Preferably, the collecting of continuous positioning information of the shared vehicle within a preset time period also includes:

[0018] The speed information and the rotation information corresponding to any of the positioning points are collected by a speed sensor and a wheel movement sensor arranged on the shared vehicle;

[0019] For the positioning point whose corresponding speed information is stationary and whose corresponding rotation information is stopped rotating, the state information corresponding to the positioning point is obtained as a temporary pause state.

[0020] The present invention also discloses a vehicle positioning system, including a data acquisition module, a positioning screening module and a positioning deviation correction module.

[0021] The data collection module is used to collect continuous positioning information of the shared vehicle within a preset time period, wherein the continuous positioning information includes a plurality of continuous positioning points and state information and position information corresponding to each positioning point, the position information includes a coordinate position and a positioning time, and the state information is one of a parking state, a temporary pause state, and a riding state;

[0022] The positioning screening module is used to screen out the positioning points whose corresponding status information is a parking state or a temporary parking state from the multiple positioning points, and obtain N parking points corresponding to the shared vehicle;

[0023] The positioning correction module is used to determine whether any of the parking points has drifted according to the position information. When any of the parking points has drifted, a plurality of preceding positioning points corresponding to the parking point that has drifted are obtained in the continuous positioning information, wherein the plurality of preceding positioning points are positioning points whose interval time with the positioning time of the parking point that has drifted is less than a first timing threshold;

[0024] The positioning correction module is also used to calculate multiple positioning point clusters and positioning center points corresponding to each positioning point cluster based on the multiple previous positioning points using a clustering algorithm, screen out a preferred positioning center point from the multiple positioning center points, and update the coordinate position of the parking point that has drifted based on the coordinate position of the preferred positioning center point.

[0025] Preferably, the vehicle positioning system further comprises a fence site selection module,

[0026] The fence location module is used to divide the N parking spots into a plurality of parking spot groups, average the coordinate positions of all the parking spots in any parking spot group, calculate and obtain an electronic fence planning point corresponding to any parking spot group, and obtain a plurality of electronic fence planning points corresponding to the shared vehicle;

[0027] The fence site selection module is also used to obtain a pre-planned area, and according to the multiple electronic fence planning points corresponding to the multiple shared vehicles in the pre-planned area, a clustering algorithm is used to obtain multiple planning point clusters, and the planning center points of the multiple planning point clusters are screened to obtain multiple electronic fence preferred points corresponding to the pre-planned area.

[0028] The present invention also discloses an electronic device, which includes a memory storing computer executable instructions and a processor. When the instructions are executed by the processor, the electronic device implements the above-mentioned vehicle positioning method.

[0029] The present invention also discloses a computer-readable storage medium on which a computer program is stored. When the instructions are executed on a computer, the computer executes the above-mentioned vehicle positioning method.

[0030] Compared with the prior art, the above technical solution has the following beneficial effects:

[0031] 1. Correcting static positioning drift problems can obtain the accurate coordinates of shared vehicle parking spots, making it easier for operation and maintenance personnel to find and maintain vehicles later, thereby improving operational efficiency.

[0032] 2. Keep the positioning of shared vehicles within the normal deviation range, improve the accuracy of shared vehicle positioning displayed on the system site, enhance the accuracy of users returning vehicles to the electronic fence, and improve user experience;

[0033] 3. It can correct the drift points of the collected actual shared vehicle driving data, improve the accuracy and rationality of parking site selection, and match the user's actual vehicle return needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the process of the vehicle positioning method disclosed in the present invention;

[0035] Figure 2 A schematic diagram of a preferred positioning center point disclosed in the present invention;

[0036] Figure 3 A schematic diagram of the electronic fence planning points disclosed in the present invention;

[0037] Figure 4 A schematic diagram of the preferred points of the electronic fence disclosed in the present invention;

[0038] Figure 5 It is a structural schematic diagram of the vehicle positioning system disclosed in the present invention;

[0039] Figure 6 It is a schematic diagram of the structure of the electronic device disclosed in the present invention. DETAILED DESCRIPTION

[0040] The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0041] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0043] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0044] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0046] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module" and "component" can be used interchangeably.

[0047] like Figure 1 As shown, the present invention discloses a vehicle positioning method, comprising the following steps:

[0048] S100. Collect continuous positioning information of the shared vehicle within a preset time period. The continuous positioning information includes multiple continuous positioning points and status information and position information corresponding to each positioning point. The position information includes coordinate position and positioning time. The status information is one of parking status, temporary pause status, and riding status.

[0049] Specifically, the continuous positioning information of a shared vehicle within a preset time period is composed of several positioning points. During the user's driving of a shared vehicle, a plurality of continuous positioning points are generated by the smart phone worn by the user or the GPS positioning device installed on the shared vehicle driven by the user and transmitted to the server. Therefore, the collected continuous positioning information of the shared vehicle within the preset time period can be obtained from the server, and a plurality of continuous positioning points, as well as the status information and position information corresponding to any positioning point can be obtained. The coordinate position in the position information indicates the latitude and longitude coordinates of the location of the positioning point, and the positioning time in the position information indicates the moment when the shared vehicle drives to the coordinate position of the positioning point. The status information indicates the state of the shared vehicle when the shared vehicle drives to the positioning point, and the status information is one of the parking state, temporary pause state, and riding state.

[0050] S200. Filter out positioning points whose corresponding status information is a parking state or a temporary parking state from a plurality of positioning points, and obtain N parking points corresponding to the shared vehicle.

[0051] Specifically, when a shared vehicle travels to the coordinate position of a certain positioning point, the shared vehicle is in a parked state, which means that the user has locked the shared vehicle and needs to return the vehicle for parking. When a shared vehicle is in a temporary pause state, it means that the user may encounter traffic jams or other reasons that cause the ride to be stopped. The user at this positioning point is likely to need to change the mode of travel, choose to return the parked shared vehicle, and then choose to walk or other methods to complete the remaining journey. Therefore, it is necessary to set up an electronic fence near the coordinate position where these users lock the vehicle and stop driving to meet the user's potential parking needs.

[0052] Therefore, the positioning points in the parking state and the positioning points in the temporary pause state are acquired as parking points, and N parking points are obtained, wherein N is a constant greater than or equal to 1.

[0053] S300, judging whether any parking point has drifted according to the position information, and when any parking point has drifted, obtaining a plurality of preceding positioning points corresponding to the parking point having drifted in the continuous positioning information.

[0054] Among them, the multiple preceding positioning points are positioning points whose interval time with the positioning time of the drifting parking point is less than the first timing threshold. That is, the multiple preceding positioning points are positioning points collected by the GPS positioning device worn by the user or equipped by the shared vehicle before the drifting parking point, and the interval between the positioning time of the multiple preceding positioning points and the positioning time of the drifting parking point is less than the first timing threshold.

[0055] Specifically, when the user drives to the parking spot, the shared vehicle stops moving, and the smartphone worn by the user or the GPS positioning device installed on the shared vehicle is also in a stationary state. At this time, the signal reception and transmission of the GPS positioning device will inevitably be affected by tall buildings or other factors, causing the GPS signal error to drift. That is, the shared vehicle stops moving at the parking spot, but the coordinate position of the parking spot obtained by the GPS positioning device still has a large change compared to the coordinate position of the previous positioning point. Therefore, if the coordinate position of the parking spot with drift is directly used to calculate the electronic fence planning point, it will cause a large error. Therefore, it is necessary to correct the coordinate position of the parking spot with drift.

[0056] S400. Based on multiple preceding positioning points, a clustering algorithm is used to calculate multiple positioning point clusters and positioning center points corresponding to each positioning point cluster, a preferred positioning center point is selected from the multiple positioning center points, and the coordinate position of the parking point where drift occurs is updated according to the coordinate position of the preferred positioning center point.

[0057] like Figure 2 As shown, multiple preceding positioning points corresponding to the parking point where drift occurs are obtained as a positioning point sample set, and the difference between the positioning time of the multiple preceding positioning points and the positioning time of the parking point where drift occurs is less than the first timing threshold. A clustering algorithm is used to obtain multiple positioning point clusters for the positioning point sample set, and the positioning center points of the multiple positioning point clusters are obtained. For example, the K-means algorithm is used. The determination of the optimal clustering classification number K can be based on experience, or it can be implemented using algorithms such as Elbow and Silhouette Coefficient.

[0058] The specific method of obtaining multiple positioning center points by using the K-means algorithm includes randomly selecting K positioning point samples from the positioning point sample set as positioning center points, taking K as 5 as an example, Figure 2As shown in the figure, the black solid circle is the randomly selected positioning center point, and the hollow circle is the other positioning point samples in the positioning point sample set; the Euclidean distance between each positioning point sample in the positioning point sample set and the five positioning center points is calculated, and for each positioning point sample, it is divided into the positioning point cluster where the positioning center point closest to it is located; according to the five newly divided clusters, the point with the smallest mean distance to other points in the cluster is calculated as the new positioning center point; repeat the above steps until the updated positioning center point does not change. The five positioning point clusters that are finally clustered and the five stable positioning center points that do not change are obtained.

[0059] The preferred positioning center point can be selected from multiple positioning center points by calculating the distance from any positioning center point to other positioning center points based on the coordinate positions of the positioning center points of each of the K positioning point clusters, and obtaining the positioning center point with the smallest average distance to other positioning center points. Figure 2 In the calculation, the distance from any positioning center point to other positioning center points is calculated, and the positioning center point A with the smallest average distance to other positioning center points is obtained, and the positioning center point A is used as the preferred positioning center point. The coordinate position of the preferred positioning center point A is obtained, and the coordinate position of the drifting parking point is updated to the coordinate position of the preferred positioning center point A, so as to complete the deviation correction of the drifting parking point.

[0060] The vehicle parking method provided in the present application corrects the drifted parking spot so that when the user returns the vehicle, the shared vehicle is positioned within a normal deviation range, thereby enhancing the accuracy of the shared vehicle positioning displayed at the site on the system and improving the accuracy of the user returning the vehicle to the electronic fence.

[0061] In another embodiment of the present application, the above positioning correction method is used to correct the drift positioning points in the continuous positioning information of the shared vehicle, and the obtained parking point coordinates are used as the location basis for calculating the electronic fence planning points, which can improve the accuracy and rationality of the electronic fence site selection and better meet the user's car return needs. The specific contents are as follows:

[0062] Preferably, the method further comprises,

[0063] In this embodiment, the N parking points are divided into multiple parking point groups, the coordinate positions of all parking points in any parking point group are averaged, an electronic fence planning point corresponding to any parking point group is calculated and obtained, and multiple electronic fence planning points corresponding to the shared vehicle are obtained.

[0064] Specifically, after completing the positioning and deviation correction of the parking point where the shared vehicle drifts during riding, several adjacent parking points are divided into a parking point group. The grouping can be based on the relative distance between multiple parking points, or can be manually set according to actual conditions, which is not limited here. Figure 3 As shown in (a), 9 parking spots are obtained, and every 3 adjacent parking spots can be divided into a parking spot group, thus obtaining 3 parking spot groups. The longitude of the coordinate positions of all parking spots in any parking spot group is averaged, and the latitude of the coordinate positions of all parking spots in any parking spot group is averaged. The coordinate position composed of the longitude average and latitude average in any parking spot group is used as the electronic fence planning point corresponding to the parking spot group, thereby obtaining multiple electronic fence planning points corresponding to a single shared vehicle. For example, Figure 3 As shown in (b), based on the three parking point groups that have been divided, the electronic fence planning points corresponding to the three parking point groups are calculated and obtained, and the three electronic fence planning points corresponding to the shared vehicle are obtained.

[0065] Preferably, it also includes:

[0066] A pre-planned area is obtained, and a clustering algorithm is used to obtain a plurality of planning point clusters according to a plurality of electronic fence planning points corresponding to a plurality of shared vehicles in the pre-planned area. The planning center points of the plurality of planning point clusters are screened to obtain a plurality of electronic fence preferred points corresponding to the pre-planned area.

[0067] Specifically, if Figure 4 As shown, a pre-planned area for electronic fence site selection is obtained, and multiple electronic fence planning points corresponding to multiple shared vehicles passing through the pre-planned area are obtained as a planning point sample set. A clustering algorithm is used to process the planning point sample set, for example, a K-means clustering algorithm can be used.

[0068] Randomly select K planning point samples from the planning point sample set as planning center points, K represents the number of electronic fences to be set up in the pre-planning area. Take K as 6 as an example, the black solid circle is the randomly selected planning center point, and the hollow circle is the other planning point samples in the planning point sample set; calculate the Euclidean distance between each planning point sample in the planning point sample set and the 6 planning center points, and for each planning point sample, divide it into the planning point cluster where the planning center point closest to it is located; according to the 6 newly divided clusters, calculate the point with the smallest mean distance to other points in the cluster as the new planning center point; repeat the above steps until the updated planning center point does not change. The final clustering of 6 planning point clusters is obtained, and the center points of the 6 planning point clusters are used as the 6 preferred points of the electronic fences corresponding to the pre-planning area.

[0069] Preferably, obtaining N parking spots further includes:

[0070] The pause duration of each parking point is obtained, and parking points whose corresponding pause duration is less than the second timing threshold are removed.

[0071] Specifically, for parking spots with shorter pause times, users may be waiting for the red light here normally, and the pause is not caused by traffic jams. In this case, the probability of users returning the car nearby is low. Therefore, the time from the speed of the shared vehicle at each parking spot from 0 to the restart speed rising to the ideal speed is recorded as the pause time, and the parking spots with corresponding pause times less than the second timing threshold are screened out, that is, parking spots with shorter pause times will not participate in the calculation of the electronic fence planning points.

[0072] For example, assuming the ideal speed is 3km / h, record the pause time of the shared bicycle from 0 speed to the restart speed of 3km / h at each parking point, and remove the parking points with corresponding pause time less than 50s.

[0073] Preferably, collecting the continuous positioning information of the shared vehicle within a preset time period also includes:

[0074] The shutdown information of any positioning point is collected through a controller installed on the shared vehicle;

[0075] For a positioning point whose corresponding closing information is locked, the state information of the positioning point is obtained as a parking state.

[0076] Specifically, when a user drives a shared vehicle to a certain positioning point and locks the shared vehicle, a controller installed on the shared vehicle will report the shutdown information at the positioning point to the server, thereby determining that the shared vehicle is parked at the positioning point and determining the status information of the positioning point as the parking state.

[0077] Preferably, collecting the continuous positioning information of the shared vehicle within a preset time period also includes:

[0078] The speed information and rotation information of any positioning point are collected by the speed sensor and wheel movement sensor installed on the shared vehicle;

[0079] For a positioning point whose corresponding speed information is stationary and whose corresponding rotation information is stopped rotation, the state information of the positioning point is obtained as a temporary pause state.

[0080] Specifically, a speed sensor for detecting pedal rotation and a wheel rotation sensor for detecting wheel rotation can be set on the shared vehicle, and the speed information and rotation information of any positioning point can be obtained through the speed sensor and the wheel rotation sensor, that is, the speed of the pedal rotation and the rotation state of the wheel of the shared vehicle at any positioning point. When the speed information of any positioning point is stationary and the rotation information is stopped, it means that at this positioning point, the shared vehicle pedal stops rotating and the vehicle stops rotating, so the state information of the positioning point can be obtained as a temporary pause state, indicating that the shared vehicle is in a temporary pause state.

[0081] like Figure 5 As shown, the present invention also discloses a vehicle positioning system 2000, including a data acquisition module 2100, a positioning screening module 2200 and a positioning correction module 2300, wherein:

[0082] The data collection module 2100 is used to collect the continuous positioning information of the user's riding trajectory information sharing vehicle within a preset time period, wherein the riding trajectory continuous positioning information includes a plurality of continuous positioning points and state information and positioning position information corresponding to any of the positioning points, the positioning position information includes a coordinate position and a positioning time, and the state information is one of a parking state, a temporary pause state, and a riding state;

[0083] The positioning screening module 2200 is used to screen out the positioning points whose corresponding status information is a parking state or a temporary parking state from the multiple positioning points, and obtain N parking points corresponding to the shared vehicle, where N is a constant greater than or equal to 1;

[0084] The positioning correction module 2300 is used to determine whether any parking point has drifted according to the position information. When any parking point has drifted, multiple preceding positioning points corresponding to the parking point where the drift has occurred are obtained in the continuous positioning information, wherein the multiple preceding positioning points are positioning points whose interval time with the positioning time of the parking point where the drift has occurred is less than the first timing threshold;

[0085] The positioning correction module 2300 is used to calculate multiple positioning point clusters and positioning center points corresponding to each positioning point cluster based on multiple previous positioning points using a clustering algorithm, select a preferred positioning center point from the multiple positioning center points, and update the coordinate position of the parking point that has drifted according to the coordinate position of the preferred positioning center point.

[0086] Preferably, the vehicle positioning system 2000 further includes a fence site selection module.

[0087] The fence location module is used to divide N parking spots into multiple parking spot groups, take the average value of the coordinate positions of all parking spots in any parking spot group, calculate and obtain an electronic fence planning point corresponding to any parking spot group, and obtain multiple electronic fence planning points corresponding to the shared vehicle;

[0088] The fence site selection module is used to obtain a pre-planned area. According to the multiple electronic fence planning points corresponding to multiple shared vehicles in the pre-planned area, a clustering algorithm is used to obtain multiple planning point clusters, and the planning center points of the multiple planning point clusters are screened to obtain multiple electronic fence preferred points corresponding to the pre-planned area.

[0089] The fence site selection module is used to obtain a pre-planned area. According to the multiple electronic fence planning points corresponding to multiple shared vehicles in the pre-planned area, a clustering algorithm is used to obtain multiple planning point clusters, and the planning center points of the multiple planning point clusters are screened to obtain multiple electronic fence preferred points corresponding to the pre-planned area.

[0090] A vehicle positioning system provided by the present application can correct static positioning drift problems and obtain the accurate coordinates of shared vehicle parking spots, which is convenient for operation and maintenance personnel to find and maintain the vehicles in the future and improves operational efficiency; it can also keep the positioning of shared vehicles within a normal deviation range, improve the accuracy of the shared vehicle positioning displayed by the site on the system, enhance the accuracy of users returning the vehicles to the electronic fence, and improve user experience; it can also perform drift point correction processing on the actual shared vehicle driving data collected, improve the accuracy and rationality of parking site selection, so as to match the actual vehicle return needs of users.

[0091] like Figure 6 As shown, the present invention further discloses an electronic device 7000, which includes a memory 7100 storing computer executable instructions and a processor 7200. When the instructions are executed by the processor, the electronic device implements the aforementioned vehicle positioning method.

[0092] The present invention also discloses a computer-readable storage medium, on which a computer program is stored. When the instructions are run on a computer, the computer executes the above-mentioned vehicle positioning method.

[0093] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A vehicle positioning method, characterized in that: The following steps are involved: Collecting continuous positioning information of the shared vehicle within a preset time period, wherein the continuous positioning information includes a plurality of continuous positioning points and state information and position information corresponding to each positioning point, the position information includes a coordinate position and a positioning time, and the state information is one of a parking state, a temporary pause state, and a riding state; Filtering out the positioning points whose corresponding status information is a parking state or a temporary parking state from the multiple positioning points, and obtaining N parking points corresponding to the shared vehicle; Determine whether any of the parking points has drifted according to the position information, and when any of the parking points has drifted, obtain multiple preceding positioning points corresponding to the parking point that has drifted in the continuous positioning information, wherein the multiple preceding positioning points are positioning points whose interval time with the positioning time of the parking point that has drifted is less than a first timing threshold; Based on the multiple preceding positioning points, a clustering algorithm is used to calculate multiple positioning point clusters and positioning center points corresponding to each positioning point cluster, a preferred positioning center point is screened out from the multiple positioning center points, and the coordinate position of the parking point that has drifted is updated according to the coordinate position of the preferred positioning center point.

2. A vehicle positioning method according to claim 1, characterized in that: Also includes: The N parking points are divided into multiple parking point groups, the coordinate positions corresponding to all the parking points in any parking point group are averaged, an electronic fence planning point corresponding to any parking point group is calculated and obtained, and multiple electronic fence planning points corresponding to the shared vehicle are obtained.

3. The vehicle positioning method according to claim 2, characterized in that: Also includes: A pre-planned area is obtained, and a clustering algorithm is used to obtain a plurality of planning point clusters according to a plurality of electronic fence planning points corresponding to a plurality of the shared vehicles in the pre-planned area. The planning center points of the plurality of planning point clusters are screened to obtain a plurality of electronic fence preferred points corresponding to the pre-planned area.

4. The vehicle positioning method according to claim 1, characterized in that: The acquiring of N parking spots corresponding to the shared vehicle further includes: The pause duration corresponding to each parking point is obtained, and the parking points whose corresponding pause duration is less than the second timing threshold are screened out.

5. The vehicle positioning method according to claim 1, characterized in that: The collecting of continuous positioning information of the shared vehicle within a preset time period also includes: Collecting shutdown information corresponding to any of the positioning points through a controller disposed on the shared vehicle; For the positioning point whose corresponding closing information is locked, the state information corresponding to the positioning point is obtained as a parking state.

6. The vehicle positioning method according to claim 1, characterized in that: The collecting of continuous positioning information of the shared vehicle within a preset time period also includes: The speed information and the rotation information corresponding to any of the positioning points are collected by a speed sensor and a wheel movement sensor arranged on the shared vehicle; For the positioning point whose corresponding speed information is stationary and whose corresponding rotation information is stopped rotating, the state information corresponding to the positioning point is obtained as a temporary pause state.

7. A vehicle positioning system, characterized in that: It includes a data acquisition module, a positioning screening module and a positioning correction module. The data acquisition module is used to collect continuous positioning information of the shared vehicle within a preset time period, wherein the continuous positioning information includes a plurality of continuous positioning points and state information and position information corresponding to each positioning point, the position information includes a coordinate position and a positioning time, and the state information is one of a parking state, a temporary pause state, and a riding state; The positioning screening module is used to screen out the positioning points whose corresponding status information is a parking state or a temporary parking state from the multiple positioning points, and obtain N parking points corresponding to the shared vehicle; The positioning correction module is used to determine whether any of the parking points has drifted according to the position information. When any of the parking points has drifted, a plurality of preceding positioning points corresponding to the parking point that has drifted are obtained in the continuous positioning information, wherein the plurality of preceding positioning points are positioning points whose interval time with the positioning time of the parking point that has drifted is less than a first timing threshold; The positioning correction module is also used to calculate multiple positioning point clusters and positioning center points corresponding to each positioning point cluster based on the multiple previous positioning points using a clustering algorithm, screen out a preferred positioning center point from the multiple positioning center points, and update the coordinate position of the parking point that has drifted based on the coordinate position of the preferred positioning center point.

8. The vehicle positioning system according to claim 7, characterized in that: It also includes a fence site selection module, which is used to divide the N parking spots into multiple parking spot groups, average the coordinate positions of all the parking spots in any parking spot group, calculate and obtain an electronic fence planning point corresponding to any parking spot group, and obtain multiple electronic fence planning points corresponding to the shared vehicle; The fence site selection module is also used to obtain a pre-planned area, and according to the multiple electronic fence planning points corresponding to the multiple shared vehicles in the pre-planned area, a clustering algorithm is used to obtain multiple planning point clusters, and the planning center points of the multiple planning point clusters are screened to obtain multiple electronic fence preferred points corresponding to the pre-planned area.

9. An electronic device, characterized in that: The electronic device comprises a memory storing computer executable instructions and a processor. When the instructions are executed by the processor, the electronic device implements the vehicle positioning method according to claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the instructions are executed on a computer, the computer is enabled to execute the vehicle positioning method according to any one of claims 1 to 6.

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