Acoustic positioning and car searching method, device, terminal equipment and system

Abstract

The present application relates to the technical field of car searching, in particular to a sound wave positioning car searching method, device, terminal equipment and system. A sound wave is sent to a target vehicle to issue an instruction; a time when a first sound wave is received is obtained and recorded as a first time; the first sound wave is emitted by the target vehicle after receiving the sound wave instruction; an initial position direction corresponding to the target vehicle is determined; a user is guided to walk based on the initial position direction at the first time, and a first user walking distance is calculated at a second time, the second time being a preset time length after the first time; and a target position corresponding to the target vehicle is determined based on the first user walking distance. The present application realizes cross-floor and long-distance positioning, solves the problem of car searching difficulty in an indoor parking lot, and does not require additional equipment, thereby being low in cost and high in efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle location technology, specifically to a method, device, terminal equipment, and system for sound wave-based vehicle location. Background Technology

[0002] In indoor multi-level parking garages, users' need to find their cars is becoming increasingly urgent.

[0003] Current solutions often rely on deploying multiple fixed sound-emitting devices or requiring vehicles and vehicle-finding terminals to be equipped with multiple signal transceivers. This not only significantly increases the costs of equipment purchase, installation, and maintenance but also presents serious vehicle compatibility issues. Different brands and models of vehicles have significantly different hardware configurations, and some older or low-end vehicles often lack the ability to receive the corresponding positioning signals, thus limiting the applicability of the technical solutions and making it difficult to widely promote them in the market.

[0004] Therefore, existing vehicle location and locating technologies still have many bottlenecks, and a mature solution that balances low cost, high efficiency, and cross-floor adaptability has yet to be formed. Thus, how to locate vehicles efficiently and at low cost has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a method, apparatus, terminal equipment, and system for vehicle location using acoustic wave positioning, in order to solve the problem of how to locate vehicles efficiently and at low cost.

[0006] In a first aspect, the present invention provides an acoustic positioning vehicle locator method, applied to a terminal device communicatively connected to a target vehicle. The method includes: sending an acoustic wave emission command to the target vehicle; obtaining the time of receiving the first acoustic wave and recording it as a first moment; the first acoustic wave is emitted by the target vehicle after receiving the acoustic wave emission command; determining the initial position direction corresponding to the target vehicle; guiding a user to walk based on the initial position direction at the first moment; calculating the walking distance of the first user at a second moment, the second moment being a preset duration after the first moment; and determining the target location corresponding to the target vehicle based on the walking distance of the first user.

[0007] In one optional implementation, determining the target location corresponding to the target vehicle based on the first user's walking distance includes: sending a sound wave emission command to the target vehicle again at a second time, and obtaining the time when the second sound wave is received, denoted as the third time; the second sound wave is the sound wave emitted by the target vehicle after receiving the sound wave emission command for the second time; calculating a first distance between the target vehicle and the user based on the first time; calculating a second distance between the target vehicle and the user based on the second and third times; and determining the target location corresponding to the target vehicle according to the relationship between the first user's walking distance and the first and second distances.

[0008] In one optional implementation, determining the target location of the target vehicle based on the relationship between the first user's walking distance and the first distance and the second distance includes: constructing a spatial plane based on the first user's walking distance, the first distance, and the second distance; the spatial plane can be displayed in three dimensions; calculating a first distance difference by subtracting the first distance from the second distance; comparing the first distance difference with the first user's walking distance and the value 0; determining a first candidate position direction for the target vehicle based on the spatial plane based on the comparison result; and determining the target location of the target vehicle based on the first candidate position direction.

[0009] In one optional implementation, determining the first candidate position direction corresponding to the target vehicle based on the comparison results and the spatial plane includes: if the first distance difference is equal to the negative of the first user's walking distance, then determining the first candidate position direction corresponding to the target vehicle as the current user's forward direction; if the first distance difference is greater than the negative of the first user's walking distance and less than 0, then determining the first candidate position direction corresponding to the target vehicle to the upper left or upper right of the current user's forward direction in the spatial plane; if the first distance difference is equal to 0, then determining the midpoint of the first user's walking distance; determining the first candidate position direction corresponding to the target vehicle to the left or right of the midpoint; if the first distance difference is greater than 0 and less than the first user's walking distance, then determining the first candidate position direction corresponding to the target vehicle to the lower left or lower right of the current user's forward direction in the spatial plane; if the first distance difference is equal to the first user's walking distance, then determining the first candidate position direction corresponding to the target vehicle to the opposite direction of the current user's forward direction.

[0010] In one optional implementation, if there are two first candidate position directions, determining the target position corresponding to the target vehicle based on the first candidate position directions includes: randomly selecting one from each of the first candidate position directions and determining the centerline direction corresponding to the selected first candidate position direction as the target candidate position direction; guiding the user to walk along the target candidate position direction again at the fourth time and sending a sound wave emission command to the target vehicle again; obtaining the time of receiving the third sound wave and recording it as the fifth time; the third sound wave is emitted after the target vehicle receives the sound wave emission command for the third time; guiding the user to stop walking at the sixth time, calculating the second user's walking distance, and sending a sound wave emission command to the target vehicle again; obtaining the time of receiving the fourth sound wave and recording it as the seventh time; the fourth sound wave is emitted after the target vehicle receives the sound wave emission command for the fourth time; calculating the third distance between the target vehicle and the user based on the fourth and fifth times; calculating the fourth distance between the target vehicle and the user based on the sixth and seventh times; and determining the target position corresponding to the target vehicle based on the third and fourth distances.

[0011] In one optional implementation, the target location corresponding to the target vehicle is determined based on the third distance and the fourth distance, including: constructing a spatial circular plane based on the second user walking distance, the third distance and the fourth distance, wherein the center of the spatial circular plane is the user location corresponding to the fourth time moment and the radius is the second user walking distance;

[0012] The second distance difference is calculated by subtracting the third distance from the fourth distance; the second distance difference is compared with 0; based on the comparison result, the first backup position direction corresponding to the target vehicle is determined; based on the first backup position direction, the target position corresponding to the target vehicle is determined.

[0013] In one optional implementation, determining the first backup position direction corresponding to the target vehicle based on the comparison result includes: if the second distance difference is equal to 0, determining the first backup position direction in the spatial circular plane based on the spatial circular plane and geometric relationships; if the second distance difference is greater than 0, determining another first candidate position direction other than the first candidate position direction corresponding to the target candidate position direction as the first backup position direction; if the second distance difference is less than 0, determining the first candidate position direction corresponding to the target candidate position direction as the first backup position direction.

[0014] Secondly, the present invention provides an acoustic positioning vehicle locator, applied to a terminal device communicatively connected to a target vehicle. The device includes: a transmitting module for transmitting an acoustic wave emission command to the target vehicle; an acquiring module for acquiring the time of receiving a first acoustic wave and recording it as a first moment; the first acoustic wave is emitted by the target vehicle after receiving the acoustic wave emission command; a first determining module for determining the initial position direction corresponding to the target vehicle; a guiding module for guiding a user to walk based on the initial position direction at the first moment, and calculating the walking distance of the first user at a second moment, the second moment being a preset time after the first moment; and a second determining module for determining the target position corresponding to the target vehicle based on the walking distance of the first user.

[0015] Thirdly, the present invention provides a terminal device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the acoustic positioning vehicle finding method of the first aspect or any corresponding embodiment described above.

[0016] Fourthly, the present invention provides an acoustic positioning vehicle locator system, comprising a target vehicle, a terminal device according to the first aspect or any corresponding embodiment thereof, and a car key corresponding to the target vehicle. The target vehicle is communicatively connected to the terminal device, wherein: the terminal device is used to send an acoustic wave emission command to the target vehicle; the target vehicle is used to emit a first acoustic wave after receiving the acoustic wave emission command; the car key is used to receive the first acoustic wave, determine the time of receiving the first acoustic wave as a first time, and transmit the first time of receiving the first acoustic wave to the terminal device; the terminal device is used to determine the initial position direction corresponding to the target vehicle; the terminal device is used to guide the user to walk based on the initial position direction at the first time, calculate the walking distance of the first user at a second time, the second time being a preset time after the first time; and the terminal device is used to determine the target location corresponding to the target vehicle based on the walking distance of the first user.

[0017] Fifthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the acoustic positioning vehicle locating method of the first aspect or any corresponding embodiment described above.

[0018] In a sixth aspect, the present invention provides a computer program product, including computer instructions for causing a computer to execute the acoustic positioning vehicle locating method of the first aspect or any corresponding embodiment described above.

[0019] The acoustic positioning vehicle locating method, device, terminal equipment, and system provided in this application send an acoustic command to the target vehicle: precisely triggering the vehicle's infrasound emission, avoiding false responses from surrounding vehicles, providing a dedicated signal source for positioning, and ensuring targeted positioning. The first acoustic wave is acquired and the first moment is recorded, collecting basic positioning data and establishing a time reference to provide initial basis for subsequent distance calculation and direction determination, ensuring data continuity. The initial position and direction are determined, providing a clear starting point for walking, eliminating the need for users to blindly search, reducing operational costs, and creating conditions for the initial distance difference calculation. The user is guided to walk, and the first user's walking distance is calculated. Key displacement data is obtained through uniform walking, and spatial relationships are constructed by combining the distances of the two acoustic waves, providing core parameters for directional range locking. The target location is determined based on the first user's walking distance. Distance difference analysis narrows the vehicle's directional range, achieving cross-floor, long-distance positioning, solving the problem of difficult vehicle locating in indoor parking lots, and requiring no additional equipment, resulting in low cost and high efficiency. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of the first method for sound wave positioning and vehicle locating according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second process of the acoustic positioning and vehicle locating method according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a circular spatial plane constructed based on a first user's walking distance, a first distance, and a second distance, according to an embodiment of the present invention. Figure 5 This is a schematic diagram of constructing a spatial circular plane with the user's position at the fourth moment as the center and the second user's walking distance as the radius, according to an embodiment of the present invention. Figure 6 This is a structural block diagram of an acoustic positioning vehicle locator according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the hardware structure of the terminal device according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] As an optional application scenario of this invention, such as Figure 1 As shown, application 101 is installed in terminal device 110, and user 130 can interact with application 101 through terminal device 110 and / or access device of terminal device 110. For example, application 101 may be a service application corresponding to the target vehicle. The terminal device communicates with the target vehicle 120 through this application. In some embodiments, terminal device 110 is communicatively connected to target vehicle 120 to provide services from application 101. Terminal device 110 may be a mobile terminal, fixed terminal, or portable terminal, including but not limited to mobile phones, desktop computers, laptop computers, multimedia tablets, e-book devices, gaming devices, or any combination thereof, including accessories and peripherals of these devices or any combination thereof. In some embodiments, terminal device 110 may also support any type of interface.

[0026] It should be noted that, Figure 1 This is merely an example of an application scenario and does not limit the scope of protection of this invention.

[0027] According to an embodiment of the present invention, an embodiment of an acoustic positioning vehicle locator is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] This embodiment provides an acoustic positioning vehicle locator method, which can be used in terminal devices that are communicatively connected to the target vehicle. Figure 2 This is a flowchart of the acoustic positioning and vehicle locating method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Send a sound wave to the target vehicle to issue a command.

[0029] Specifically, when a user needs to locate their target vehicle in an indoor multi-level parking garage or outdoor parking lot, they open the app on the terminal device linked to the target vehicle and manually click the "Find Vehicle" button to trigger the command sending process. This operation is the start signal for the entire vehicle location and locating process, requiring no additional device connection or parameter settings from the user, making it a low-barrier-to-entry operation.

[0030] The app on the terminal device transmits the "sound wave command" to the target vehicle for the first time via a mobile communication network (such as Bluetooth, cellular network, etc., to ensure stable transmission in complex signal environments such as indoor parking lots). The command includes authentication information to ensure that only the target vehicle responds and to prevent other target vehicles in the vicinity from triggering it accidentally.

[0031] After the target vehicle receives and verifies that the command is correct, it activates the built-in infrasound module and prepares to emit sound waves.

[0032] The sound wave can be infrasound. Compared to ultrasound, infrasound has a longer wavelength, allowing it to easily bypass thick obstacles such as walls and pillars. It also has a longer transmission distance and stronger signal stability, meeting the needs of cross-floor, long-distance vehicle location scenarios and providing a reliable signal foundation for subsequent positioning. Optionally, the sound wave can also be ultrasound or other sound waves; this application does not specifically limit the types of sound waves used.

[0033] Step S202: Obtain the time when the first sound wave is received and record it as the first moment; the first sound wave is emitted by the target vehicle after receiving the sound wave and issuing the command.

[0034] Specifically, the car key carried by the user has a built-in sound wave receiving and reflecting device, which is always in standby mode. When the target vehicle emits infrasound, the car key will accurately capture the first sound wave of this specific frequency (using frequency recognition technology to filter out external interference sound waves and ensure the accuracy of the received signal). The sound wave receiving and reflecting device can receive infrasound, ultrasound, or other sound waves; this application embodiment does not specifically limit it.

[0035] The moment the car key successfully receives the first sound wave, it automatically records the current time as the first moment (denoted as t1). The car key, the APP in the terminal device, and the target vehicle have completed time synchronization through the mobile communication network, ensuring the accuracy of the t1 time record and providing a unified time reference for subsequent distance calculations.

[0036] The car key will synchronize the feedback information of "successfully receiving the first sound wave" and the time data of the first moment to the terminal device through the mobile communication network, informing the terminal device that the positioning process has entered the data collection stage, and preparing for subsequent steps.

[0037] Step S203: Determine the initial position and direction corresponding to the target vehicle.

[0038] Specifically, before determining the initial position and direction, the terminal device first completes two basic calibrations: First, it obtains the user's current absolute orientation (such as facing due north) or the orientation of the device screen through the built-in compass module and inertial sensor of the terminal device, as a reference for the orientation description; Second, it confirms the time synchronization status of the car key, the target vehicle, and the terminal device to ensure the accuracy of subsequent calculations.

[0039] The initial position and direction are determined based on the core principles of "simplification, universality, and ease of operation". There is no need to accurately point to the target vehicle (the core function is to provide an effective starting point for the initial positioning). The terminal device's APP has built-in preset rules that are automatically matched.

[0040] Priority rule: Based on the user's current absolute orientation, push "directly forward" as the initial position direction. For example, if the terminal device detects that the user is facing due south, the APP determines the initial position direction as "directly forward (due south)".

[0041] Backup rule: If the compass module fails due to magnetic field disturbances in the underground parking garage, the terminal device will randomly push a clear direction (such as "45° to the left" or "30° to the right") to ensure that the user can obtain actionable walking guidance.

[0042] The app on the terminal device pushes the initial location direction through a combination of visual and voice prompts. For example, the interface displays an arrow pointing in the target direction, accompanied by text prompts (such as "Initial location direction: straight ahead"); at the same time, it can repeatedly guide the user through voice broadcast, so that the user clearly knows the direction to walk.

[0043] Step S204: Guide the user to walk based on the initial position and direction at the first moment, and calculate the walking distance of the first user at the second moment.

[0044] The second time point is the preset duration after the first time point.

[0045] Specifically, the app on the terminal device continuously guides the user to carry the car keys and walk at a constant speed in the direction of the initial position through interface arrows and text prompts. It also simultaneously reminds the user to "maintain a constant speed and avoid turning or stopping midway," as walking at a constant speed is a crucial prerequisite for accurately calculating the walking distance.

[0046] The second time point (denoted as t2) is the preset duration after the first time point (t1). The preset duration can be set by the terminal device (e.g., 10 seconds, 15 seconds) or by the user. The duration is set to ensure that the user can walk a valid straight-line distance (to avoid the distance data being too short and therefore meaningless). When the preset duration is reached, the terminal device automatically records time t2.

[0047] The app on the terminal device calculates the first user's walking distance (denoted as s1) based on a preset user walking speed (v1, which can be preset by the user or the system's default normal walking speed, such as 1.2 m / s) and the time difference between t1 and t2, using the formula: s1 = v1 × (t2 - t1). For example, if v1 = 1.2 m / s and t2 - t1 = 10 seconds, then s1 = 12 meters. After the calculation, the app stores the s1 data for subsequent orientation determination.

[0048] Step S205: Determine the target location corresponding to the target vehicle based on the first user's walking distance.

[0049] Specifically, the terminal device can estimate the approximate direction of the target vehicle based on the first user's walking distance, and then determine the target location corresponding to the target vehicle based on the approximate direction.

[0050] This step will be explained in detail below.

[0051] The acoustic positioning and vehicle locating method provided in this application sends an acoustic command to the target vehicle: precisely triggering the vehicle's infrasound emission, avoiding false responses from surrounding vehicles, providing a dedicated signal source for positioning, and ensuring targeted positioning. It acquires the first acoustic wave and records the first moment, collecting basic positioning data and establishing a time reference to provide initial basis for subsequent distance calculation and direction determination, ensuring data continuity. It determines the initial position and direction, providing a clear starting point for walking, eliminating the need for users to search blindly, reducing operational costs, and creating conditions for the initial distance difference calculation. It guides the user to walk and calculates the first user's walking distance, acquiring key displacement data through uniform walking, and constructing a spatial relationship based on the distances of the two acoustic waves, providing core parameters for directional range locking. The target location is determined based on the first user's walking distance. Distance difference analysis narrows the vehicle's directional range, achieving cross-floor, long-distance positioning, solving the problem of difficult vehicle locating in indoor parking lots, and requiring no additional equipment, resulting in low cost and high efficiency.

[0052] This embodiment provides an acoustic positioning vehicle locator method, which can be used in terminal devices that are communicatively connected to the target vehicle. Figure 3 This is a flowchart of the acoustic positioning and vehicle locating method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Send a sound wave to the target vehicle to issue a command.

[0053] Please refer to the above description of step S201 for details on this step, which will not be repeated here.

[0054] Step S302: Obtain the time when the first sound wave is received and record it as the first moment.

[0055] The first sound wave is emitted by the target vehicle after receiving the instruction from the sound wave.

[0056] Please refer to the above description of step S202 for details on this step, which will not be repeated here.

[0057] Step S303: Determine the initial position and direction corresponding to the target vehicle.

[0058] Please refer to the above description of step S203 for details on this step, which will not be repeated here.

[0059] Step S304: Guide the user to walk based on the initial position and direction at the first moment, and calculate the walking distance of the first user at the second moment.

[0060] The second time point is the preset duration after the first time point.

[0061] Please refer to the above description of step S204 for details on this step, which will not be repeated here.

[0062] Step S305: Determine the target location corresponding to the target vehicle based on the first user's walking distance.

[0063] Specifically, step S305 above may include the following steps: Step S3051: Send a sound wave command to the target vehicle again at the second moment, and obtain the time when the second sound wave is received, which is recorded as the third moment.

[0064] The second sound wave is the sound wave emitted by the target vehicle after receiving the instruction from the sound wave for the second time.

[0065] Specifically, at the second moment, the APP in the target terminal transmits the "sound wave emission command" to the target vehicle a second time via the mobile communication network. The command includes authentication information to ensure that only the target vehicle responds and to prevent other nearby target vehicles from triggering it accidentally. After receiving and verifying that the command is correct, the target vehicle activates its built-in infrasound emission module and emits a second sound wave.

[0066] The moment the car key successfully receives the second sound wave, it automatically records the current time as the third moment (denoted as t3). The car key, the app in the terminal device, and the target vehicle have completed time synchronization via the mobile communication network, ensuring the accuracy of the t3 moment record and providing a unified time reference for subsequent distance calculations. This allows the app in the terminal device to obtain the time when the second sound wave was received, which is then recorded as the third moment.

[0067] Step S3052: Calculate the first distance between the target vehicle and the user based on the first moment.

[0068] Specifically, the terminal device can designate the moment when it sends the first sound wave command to the target vehicle as time t0, and then record the time corresponding to receiving the first sound wave as the first moment t1. Then, based on the transmission speed of the first sound wave, the first distance S1 between the target vehicle and the user is calculated, and the formula is: S1=(t1-t0) / 2×sound wave propagation speed (approximately 340m / s).

[0069] Step S3053: Calculate the second distance between the target vehicle and the user based on the second and third time points.

[0070] Specifically, the terminal device can record the moment when it sends the second sound wave command to the target vehicle as the second moment t2, and then record the time corresponding to receiving the second sound wave as the third moment t3. Then, based on the second sound wave transmission speed, the second distance S2 between the target vehicle and the user can be calculated, and the formula is recorded as: S1=(t3-t2) / 2×sound wave propagation speed (approximately 340m / s).

[0071] Step S3054: Determine the target location corresponding to the target vehicle based on the relationship between the first user's walking distance and the first distance and the second distance.

[0072] Specifically, step S3054 above may include the following steps: Step a1: Construct a spatial plane based on the first user's walking distance, the first distance, and the second distance.

[0073] Among them, the spatial plane can be displayed in three dimensions.

[0074] Specifically, the terminal device can use user location A and user location B as two fixed endpoints, and the first user walking distance s1 as the line segment length to determine line segment AB. Then, using A as the endpoint and the first distance S1 as the length, and B as the endpoint and the second distance S2 as the length, two spatial rays are constructed. These three line segments (AB, A-target vehicle, B-target vehicle) together lock a unique spatial plane. This spatial plane is not limited by the physical plane of the garage and can be tilted (e.g., when the target vehicle and the user are on different floors, the plane forms an angle with the garage plane). The APP in the terminal device will display this spatial plane in a three-dimensional form, intuitively presenting the spatial positional relationship between the user and the target vehicle, supporting user rotation and zoom viewing, and clearly understanding the directional logic such as crossing floors and diagonal directions.

[0075] Step a2: Subtract the first distance from the second distance to calculate the first distance difference.

[0076] Specifically, the terminal device can calculate the first distance difference by subtracting the first distance from the second distance, using the formula: SS1=S2-S1. The sign and magnitude of this first distance difference can directly reflect the change in distance between the user and the target vehicle during the walking process (approaching, moving away, or remaining unchanged), providing a quantitative basis for subsequent direction judgment.

[0077] Step a3: Compare the first distance difference with the first user's walking distance and the value 0.

[0078] Specifically, the terminal device can compare the first distance difference with the first user's walking distance and the value 0. Essentially, it uses correlation analysis between "user displacement" and "vehicle-person distance change" to pinpoint the approximate location range of the target vehicle in the spatial plane. The comparison does not involve complex algorithms; it only uses numerical magnitude and positive / negative relationships to divide the range, ensuring simple operation and strong anti-interference capabilities.

[0079] Step a4: Based on the comparison results, determine the first candidate position direction corresponding to the target vehicle based on the spatial plane.

[0080] Specifically, step a4 above may include the following steps: Step a41: If the first distance difference is equal to the negative of the first user's walking distance, then the direction of the first candidate position corresponding to the target vehicle is determined as the current user's forward direction.

[0081] Specifically, if the first distance difference is equal to the negative of the first user's walking distance, i.e., SS1 = -s1, substituting this into the formula SS1 = S2 - S1, we get S2 = S1 - s1. This indicates that after the user walks from position A to position B (in the direction of travel), the distance between the vehicle and the user is exactly reduced by the distance the user walked, s1. This means that the target vehicle is located on the extension line of the user's direction of travel, i.e., the current direction of travel of the user is the direction in which the target vehicle is located.

[0082] In a three-dimensional space, the target vehicle's location point C lies on the extension of line segment AB (towards the direction of travel from point B), forming a straight line relationship ABC. The app on the terminal device clearly marks the "current direction of travel" as the first candidate location direction in the three-dimensional space, accompanied by text prompts (such as "The target vehicle is directly ahead, please continue walking in the current direction") and arrow guidance, allowing users to directly locate the vehicle along that direction.

[0083] Step a42: If the first distance difference is greater than the negative of the first user's walking distance and less than 0, then determine that the first candidate position direction corresponding to the target vehicle is either to the upper left or upper right of the current user's forward direction in the spatial plane.

[0084] Specifically, if the first distance difference is greater than the negative of the first user's walking distance and less than 0, this interval indicates that SS1 is negative and its absolute value is less than s1, i.e., S1>S2>S1-s1. This means that the distance between the vehicle and the user is decreasing during the user's walking process (SS1<0), but the shortened distance has not reached s1 (excluding the case where the target vehicle is directly in front). Combining spatial planar geometry, the target vehicle should be located in the upper area on both sides of the user's direction of travel (in the case of a multi-story parking garage), i.e., the upper left or upper right.

[0085] For example, such as Figure 4 As shown, a circular spatial plane is constructed based on the first user's walking distance, a first distance, and a second distance. This circular spatial plane can be the circumcircle of a triangular plane constructed based on the first user's walking distance, the first distance, and the second distance. When the first distance difference is greater than the negative of the first user's walking distance and less than 0, it is determined that the target vehicle should be located in the direction of arc CE or arc CF in the circular spatial plane.

[0086] The app on the terminal device highlights two candidate areas, the upper left and upper right, in a three-dimensional space plane, prompting the user that "the target vehicle is directly in front, in the upper left or upper right direction. Please adjust your walking route in that direction." It also marks the middle direction of the two areas as a reference direction for the next movement.

[0087] Step a43: If the first distance difference is equal to 0, then determine the midpoint corresponding to the first user's walking distance; determine the direction of the first candidate position corresponding to the target vehicle as the left or right side of the midpoint.

[0088] Specifically, if the first distance difference is equal to 0, i.e., SS1=0, it means that S2=S1, that is, after the user walks from point A to point B, the distance between the vehicle and the person does not change. According to geometric principles, the locus of points equidistant from the two endpoints of line segment AB is the perpendicular bisector of line segment AB. Therefore, the target vehicle is located on this perpendicular bisector, corresponding to the left or right of the midpoint of the first user's walking distance (line segment AB).

[0089] For example, such as Figure 4 As shown, in a three-dimensional space plane, the midpoint of line segment AB is O, the perpendicular bisector is perpendicular to AB, and the target vehicle position point E or F is located on the perpendicular bisector (coplanar with AB), forming the midpoint relationship of AOB. E and F are to the left and right of point O, respectively.

[0090] The app on the terminal device marks the midpoint O of line segment AB and the direction of the perpendicular bisector in a 3D plane, and clearly prompts "The target vehicle is to the left or right of the midpoint of the travel route. Please adjust your direction to the left / right perpendicular to the current direction of travel", and recommends the direction of the perpendicular bisector as the initial direction of the next journey.

[0091] Step a44, if the first distance difference is greater than 0 and less than the first user walking distance, determine that the corresponding first candidate position direction of the target vehicle is at the lower left or lower right of the current user's forward direction in the spatial plane.

[0092] Specifically, if the first distance difference is greater than 0 and less than the first user walking distance, this interval indicates that SS1 is positive and less than s1, that is, S1 < S2 < S1 + s1, indicating that the vehicle-person distance is increasing during the user's walking (SS1 > 0), but the increased distance does not reach s1 (excluding the case where the target vehicle is in the opposite direction). Combining with the spatial plane relationship, the target vehicle should be located in the lower area on both sides of the user's forward direction (possibly the lower garage in the cross-floor scenario), that is, the lower left or lower right.

[0093] Exemplarily, as Figure 4 shown, in the three-dimensional spatial plane, the target vehicle position points are distributed in the arc DF or arc DE interval, which corresponds to the lower left and lower right of the current forward direction, and is a sector area formed by the intersection of two arcs with A and B as the centers.

[0094] The APP in the terminal device highlights the two candidate intervals of the lower left and lower right in the three-dimensional plane, prompts the user "The target vehicle is at the lower left or lower right in front (possibly on the next floor), please adjust the walking route in the direction of this area", and marks the middle direction of the two intervals as the reference direction for the next walk.

[0095] Step a45, if the first distance difference is equal to the first user walking distance, determine that the corresponding first candidate position direction of the target vehicle is the reverse direction of the current user's forward direction.

[0096] Specifically, if the first distance difference is equal to the first user walking distance, that is, when SS1 = s1, substituting into the formula gives S2 = S1 + s1. This indicates that after the user walks from point A to point B (forward direction), the vehicle-person distance has exactly increased by the user's walking distance s1, indicating that the target vehicle is located in the opposite direction of the user's forward direction, that is, on the side opposite to the current forward direction.

[0097] Exemplarily, as Figure 4 shown, in the three-dimensional spatial plane, the target vehicle position point D is located on the reverse extension line of the line segment AB (on the side opposite to point A), forming a straight line relationship of D - A - B.

[0098] The APP in the terminal device clearly marks "the reverse direction of the current forward direction" as the first candidate position direction in the three-dimensional plane, accompanied by a text prompt (such as "The target vehicle is directly behind, please immediately turn around and walk") and a reverse arrow guide, and the user can directly turn around to search for the vehicle.

[0099] Step a5: Determine the target location corresponding to the target vehicle based on the direction of the first candidate location.

[0100] Specifically, if there are two first candidate positions, step a5 above may include the following steps: Step a51: Randomly select one from the first candidate position directions, and determine the centerline direction corresponding to the selected first candidate position direction as the target candidate position direction.

[0101] Specifically, the terminal device can randomly select one of the two first candidate position directions (such as randomly selecting "top left" from "top left / top right"). The selection process is completely random and unbiased, ensuring the objectivity of the positioning logic and avoiding local positioning blind spots caused by fixed selection rules.

[0102] Then, based on the selected candidate position direction, its corresponding centerline direction is calculated as the target candidate position direction. For example, ... Figure 4 As shown, if "top left" (corresponding to the CE arc interval) is selected, the center line direction is the direction of the line connecting the midpoint of the CE arc and the user's current position (point B at time t2); if "left / right" (corresponding to the direction of point E / F) is selected, the center line direction is the direction of the line connecting point E (or point F) and the current position; if "bottom left / bottom right" (corresponding to the DF / DE arc interval) is selected, the center line direction is the direction of the line connecting the midpoint of the corresponding arc and the current position.

[0103] The terminal device can verify the rationality of the centerline direction through a three-dimensional spatial plane (ensuring that there are no obvious logical contradictions in the direction, such as conflict with the user's walking trajectory), and then display it on the interface with arrows and text prompts (such as "Target candidate direction: upper left centerline direction"), so that the user can clearly know the direction to walk.

[0104] In step a52, at the fourth moment, guide the user to walk along the direction of the target candidate position again, and send a sound wave to the target vehicle to issue a command again.

[0105] The fourth moment (denoted as t4) is a crucial time node after step a51 determines the direction of the target candidate position. It marks the start of the user's preparation and movement along the target candidate position direction after receiving directional guidance from the terminal device. The terminal device detects the user's walking status using the phone's built-in inertial sensor. When it detects that the user has begun moving at a constant speed, it automatically records time t4, ensuring precise synchronization between the time node and the walking action.

[0106] The terminal device guides the user to walk forward with the car key by providing real-time arrow guidance and voice prompts (such as "Please walk at a constant speed along the upper left center line"), and simultaneously prompts "Keep a constant speed and avoid turning or stopping", ensuring that the walking trajectory is close to a straight line, providing an accurate basis for calculating the walking distance of the second user.

[0107] In addition, while recording time t4, the terminal device can send a third sound wave command to the target vehicle via a mobile communication network (such as Bluetooth or cellular network). The command includes authentication information (such as the target vehicle identification number and binding key) to ensure that only the target vehicle responds and avoid interference from surrounding vehicles. After receiving and verifying the command, the target vehicle reactivates the infrasound module, emitting a third sound wave at the same frequency (below 20 Hz) as the first and second sound waves. Due to its long wavelength, the infrasound wave can bypass parking lot obstacles, ensuring accurate reception of the car key while the user is moving.

[0108] Step a53: Obtain the time when the third sound wave is received and record it as the fifth moment; the third sound wave is emitted by the target vehicle after receiving the sound wave command for the third time.

[0109] Specifically, the car key carried by the user has a built-in infrasound receiving and reflecting device. This device has a frequency filtering function, which can block environmental noise (such as the sound of people walking and equipment running) and only identify the specific frequency of the third sound wave emitted by the target vehicle, thus avoiding signal confusion.

[0110] The moment the car key successfully captured the third sound wave, it automatically recorded the current time as the fifth moment (denoted as t5). Previously, the car key, terminal device, and target vehicle had synchronized their time via the mobile communication network, ensuring complete consistency in their time bases and guaranteeing the accuracy of the t5 moment recording. This provides reliable time parameters for the third distance calculation. The car key then synchronizes the "third sound wave successfully received" feedback and the t5 moment data to the terminal device's app in real time, informing the app that the third signal acquisition has been completed and preparing for subsequent distance calculations.

[0111] Step a54: At the sixth moment, guide the user to stop walking, calculate the walking distance of the second user, and send a sound wave command to the target vehicle again.

[0112] The sixth moment (denoted as t6) is the preset end point of the walking process by the terminal device. It is a fixed time interval after moment t4 when the user walks at a constant speed along the direction of the target candidate position (e.g., 10 seconds or 15 seconds after t4), or the moment when the terminal device detects that the user's walking distance has reached a preset value (e.g., 10 meters) through the inertial sensor. The terminal device can guide the user to stop moving through text prompts and voice broadcasts (e.g., "You have reached the specified distance, please stop walking") to ensure the walking process is complete and the data is valid.

[0113] The app on the terminal device calculates the second user's walking distance (denoted as s2) based on the time difference of the user's walking (t6-t4) and a preset uniform walking speed (v1, consistent with the speed used to calculate the first user's walking distance, requiring no resetting). The formula is: s2 = v1 × (t6-t4). For example, if v1 = 1.2 m / s and t6-t4 = 10 seconds, then s2 = 12 meters. After calculation, the app on the terminal device stores the s2 data for subsequent orientation determination.

[0114] At the same time, at the sixth moment, the terminal device sends a fourth sound wave to the target vehicle to issue a command.

[0115] Step a55: Obtain the time when the fourth sound wave is received and record it as the seventh moment; the fourth sound wave is emitted by the target vehicle after receiving the sound wave command for the fourth time.

[0116] Specifically, the car key's acoustic wave receiving and reflecting device operates continuously, accurately capturing the fourth acoustic wave emitted by the target vehicle. Interference is eliminated through frequency filtering to ensure the accuracy of the received signal. The moment the car key successfully receives the fourth acoustic wave, the current time is recorded as the seventh moment (denoted as t7). t7 is completely consistent with the time the car key receives the fourth acoustic wave, and based on global time synchronization, it ensures consistency with the time base of moments t4, t5, and t6. The car key synchronizes the feedback information of "fourth acoustic wave successfully received" and the t7 moment data to the APP on the terminal device. The APP completes the fourth signal acquisition, at which point it has obtained complete time data from t4 to t7, providing support for subsequent third and fourth distance calculations.

[0117] Step a56: Based on the fourth and fifth time points, calculate the third distance between the target vehicle and the user.

[0118] Specifically, the terminal device can record the moment when it sends the third sound wave command to the target vehicle as the fourth moment, t4, and then record the time corresponding to receiving the third sound wave as the fifth moment, t5. Then, based on the third sound wave transmission speed, the third distance S3 between the target vehicle and the user is calculated, with the formula: S3 = (t5 - t4) / 2 × sound wave propagation speed (approximately 340 m / s).

[0119] Step a56: Based on the sixth and seventh time points, calculate the fourth distance between the target vehicle and the user.

[0120] Specifically, the terminal device can record the time when it sends the fourth sound wave command to the target vehicle as the sixth time t6, and then record the time corresponding to receiving the fourth sound wave as the seventh time t7. Then, based on the fourth sound wave transmission speed, the fourth distance S4 between the target vehicle and the user can be calculated, and the formula is: S4=(t7-t6) / 2×sound wave propagation speed (approximately 340m / s).

[0121] Step a58: Determine the target location corresponding to the target vehicle based on the third distance and the fourth distance.

[0122] Specifically, step a58 above may include the following steps: Step a581: Construct a spatial circular plane based on the second user's walking distance, the third distance, and the fourth distance.

[0123] In this context, the center of the circular plane represents the user's position at the fourth moment, and the radius represents the distance the second user has walked.

[0124] Specifically, the center of the spatial circular plane is the user's location (denoted as point C) at the fourth moment (t4, the moment the third sound wave is received). This location is the starting point of the second movement and also the spatial reference point connecting the third and fourth distances. The radius of the spatial circular plane is the second user movement distance (s2), which is the straight-line distance from the user's position C (t4) at the fourth moment to the position D (t6, the moment the movement stops) at the sixth moment, and the formula is s2=v1×(t6-t4) (v1 is the user's uniform walking speed, and t4 is the starting moment of the second movement). This spatial circular plane is consistent with the three-dimensional spatial plane in step a1, and can present a three-dimensional shape, supporting cross-floor positioning. If the target vehicle is located on a different floor, the circular plane will form an angle with the garage plane, but its geometric calculation logic remains consistent, ensuring positioning accuracy across different scenarios.

[0125] For example, such as Figure 5 As shown, the terminal device draws a circular plane in the three-dimensional space constructed in step a1, with the user's position C at the fourth moment as the center and the second user's walking distance s2 as the radius. The trajectory of this circle corresponds to the spatial range covered by the user after walking a distance s2 along the direction of the target candidate position from point C. The potential position of the target vehicle must simultaneously satisfy the following conditions: the distance from point C is the third distance (S3), the distance from point D is the fourth distance (S4), and it is located within this circular plane.

[0126] Step a582: Subtract the third distance from the fourth distance to calculate the second distance difference.

[0127] Specifically, the second distance difference (denoted as SS2) is a key indicator reflecting the trend of distance changes between the user and the target vehicle during the second walking process. The terminal device calculates the second distance difference by subtracting the third distance from the fourth distance, using the formula: SS2 = S4 - S3. By observing the positive or negative relationship of this difference, it is possible to directly determine whether the distance between the user and the target vehicle remains constant, gradually increases, or gradually decreases as the user walks along the direction of the candidate target location. This verifies whether the direction of the initially selected candidate target location is correct and provides a quantitative basis for determining the direction of the backup location.

[0128] Step a583: Compare the second distance difference with 0.

[0129] Specifically, the terminal device compares the second distance difference with 0.

[0130] Step a584: Based on the comparison results, determine the first backup position direction corresponding to the target vehicle.

[0131] Specifically, step a584 above may include the following steps: Step a5841: If the second distance difference is equal to 0, then the first backup position direction is determined in the spatial circular plane based on the spatial circular plane and geometric relationships.

[0132] Specifically, if the second distance difference is equal to 0, i.e., SS2=0, it means S4=S3, indicating that the distance between the vehicle and the user remains unchanged after the user walks from point C (time t5) to point D (time t6). According to geometric principles, the trajectory of a point equidistant from the two endpoints (points C and D) of line segment CD is the perpendicular bisector of line segment CD, and this point must be located within the spatial circular plane constructed in step a581. Combining this with the previous scenario where the first candidate position direction is two (e.g., upper left / upper right), the intersection of the perpendicular bisector and the spatial circle is the potential position of the target vehicle, and the corresponding direction is the first backup position direction.

[0133] In a circular plane, draw an arc with center C and radius S3, and another arc with center D and radius S4 (=S3). The intersection of these two arcs, along with points C and D, forms an isosceles triangle. The direction of this intersection is the perpendicular bisector direction, which is the direction of the first alternative position. For example,... Figure 5 As shown, the terminal device can determine the location of the first backup position corresponding to the arc of the circle by using the relationship between the perimeter of the circle and the triangle.

[0134] The endpoint device highlights the intersection point in a circular plane in three-dimensional space, clearly marking "First backup position direction: XX direction" (such as "direction of the vertical bisector of the upper left"), and simultaneously displays the geometric derivation process, allowing users to intuitively understand the source of the direction.

[0135] Step a5842: If the second distance difference is greater than 0, then the other first candidate position direction besides the first candidate position direction corresponding to the target candidate position direction is determined as the first backup position direction.

[0136] Specifically, if the second distance difference is greater than 0, i.e., SS2>0 indicates S4>S3, which means that when the user walks in the direction of the target candidate position, the distance from the target vehicle gradually increases, indicating that the direction of the initially randomly selected target candidate position is incorrect (the target vehicle is not within the interval corresponding to this direction). Therefore, this incorrect direction needs to be excluded, and the other unselected one of the previous two first candidate position directions is determined as the first standby position direction to ensure the effectiveness of the standby direction.

[0137] If "upper left" is initially selected from "upper left / upper right" as the target candidate direction, and after walking, it is calculated that SS2>0, it means that the target vehicle is not in the upper left interval. At this time, the first standby position direction is automatically determined as "upper right".

[0138] The terminal device immediately updates the interface, prompts "The current candidate direction is incorrect and has been switched to the standby direction", and highlights the other first candidate position direction as the core direction for subsequent precise positioning.

[0139] Step a5843, if the second distance difference is less than 0, then determine that the first candidate position direction corresponding to the target candidate position direction of the target position is the first standby position direction.

[0140] Specifically, if the second distance difference is less than 0, i.e., SS2<0 indicates S4<S3, which means that when the user walks in the direction of the target candidate position, the distance from the target vehicle gradually decreases, indicating that the direction of the initially randomly selected target candidate position is correct (the target vehicle is within the interval corresponding to this direction). Therefore, the first candidate position direction corresponding to this target candidate position direction (such as the first candidate direction "upper left" corresponding to the initially selected "upper left") is determined as the first standby position direction to further lock in the interval where the target vehicle is located.

[0141] If "upper left" is initially selected as the target candidate direction, and after walking, SS2<0, it means that the target vehicle is within the upper left interval. At this time, the first standby position direction is determined as "upper left", and the range of this interval is further narrowed.

[0142] The APP in the terminal device prompts "The current candidate direction is correct and the standby direction has been locked", and shrinks the sector interval corresponding to this direction in the spatial circular plane to provide a more accurate starting point for subsequent cyclic positioning.

[0143] Step a585, based on the first standby position direction, determine the target position corresponding to the target vehicle.

[0144] Specifically, the APP in the terminal device takes the first backup position direction as a reference, takes the quarter arc point of the corresponding sector interval as the new walking direction, and guides the user to walk at a constant speed while carrying the car key (if the backup direction is "upper left", then guide the user to walk towards "upper left quarter arc point direction").

[0145] The terminal device repeats steps a52-a57, sending sound wave commands, receiving sound waves, calculating new distances (S5, S6) and the third distance difference (SS3), and further narrowing down the vehicle's location range by combining the newly constructed spatial plane and circular plane.

[0146] In a typical indoor parking lot scenario, repeat the above-mentioned cyclic positioning 3-4 times (total number of cycles more than 5 times). The vehicle's location range can be narrowed down to a fan-shaped area of ​​≤11.25°. At this time, the APP will intuitively display the vehicle's precise location through a 3D interface (such as "20° to the left and front, about 20 meters away, upper parking garage"), and provide voice prompts and arrow guidance to help users quickly find their vehicles.

[0147] If a user is unable to walk in the indicated direction due to obstacles in the parking lot, the app uses an angle conversion algorithm to incorporate the angle between the user's actual walking direction and the backup direction into the calculation, automatically correcting the distance difference and positioning range to ensure that the target location is locked regardless of the environment.

[0148] The acoustic positioning and vehicle locating method provided in this application involves sending an acoustic command again at a second moment, acquiring a second acoustic wave, and recording the data at a third moment. This ensures a targeted match between the second and first acoustic waves, avoiding signal confusion and providing accurate paired data for the two distance calculations, thus guaranteeing the effectiveness of subsequent comparative analysis. A first distance is calculated based on the first acoustic wave, and a second distance is calculated based on the second acoustic wave. Acquiring core data on the vehicle-pedestrian spatial distance at different moments provides a quantitative basis for constructing a spatial plane and determining orientation. The data calculation relies on the characteristics of infrasound, ensuring accuracy and resistance to interference. A spatial plane is constructed based on the first user's walking distance, the first distance, and the second distance, enabling cross-floor, three-dimensional positioning. This intuitively presents the vehicle-pedestrian spatial relationship, breaking the limitations of planar positioning and adapting to indoor multi-story parking scenarios.

[0149] Then, by subtracting the first distance from the second distance, the first distance difference is calculated, quantifying the trend of vehicle-person distance change and providing a core indicator for location range determination. This simplifies the positioning logic and eliminates the need for complex algorithms. The first distance difference is compared with the first user's walking distance and zero to quickly classify five location scenarios, clarifying the potential direction range of the vehicle and providing a clear basis for determining candidate location directions. Based on the comparison results, the first candidate location direction corresponding to the target vehicle is determined based on the spatial plane, accurately locking 1-2 candidate directions, narrowing the positioning range. The direction descriptions are intuitive (e.g., forward direction, upper left, etc.), reducing the user's understanding cost.

[0150] Next, the first candidate position direction is randomly selected and the target candidate position direction is determined to avoid confusion from choosing between two directions, providing a clear walking benchmark. The positioning range is further focused through the centerline direction, laying the groundwork for secondary verification. At the fourth moment, walking is guided, commands are sent, the third sound wave is acquired, and the fifth moment is recorded, thus conducting secondary positioning based on the target candidate direction, collecting new sound wave signals and time data to support subsequent distance calculation and direction verification. At the sixth moment, walking stops, the second user's walking distance is calculated, the fourth sound wave is acquired, and the seventh moment is recorded. This obtains the displacement data of the secondary walking and new vehicle-person distance data, forming a complete secondary positioning data chain, providing parameters for range reduction. The third distance is calculated based on the third sound wave, and the fourth distance is calculated based on the fourth sound wave, supplementing the core distance data of secondary positioning. Combined with the second user's walking distance, a new spatial reference system is constructed to achieve iterative reduction of the positioning range. A spatial circular plane is constructed with the user position corresponding to the fourth moment as the center and the second user's walking distance as the radius. The spatial range of the potential vehicle position is accurately locked, providing a geometric basis for backup direction judgment. The second distance difference is calculated by subtracting the third distance from the fourth distance. Verifying the correctness of the target candidate direction and quantifying the change in vehicle-person distance during the second walking process provides a basis for eliminating incorrect directions and locking in backup directions. Comparing the second distance difference with 0 quickly determines whether the target candidate direction is valid, simplifying the verification logic and improving positioning efficiency. Determining the first backup position direction based on the second distance difference result: eliminating incorrect candidate directions, locking in the only valid backup direction, significantly narrowing the positioning range, and improving positioning accuracy. Determining the target position based on the first backup position direction: integrating multi-round positioning data, focusing on the final valid direction, and achieving precise vehicle location locking through iterative optimization, solving the problem of finding the vehicle in indoor parking lots.

[0151] This embodiment also provides an acoustic positioning vehicle locator, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0152] This embodiment provides an acoustic positioning vehicle locator, such as... Figure 6 As shown, a terminal device for communicating with a target vehicle includes: The transmitting module 301 is used to send sound waves to the target vehicle to issue a command. The acquisition module 302 is used to acquire the time when the first sound wave is received and record it as the first moment; the first sound wave is emitted by the target vehicle after receiving the sound wave and issuing the command. The first determining module 303 is used to determine the initial position and direction of the target vehicle. The guidance module 304 is used to guide the user to walk based on the initial position and direction at the first moment, and to calculate the walking distance of the first user at the second moment, which is a preset time after the first moment. The second determining module 305 is used to determine the target location corresponding to the target vehicle based on the walking distance of the first user.

[0153] The acoustic vehicle location device provided in this embodiment of the invention can execute the acoustic vehicle location method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as in the corresponding embodiments described above, and will not be repeated here.

[0154] Figure 7 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present invention.

[0155] The following is a detailed reference. Figure 7 The diagram illustrates a structural schematic suitable for implementing a terminal device according to an embodiment of the present invention. The terminal device may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 01, which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 02 or a program loaded from memory 08 into random access memory (RAM) 03. The RAM 03 also stores various programs and data required for the operation of the terminal device. The processor 01, ROM 02, and RAM 03 are interconnected via a bus 04. An input / output (I / O) interface 05 is also connected to the bus 04.

[0156] Typically, the following devices can be connected to I / O interface 05: input devices 06 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 07 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 08 including, for example, magnetic tapes, hard disks, etc.; and communication devices 09. Communication device 09 allows the terminal device to exchange data via wireless or wired communication with other devices. Although Figure 7 Terminal devices with various means are shown, but it should be understood that it is not required to implement or have all the means shown, and more or fewer means may be implemented or have instead.

[0157] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 09, or installed from a memory 08, or installed from a ROM 02. When the computer program is executed by the processor 01, it performs the functions defined in the acoustic positioning vehicle locating method of the embodiments of the present invention.

[0158] Figure 7 The terminal device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0159] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the acoustic positioning vehicle locating method shown in the above embodiments is implemented.

[0160] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0161] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for vehicle location using acoustic waves, characterized in that, The method, applied to a terminal device communicating with a target vehicle, includes: Send sound waves to the target vehicle to issue commands; The time when the first sound wave is received is obtained and recorded as the first moment; the first sound wave is emitted by the target vehicle after receiving the instruction from the sound wave. Determine the initial position and orientation of the target vehicle; At the first moment, the user is guided to walk based on the initial position and direction. At the second moment, the walking distance of the first user is calculated. The second moment is a preset time after the first moment. Based on the walking distance of the first user, the target location corresponding to the target vehicle is determined.

2. The method according to claim 1, characterized in that, Determining the target location corresponding to the target vehicle based on the first user's walking distance includes: The sound wave emission command is sent to the target vehicle again at the second moment, and the time when the second sound wave is received is recorded as the third moment; the second sound wave is emitted by the target vehicle after receiving the sound wave emission command for the second time. Based on the first moment, calculate the first distance between the target vehicle and the user; Based on the second time point and the third time point, calculate the second distance between the target vehicle and the user; The target location corresponding to the target vehicle is determined based on the relationship between the first user's walking distance and the first distance and the second distance.

3. The method according to claim 2, characterized in that, Determining the target location corresponding to the target vehicle based on the relationship between the first user's walking distance and the first distance and the second distance includes: A spatial plane is constructed based on the first user's walking distance, the first distance, and the second distance; the spatial plane can be displayed in three dimensions. The first distance difference is calculated by subtracting the first distance from the second distance; Compare the first distance difference with the first user's walking distance and the value 0; Based on the comparison results, the first candidate position direction corresponding to the target vehicle is determined based on the spatial plane; Based on the direction of the first candidate position, the target position corresponding to the target vehicle is determined.

4. The method according to claim 3, characterized in that, The step of determining the first candidate position direction corresponding to the target vehicle based on the comparison result and the spatial plane includes: If the first distance difference is equal to the negative of the first user's walking distance, then the direction of the first candidate position corresponding to the target vehicle is determined as the current user's forward direction; If the first distance difference is greater than the negative of the first user's walking distance and less than 0, then the direction of the first candidate position corresponding to the target vehicle is determined to be either the upper left or the upper right of the current user's forward direction in the spatial plane. If the first distance difference is equal to 0, then the midpoint corresponding to the first user's walking distance is determined; the direction of the first candidate position corresponding to the target vehicle is determined to be either to the left or right of the midpoint. If the first distance difference is greater than 0 and less than the first user's walking distance, then the direction of the first candidate position corresponding to the target vehicle is determined to be either the lower left or the lower right of the current user's forward direction in the spatial plane. If the first distance difference is equal to the first user's walking distance, then the direction of the first candidate position corresponding to the target vehicle is determined to be the opposite of the current user's forward direction.

5. The method according to claim 3, characterized in that, If there are two first candidate location directions, determining the target location corresponding to the target vehicle based on the first candidate location directions includes: Randomly select one from each of the first candidate position directions, and determine the centerline direction corresponding to the selected first candidate position direction as the target candidate position direction; At the fourth moment, the user is guided to walk along the direction of the target candidate position, and the sound wave is sent to the target vehicle again to issue a command; The time when the third sound wave is received is obtained and recorded as the fifth moment; the third sound wave is emitted by the target vehicle after receiving the sound wave command for the third time. At the sixth moment, guide the user to stop walking, calculate the walking distance of the second user, and send the sound wave command to the target vehicle again; The time when the fourth sound wave was received is obtained and recorded as the seventh moment; the fourth sound wave is emitted by the target vehicle after receiving the sound wave command for the fourth time. Based on the fourth and fifth time points, calculate the third distance between the target vehicle and the user; Based on the sixth and seventh moments, calculate the fourth distance between the target vehicle and the user; The target location corresponding to the target vehicle is determined based on the third distance and the fourth distance.

6. The method according to claim 5, characterized in that, Determining the target location corresponding to the target vehicle based on the third distance and the fourth distance includes: A spatial circular plane is constructed based on the second user's walking distance, the third distance, and the fourth distance. The center of the spatial circular plane is the user's position at the fourth moment, and the radius is the second user's walking distance. The second distance difference is calculated by subtracting the third distance from the fourth distance. Compare the second distance difference with 0; Based on the comparison results, the first backup position direction corresponding to the target vehicle is determined; Based on the first backup position direction, the target position corresponding to the target vehicle is determined.

7. The method according to claim 6, characterized in that, The step of determining the first backup position direction corresponding to the target vehicle based on the comparison results includes: If the second distance difference is equal to 0, then based on the spatial circular plane and geometric relationships, the direction of the first backup position is determined in the spatial circular plane; If the second distance difference is greater than 0, then the other first candidate position direction besides the first candidate position direction corresponding to the target candidate position direction is determined as the first backup position direction; If the second distance difference is less than 0, then the first candidate position direction corresponding to the target position direction is determined as the first backup position direction.

8. A sound wave positioning vehicle locator, characterized in that, A terminal device used for communicating with a target vehicle, the device comprising: The transmitting module is used to send sound waves to the target vehicle to issue commands; The acquisition module is used to acquire the time corresponding to the reception of the first sound wave as the first moment; the first sound wave is emitted by the target vehicle after receiving the instruction to emit the sound wave; The first determining module is used to determine the initial position and direction corresponding to the target vehicle; The guidance module is used to guide the user to walk based on the initial position direction at the first moment, and to calculate the walking distance of the first user at the second moment, wherein the second moment is a preset time after the first moment; The second determining module is used to determine the target location corresponding to the target vehicle based on the walking distance of the first user.

9. A terminal device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the acoustic vehicle location method according to any one of claims 1 to 7.

10. A sound wave positioning vehicle locator system, characterized in that, The acoustic positioning vehicle locator system includes a target vehicle, a terminal device as described in any one of claims 1-7, and a car key corresponding to the target vehicle, wherein the target vehicle is communicatively connected to the terminal device, and: The terminal device is used to send sound waves to the target vehicle to issue commands; The target vehicle is configured to emit a first sound wave after receiving the instruction from the sound wave. The car key is used to receive the first sound wave, determine the time of receiving the first sound wave as the first time, and transmit the first moment of receiving the first sound wave to the terminal device. The terminal device is used to determine the initial position and direction corresponding to the target vehicle; The terminal device is used to guide the user to walk based on the initial position direction at the first moment, and to calculate the walking distance of the first user at the second moment, wherein the second moment is a preset time after the first moment. The terminal device is used to determine the target location corresponding to the target vehicle based on the walking distance of the first user.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the acoustic positioning vehicle locating method according to any one of claims 1 to 7.

12. A computer program product, characterized in that, Includes computer instructions, said computer instructions being used to cause a computer to execute the acoustic positioning vehicle locating method according to any one of claims 1 to 8.

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