Vehicle interaction positioning system, intelligent driving control method, and readable storage medium

Abstract

The present application relates to vehicle positioning, and provides a vehicle interaction positioning system, an intelligent driving control method, and a readable storage medium. The system comprises: an UWB anchor point, at least part of which is arranged on a vehicle lamp module of a vehicle, so as to perform ranging interaction with a field-side UWB base station; an interaction signal module, arranged on the vehicle so as to display and / or project information to be displayed; and a control module, configured to: control the UWB anchor point to perform positioning communication with the field-side UWB base station to acquire location information of the vehicle, and control, on the basis of the location information, the interaction signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle. The present application realizes the positioning accuracy in a low GNSS signal strength application scene on the basis of a UWB function, so as to control intelligent driving of a vehicle, and the cost is low.

Description

Vehicle interactive positioning system, intelligent driving control method and readable storage medium

[0001] Cross-references to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202410497226.0, filed on April 24, 2024, the contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to vehicle positioning, specifically to a vehicle interactive positioning system, an intelligent driving control method, and a readable storage medium. Background Technology

[0004] With the development of the automotive industry, vehicles today are equipped with many intelligent features, such as digital keys, autonomous driving, and automatic parking. These features bring convenience to car owners and increase the technological feel of the vehicles.

[0005] Of course, intelligent features also require specific hardware configurations to realize their functions. For example, the emergence of digital keys has brought about technologies such as UWB (Ultra Wide Band), NFC (Near Field Communication), and BLE (Bluetooth Low Energy); while functions such as autonomous driving and automatic parking require vehicles to be equipped with hardware such as cameras, LiDAR, millimeter-wave radar, and GPS (Global Positioning System).

[0006] However, accurate real-time vehicle positioning is crucial for achieving intelligent driving. Current technologies primarily rely on GNSS (Global Navigation Satellite System) for vehicle positioning. However, when vehicles are in underground parking garages or tunnels, they encounter weak or lost GNSS signals, making positioning impossible. To address this issue, existing technologies offer a positioning method that integrates GNSS with IMU (Inertial Measurement Unit) and SLAM (Simultaneous Localization and Mapping). However, this method places high demands on the vehicle's sensor configuration and is costly. Summary of the Invention

[0007] The technical problem to be solved by this application is to provide a vehicle interactive positioning system, an intelligent driving control method and a readable storage medium, which achieves positioning accuracy in application scenarios with low GNSS signal strength based on UWB function, so as to control the vehicle to perform intelligent driving, and at a low cost.

[0008] To address the aforementioned technical problems, a first aspect of this application provides a vehicle interactive positioning system, comprising: UWB anchor points, at least a portion of which are disposed on the vehicle's headlight module for ranging interaction with a UWB base station; an interactive signal module disposed on the vehicle for displaying and / or projecting information to be displayed; and a control module configured to: control the UWB anchor points to perform positioning communication with the UWB base station to obtain the vehicle's location information, and based on the location information, control the interactive signal module to display and / or project prompt information for prompting the driver and / or other road users around the vehicle.

[0009] In some embodiments, controlling the interactive signal module to display and / or project prompt information based on the location information to alert the driver and / or other road users around the vehicle includes:

[0010] Based on the location information, the vehicle is controlled to enter intelligent driving mode. In response to the vehicle being in intelligent driving mode, the interactive signal module is controlled to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

[0011] In some embodiments, at least two of the plurality of vehicle light modules are provided with the UWB anchor points. In response to the number of vehicle light modules provided with the UWB anchor points being greater than two, the control module is configured to: control two of the plurality of UWB anchor points to perform positioning communication with the field-end UWB base station, determine whether the ranging deviation between the two UWB anchor points exceeds a set value, and if the ranging deviation exceeds the set value, control at least one of the other UWB anchor points to perform redundant positioning.

[0012] In some embodiments, the interactive signal module includes an interactive signal light and / or a projection light, the interactive signal light and / or the projection light being integrated onto the vehicle light module.

[0013] In some embodiments, at least one of the UWB anchor points is located inside the vehicle cabin, and each of the UWB anchor points and the control module is reused in the digital key system.

[0014] A second aspect of this application provides an intelligent driving control method, employing the aforementioned vehicle interactive positioning system, the method comprising:

[0015] S100, Real-time detection of GNSS signal strength;

[0016] S200: In response to the GNSS signal strength being less than a set value, control the UWB anchor point to communicate with the UWB base station at the field terminal to obtain the vehicle's location information;

[0017] S300, at least based on the acquired vehicle location information, control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

[0018] In some embodiments, the intelligent driving control method is applied to a parking lot, and step S300 includes:

[0019] S310. Obtain the available parking space information of the parking lot, allocate available parking spaces nearby according to the current location information of the vehicle, and establish a parking route plan.

[0020] S320. Based on the parking path planning, control the vehicle to perform automatic parking, and control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

[0021] In some embodiments, step S300 further includes:

[0022] S330, In response to the allocation of an available parking space for the vehicle, control the interactive signal module to turn off.

[0023] S340. When an allocated vacant parking space is occupied, repeat steps S310 to S320.

[0024] In some embodiments, it also includes:

[0025] S400: When the vehicle is parked in a parking space, in response to the vehicle being summoned by the owner, an exit route plan is established based on the vehicle's current location information.

[0026] S500: Based on the departure path planning, control the vehicle to automatically leave the site, and control the interactive signal module to display and / or project prompt information to prompt the driver and / or traffic participants around the vehicle.

[0027] S600, in response to the vehicle reaching the destination of the departure path, controls the interaction signal module to shut down.

[0028] In some embodiments, when a vehicle is traveling based on the parking path planning or the departure path planning, it automatically avoids other vehicles in the parking lot based on their travel paths.

[0029] In some embodiments, step S300 includes:

[0030] T310. Obtain a navigation path based on GNSS signals and send the navigation path to the field-end UWB base station and the control module;

[0031] T320: Based on the issued navigation path and the location information obtained by the UWB anchor point and the UWB base station positioning communication, control the vehicle to perform autonomous driving, and control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

[0032] In some embodiments, it also includes:

[0033] S700: In response to the GNSS signal strength being greater than or equal to a set value, the system controls the interactive signal module to shut down and disconnects the communication between the UWB anchor point and the field-end UWB base station, and controls the vehicle to perform intelligent driving based on the first positioning signal.

[0034] A third aspect of this application provides a readable storage medium storing executable instructions that are read by a computer processor to execute the aforementioned intelligent driving control method.

[0035] The beneficial effects of this application through the above scheme are as follows:

[0036] This application places the UWB anchor point on the vehicle's headlight module. The corresponding part of the headlight module has fewer interfering components, thereby effectively reducing signal interference to the UWB anchor point. In scenarios with weak or no GNSS signal, the UWB anchor point can interact and locate with the field-end UWB base station, providing location information for the vehicle's intelligent driving. It also displays and / or projects prompts to traffic participants and / or drivers around the vehicle to remind people in the field to take precautions and improve the safety of intelligent driving.

[0037] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 is a structural block diagram of the vehicle interactive positioning system of this application;

[0040] Figure 2 is a structural schematic diagram of a specific embodiment of the vehicle interactive positioning system of this application;

[0041] Figure 3 is a schematic diagram of the structure of the UWB anchor point;

[0042] Figure 4 is a schematic diagram of the intelligent driving control method of this application in the parking lot AVP application scenario;

[0043] Figure 5 is a schematic diagram of the intelligent driving control method of this application in a tunnel autonomous driving application scenario.

[0044] Figure Label Explanation: 1. Control Module; 2. Headlight Module; 3. UWB Anchor Point; 4. Interaction Signal Module; 5. Field-End UWB Base Station; 6. Cloud Detailed Implementation

[0045] The specific embodiments of this application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of this application, and the scope of protection of this application is not limited to the specific embodiments described below.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "forming," "having," "setting," and "connecting," etc., should be interpreted broadly. For example, a connection can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate connector; it can be the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] In this application, unless otherwise specified, the directional terms "up," "down," "left," and "right" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The directional terms in this application should be understood in conjunction with the actual installation state.

[0048] When a vehicle travels in environments with no or weak GNSS signals, such as parking lots or tunnels, UWB technology can be used to provide the vehicle's location within the parking lot or tunnel, facilitating intelligent driving control. However, existing UWB anchor points on vehicles are located within the cabin (passenger compartment or driver's compartment), which are susceptible to interference from the vehicle's roof panel or A, B, C, and D pillars, resulting in significant uncertainty in positioning accuracy. Furthermore, existing technologies place UWB anchor points on the bumper, which, due to their low height, are easily affected by interference from other vehicles, parking lots, or other objects or buildings that can influence radio frequency signals. Even in indoor environments (such as indoor parking lots), interference from the vehicle's metal components still exists during interaction with the UWB base station.

[0049] In response, the first aspect of this application provides a vehicle interactive positioning system, as shown in Figures 1 and 2, including a UWB anchor point 3, an interactive signal module 4, and a control module 1. At least a portion of the UWB anchor point 3 is disposed on the vehicle's headlight module 2 for ranging interaction with the UWB base station 5. Since the headlight module 2 is largely composed of plastic components, including plastic trim rings, plastic structural parts, and optical projection units / optical module trim rings—all externally unmetallic—multipath reflection of the UWB anchor point 3's antenna can be effectively avoided. Furthermore, the number of sheet metal parts surrounding the headlight module 2 is relatively small, thus minimizing interference to the UWB anchor point 3's antenna. Simultaneously, due to the higher position of the headlight module 2, the UWB anchor point 3 of this application is positioned higher than existing UWB anchor points 3, making it less susceptible to interference from other vehicles. The system effectively avoids signal loss by mitigating human obstruction, providing better positioning performance in scenarios with numerous surrounding interference sources, such as parking lots and tunnels. When the GNSS signal strength is detected to be unstable, lost, or weak, the control module 1 controls the UWB anchor point 3 to communicate with the UWB base station 5 at the field end for positioning. Combined with map data of the vehicle's location, the system obtains the vehicle's location information and controls the vehicle to enter intelligent driving (e.g., autonomous driving, automatic parking) mode based on this location information. When the vehicle is in intelligent driving mode, in order to improve driving safety, the control module 1 controls the interactive signal module 4 installed on the vehicle to display and / or project prompts to the driver and / or other road users around the vehicle, reminding them to take evasive action. These prompts can be image information, text information, or a combination of image and text information.

[0050] Specifically, GNSS includes China's BeiDou Navigation Satellite System (BDS), the United States' Global Positioning System (GPS), Russia's GLONASS, and the European Union's Galileo. This application is not limited to this; positioning signals obtained from other satellite navigation systems may also be considered as GNSS signals in this application.

[0051] In some embodiments, the UWB anchor point 3 is preferably integrated on a plastic component within the headlight module 2. For example, referring to Figure 3, the antenna of the UWB anchor point 3 is integrated on a circuit board inside the headlight module 2. This antenna can be a ceramic antenna or a PCB (printed circuit board) antenna. Alternatively, the antenna of the UWB anchor point 3 can be disposed on the surface of the plastic component. For example, a PCB antenna, ceramic antenna, or FPC antenna can be mounted on the plastic trim ring of the headlight, a visible antenna can be formed on the surface of the plastic component, or a transparent antenna can be disposed on the lens.

[0052] It should be noted that in actual positioning scenarios, interference with the UWB anchor point 3 may still occur. Therefore, the ranging and positioning scheme based on a single UWB anchor point 3 may pose risks in intelligent driving scenarios with high accuracy requirements, such as charging parking spaces and indoor autonomous driving. To address this, in some preferred embodiments of this application, the vehicle is equipped with multiple headlight modules 2, and at least two of these headlight modules 2 are equipped with UWB anchor points 3. Specifically, the headlight modules 2 may include four headlight modules 2 located at the front left, front right, rear left, and rear right of the vehicle, respectively, and at least two of these four headlight modules 2 are equipped with UWB anchor points 3. Furthermore, when the number of headlight modules 2 equipped with UWB anchor points is greater than two, the control module 1 can control two of the multiple UWB anchor points 3 to communicate with the field-end UWB base station 5 for positioning, determine whether the ranging deviation between the two UWB anchor points 3 exceeds a set value, and if the ranging deviation exceeds the set value, control at least one of the other UWB anchor points 3 for redundant positioning.

[0053] Furthermore, each of the four headlight modules 2 is equipped with a UWB anchor point 3, enabling more accurate acquisition of the vehicle's positioning distance. Since the four UWB anchor points 3 are located at the front left, front right, rear left, and rear right positions of the vehicle, they can more accurately acquire the vehicle's direction of travel and attitude. This allows for the use of information from different vehicle attitudes in intelligent driving applications where GNSS signals cannot accurately locate the vehicle for path planning and navigation, thus avoiding potential collision risks. Additionally, to reduce overall system power consumption, as a specific implementation, the control module 1 is configured to control two of the four UWB anchor points 3 to communicate with the field-end UWB base station 5 for positioning. It determines whether the ranging deviation between the two UWB anchor points 3 exceeds a set value (this set value can be a preset value, such as a ranging deviation of 10cm). If the ranging deviation exceeds the set value, it controls one or both of the other two UWB anchor points 3 for redundant positioning. Furthermore, when using three or more UWB anchor points 3 for ranging and positioning, the vehicle's position can be accurately determined by comprehensively comparing the ranging data from multiple UWB anchor points 3, for example, by taking the average value of multiple UWB anchor points 3. If one or more UWB anchor points 3 exhibit significant ranging deviations, these deviations can be removed as errors. It is conceivable that when a UWB anchor point 3 is interfered with, its signal becomes unstable. In this case, the control module 1 can control the inactive UWB anchor points 3 to interact with the field-end UWB base station 5 for ranging, and remove the data from the interfered UWB anchor points 3.

[0054] In some embodiments, the interactive signal module 4 includes interactive signal lights and / or projection lights, which are integrated into the vehicle lighting module 2 to further improve integration. Specifically, the interactive signal lights are signal lights capable of displaying text or image information, such as multi-LED array signal lights or MiniLED signal lights, and the colors of the interactive signal lights can be monochrome, multi-color, or full-color. The projection lights are DLP (Digital Light Processing) headlights, MLA (Micro Lens Array) projection lights, LBS (Laser Beam Scanning) projection lights, or any lights that can project onto the ground or a wall. Furthermore, since the UWB anchor point 3, interactive signal lights, and projection lights are all integrated into the vehicle lighting module 2, their controllers can be integrated together, enabling the controller to simultaneously process UWB positioning signals and interactive lighting control of the lights, effectively improving system processing efficiency and reducing system latency.

[0055] It should be noted that the control module 1 can be an on-board processor or a cloud processor transmitted via network communication. It is used to receive the positioning communication signal between the UWB anchor point 3 and the field-end UWB base station 5, and to process the data to obtain the vehicle's location information. In addition, when performing intelligent driving, it is also necessary to obtain the scene's map information. This map information can be sent directly to the on-board processor via the cloud 6, or the cloud 6 can send it to the on-board processor via the field-end UWB base station 5, so that the vehicle can use the above-mentioned location information and map information to perform positioning and path planning to achieve intelligent driving.

[0056] In some embodiments, at least one UWB anchor point 3 is located inside the vehicle cabin. This UWB anchor point 3 can be used for digital key positioning, thereby detecting whether the digital key is inside the vehicle. Simultaneously, the UWB anchor point 3 located within the headlight module 2 can locate the digital key outside the vehicle, enabling more human-machine interaction functions. For example, the location of the digital key can determine whether the driver is inside the vehicle, ensuring that intelligent driving can only be activated when the driver is inside, thus ensuring driving safety. Furthermore, the control module 1 can process data and signals related to the digital key. Therefore, each UWB anchor point 3 and the control module 1 can be reused in the digital key system. Preferably, the control module 1 can be located in the middle of the vehicle, and the UWB anchor point inside the cabin can also be located there, integrating the UWB anchor point with the control module 1.

[0057] Based on the vehicle interactive positioning system provided in this application, a second aspect of this application provides an intelligent driving control method to achieve intelligent driving of the vehicle in scenarios with no GNSS signal or weak GNSS signal strength (such as indoor parking lots, multi-story parking lots, and tunnels). Specifically, the method includes:

[0058] S100: Real-time detection of GNSS signal strength.

[0059] S200: In response to the GNSS signal strength being less than a set value, the UWB anchor point 3 is controlled to search for the signal of the UWB base station 5 at the field end, so as to be able to communicate with the UWB base station 5 at the field end for positioning. The UWB base station 5 at the field end uses the signal of the UWB anchor point 3 to locate the vehicle, thereby obtaining the vehicle's location information.

[0060] In some embodiments, a positioning communication between the UWB anchor point 3 and the field-end UWB base station 5 can be established in step S200. In other embodiments, the communication connection between the UWB anchor point 3 and the field-end UWB base station 5 can be maintained, and in response to the GNSS signal strength being less than a set value, the vehicle's location information can be obtained based on the communication connection between the UWB anchor point 3 and the field-end UWB base station 5. Many more variations can be implemented in this application, which will not be elaborated here.

[0061] For example, determining the vehicle's location and floor level in a parking lot (in the case of a multi-story parking lot); two positioning algorithms can be preferred to improve positioning accuracy. The first is the AOA (angle of arrival) positioning method. During UWB signal transmission, the UWB base station 5 at the field end receives signals from antenna arrays at different angles and ranges formed by the signal propagation direction. The signals received by different antennas will have a reception time difference, which can be used to correspond to different signal arrival angles. At the same time, the distance is calculated using the time-of-flight method. In some specific embodiments, the UWB anchor points 3 are set in the headlight modules 2 located at the four positions of the vehicle's left front, left rear, right front, and right rear. Therefore, up to four distances and arrival angles can be obtained. One method is to use angular information for precise vehicle positioning and error calibration. Another method is multi-base station positioning, which is based on time-of-flight. This method uses multiple UWB base stations 5 (3 or more) to measure distances and obtains accurate vehicle positioning by measuring the distances from 3 (or more) base stations. In some specific embodiments, UWB anchor points 3 are set in the headlight modules 2 located at the four positions of the vehicle's left front, left rear, right front, and right rear. Each base station can obtain up to 4 distance measurement information, which can be used for precise vehicle positioning and error calibration.

[0062] S300, at least based on the acquired vehicle location information, controls the interactive signal module to display and / or project information to prompt the driver and / or other road users around the vehicle.

[0063] Specifically, the display parameters of the displayed and / or projected prompt information can be related to the location information obtained based on UWB anchor points 3. In some embodiments, the display parameters of the displayed and / or projected prompt information can be related to the number of UWB anchor points 3 involved in obtaining the location information. For example, the transparency of the prompt information is inversely related to the number of UWB anchor points 3 involved in obtaining the location information; and / or the brightness of the prompt information is positively related to the number of UWB anchor points 3 involved in obtaining the location information. Thus, the number of UWB anchor points 3 involved in obtaining the location information can be clearly determined through the display parameters of the prompt information, thereby indirectly knowing the positioning accuracy and precision of the location information. In other embodiments, the display parameters of the displayed and / or projected prompt information can be related to the ranging deviation of the UWB anchor points 3. For example, the transparency of the prompt information is positively related to the ranging deviation of the UWB anchor points 3; and / or the brightness of the prompt information is inversely related to the ranging deviation of the UWB anchor points 3. Thus, the positioning accuracy and precision of the location information obtained based on the UWB anchor points 3 can be intuitively understood through the display parameters of the prompt information.

[0064] In some embodiments, referring to Figure 4, this intelligent control method can be applied to a parking lot to achieve AVP (Automated Valet Parking) for vehicles. Specifically, referring to Figure 4, step S300 includes:

[0065] In step S310, the cloud-based system 6 sends the parking lot map information to the field-end UWB base station 5 and control module 1 to obtain information on available parking spaces. Based on the current location information of the vehicles, it allocates nearby available parking spaces and establishes parking route planning. During this route planning process, it can obtain the location information and driving paths of other vehicles in the parking lot, thereby automatically avoiding the paths of other vehicles in the AVP environment to prevent collisions. Furthermore, the execution entity for step S310 can be either the cloud-based system 6, the field-end system where the field-end UWB base station 5 is located, or the vehicle-side system.

[0066] S320. Based on the parking path planning, control the vehicle to perform automatic parking, and control the interactive signal module 4 to display and / or project prompt information to alert road users around the vehicle. This prompt information can be generated and updated according to the parking path planning, and can display the AVP's driving status and navigation direction information in real time to remind road users around the vehicle to pay attention and avoid the vehicle.

[0067] It should be noted that during the automatic parking process, the vehicle needs to exchange information in real time with the UWB base station 5 at the field terminal through the UWB anchor point 3 to update and determine the specific location of the vehicle and other vehicles, as well as to obtain the driving paths of other vehicles in the parking lot in real time for automatic avoidance.

[0068] S330, in response to the vehicle parking in an allocated vacant parking space, control the interactive signal module 4 to turn off.

[0069] S340. During the process of driving to an available parking space, the parking space may be occupied in advance. Therefore, it is necessary to detect the available parking space in real time. In response to the allocated available parking space being occupied, repeat steps S310 to S320 to reallocate the available parking space.

[0070] In some embodiments, referring to Figure 4, the intelligent control method can be applied to intelligent driving control methods on normal driving road sections (tunnels, overpasses, mountainous areas, etc.) to achieve autonomous driving of vehicles on roads with no GNSS signals or weak GNSS signal strength. Referring to Figure 5, specifically, step S300 may include:

[0071] T310. Obtain the navigation path based on the GNSS signal. The cloud 6 then sends the navigation path to the field-end UWB base station 5 and the control module 1. Alternatively, the entity executing this step S310 can be either the cloud 6 or the field-end or vehicle-end where the field-end UWB base station 5 is located.

[0072] T320, based on the issued navigation path and the location information obtained by the UWB anchor point 3 and the UWB base station 5 at the field end, controls the vehicle to continue the original navigation path for autonomous driving, and controls the interactive signal module 4 to display and / or project prompt information for traffic participants around the vehicle. The prompt information can display the driving status of autonomous driving and the navigation direction to remind traffic participants around the vehicle to pay attention and avoid the vehicle.

[0073] In some specific embodiments, the display content and display parameters of the interactive signal module 4 for displaying and / or projecting prompts to traffic participants around the vehicle can be adjusted according to actual needs.

[0074] In some specific embodiments, the prompt information may also include GNSS driving instruction information generated based on GNSS signal location information and navigation path (e.g., information on driving status and navigation direction), and UWB driving instruction information generated based on location information obtained through positioning communication between UWB anchor point 3 and the UWB base station 5 at the field end (e.g., information on driving status and navigation direction). GNSS driving instruction information and UWB driving instruction information can be displayed with different display parameters. For example, different colors and different transparency can be used to display and / or project the GNSS driving instruction information together. When the real-time detected GNSS signal strength is greater than or equal to a set value, the displayed and / or projected GNSS driving instruction information can be directly retained, or the display parameters of the GNSS driving instruction information and the UWB driving instruction information can be exchanged, and the UWB driving instruction information can be gradually hidden. In yet other embodiments, the display parameters of the GNSS driving instruction information are updated according to the GNSS signal strength. For example, the transparency of GNSS driving guidance information is inversely correlated with GNSS signal strength; and / or the brightness of GNSS driving guidance information is positively correlated with GNSS signal strength. This is to indicate to the driver and / or other road users around the vehicle the possibility that the vehicle may be traveling along the navigation path of the GNSS signal positioning information, so that the displayed and / or projected guidance image does not change suddenly and significantly, so that the driver and / or other road users around the vehicle have enough time to react.

[0075] In some specific embodiments, during the autonomous driving process of the vehicle, it is necessary to exchange information in real time with the UWB base station 5 at the field end through the UWB anchor point 3, so as to update and determine the specific position of the vehicle and other vehicles, and obtain the driving path of other vehicles on the road in real time, so as to automatically avoid or overtake.

[0076] In some embodiments, when a vehicle in a parking space is recalled by its owner, the intelligent driving method of this application may further include the following steps:

[0077] S400. When the vehicle is parked in the parking space, in response to the vehicle being called by the owner, the control module 1 uploads the call signal to the cloud 6. The cloud 6 sends the parking lot navigation information to the UWB base station 5 and the control module 1 to update the parking space status information and establish an exit route plan based on the vehicle's current location information.

[0078] S500: Based on the departure path planning, control the vehicle to automatically leave the site, and control the interactive signal module 4 to display and / or project prompts for the driver and / or traffic participants around the vehicle.

[0079] S600, in response to the vehicle reaching the destination of the departure path, control the interactive signal module 4 to shut down.

[0080] It should be noted that during the departure route planning and automatic vehicle departure process, real-time information exchange is required between UWB anchor point 3 and UWB base station 5 at the site. This updates and determines the specific locations of the vehicle and other vehicles, and obtains the driving paths of other vehicles in the parking lot in real time for automatic avoidance.

[0081] S700. During the autonomous driving process based on UWB signals, it is also necessary to detect the GNSS signal strength in real time. In response to the GNSS signal strength being greater than or equal to a set value, the interactive signal module 4 is controlled to shut down, the communication between the UWB anchor point 3 and the field-end UWB base station 5 is disconnected, and the vehicle is controlled again for intelligent driving (autonomous driving, AVP, etc.) based on GNSS signals.

[0082] A third aspect of this application provides a readable storage medium storing executable instructions that are read by a computer to execute the intelligent driving control method provided in the second aspect of this application.

[0083] The present application, through the above technical solution, has the following beneficial effects:

[0084] 1. By integrating the UWB anchor point 3 into the vehicle headlight module 2, the interference from surrounding sheet metal parts to UWB is reduced, thereby enabling accurate vehicle positioning in scenarios with poor GNSS signals such as indoor parking lots, multi-story parking lots, and tunnels. This optimizes the signal interference problem between the existing UWB anchor point 3 in the cabin and the field-end UWB base station 5, and also reduces the requirements for sensors, effectively controlling costs.

[0085] 2. In an indoor environment, by utilizing the UWB anchor point 3 integrated in the vehicle light module 2 to communicate with the UWB base station, efficient parking path planning in the AVP environment is obtained, and the vehicle's travel route is acquired. Through interactive lighting, basic information such as the vehicle's direction of travel, AVP driving status, and target parking space is transmitted to pedestrians and human drivers, improving driving safety in scenarios where pedestrians and human-driven vehicles share the road.

[0086] 3. For AVP vehicles that also use UWB positioning, potential collisions can be avoided by sharing coordinates, while also optimizing the rationality of parking space allocation;

[0087] 4. The interactive signal module 4 (interactive signal light, projection light) and UWB anchor point 3 are both integrated into the vehicle light module 2, which enables the integrated design of its controller. This allows the controller to process UWB positioning signals and interactive lighting control of the lights, effectively improving system processing efficiency and reducing system latency.

[0088] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0090] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0091] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0092] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0093] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0094] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data.

[0095] Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated data signals and carrier waves.

[0096] It should be noted that the flowcharts and step numbers shown in the accompanying drawings are merely illustrative and do not necessarily include all steps. For example, some steps may be broken down, while others may be combined or partially combined. Therefore, the actual execution order may change depending on the specific circumstances. The addition, merging, reduction, and changes in the execution order of steps are all within the scope of protection of this application.

[0097] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0098] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle interactive positioning system, characterized in that, include: UWB anchor points, at least some of which are located on the vehicle's headlight module, for use in ranging interaction with the field-end UWB base station; An interactive signal module, which is installed on the vehicle, is used to display and / or project information to be displayed; The control module is configured to: control the UWB anchor point to communicate with the field-end UWB base station to obtain the vehicle's location information, and control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle based on the location information.

2. The vehicle interactive positioning system according to claim 1, characterized in that, The provision of information displayed and / or projected by the interactive signal module based on the location information to alert the driver and / or other road users around the vehicle includes: Based on the location information, the vehicle is controlled to enter intelligent driving mode. In response to the vehicle being in intelligent driving mode, the interactive signal module is controlled to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

3. The vehicle interactive positioning system according to claim 1, characterized in that, At least two of the plurality of vehicle light modules are provided with the UWB anchor points. In response to the fact that the number of vehicle light modules with the UWB anchor points is greater than two, the control module is configured to: control two of the plurality of UWB anchor points to perform positioning communication with the field-end UWB base station, determine whether the ranging deviation between the two UWB anchor points exceeds a set value, and if the ranging deviation exceeds the set value, control at least one of the other UWB anchor points to perform redundant positioning.

4. The vehicle interactive positioning system according to claim 1, characterized in that, The interactive signal module includes interactive signal lights and / or projection lights, which are integrated into the vehicle light module.

5. The vehicle interactive positioning system according to claim 1, characterized in that, At least one of the UWB anchor points is located inside the vehicle cabin, and each of the UWB anchor points and the control module is reused in the digital key system.

6. An intelligent driving control method, characterized in that, The vehicle interactive positioning system according to any one of claims 1-5, the method comprising: S100, Real-time detection of GNSS signal strength; S200: In response to the GNSS signal strength being less than a set value, control the UWB anchor point to communicate with the UWB base station at the field terminal to obtain the vehicle's location information; S300, at least based on the acquired vehicle location information, control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

7. The intelligent driving control method according to claim 6, characterized in that, The intelligent driving control method is applied to a parking lot, and step S300 includes: S310. Obtain the available parking space information of the parking lot, allocate available parking spaces nearby according to the current location information of the vehicle, and establish a parking route plan. S320. Based on the parking path planning, control the vehicle to perform automatic parking, and control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

8. The intelligent driving control method according to claim 7, characterized in that, Step S300 also includes: S330, In response to the vehicle parking into an allocated vacant parking space, control the interactive signal module to turn off; S340. When an allocated vacant parking space is occupied, repeat steps S310 to S320.

9. The intelligent driving control method according to claim 6, characterized in that, Also includes: S400: When the vehicle is parked in a parking space, in response to the vehicle being summoned by the owner, an exit route plan is established based on the vehicle's current location information. S500: Based on the departure path planning, control the vehicle to automatically leave the site, and control the interactive signal module to display and / or project prompt information to prompt the driver and / or traffic participants around the vehicle. S600, in response to the vehicle reaching the destination of the departure path, controls the interaction signal module to shut down.

10. The intelligent driving control method according to any one of claims 6-9, characterized in that, When a vehicle is traveling based on the parking path plan or the departure path plan, it automatically avoids other vehicles in the parking lot by following their travel paths.

11. The intelligent driving control method according to claim 6, characterized in that, Step S300 includes: T310. Obtain a navigation path based on GNSS signals and send the navigation path to the field-end UWB base station and the control module; T320: Based on the issued navigation path and the location information obtained by the UWB anchor point and the UWB base station positioning communication, control the vehicle to perform autonomous driving, and control the interactive signal module to display and / or project prompt information for prompting the driver and / or traffic participants around the vehicle.

12. The intelligent driving control method according to claim 6, characterized in that, Also includes: S700: In response to the GNSS signal strength being greater than or equal to a set value, the system controls the interactive signal module to shut down and disconnects the communication between the UWB anchor point and the field-end UWB base station, and controls the vehicle to perform intelligent driving based on the first positioning signal.

13. A readable storage medium, characterized in that, The readable storage medium stores executable instructions that are read by a computer processor to perform the intelligent driving control method according to any one of claims 6 to 12.

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