Positioning method, positioning system, vehicle, and storage medium

Abstract

A positioning method, a positioning system, a vehicle, and a storage medium. The vehicle comprises a positioning system. The positioning system is configured to execute a positioning method. When a computer instruction on a storage medium is executed by a processor, the positioning method is implemented. The positioning method comprises: receiving an optical signal from each of at least one second wireless communication device, and then determining a position range of a mobile tag on the basis of the optical signal and position information of each second wireless communication device.

Description

Positioning methods, positioning systems and vehicles, storage media

[0001] This application claims priority to Chinese Patent Application No. 202410706983.4, filed on May 31, 2024, entitled "Positioning Method, Positioning System and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of vehicle communication technology, and more specifically, to a positioning method, a positioning system, a vehicle, and a storage medium. Background Technology

[0003] In vehicle-to-everything (V2X) positioning technology, wireless communication technology can be used to locate mobile devices such as mobile phones. For example, Ultra Wide Band (UWB) positioning technology uses a wired connection between the UWB device and the anchor antenna. In this method, when the anchor antenna is far away from the UWB device, the signal transmission loss is large, or when there are many anchor points installed on the vehicle, UWB is susceptible to interference and has low stability. Therefore, the accuracy of mobile tag positioning using this method is also low. Summary of the Invention

[0004] This application provides a positioning method, positioning system, vehicle, and storage medium. The first wireless communication device realizes low-loss transmission of the mobile tag's communication signal through optical communication, which enables the communication signal to resist electromagnetic interference, reduce transmission loss, improve the stability of the communication signal transmission, and thus improve the accuracy of the mobile tag positioning.

[0005] In a first aspect, this application provides a positioning method applied to a first wireless communication device in a vehicle, the method comprising:

[0006] Receive optical signals from each of at least one second wireless communication device, wherein each optical signal is used to indicate a communication signal between the corresponding second wireless communication device and the mobile tag; and

[0007] The location range of the mobile tag is determined based on the optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device.

[0008] In some implementations, the optical signal is transmitted through an optical communication link between a first wireless communication device and a second wireless communication device, the optical communication link including wireless communication or wired communication.

[0009] In some implementations, the optical signal uniquely identifies the location information of the second wireless communication device that transmitted the optical signal through its own optical emission band; and

[0010] The first wireless communication device includes at least one optical communication receiver, and at least one optical receiving band of the at least one optical communication receiver corresponds one-to-one with at least one optical transmitting band of the at least one second wireless communication device.

[0011] In some implementations, the second wireless communication device includes at least two, and the optical signals of the at least two second wireless communication devices are simultaneously received by at least two corresponding optical communication receiving devices in the first wireless communication device.

[0012] In some implementations, the optical signal is formed by coupling the communication signal and the power supply DC signal of the second wireless communication device.

[0013] In some implementations, the optical signal carries angle information when the second wireless communication device receives the communication signal. The location range of the mobile tag is determined based on the optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including:

[0014] The location range of the mobile tag is determined based on the angle information corresponding to each optical signal and the location information of the second wireless communication device.

[0015] In some implementations, at least one second wireless communication device includes a location range that refers to the angular direction in which the mobile tag is located according to the angular information.

[0016] In some implementations, at least one second wireless communication device includes at least two, and the location range refers to the position where the mobile tag is located at the intersection of at least two angles corresponding to at least two angle information.

[0017] In some implementations, the angle information carried by the optical signal is obtained through the following processing:

[0018] Converting optical signals into electrical signals; and

[0019] Demodulate the electrical signal to obtain the angle information carried by the optical signal.

[0020] In some implementations, the optical signal carries time information about when the second wireless communication device receives the communication signal. The location range of the mobile tag is determined based on at least one optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including:

[0021] The location range of the mobile tag is determined based on the time information corresponding to each optical signal and the location information of the second wireless communication device.

[0022] In some implementations, at least one second wireless communication device includes a location range that refers to the mobile tag being located within a circular area formed by the location information and time information of the second wireless communication device.

[0023] In some implementations, at least one second wireless communication device includes at least two, and the location range refers to the location of the mobile tag at the intersection of at least two circles formed by at least two time information and the location information of at least two second wireless communication devices.

[0024] In some implementations, the optical signal carries time and angle information of the communication signal received by the second wireless communication device. The location range of the mobile tag is determined based on at least one optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including:

[0025] The location of the mobile tag is determined based on the time information, angle information, and location information of the second wireless communication device corresponding to each optical signal.

[0026] In some implementations, before receiving optical signals from each of the at least one second wireless communication device, the method further includes:

[0027] Receive authentication request messages from mobile tags;

[0028] In response to the authentication request message, verify that the mobile tag's identity is in an approved state; and

[0029] Activate the second wireless communication device.

[0030] In some implementations, the authentication request message is transmitted via at least one of Bluetooth or a wireless network.

[0031] Secondly, this application provides a positioning method applied to a second wireless communication device in a vehicle, the method comprising:

[0032] Receive communication signals from the mobile tag; and

[0033] The communication signal is converted into an optical signal and sent to the first wireless communication device. The optical signal is associated with the position of the mobile tag relative to the vehicle.

[0034] In some implementations, the optical signal is transmitted through an optical communication link between a first wireless communication device and a second wireless communication device, the optical communication link including wireless communication or wired communication.

[0035] In some implementations, the optical signal uniquely identifies the location information of the second wireless communication device through its own optical emission band.

[0036] In some implementations, communication signals are converted into optical signals, including:

[0037] Acquire the DC power signal of the second wireless communication device; and

[0038] Optical signals are obtained by coupling communication signals and DC power signals.

[0039] Thirdly, this application provides a positioning system including a first wireless communication device and at least one second wireless communication device. The first wireless communication device includes at least one optical communication receiver. The first wireless communication device is used to perform the steps of any method of the first aspect, and the second wireless communication device is used to perform the steps of any method of the second aspect.

[0040] Fourthly, this application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of any one of the methods of the first aspect or the second aspect.

[0041] Fifthly, this application provides a vehicle including the positioning system as described in the third aspect.

[0042] As can be seen, in a possible implementation of this application, the first wireless communication device first receives optical signals from each of the at least one second wireless communication device; secondly, it determines the location range of the mobile tag based on the optical signals corresponding to the at least one second wireless communication device and the location information of each second wireless communication device; since each optical signal is used to indicate the communication signal between the second wireless communication device corresponding to the optical signal and the mobile tag, compared with transmitting UWB signals by using an electronic switch time-division connection between the UWB device and the anchor antenna, in this application, the first wireless communication device establishes an optical communication link with at least one second wireless communication device through optical communication to transmit the communication signal of the mobile tag, so that the communication signal can resist electromagnetic interference, reduce transmission loss, improve the stability of communication signal transmission, and thus improve the accuracy of mobile tag positioning. Attached Figure Description

[0043] Figure 1 is a schematic diagram of the positioning system structure provided by some implementation methods of this application;

[0044] Figure 2 is a schematic diagram of the structure of an optical communication transmitting device provided in some implementations of this application;

[0045] Figure 3 is a schematic diagram of the structure of an optical communication receiving device provided in some implementations of this application;

[0046] Figure 4 is a flowchart illustrating one positioning method provided by some implementations of this application;

[0047] Figure 5 is an example diagram of a positioning method provided by some implementation methods of this application;

[0048] Figures 6a and 6b are schematic diagrams of angle positioning algorithms provided by some implementation methods of this application;

[0049] Figures 7a-7c are schematic diagrams of distance positioning algorithms provided by some implementation methods of this application;

[0050] Figure 8 is a flowchart of another positioning method provided by some implementations of this application;

[0051] Figure 9 is a functional block diagram of a positioning device provided in some implementations of this application;

[0052] Figure 10 is a functional block diagram of another positioning device provided by some implementations of this application;

[0053] Figure 11 is a schematic diagram of the structure of a server provided by some implementation methods of this application. Detailed Implementation

[0054] Please refer to Figure 1, which is a schematic diagram of the positioning system structure provided by a possible implementation of this application. As shown in Figure 1, the positioning system includes at least one first wireless communication device 11 and at least one second wireless communication device 12. The first wireless communication device 11 and the second wireless communication device 12 communicate through an optical communication link 13.

[0055] Specifically, the first wireless communication device 11 consists of at least one optical communication receiver 1102 and a main control device 1101. The second wireless communication device 12 includes at least one optical communication transmitter 1201 and multiple anchor antennas 1202 connected thereto. The second wireless communication device 12 is arranged in a suitable area of ​​the vehicle body, so that the signal receiving area of ​​the multiple anchor antennas 1202 covers a preset area around and / or inside the vehicle.

[0056] The anchor antenna 1202 is used to capture the communication signal emitted by the mobile tag and send the communication signal to the optical communication transmitter 1201.

[0057] In one possible example, the mobile tag is a UWB tag, and the communication signal is a UWB pulse signal. Currently, mobile tags can also be other types of tags.

[0058] The optical communication transmitter 1201 is used to convert communication signals into optical signals and send the optical signals to the main control device 1101. The structure of the optical communication transmitter 1201 is shown in Figure 2. The optical communication transmitter 1201 includes an optical signal transmitter 32 and a driving circuit 33. When the driving circuit 33 receives the communication signal from the anchor antenna 1202, it obtains the DC power supply signal of the optical communication transmitter 1201, and couples the communication signal and the DC power supply signal into an optical signal through the driving circuit 33, and sends it to the first wireless communication device 11 through the optical signal transmitter 32. In addition, the optical signals synthesized by different second wireless communication devices 12 have different bands, and the bands of any two optical signals are different.

[0059] The optical signal is transmitted to the first wireless communication device 11 via the optical communication link 13, including both wired and wireless methods. The wireless method can reduce wiring complexity and cost.

[0060] As shown in Figure 3, the positioning system also includes a photodetector 14. The wavelength of the photodetector 14 corresponds to that of the optical communication receiver 1102. The photodetector 14 is used to detect optical signals of different wavelengths and send the optical signals to the corresponding optical communication receiver 1102. After receiving the optical signal, the optical communication receiver 1102 processes the optical signal to obtain an electrical signal and sends the electrical signal to the main control device 1101.

[0061] The main control device 1101 receives electrical signals from the optical communication receiving device 1102 and demodulates the electrical signals to obtain various information carried by the optical signals. Based on the various information carried by the optical signals and the acquired location information of the second wireless communication device 12, the position range of the mobile tag relative to the vehicle is determined.

[0062] The first wireless communication device 11 further includes a third wireless communication device 1103, which is used to acquire the authentication request message sent by the mobile tag. The first wireless communication device 11 verifies the authentication request message, and when the verification is successful, wakes up the second wireless communication device 12. In one possible example, the third wireless communication device 1103 can be a Bluetooth Low Energy (BLE) device or a WiFi device.

[0063] Based on the structure of the positioning system, the method provided in this application is described in detail.

[0064] Please refer to Figure 4, which is a flowchart illustrating a possible implementation of the positioning method provided in this application. As shown in Figure 4, the method is applied to a first wireless communication device in a vehicle, and the method includes:

[0065] Step 401: Receive optical signals from each of the at least one second wireless communication device.

[0066] Each optical signal is used to indicate the communication signal between the second wireless communication device corresponding to that optical signal and the mobile tag.

[0067] As shown in Figure 2, each second wireless communication device has an optical signal transmitter, and each optical signal transmitter emits a different wavelength. Therefore, the position of the second wireless communication device can be associated with the optical emission wavelength. The first wireless communication device can then determine which second wireless communication device the received optical signal comes from and the position of the second wireless communication device based on the optical signal wavelength emitted by each second wireless communication device and the association relationship, thus accurately calibrating the second wireless communication device.

[0068] Step 402: Determine the location range of the mobile tag based on the optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device.

[0069] Please refer to Figure 5, which is an example diagram of a positioning method provided by a possible implementation of this application. As shown in Figure 5, four second wireless communication devices are distributed around the vehicle body, namely second wireless communication device A1, second wireless communication device A2, second wireless communication device A3, and second wireless communication device A4. Second wireless communication devices A1, A2, and A4 receive communication signals from the mobile tag 15, convert the communication signals into optical signals 51, 52, and 54, respectively, and send each optical signal to the first wireless communication device. The first wireless communication device starts ranging and positioning based on the received optical signals and the determined position of the second wireless communication device, and finally determines the position of the mobile tag 15 relative to the current vehicle 10.

[0070] It should be noted that the anchor antenna that detects the communication signal is not limited to that shown in Figure 5, and the judgment should be made based on the detection results in the actual scenario.

[0071] In one possible example, the optical signal is transmitted through an optical communication link between a first wireless communication device and a second wireless communication device, the optical communication link including wireless communication or wired communication.

[0072] For wireless communication, compared to transmitting UWB signals between UWB devices and anchor antennas via a CAN bus, using wireless optical communication effectively reduces wiring complexity. For wired communication, using optical communication can reduce wiring costs.

[0073] As can be seen, in this example, the connection between the first wireless communication device and the second wireless communication device is achieved through optical communication. Using wireless communication can effectively reduce wiring complexity, while using wired communication can reduce wiring costs.

[0074] In one possible example, the optical signal uniquely identifies the location information of the second wireless communication device that sends the optical signal through its own optical emission band; the first wireless communication device includes at least one optical communication receiver, and at least one optical receiving band of the at least one optical communication receiver corresponds one-to-one with at least one optical emission band of the at least one second wireless communication device.

[0075] As can be seen, in this example, matching the optical receiving band of the optical communication receiver with the optical transmitting band of the optical communication transmitter of the second wireless communication device simplifies the anchor point calibration mechanism and improves the accuracy of calibrating the second wireless communication device.

[0076] In one possible example, the second wireless communication device includes at least two, and the optical signals of the at least two second wireless communication devices are simultaneously received by at least two corresponding optical communication receivers in the first wireless communication device.

[0077] As can be seen, in this example, the introduction of a multi-channel optical communication receiver enables synchronous connection between the second wireless communication device and the first wireless communication device, thereby improving signal processing efficiency.

[0078] In one possible example, the optical signal is formed by coupling a communication signal and a DC power supply signal from a second wireless communication device.

[0079] In the optical communication transmitting device shown in Figure 2, the driving circuit couples the communication signal and the power supply DC signal together, so that the optical signal changes with the change of the communication signal and the power supply DC signal.

[0080] As can be seen, in this example, the communication signal and the DC power supply signal are coupled to the optical signal transmitter, which conforms to the characteristics of optical communication intensity modulation, making signal processing simple and convenient.

[0081] In one possible example, the optical signal carries the angle information when the second wireless communication device receives the communication signal. Determining the location range of the mobile tag based on the optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device includes: determining the location range of the mobile tag based on the angle information corresponding to each optical signal and the location information of the second wireless communication device.

[0082] The optical signal carries angle information of the communication signal received by the second wireless communication device, which is the angle of the mobile tag relative to the vehicle.

[0083] As can be seen in this example, the location range of the mobile tag can be obtained based on the position and angle information of the second wireless communication device.

[0084] In one possible example, at least one second wireless communication device includes a location range that refers to the angular direction in which the mobile tag is located according to the angular information.

[0085] When there is only one second wireless communication device, as shown in Figure 6a, when only the second wireless communication device A2 is installed on the vehicle body, the second wireless communication device A2 receives the communication signal from the mobile tag. The direction of travel of the vehicle 10 can be used as the horizontal coordinate system, the angle of the mobile tag relative to the vehicle 10 is α2, and the mobile tag is located on ray L2.

[0086] In one possible example, at least one second wireless communication device includes at least two, and the location range refers to the location where the mobile tag is located at the intersection of at least two angles corresponding to at least two angle information.

[0087] When there are two or more second wireless communication devices, as shown in Figure 6b, taking the presence of two second wireless communication devices as an example, the first second wireless communication device A1 and the second second wireless communication device A2 receive communication signals from the mobile tag 15. The angle between the communication signal reaching the first second wireless communication device A1 and the horizontal coordinate system is α1, so a ray L1 can be drawn; the angle between the communication signal reaching the second wireless communication device A2 and the horizontal coordinate system is α2, so a ray L2 can be drawn. The intersection point M of L1 and L2 is the position of the mobile tag 15.

[0088] As can be seen, in this example, the specific location of the mobile tag 15 can be determined by using the location information of at least two second wireless communication devices and the angle information of the communication signal reaching the second wireless communication device.

[0089] In one possible example, the angle information carried by the optical signal is obtained by the following process: converting the optical signal into an electrical signal; demodulating the electrical signal to obtain the angle information carried by the optical signal.

[0090] As shown in Figure 3, the optical communication receiving device 14 is a photodetector used to receive optical signals of the same wavelength as the photodetector. After receiving the optical signal, the optical communication receiving device 1102 converts the optical signal into an electrical signal through photoelectric conversion.

[0091] As can be seen, in this example, by converting the optical signal into an electrical signal to obtain the angle information contained in the optical signal, the first wireless communication device can further analyze and calculate the electrical signal to obtain the position of the mobile tag relative to the current vehicle. At the same time, the transmission through the optical communication link makes the transmitted signal resistant to electromagnetic interference, with low transmission loss, and improves the stability of the signal.

[0092] In one possible example, the optical signal carries the time information of when the second wireless communication device receives the communication signal. Determining the location range of the mobile tag based on at least one optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device includes: determining the location range of the mobile tag based on the time information corresponding to each optical signal and the location information of the second wireless communication device.

[0093] The propagation speed of the communication signal can be obtained based on the type of communication signal, and the distance between the mobile tag and the second wireless communication device can be calculated based on the time information and the speed information of the communication signal.

[0094] Specifically, based on the location of the second wireless communication device, a circle is drawn with that location as the center and the distance as the radius, and the moving tag is located on the boundary line of the circle.

[0095] As can be seen in this example, the location range of the mobile tag can be determined by using time information and the location information of the second wireless communication device.

[0096] In one possible example, at least one second wireless communication device includes a location range that refers to the mobile tag being located within a circular area formed by the location information and time information of the second wireless communication device.

[0097] When there is only one second wireless communication device, as shown in Figure 7a, when the vehicle 10 includes only the second wireless communication device A4, the second wireless communication device A4 receives the communication signal from the mobile tag and converts it into an optical signal and transmits it to the first wireless communication device. The optical signal carries the time information of the second wireless communication device receiving the communication signal. The propagation distance d4 of the communication signal is calculated based on the time information. The mobile tag is located within the circle with the position of the second wireless communication device A4 as the center and the propagation distance d4 as the radius.

[0098] It is evident that when vehicle 10 is equipped with only one second wireless communication device, the range of the mobile tag can be determined by the time information when the second wireless communication device receives the communication signal.

[0099] In one possible example, at least one second wireless communication device includes at least two, and the location range refers to the location where the mobile tag is located at the intersection of at least two circles formed by at least two time information and the location information of at least two second wireless communication devices.

[0100] When there are two second wireless communication devices (see Figure 7b), and the vehicle 10 includes a second wireless communication device A1 and a second wireless communication device A4, the communication signal received by the second wireless communication device A1 includes time information. Based on the time information, the distance between the mobile tag and the second wireless communication device A1 is calculated as d1. The communication signal received by the second wireless communication device A4 also includes time information. Based on the time information, the distance between the mobile tag and the second wireless communication device A4 is calculated as d4. Circles are drawn with the positions of the second wireless communication devices A1 and A4 as centers and their respective distances d1 and d4 as radii. The intersection points M1 and M2 of the two circles represent the possible positions of the mobile tag.

[0101] When there are three second wireless communication devices (see Figure 7c), and the vehicle 10 includes second wireless communication devices A1, A4, and A2, the communication signal received by second wireless communication device A1 includes time information. Based on this time information, the distance between the mobile tag and second wireless communication device A1 is calculated as d1. The communication signal received by second wireless communication device A4 includes time information. Based on this time information, the distance between the mobile tag and second wireless communication device A4 is calculated as d4. The communication signal received by second wireless communication device A2 includes time information. Based on this time information, the distance between the mobile tag and second wireless communication device A2 is calculated as d2. A circle is drawn with the positions of second wireless communication devices A1, A4, and A2 as centers and their respective distances d1, d4, and d2 as radii. The intersection point M of the three circles is the actual position of the mobile tag.

[0102] As can be seen, in this example, when the optical signal carries the time information of the communication signal received by the second wireless communication device, the location of the mobile tag becomes more detailed as the number of the second wireless communication devices increases. When there are three second wireless communication devices, the specific location of the mobile tag can be accurately determined.

[0103] In one possible example, the optical signal carries the time information and angle information of the communication signal received by the second wireless communication device. The location range of the mobile tag is determined based on at least one optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including: determining the specific location of the mobile tag based on the time information, angle information and location information of each optical signal and the second wireless communication device.

[0104] It is evident that when the second wireless communication device includes at least one device, if the optical signal includes the angle information and time information when the second wireless communication device receives the communication signal, even a single second wireless communication device can accurately determine the location of the mobile tag.

[0105] In one possible example, before receiving a single optical signal from each of at least one of the second wireless communication devices, the method further includes: receiving an authentication request message from the mobile tag; responding to the authentication request message to verify that the mobile tag's identity is in an authenticated state; and activating the second wireless communication device.

[0106] When a mobile tag approaches the vehicle positioning system, the first wireless communication device verifies the identity of the mobile tag based on the received authentication request message. Only if the verification is successful will the second wireless communication device be activated to receive communication signals. This ensures that only authorized tags can communicate with the vehicle positioning system, which helps improve system security and prevents unauthorized tags from accessing the vehicle system.

[0107] As can be seen, in this example, the vehicle positioning system is only activated when the moving tag is close, which can minimize energy consumption and effectively extend the battery life of the vehicle positioning system. In addition, authentication via a third wireless communication device, such as a BLE device or a WiFi device, helps to improve the security of the system and prevent unauthorized tags from accessing the vehicle system.

[0108] In one possible example, the authentication request message is transmitted via at least one of Bluetooth or a wireless network.

[0109] Please refer to Figure 8, which is a flowchart of another positioning method provided by a possible implementation of this application. As shown in Figure 8, the method is applied to the second wireless communication device of a vehicle, and the method includes:

[0110] Step 801: Receive communication signals from the mobile tag.

[0111] Step 802: Convert the communication signal into an optical signal and send the optical signal to the first wireless communication device.

[0112] Among them, the optical signal is associated with the position of the mobile tag relative to the vehicle.

[0113] In one possible example, the optical signal is transmitted through an optical communication link between a first wireless communication device and a second wireless communication device, the optical communication link including wireless communication or wired communication.

[0114] In one possible example, the optical signal uniquely identifies the location information of the second wireless communication device through its own optical emission band.

[0115] In one possible example, converting a communication signal into an optical signal includes: acquiring a DC power supply signal from a second wireless communication device; and coupling the communication signal and the DC power supply signal to obtain an optical signal.

[0116] As can be seen, in this example, the communication signal and the DC power supply signal are coupled to the optical signal transmitter, which conforms to the characteristics of optical communication intensity modulation, making signal processing simple and convenient.

[0117] As can be seen, in a possible implementation of this application, the first wireless communication device first receives optical signals from each of the at least one second wireless communication device; secondly, it determines the location range of the mobile tag based on the optical signals corresponding to the at least one second wireless communication device and the location information of each second wireless communication device; since each optical signal is used to indicate the communication signal between the second wireless communication device corresponding to the optical signal and the mobile tag, compared with transmitting UWB signals by using an electronic switch time-division connection between the UWB device and the anchor antenna, in this application, the first wireless communication device establishes an optical communication link with at least one second wireless communication device through optical communication to transmit the communication signal of the mobile tag, so that the communication signal can resist electromagnetic interference, reduce transmission loss, improve the stability of communication signal transmission, and thus improve the accuracy of mobile tag positioning.

[0118] The above primarily describes the possible implementation schemes of this application from the perspective of the method execution process. It is understood that, in order to implement the above functions, the server includes the corresponding hardware structure and / or software architecture for executing each function. Those skilled in the art should readily recognize that, in conjunction with the functional blocks and algorithm steps described in the examples of the possible implementations provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0119] The possible implementations of this application can be based on the method examples described above, which divide the server into functional blocks. For example, each function can be divided into its own functional blocks, or two or more functions can be integrated into one functional block. These integrated functional blocks can be implemented in hardware or as software instruction functional blocks. It should be noted that the functional block division in the possible implementations of this application is illustrative and represents only a logical functional division; in actual implementation, there may be other division methods.

[0120] In the case of using integrated function blocks, please refer to FIG9, which is a functional block diagram of a positioning device provided in a possible implementation of this application. The device is the same as the first wireless communication device 11 shown in FIG1. ​​The first positioning device 90 includes a receiving function block 901 and a processing function block 902.

[0121] Among them, receiving function block 901 can be a function block used for acquiring data, etc.

[0122] Among them, the processing function block 902 can be a function block used for processing data, etc.

[0123] In some implementations, the first positioning device 90 further includes a transmitting function block, which can be a function block for transmitting data.

[0124] In some implementations, the first positioning device 90 further includes a storage function block for storing computer instructions executed by the first positioning device 90. For example, the storage function block may be a memory.

[0125] It should be noted that the processing function block 902 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, devices, and circuits described in conjunction with the contents of this application. The processing function block 902 can also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0126] In some implementations, the first positioning device 90 may be a chip or a chip module.

[0127] In specific implementation, the first positioning device 90 is used to perform the steps executed by the chip / chip module / server, etc., as in possible implementations of the above method:

[0128] The receiving function block 901 is used to receive optical signals from each of the at least one second wireless communication devices, wherein each optical signal is used to indicate the communication signal between the second wireless communication device corresponding to the optical signal and the mobile tag;

[0129] Processing function block 902 is used to determine the location range of the mobile tag based on the optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device.

[0130] As can be seen, in the possible implementation of this application, the first wireless communication device first receives a single optical signal from each of at least two second wireless communication devices, obtaining at least two optical signals. Then, based on the at least two optical signals and the position information of each second wireless communication device, the position of the UWB tag relative to the vehicle is determined. Since a single optical signal is used to characterize the state of the second wireless communication device transmitting the optical signal receiving the UWB signal from the UWB tag, and a single optical signal uniquely identifies the position information of the second wireless communication device transmitting the optical signal through its own optical emission band, compared to transmitting UWB signals by using a time-division multiplexing electronic switch between the UWB device and the anchor antenna, in this application, the first wireless communication device establishes an optical communication link with at least two second wireless communication devices to transmit the UWB signal via optical communication. This enables the UWB signal to resist electromagnetic interference, reduce transmission loss, improve the stability of UWB signal transmission, and thus improve the accuracy of UWB tag positioning.

[0131] In one possible example, the optical signal is transmitted via an optical communication link between a first wireless communication device and a second wireless communication device, the optical communication link including wireless communication or wired communication.

[0132] In one possible example, the optical signal uniquely identifies the location information of the second wireless communication device that sends the optical signal through its own optical emission band; the first wireless communication device includes at least one optical communication receiver, and at least one optical receiving band of the at least one optical communication receiver corresponds one-to-one with at least one optical emission band of the at least one second wireless communication device.

[0133] In one possible example, the second wireless communication device includes at least two, and the optical signals of the at least two second wireless communication devices are simultaneously received by at least two corresponding optical communication receiving devices in the first wireless communication device.

[0134] In one possible example, the optical signal is formed by coupling a communication signal and a DC power supply signal to a second wireless communication device.

[0135] In one possible example, the optical signal carries the angle information when the second wireless communication device receives the communication signal. The processing function block 902 determines the location range of the mobile tag based on the optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including: determining the location range of the mobile tag based on the angle information corresponding to each optical signal and the location information of the second wireless communication device.

[0136] In one possible example, at least one second wireless communication device includes a location range that refers to the angular direction in which the mobile tag is located according to the angular information.

[0137] In one possible example, at least one second wireless communication device includes at least two, and the location range refers to the position where the mobile tag is located at the intersection of at least two angles corresponding to at least two angle information.

[0138] In one possible example, the processing function block 902 is also used to: convert the optical signal into an electrical signal; and demodulate the electrical signal to obtain the angle information carried by the optical signal.

[0139] In one possible example, the optical signal carries the time information of when the second wireless communication device receives the communication signal. The processing function block 902 determines the location range of the mobile tag based on at least one optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including: determining the location range of the mobile tag based on the time information corresponding to each optical signal and the location information of the second wireless communication device.

[0140] In one possible example, at least one second wireless communication device includes a location range that refers to the mobile tag being located within a circular area formed by the location information and time information of the second wireless communication device.

[0141] In one possible example, at least one second wireless communication device includes at least two, and the location range refers to the location where the mobile tag is located at the intersection of at least two circles formed by at least two time information and the location information of at least two second wireless communication devices.

[0142] In one possible example, the optical signal carries the time information and angle information of the communication signal received by the second wireless communication device. The processing function block 902 determines the location range of the mobile tag based on at least one optical signal corresponding to at least one second wireless communication device and the location information of each second wireless communication device, including: determining the specific location of the mobile tag based on the time information, angle information and location information of each optical signal and the second wireless communication device.

[0143] In one possible example, before receiving a single optical signal from each of the at least one second wireless communication device, the receiving function block 901 is further configured to: receive an authentication request message from the mobile tag;

[0144] The processing function block 902 is also used to: respond to the authentication request message, verify that the identity of the mobile tag is in the pass state; and start the second wireless communication device.

[0145] In one possible example, the authentication request message is transmitted via at least one of Bluetooth or a wireless network.

[0146] Please refer to Figure 10, which is a functional block diagram of another positioning device provided in a possible implementation of this application. The second positioning device 100 is applied in the second wireless communication device shown in Figure 1. The second positioning device 100 includes:

[0147] Receive function block 1001 is used to receive communication signals from the mobile tag;

[0148] Processing function block 1002 is used to convert communication signals into optical signals;

[0149] Transmitting function block 1003 is used to transmit an optical signal to the first wireless communication device, the optical signal being associated with the position of the mobile tag relative to the vehicle.

[0150] In one possible example, the optical signal is transmitted through an optical communication link between a first wireless communication device and a second wireless communication device, the optical communication link including wireless communication or wired communication.

[0151] In one possible example, the optical signal uniquely identifies the location information of the second wireless communication device through its own optical emission band.

[0152] In one possible example, the processing function block 1002 converts the communication signal into an optical signal, including: acquiring the power supply DC signal of the second wireless communication device; and coupling the communication signal and the power supply DC signal to obtain an optical signal.

[0153] It is understood that since the possible implementations of the method and the possible implementations of the device are different manifestations of the same technical concept, the content of the section on possible implementations of the method in this application should be adapted to the section on possible implementations of the device, which will not be repeated here.

[0154] The above-described possible implementations can be implemented, in whole or in part, through software, hardware, firmware, or any other combination thereof. When implemented in software, the above-described possible implementations can be implemented, in whole or in part, in the form of a computer instruction product. A computer instruction product includes one or more computer instructions or computer commands. When the computer instructions or computer commands are loaded or executed on a computer, they generate, in whole or in part, the processes or functions according to the possible implementations of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0155] Please refer to Figure 11, which is a schematic diagram of a server structure provided in a possible implementation of this application. The server 1100 includes a processor 1110, a memory 1120, and a communication bus for connecting the processor 1110 and the memory 1120. The memory 1120 includes, but is not limited to, RAM, ROM, EPROM, or CD-ROM, and is used to store relevant instructions and data. The server 1100 also includes a communication interface for receiving and sending data. The processor 1110 can be one or more central processing units (CPUs). If the processor 1110 is a single-core CPU, it can be a single-core CPU or a multi-core CPU. The processor 1110 can be a baseband chip, a chip, a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 1110 in the server 1100 is used to execute computer instructions 1121 stored in the memory 1120.

[0156] It should be noted that the specific implementation of each operation can adopt the corresponding description of the possible implementation of the method shown above. The server 1100 can be used to execute the terminal device side method of the possible implementation of the method of this application, which will not be described in detail here.

[0157] This application provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of any possible implementation method.

[0158] It should be understood that, in the various possible implementations of this application, the order of the above processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the possible implementations of this application.

[0159] Among the several possible implementations provided in this application, it should be understood that the disclosed methods, apparatus, and systems can be implemented in other ways. For example, the possible implementations of the apparatus described above are illustrative; for example, the division of functional blocks is a logical functional division, and in actual implementation, there may be other division methods; for example, multiple functional blocks or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of apparatus or functional blocks, and may be electrical, mechanical, or other forms.

[0160] The functional blocks described as separate components may or may not be physically separate. The components shown as functional blocks may or may not be functional blocks in the physical sense; that is, they may be located in one place or distributed across multiple network functional blocks. Some or all of the functional blocks can be selected to achieve the purpose of this possible implementation according to actual needs.

[0161] Furthermore, in the various possible implementations of this application, the functional blocks can be integrated into one functional block, or each functional block can be physically comprised separately, or two or more functional blocks can be integrated into one functional block. The integrated functional block can be implemented in hardware or in a combination of hardware and software functional blocks.

[0162] The integrated functional blocks implemented as software functional blocks described above can be stored in a computer-readable storage medium. These software functional blocks, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the various possible implementations of this application. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM), etc., which are various media capable of storing instruction code.

Claims

1. A positioning method applied to a first wireless communication device (11) of a vehicle (10), the method comprising: Receive optical signals from each of at least one second wireless communication device (12), wherein each optical signal is configured to indicate a communication signal between the corresponding second wireless communication device (12) and the mobile tag (15); and The location range of the mobile tag (15) is determined based on the optical signal corresponding to the at least one second wireless communication device (12) and the location information of each second wireless communication device (12).

2. The method according to claim 1, wherein, The optical signal is transmitted through an optical communication link (13) between the first wireless communication device (11) and the second wireless communication device (12), and the optical communication link (13) includes wireless communication or wired communication.

3. The method according to claim 2, wherein, The optical signal uniquely identifies the location information of the second wireless communication device (12) that sent the optical signal through its own optical emission band; and The first wireless communication device (11) includes at least one optical communication receiver (1102), and at least one optical receiving band of the at least one optical communication receiver (1102) corresponds one-to-one with at least one optical transmitting band of the at least one second wireless communication device (12).

4. The method according to claim 3, wherein, The second wireless communication device (12) includes at least two, and the optical signals of at least two of the second wireless communication devices (12) are simultaneously received by at least two corresponding optical communication receivers (1102) in the first wireless communication device (11).

5. The method according to claim 4, wherein, The optical signal is formed by coupling the communication signal and the power DC signal of the second wireless communication device (12).

6. The method according to any one of claims 1-5, wherein, The optical signal carries angle information when the second wireless communication device (12) receives the communication signal. Determining the location range of the mobile tag (15) based on the optical signal corresponding to at least one second wireless communication device (12) and the location information of each second wireless communication device (12) includes: The location range of the mobile tag (15) is determined based on the angle information corresponding to each optical signal and the location information of the second wireless communication device (12).

7. The method according to claim 6, wherein, The at least one second wireless communication device (12) includes one, and the location range refers to the angular direction in which the mobile tag (15) is located corresponding to the angular information.

8. The method according to claim 6, wherein, The at least one second wireless communication device (12) includes at least two, and the location range refers to the position where the mobile tag (15) is located at the intersection of at least two angles corresponding to at least two angle information.

9. The method according to claim 6, wherein, The angle information carried by the optical signal is obtained through the following processing: The optical signal is converted into an electrical signal; and The electrical signal is demodulated to obtain the angle information carried by the optical signal.

10. The method according to any one of claims 1-5, wherein, The optical signal carries time information when the second wireless communication device (12) receives the communication signal. Determining the location range of the mobile tag (15) based on at least one optical signal corresponding to the at least one second wireless communication device (12) and the location information of each second wireless communication device (12) includes: The location range of the mobile tag (15) is determined based on the time information corresponding to each optical signal and the location information of the second wireless communication device (12).

11. The method according to claim 10, wherein, The at least one second wireless communication device (12) includes one, and the location range refers to the circular range in which the mobile tag (15) is located by the location information of the second wireless communication device (12) and the time information.

12. The method according to claim 10, wherein, The at least one second wireless communication device (12) includes at least two, and the location range refers to the location of the mobile tag (15) at the intersection of at least two circles formed by at least two time information and the location information of at least two second wireless communication devices (12).

13. The method according to any one of claims 1-5, wherein, The optical signal carries the time and angle information of the communication signal received by the second wireless communication device (12). Determining the location range of the mobile tag (15) based on at least one optical signal corresponding to the at least one second wireless communication device (12) and the location information of each second wireless communication device (12) includes: The position of the mobile tag (15) is determined based on the time information, angle information, and position information of the second wireless communication device (12) corresponding to each optical signal.

14. The method according to any one of claims 1-13, wherein, Before receiving optical signals from each of at least one of the second wireless communication devices (12), the method further includes: Receive an authentication request message from the mobile tag (15); In response to the authentication request message, verify that the identity of the mobile tag (15) is in an approved state; and The second wireless communication device (12) is activated.

15. The method according to claim 14, wherein, The authentication request message is transmitted via at least one of Bluetooth or wireless network.

16. A positioning method applied to a second wireless communication device (12) of a vehicle (10), the method comprising: Receive communication signals from the mobile tag (15); and The communication signal is converted into an optical signal and transmitted to a first wireless communication device (11), the optical signal being associated with the position of the mobile tag (15) relative to the vehicle (10).

17. The method according to claim 16, wherein, The optical signal is transmitted through an optical communication link (13) between the first wireless communication device (11) and the second wireless communication device (12), and the optical communication link (13) includes wireless communication or wired communication.

18. The method according to claim 17, wherein, The optical signal uniquely identifies the location information of the second wireless communication device (12) through its own optical emission band.

19. The method of claim 16, wherein, The step of converting the communication signal into an optical signal includes: Acquire the DC power signal of the second wireless communication device (12); and The optical signal is obtained by coupling the communication signal and the power supply DC signal.

20. A positioning system, comprising: A first wireless communication device (11) includes at least one optical communication receiver (1102), the first wireless communication device (11) being configured to perform the steps of the method as described in any one of claims 1-15; and At least one second wireless communication device (12) is configured to perform the steps of the method as claimed in any one of claims 16-19.

21. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method as claimed in any one of claims 1-19.

22. A vehicle (10) including the positioning system as claimed in claim 20.

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