| CPC G01S 5/0284 (2013.01) [G01S 5/0072 (2013.01); G01S 5/0226 (2013.01); G01S 5/14 (2013.01)] | 20 Claims |
|
1. A vehicle positioning method applied to vehicles each provided with a vehicle positioning apparatus, a vehicle positioning apparatus including a controller and at least four beacon nodes coupled thereto, and at least each of four corners of a vehicle being provided with one beacon node thereon, wherein
the vehicle positioning method is used to determine a position of a second vehicle relative to a first vehicle; the controller of the vehicle positioning apparatus provided on the first vehicle is a first controller, and the at least four beacon nodes of the vehicle positioning apparatus provided on the first vehicle are at least four first beacon nodes; and the controller of the vehicle positioning apparatus provided on the second vehicle is a second controller, and the at least four beacon nodes of the vehicle positioning apparatus provided on the second vehicle are at least four second beacon nodes; and
the vehicle positioning method comprises:
synchronously controlling, by the first controller, each of the at least four first beacon nodes to send a corresponding detection initial signal every other first preset time when the first controller is in an invitation mode upon being started;
selecting, by the second controller, at least one second beacon node each receiving at least m detection initial signals from all the second beacon nodes as at least one second beacon node to be detected, wherein m is a positive integer greater than or equal to 3;
determining, by the second controller, a target beacon node according to signal parameters of the detection initial signals received by each selected second beacon node to be detected, wherein the signal parameters include at least signal strengths of the detection initial signals;
preprocessing, by the second controller, the detection initial signals received by the target beacon node;
controlling, by the second controller, the target beacon node to send a detection feedback signal, so that the second controller is in a second detection mode;
determining, by the first controller, that at least m first beacon nodes receive the detection feedback signal, so that the first controller is in a first detection mode in response to the detection feedback signal;
synchronously controlling, by the first controller, each of the at least four first beacon nodes to send a corresponding detection signal to be responded according to a preset rule;
recording, by the first controller, a first moment when each of the at least four first beacon nodes sends the corresponding detection signal to be responded;
taking, by the first controller, each of the at least m first beacon nodes receiving the detection feedback signal as a test first beacon node;
controlling, by the second controller, the target beacon node to send a detection response signal corresponding to each test first beacon node according to a preprocessing result of the detection initial signals and detection signals to be responded received by the target beacon node based on the preset rule;
recording, by the first controller, a second moment when each test first beacon node receives the corresponding detection response signal; and
determining, by the first controller, a distance between each test first beacon node and the target beacon node according to the first moment and the second moment that are corresponding to each test first beacon node, so as to determine a position of the target beacon node relative to the first vehicle.
|