WO2018137362A1 - 一种定位方法及设备 - Google Patents

一种定位方法及设备 Download PDF

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Publication number
WO2018137362A1
WO2018137362A1 PCT/CN2017/106094 CN2017106094W WO2018137362A1 WO 2018137362 A1 WO2018137362 A1 WO 2018137362A1 CN 2017106094 W CN2017106094 W CN 2017106094W WO 2018137362 A1 WO2018137362 A1 WO 2018137362A1
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WO
WIPO (PCT)
Prior art keywords
target object
position information
sensor
absolute
absolute position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/106094
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English (en)
French (fr)
Inventor
刘亚林
李辉
钱湘江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP17894410.4A priority Critical patent/EP3565283B1/en
Priority to JP2019539216A priority patent/JP6919863B2/ja
Priority to KR1020197024067A priority patent/KR102226022B1/ko
Publication of WO2018137362A1 publication Critical patent/WO2018137362A1/zh
Priority to US16/519,890 priority patent/US10812941B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H04W4/08—User group management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • the present application relates to the field of communications technologies, and in particular, to a positioning method and device.
  • Auto-driving means that the vehicle can travel safely in any scene and at any time. Any scene includes tunnels, mountains, bridges, elevated roads and other special driving environments.
  • the most critical technology for achieving automatic driving is positioning technology. High-precision positioning technology is the basis for ensuring safe driving of vehicles.
  • an in-vehicle terminal in a vehicle determines its position by receiving a Global Positioning System (GPS) signal.
  • GPS Global Positioning System
  • the technology adopts the following technical solutions for positioning. Specifically, a high-precision map having landform features is pre-stored in the vehicle-mounted terminal, wherein the high-precision map provides the buildings surrounding the road in addition to the necessary road information.
  • a 3D image of a fixed object such as a marker and high-precision position information the vehicle-mounted terminal scans the surrounding environment through a 64-line laser radar to obtain a 3D image, and the 3D image obtained by the vehicle-mounted terminal through the comparison scan and the high-precision map stored in advance. Determine the location information of the vehicle.
  • the embodiment of the present application provides a positioning method and device for improving operability of positioning when there is no GPS signal.
  • a positioning method comprising:
  • the first device uses the sensor to detect the target object that is detected within the range that the sensor can detect; when the sensor detects any target object, the first device performs: determining the first device according to the detection signal when the sensor detects the target object Relative position information of the target object, wherein each target object is provided with a second device having a communication function; and determining absolute position information of the target object according to the relative position information and the pre-stored absolute position information of the first device Finally, the absolute location information of the target object is sent to the second device configured on the target object through the wireless network.
  • the first device is capable of determining absolute position information of the target object according to the absolute position information of the first device stored in advance and the detection signal of the target object detected by the sensor, and can be configured to the target object through the wireless network.
  • the second device sends the absolute location information of the target object determined by the first device, so that the second device can perform positioning on the target object according to the absolute location information of the target object sent by the first device, which solves the problem in the prior art.
  • the target object cannot be located, and compared with the prior art, by scanning the object around the target object and comparing with the preset high-precision map, the target object is compared. It is easy to implement, improves the operability of positioning, and can improve the positioning accuracy of the target object by improving the accuracy of the sensor.
  • the sensor is a camera or a camera; the first device uses a sensor to acquire an object identifier attached to the target object, and configures the target object on the wireless network through the wireless network.
  • the second device sends the acquired target identifier and the absolute location information of the target object; or the first device uses the sensor to acquire the target identifier attached to the target object, and identifies the target identifier from the second device Determining, by the identified correspondence list, the identity of the second device corresponding to the target identifier; the first device sending the target to the second device configured on the target object by using the wireless network according to the determined identity of the second device Absolute position information of the object.
  • the first device Since the target identifier corresponds to the absolute position of the target object, the first device is prevented from reducing the absolute position information sent by the first device to the second device and the target object configuring the second device when determining the plurality of absolute position information. The possibility of mismatch.
  • a possible implementation manner of the first device transmitting the target identifier and the absolute location information of the target object to the second device configured on the target object by using the wireless network is:
  • the first device broadcasts a data packet through the wireless network, where the data packet includes a correspondence between the target object identifier of each target object detected by the first device using the sensor and the absolute position information of each target object; or
  • the first device broadcasts a data packet through the wireless network, and the data packet includes a correspondence between the identity of the second device of each target object detected by the first device using the sensor and the absolute location information of each target object.
  • the senor is loaded onto the first device, or the sensor is connected to the first device by way of wireless or wired.
  • a possible implementation manner is that the target object is a vehicle and the target object is identified as a license plate number.
  • a positioning method comprising:
  • the second device having the communication function configured on the first target object receives the absolute position information of the first target object sent by the at least one first device by using the wireless network, and the absolute position information of the first target object sent by the at least one first device is Determining, by the at least one first device, the detection signal of the first target object by the sensor;
  • the second device determines positioning information of the first target object according to the absolute position information of the first target object sent by the at least one first device.
  • the second device is capable of realizing the positioning of the target object according to the absolute position information of the target object sent by the first device, which solves the problem that the target object cannot be located when there is no GPS signal in the prior art, and the prior art
  • the object around the target object is compared with the preset high-precision map, which is easy to implement, improves the operability of the positioning, and can improve the target object by improving the accuracy of the sensor. positioning accuracy.
  • the senor is a camera or a camera
  • the second device receives at least one data packet through the wireless network, wherein each data packet is separately broadcast by a first device, and each data packet includes a target identifier of each target object detected by the first device using the sensor. Corresponding relationship with absolute position information of each target object; determining absolute position information of the first target object as absolute position information corresponding to the target object identifier of the first target object in at least one data packet; or
  • the second device receives at least one data packet through the wireless network, where each data packet is separately broadcast by a first device, and each data packet includes a communication device where each target object detected by the first device using the sensor is located. Corresponding relationship between the identity identifier and the absolute location information of each target object; determining the absolute location information of the first target object is absolute location information corresponding to the identity of the second device in the at least one data packet.
  • the absolute location information of the target object configuring the second device is found from the respective correspondences included in the data packet by the second device based on the target identifier or the identity of the second device, the accuracy of the positioning is improved.
  • the senor is loaded onto the first device, or the sensor is connected to the first device by way of wireless or wired.
  • the first target object is a vehicle
  • the first target object is identified as a license plate number.
  • the second device determines that the location information of the first target object is an absolute location information in the absolute location information of the first target object that is sent by the at least one first device; or ,
  • the second device determines that the positioning information of the first target object is an average value of absolute position information of the at least one first target object transmitted by the at least one first device.
  • a positioning method including:
  • the communication device configured to move the target object detects the identity of the at least one fixed object appearing in the mobile environment by the sensor loaded on the moving target object during movement of the moving target object, and determines the moving target object and at least one by the sensor
  • the relative position information of the fixed object; and the absolute position information corresponding to the identity of the at least one fixed object is determined from the correspondence between the preset fixed object identity and the absolute position information according to the identity of the at least one fixed object; Then, based on the absolute position information of the at least one fixed object and the relative position information of the moving target object and the at least one fixed object, the positioning information of the moving target object is estimated.
  • a positioning method including:
  • the second device having the communication function configured to the first target object receives the absolute position information of the at least one target object through the wireless network, and the absolute position information of the at least one target object is Determining, by the sensor, the detection signal of the at least one target object; and then determining at least one first relative position information, each of the at least one first relative position information being absolute of the at least one target object Relative position information between two absolute position information in the position information; and determining at least one second relative position information, each of the at least one second relative position information, according to the detection signal when the sensor detects the at least one target object
  • the relative position information is relative position information of the first target object and one of the at least one target object; and the absolute position information of the at least one target object by matching the at least one first relative position information and the at least one second relative position information Determined to be first Absolute position information of the object mark; Finally, according to the determined absolute position information belonging to the first target object, determining the first location information of the target object.
  • a fifth aspect provides a first device, including: a processing unit and a transceiver unit; wherein
  • Each of the target objects is configured with a second device having a communication function, and the transceiver unit is configured to send the absolute position information of the target object to the second device configured on the target object through the wireless network.
  • the senor is a camera or a camera
  • the processing unit is further configured to control the sensor to acquire the target identifier attached to the target object, and the transceiver unit is configured to send the acquired target identifier and the target object to the second device configured on the target object through the wireless network.
  • Absolute location information or
  • the processing unit is further configured to control the sensor to acquire the target identifier attached to the target object, and determine a second corresponding to the target identifier from the preset relationship identifier between the preset target identifier and the identifier of the second device.
  • the sending and receiving unit is configured to send, according to the determined identity of the second device, the absolute location information of the target object to the second device configured on the target object by using a wireless network.
  • the transceiver unit is specifically configured to broadcast a data packet by using a wireless network, where the data packet includes a target identifier of each target object detected by the first device using the sensor. Correspondence of absolute position information of each target object; or
  • the data packet includes a correspondence between the identity of the second device on each target object detected by the first device using the sensor and the absolute position information of each target object.
  • a possible implementation manner is that the sensor is loaded onto the first device, or the sensor is connected to the first device by way of wireless or wired.
  • a possible implementation manner is that the target object is a vehicle and the target object is identified as a license plate number.
  • a second device includes: a transceiver unit and a processing unit, where the second device is configured to the first target object;
  • a transceiver unit configured to receive, by using a wireless network, absolute location information of the first target object sent by the at least one first device, where the absolute location information of the first target object sent by the at least one first device is detected by the at least one first device according to the sensor The detection signal of the first target object is determined;
  • a processing unit configured to determine positioning information of the first target object according to the absolute position information of the first target object sent by the at least one first device.
  • the senor is a camera or a camera
  • the transceiver unit is specifically configured to receive at least one data packet through the wireless network, where each data packet is separately broadcast by a first device, and each data packet includes a target of each target object detected by the first device using the sensor. Correspondence between the object identifier and the absolute position information of each target object;
  • the processing unit is specifically configured to determine absolute position information of the first target object as absolute position information corresponding to the target identifier of the first target object in the at least one data packet.
  • the senor is a camera or a camera
  • the transceiver unit is specifically configured to receive at least one data packet by using a wireless network, where each data packet is separately broadcast by a first device, where each data packet includes each target object detected by the first device using the sensor.
  • the processing unit is specifically configured to determine that the absolute location information of the first target object is the communication device of the at least one data packet that is the same as the identity of the second device Absolute location information corresponding to the identity.
  • a possible implementation manner is that the sensor is loaded onto the first device, or the sensor is connected to the first device by way of wireless or wired.
  • a possible implementation manner is that the first target object is a vehicle, and the first target object is identified as a license plate number.
  • a possible implementation manner is that the processing unit is specifically configured to determine that the positioning information of the first target object is an absolute position in the absolute position information of the first target object that is sent by the at least one first device. Information; or,
  • a communication device includes: a processing unit and a transceiver unit, and the communication device is configured to move the target object;
  • a transceiver unit configured to receive, by the sensor loaded on the moving target object, an identity of at least one fixed object that occurs in the detected moving environment when detecting at least one fixed object appearing in the mobile environment, And relative position information of the moving target object and the at least one fixed object;
  • a processing unit configured to determine, according to the identity of the at least one fixed object, absolute position information corresponding to the identity of the at least one fixed object from the correspondence between the preset fixed object identity and the absolute location information; and according to at least The absolute position information of a fixed object and the relative position information of the moving target object and the at least one fixed object respectively, and the positioning information of the moving target object is estimated.
  • a second device includes: a transceiver unit and a processing unit, and the second device is configured to have a communication function on the first target object;
  • the transceiver unit is configured to receive absolute position information of the at least one target object for each of the at least one first device, and the absolute position information of the at least one target object is that the first device detects the detection of the at least one target object according to the sensor Signal determined;
  • a processing unit configured to respectively determine at least one first relative position information, wherein each of the at least one first relative position information is between two absolute position information in absolute position information of the at least one target object Relative position information; and determining at least one second relative position information according to the detection signal when the sensor detects the at least one target object, wherein each of the second relative position information of the at least one second relative position information is the first target object and the at least one Relative position information of a target object in the target object; then determining absolute position information belonging to the first target object from absolute position information of the at least one target object by matching the at least one first relative position information and the at least one second relative position information; The positioning information of the first target object is determined according to the determined absolute position information belonging to the first target object.
  • FIG. 1 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an application scenario of an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a first device according to an embodiment of the present application.
  • FIG. 5b is a schematic structural diagram of hardware of a first device according to an embodiment of the present application.
  • 6a is a schematic structural diagram of a second device according to an embodiment of the present application.
  • 6b is a schematic structural diagram of hardware of a second device according to an embodiment of the present application.
  • FIG. 7a is a schematic structural diagram of a communication device according to an embodiment of the present application.
  • 7b is a schematic structural diagram of hardware of a communication device according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a second device according to an embodiment of the present application.
  • FIG. 8b is a schematic structural diagram of hardware of a second device according to an embodiment of the present application.
  • the embodiments of the present application can be applied to scenes such as vehicle positioning, pedestrian positioning, and obstacle location in a transportation system, and can also be applied to a scene in which a robot locates an indoor or outdoor target object.
  • the positioning manner is similar to the manner of positioning the vehicle in the scenario applied to the traffic system, and is no longer one by one. Narration.
  • the first device is capable of determining absolute position information of the target object according to the absolute position information of the first device stored in advance and the detection signal of the target object detected by the sensor, and can be configured to the target object through the wireless network.
  • the second device sends the absolute location information of the target object determined by the first device, so that the second device can perform positioning on the target object according to the absolute location information of the target object sent by the first device, which solves the problem in the prior art.
  • the problem of not being able to locate the target object is easier to implement than the prior art by aligning the object around the target object with a preset high-precision map. The practicality is improved, and the positioning accuracy of the target object can be improved by improving the accuracy of the sensor.
  • the positioning method in the embodiment of the present application includes:
  • the first device uses a sensor to detect a target object that appears within a range detectable by the sensor;
  • the first device performs step 100 to step 130 when the sensor detects any target object:
  • Step 100 The first device determines relative position information of the first device and the target object according to the detection signal when the sensor detects the target object, where each target object is configured with a second device having a communication function.
  • Step 110 The first device determines absolute location information of the target object according to the relative location information and the pre-stored absolute location information of the first device.
  • Step 120 The first device sends the absolute location information of the target object to the second device configured on the target object by using a wireless network.
  • Step 130 The second device receives the absolute location information of the first target object sent by the at least one first device by using the wireless network, where the target object where the second device is located is the first target object, where the absolute location information of the first target object One of the absolute information of the target location determined for the at least one first device.
  • Step 140 The second device determines positioning information of the first target object according to the absolute position information of the first target object sent by the at least one first device.
  • the wireless network may be a mobile data network provided by an operator, such as a network system such as Long Term Evolution (LTE), or a Wireless Local Area Networks (WLAN).
  • LTE Long Term Evolution
  • WLAN Wireless Local Area Networks
  • each of the first devices may be bound to one sensor, or multiple sensors may be bound.
  • the sensor may be a camera, a camera, or a laser radar. Sensing equipment such as millimeter radar.
  • the specific first device may be configured to be sent to the first device, and the detection signal may be sent to the first device by using a wireless or wired manner.
  • the first device is a device having a communication function.
  • the sensor T1, the sensor T2, and the sensor T3 are cameras, wherein the sensor T1, the sensor T2, and the sensor T3 are respectively fixed on a fixed object, wherein the fixed object may be a utility pole, or a certain building, etc.
  • the vehicle C1, vehicle C2, vehicle C3, and vehicle C4 are target objects
  • a second device having a communication function is respectively disposed on the vehicle C1, the vehicle C2, the vehicle C3, and the vehicle C4, wherein the second device may be a smart terminal device, such as Cars, smartphones, laptops, PDAs, tablets, etc.
  • T1 Taking T1 as an example, if T1 is configured on the first device 1, since T1 can detect a limited range, if T1 is capable of If only C1, C2, and C3 can be detected in the detected range, then T1 sends the captured C1, C2, and C3 image information to the first device 1 after capturing C1, C2, and C3, and the detection signal is detected. Image information of C1, C2, and C3 captured for T1.
  • the first device 1 determines the relative position information of the first device 1 and C1, the relative position information of the first device 1 and C2, and the relative position of the first device 1 and C3, respectively, according to the image information of C1, C2, and C3 captured by T1.
  • Location information wherein the absolute location information of the first device 1 is pre-measured and stored in the first device 1, such as the absolute location information of the first device 1 is (x1, y1, z1), and x1 is used to indicate the first device
  • the longitude where 1 is located, y1 is used to indicate the latitude of the first device 1, and z1 is used to indicate the height at which the first device 1 is located; then the first device 1 can pass the relative position information with C1 and the absolute position of the first device 1.
  • the information determines the absolute position information of C1, determines the absolute position information of C2 by the relative position information with C2 and the absolute position information of the first device 1, and determines the C3 by the relative position information with C3 and the absolute position information of the first device 1.
  • Absolute position information then the first device 1 transmits the absolute position information of C1 to the second device 1 configured to C1, and transmits the absolute position information of C2 to the second device 2 configured to C1, which will be C3 Absolute location information transmission Go to the second device 3 configured on C3.
  • T2 is configured on the first device 2
  • T3 is configured on the first device 3. If T2 can detect C1, C2, C3, and C4 within a detectable range, T3 can be detected within a range that can be detected.
  • C2, C3, and C4 are detected, the manner in which the first device 2 determines the absolute position information of C1, C2, C3, and C4, and the manner in which the first device 3 determines the absolute position information of C2, C3, and C4, respectively, and the first The manner in which the device 1 determines the absolute position information of C1, C2, and C3 is similar, and details are not described herein again.
  • the first device 2 transmits the absolute location information of C1 to the second device 1 configured on the C1
  • the first device 2 The manner in which the device 2 transmits the absolute location information of C3 to the second device 3 configured on C3 and the manner in which the first device 2 transmits the C4 absolute location information to the second device 4 configured on C4, and the first device 3 is configured in the direction
  • the second device 3 is disposed on the C4.
  • the manner in which the device 4 transmits the absolute location information of the C4 the manner in which the first device 1 transmits the absolute location information of the C2 to the second device 2 configured on the C2, and the first device 1 sends the C3 to the second device 3 configured on the C3.
  • the manner of the absolute location information is similar to the manner in which the first device 1 transmits the absolute location information of C1 to the first device 1 configured on C1, and the first device 1 transmits C1 to the first device 1 configured on C1.
  • the method of absolute position information is taken as an example Shao.
  • the first device 1 obtains the target identifier attached to the C1 through T1.
  • a specific alternative implementation manner is that the first device 1 obtains the C1 attached from the image information of C1, C2, and C3 detected by T1.
  • the target object is identified, and the target device identifier and the absolute position information of C1 are transmitted to the second device 1 configured on C1 through the wireless network.
  • the target object identifier may be the license plate number.
  • the second device 1 determines the absolute position information of the received absolute position information as C1 by the target identifier.
  • a possible implementation manner in which the first device 1 sends the absolute location information of the C1 to the second device 1 by using the target identifier is: the first device 1 can send the correspondence between the target identifier and the absolute location information of the C1 to the intelligent traffic. The system, and then the intelligent transportation system finds the identity of the second device 1 from the correspondence between the pre-stored target identifier and the identity of the second device according to the target identifier, and according to the identity of the second device 1 to the second The device 1 sends the absolute location information of the C1.
  • the identity identifier can be a network identifier, such as a mobile phone number, and a user equipment ID (UE_ID) can be used to indicate the second device 1.
  • UE_ID user equipment ID
  • the identity can also be a network address, such as a media access control address (Media Access Control Address, MAC Address), Internet Protocol Address (IP Address), etc., through this transmission mode, the second device 1 can directly receive the absolute location information of C1 without receiving the absolute location information except C1.
  • Absolute position information of other target objects another possible implementation manner in which the first device 1 transmits the absolute position information of C1 to the second device 1 by the target device identification is: the first device 1 broadcasts a data packet through the wireless network.
  • the data packet includes a correspondence between the target identifier of C1 and the absolute location information of C1.
  • the first device 1 can determine the absolute position information of C1, C2, and C3, respectively, the first device 1 can set the correspondence between the target identifier of C1 and the absolute position information of C1, and the target of C2.
  • the correspondence between the object identifier and the absolute position information of C2, and the correspondence between the object identifier of C3 and the absolute position information of C3 are encapsulated into one data packet for broadcast, and the target identifier of C1 and the absolute position of C1 may be respectively respectively.
  • the correspondence between the information, the correspondence between the target identifier of C2 and the absolute position information of C2, and the correspondence between the target identifier of C3 and the absolute position information of C3 are encapsulated into three data packets for broadcast.
  • the second device 1 determines the absolute location information of C1 corresponding to the target identifier of C1 from the correspondence relationship included in the data packet.
  • a third possible implementation manner in which the first device 1 sends the absolute location information of the C1 to the second device 1 by using the target identifier is: the correspondence between the target identifier and the identity of the second device is pre-stored in the first device 1 The first device 1 determines the identity of the second device 1 from the correspondence between the target identifier and the identifier of the second device, and then the first device 1 sends the identifier to the second device 1 according to the target identifier of the C1.
  • the absolute position information of C1 can directly transmit the absolute position information of C1 to the second device 1 without using the intelligent transportation system.
  • a fourth possible implementation manner in which the first device 1 sends the absolute location information of the C1 to the second device 1 by using the target identifier is: the correspondence between the target identifier and the identifier of the second device is pre-stored in the first device 1 The first device 1 determines the identity of the second device 1 from the correspondence between the target identifier and the identity of the second device, and then broadcasts a data packet, which is included in the data packet, according to the target identifier of the C1. Correspondence between the identity of the second device 1 and the absolute location information of C1.
  • the first device 1 can determine the absolute position information of C1, C2, and C3, respectively, the first device 1 can associate the correspondence between the target identifier of C1 and the absolute position information of C1, the target identifier of C2, and the absolute of C2.
  • the correspondence between the location information and the correspondence between the target identifier of C3 and the absolute location information of C3 is encapsulated into one data packet for broadcast, and the correspondence between the target identifier of C1 and the absolute location information of C1, C2, respectively.
  • the correspondence between the target identifier and the absolute position information of C2, and the correspondence between the target identifier of C3 and the absolute position information of C3 are encapsulated into three data packets for broadcast.
  • the second device 1 determines the absolute location information of C1 corresponding to the target identifier of C1 from the correspondence relationship included in the data packet.
  • the driver's ID number can be obtained through the driver's appearance image information, thereby based on the driver's ID number. Obtaining the identity of the second device.
  • the target identifier when the target object is a vehicle, the target identifier may be external characteristic information of the vehicle, such as the brand, color, old and new of the vehicle, in addition to the license plate number.
  • the first device can determine the identity of the second device by:
  • the first device determines the identity of the second device in the wireless network by using the wireless signal sent by the second device.
  • the wireless signal may be a cell switching signal, a reference signal, or the like.
  • the first device acquires the cell handover signal, and extracts the identity identifier of the second device from the handover signal.
  • the first device acquires the reference signal of the second device, and refers to the reference The identity of the second device is extracted from the signal.
  • the first device and the target may be determined by transmitting a laser or other signal to the target object, and then measuring the signal sent by the sensor after returning to the target object.
  • the sensor is usually configured on the first device. In the embodiment of the present application, the number of sensors configured on the first device is not limited.
  • the second device 1 since the first device 1 and the first device 2 are both capable of determining the absolute position information of C1, the second device 1 receives the absolute position information and the first at least the C1 that can be received by the first device 1 is received.
  • the second device 1 may select one absolute location information from the received absolute location information of the C1 sent by the first device 1 and the first device 2 as the positioning information of C1, in order to make the positioning information more accurate, the second device
  • the locating information of the C1 can be determined as the average value of the absolute position information of the C1 sent by the first device 1 and the first device 2.
  • other algorithms for calculating the position in the prior art are also applicable to the present application, which is not limited herein.
  • the first device may further upload the determined absolute position information of the target object to the intelligent transportation system, or the second device uploads the positioning information of the target object to the intelligent transportation system, and the intelligent transportation system records the absolute position information of the target object. In order to facilitate staff to understand the traffic situation in a timely manner.
  • the positioning method in the embodiment of the present application includes:
  • Step 300 The communication device configured to move the target object detects the identity of at least one fixed object appearing in the mobile environment by the sensor loaded on the moving target object during moving of the moving target object, and determines the moving target object by the sensor Relative position information with at least one fixed object.
  • Step 301 The communication device determines absolute location information corresponding to the identity identifier of the at least one fixed object from the correspondence between the preset fixed object identity and the absolute location information according to the identity identifier of the at least one fixed object.
  • Step 302 The communication device estimates the positioning information of the moving target object according to the absolute position information of the at least one fixed object and the relative position information of the moving target object and the at least one fixed object respectively.
  • the communication device in the embodiment of the present application may be a communication device such as a smart phone, a radio station, a notebook computer, a tablet computer, etc.
  • the fixed object may be a fixed object such as a building or a tree.
  • the identity of the fixed object is pre-configured on the fixed object, and the identity of the fixed object may be the name of the building, the digital identifier of the tree configuration, etc., wherein the identity of the fixed object corresponds to the absolute position information of the fixed object. And the absolute position information of the fixed object is measured in advance.
  • the senor is a sensor, such as a camera, a camera, or the like, that can identify a fixed object identification and can determine relative position information of the target object and the fixed object based on the detection signal of the fixed object detected by the sensor.
  • the sensor may further include a first sensing module and a second sensing module, wherein the first sensing module is configured to acquire a fixed object identity, and the second sensing module is configured to acquire a detection signal.
  • the target object may be a vehicle, a pedestrian, or the like.
  • the correspondence between the preset fixed object identity and the absolute location information may be stored in advance in the mobile device, or may be stored in advance in the intelligent transportation system.
  • the communication device may send the acquired identity of the fixed object to the intelligent transportation system, and the intelligent transportation system will determine the The absolute location information corresponding to the identity of the fixed object is sent to the communication device.
  • the communication device estimates the positioning information of the moving target object according to the absolute position information of the at least one fixed object and the relative position information of the moving target object and the at least one fixed object respectively. Specifically, the communication device first The absolute position information of the fixed object, the relative position information of the moving target object and the fixed object, the absolute position information of the at least one moving target object are determined, and then the positioning information of the moving target object is estimated according to the absolute position information of the at least one target object. Determining, according to the absolute position information of the at least one target object, a manner of estimating the positioning information of the moving target object, and determining, by the second device in FIG. 1 according to the absolute position information of the first target object sent by the at least one first device, determining the second device The manner of locating information is similar, and will not be described here.
  • the communication device may be installed on each fixed object, and the communication device with the known location broadcasts the correspondence between the identifier of each fixed object and the absolute location information through the wireless network.
  • the communication device acquires the correspondence between the identification of the fixed objects and the absolute position information through signals in the wireless network.
  • the intelligent transportation system can also be uploaded to facilitate real-time understanding of the traffic condition on the road.
  • the positioning method of the embodiment of the present application includes:
  • the first device uses a sensor to detect a target object that appears within a range detectable by the sensor;
  • the first device performs step 400 to step 410 for any one of the at least one target object when the sensor detects the at least one target object:
  • Step 400 The first device determines relative position information of the first device and the target object according to the detection signal when the target object is detected by the sensor, where each target object is configured with a second device having a communication function.
  • Step 410 The first device determines absolute location information of the target object according to the relative location information and the pre-stored absolute location information of the first device.
  • Step 420 The first device sends the absolute location information of each target object to the second device configured on each target object through the wireless network.
  • Step 430 For each first device in the at least one first device, the second device configured to have a communication function on the first target object receives absolute position information of the at least one target object through the wireless network, and the absolute position of the at least one target object The information is determined by the first device based on the detection signal of the at least one target object detected by the sensor.
  • Step 440 The second device respectively determines at least one first relative location information, where each first relative location information in the at least one first relative location information is between two absolute location information in absolute location information of the at least one target object Relative location information.
  • Step 450 The second device determines, according to the detection signal when the sensor detects the at least one target object, the at least one second relative position information, where each second relative position information of the at least one second relative position information is the first target object and at least Relative position information of a target object in a target object.
  • Step 460 The second device determines absolute position information belonging to the first target object from the absolute position information of the at least one target object by matching the at least one first relative position information and the at least one second relative position information.
  • Step 470 The second device determines positioning information of the first target object according to the determined absolute position information belonging to the first target object.
  • the first device does not need to acquire the identity of the second device, and only needs to send the determined at least one absolute location information to the second device by means of a wireless network broadcast.
  • the second device 1 receives the absolute location information 1, the absolute location information 2, and the absolute location information 3 sent by the first device 1, and determines the first relative location information 1, the first relative location information 2, and the first relative location information, respectively.
  • the first relative position information 2 is the difference between the absolute position information 1 and the absolute position information 3
  • the first relative position information 3 is an absolute position.
  • the difference between the information 2 and the absolute position information 3 assuming that the absolute position information 1 is (x1, y1, z1) and the absolute position information 2 is (x2, y2, z2), the first relative position information 1 is (x1-x2).
  • absolute position information 1, absolute position information 2, and absolute position information 3 have absolute position information as absolute position information of the target object in which the second device 1 is disposed, and usually
  • the target position of the object around the target object configured with the second device 1 is absolute position information 1, absolute position information 2, and two other absolute positions in the absolute position information 3.
  • the second device 1 detects at least one of the surrounding by the sensor
  • the detection signal at the time of the target object determines the second relative position information 1 and the second relative position information 2, and then matches the second relative position information 1, the second relative position information 2, and the first relative position information 1, the first relative Setting the information 2 and the first relative position information 3, assuming that the second relative position 1 is close to the first relative position information 2, and the second relative position 2 is close to the first relative position information 1, configuring the target object of the second device 1
  • the absolute position information is the absolute position information 1 of the absolute position information 1, the absolute position information 2, and the absolute position information 3.
  • the second device 1 When the second device 1 receives the absolute position information of the other first device, determining the manner of configuring the absolute position information of the target object of the second device 1 and determining the absolute position information of the first device 1 when the second device 1 receives the absolute position information of the first device 1
  • the manner of configuring the absolute position information of the target object of the second device 1 is similar, and will not be further described herein.
  • the first relative location information may also be determined by the first device, and then sent to the second device.
  • the first device 500a shown in FIG. 5a and the second device 600a as shown in FIG. 6a are provided in the embodiment of the present application, as shown in FIG. 5a and the first device and FIG. 6a.
  • the method corresponding to the second device shown in the present application is a positioning method such as that shown in FIG. 1 . Therefore, the implementation of the first device 500 a shown in FIG. 5 a and the second device 600 a shown in FIG. 6 a may be implemented in the present application. See the implementation of this method, and the repetitions are not repeated here.
  • the first device 500a of the embodiment of the present application includes a processing unit 510a and a transceiver unit 520a;
  • the processing unit 510a is configured to control a target object that appears within a range detectable by the sensor detection sensor; and when the sensor detects any target object, perform:
  • Each of the target objects is configured with a second device having a communication function; the transceiver unit 520a is configured to send, by the wireless network, absolute position information of the target object to the second device configured on the target object.
  • the senor is a camera or a camera; the processing unit 510a is further configured to control the sensor to acquire the target identifier attached to the target object; and the transceiver unit 520a is specifically configured to be configured on the target object through the wireless network.
  • the second device transmits the acquired target identifier and absolute location information of the target object; or
  • the processing unit 510a is further configured to control the sensor to acquire the target identifier attached to the target object, and determine from the correspondence between the preset target identifier and the identifier of the second device.
  • the target identifier identifies the identity of the second device.
  • the transceiver unit 520a is configured to send the absolute location information of the target object to the second device configured on the target object by using the wireless network according to the determined identity of the second device.
  • the transceiver unit 520a is specifically configured to broadcast a data packet through a wireless network, where the data packet includes a target identifier of each target object detected by the first device using the sensor and an absolute of each target object. Correspondence of location information; or
  • the data packet includes a correspondence between the identity of the second device on each target object detected by the first device using the sensor and the absolute position information of each target object.
  • the senor is loaded onto the first device 500a, or the sensor is connected to the first device 500a in a wireless or wired manner.
  • the senor is connected to the first device 500a. Usually, the sensor sends a signal to the transceiver unit 520a, and then the processing unit 510a acquires the signal detected by the sensor from the transceiver unit 520a. It should be understood that in the embodiment of the present application, the processing unit 510a may also directly acquire the signal detected by the sensor from the sensor in a possible implementation manner.
  • the connection may be established with the first device 500a via a wireless network, infrared, or Bluetooth.
  • the target object is a vehicle and the target is identified as a license plate number.
  • the processing unit 510a in the embodiment of the present application may be implemented by a processor, and the transceiver unit 520a may be implemented by a transceiver.
  • the first device 500b can include a processor 510b, a transceiver 520b, and a memory 530b.
  • the memory 530b may be used to store a program/code pre-installed by the first device 500b at the time of shipment, or may store a code or the like for execution of the processor 510b.
  • the processor 510b may be a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits for performing related operations.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • first device 500b shown in FIG. 5b only shows the processor 510b, the transceiver 520b, and the memory 530b, in a specific implementation process, those skilled in the art should understand that the first device 500b also includes Other devices necessary for proper operation. At the same time, according to specific needs, those skilled in the art should understand that the first device 500b may also include hardware devices that implement other additional functions. Moreover, those skilled in the art will appreciate that the first device 500b may also only include the devices or modules necessary to implement the embodiments of the present application, and does not necessarily include all of the devices shown in FIG. 5b.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • the second device 600a of the embodiment of the present application includes: a transceiver unit 620a and a processing unit 610a, and the second device 600a is configured on the first target object;
  • the transceiver unit 620a is configured to receive, by using a wireless network, absolute location information of the first target object that is sent by the at least one first device, and the absolute location information of the first target object that is sent by the at least one first device is detected by the at least one first device according to the sensor. The detection signal of the first target object is determined;
  • the processing unit 610a is configured to determine positioning information of the first target object according to the absolute position information of the first target object sent by the at least one first device.
  • the senor is a camera or a camera; the transceiver unit 620a is specifically configured to receive at least one data packet through a wireless network, where each data packet is separately broadcast by a first device, in each data packet. Corresponding relationship between the target object identifier of each target object detected by the first device and the absolute position information of each target object; the processing unit 610a is specifically configured to determine that the absolute position information of the first target object is at least one data packet. Absolute position information corresponding to the target object of the first target object.
  • the senor is a camera or a camera; the transceiver unit 620a is specifically configured to pass no The line network receives at least one data packet, wherein each data packet is separately broadcast by a first device, and each data packet includes an identity of the communication device on each target object detected by the first device using the sensor.
  • Corresponding relationship of the absolute position information of each target object; the processing unit 610a is specifically configured to determine that the absolute position information of the first target object is an absolute corresponding to the identity of the communication device in the at least one data packet that is the same as the identity of the second device location information.
  • the senor is loaded onto the first device, or the sensor is connected to the first device by wireless or wired means.
  • the first target object is a vehicle, and the first target object is identified as a license plate number.
  • the processing unit 610a is specifically configured to determine that the location information of the first target object is one of the absolute location information of the first target object that is sent by the at least one first device; or
  • the processing unit 610a in the embodiment of the present application may be implemented by a processor, and the transceiver unit 620a may be implemented by a transceiver.
  • the second device 600b can include a processor 610b, a transceiver 620b, and a memory 630b.
  • the memory 630b may be used to store a program/code pre-installed by the second device 600b at the time of shipment, or may store a code or the like for execution of the processor 610b.
  • the processor 610b may be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for performing related operations to implement the technical solutions provided by the embodiments of the present application.
  • the second device 600b shown in FIG. 6b only shows the processor 610b, the transceiver 620b, and the memory 630b, in a specific implementation process, those skilled in the art will understand that the second device 600b also includes Other devices necessary for proper operation. At the same time, those skilled in the art will appreciate that the second device 600b may also include hardware devices that implement other additional functions, depending on the particular needs. Moreover, those skilled in the art will appreciate that the second device 600b may also only include the devices or modules necessary to implement the embodiments of the present application, and does not necessarily include all of the devices shown in FIG. 6b.
  • the above storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, or the like.
  • the embodiment of the present application further provides a communication device 700a as shown in FIG. 7a. Since the method corresponding to the communication device shown in FIG. 7a is a positioning method as shown in FIG. 3, The implementation of the present application, such as the communication device 700a shown in FIG. 7a, may be referred to the implementation of the method, and the details are not described again.
  • the communication device 700a of the embodiment of the present application includes a processing unit 710a and a transceiver unit 720a, and the communication device is configured to be placed on a moving target object.
  • the transceiver unit 720a is configured to receive, by the sensor loaded on the moving target object, an identity of at least one fixed object that occurs in the detected moving environment when detecting at least one fixed object that appears in the mobile environment, And the relative position information of the moving target object and the at least one fixed object; the processing unit 710a is configured to: according to the identity of the at least one fixed object, from the correspondence between the preset fixed object identity and the absolute position information, respectively Determining absolute position information corresponding to the identity of the at least one fixed object; and estimating positioning information of the moving target object according to absolute position information of the at least one fixed object and relative position information of the moving target object and the at least one fixed object, respectively.
  • processing unit 710a in the embodiment of the present application may be implemented by a processor, and the transceiver unit 720a may be implemented by a transceiver.
  • communication device 700b can include a processor 710b, a transceiver 720b, and a memory 730b.
  • the memory 730b may be used to store a program/code pre-installed at the time of shipment of the communication device 700b, or may store a code or the like for execution of the processor 710b.
  • the processor 710b may be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for performing related operations to implement the technical solutions provided by the embodiments of the present application.
  • the communication device 700b shown in FIG. 7b only shows the processor 710b, the transceiver 720b, and the memory 730b, in a specific implementation process, those skilled in the art should understand that the communication device 700b also includes a normal implementation. Other devices necessary for operation. At the same time, those skilled in the art will appreciate that the communication device 700b may also include hardware devices that implement other additional functions, depending on the particular needs. Moreover, those skilled in the art will appreciate that the communication device 700b may also only include the devices or modules necessary to implement the embodiments of the present application, and does not necessarily include all of the devices shown in FIG. 7b.
  • the above storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, or the like.
  • a second device 800a as shown in FIG. 8a is also provided in the embodiment of the present application.
  • the method corresponding to the second device shown in FIG. 8a is a positioning method as shown in FIG. Therefore, the implementation of the second device 800a shown in FIG. 8a of the present application may be referred to the implementation of the method, and the repeated description is not repeated.
  • the second device 800a of the embodiment of the present application includes a transceiver unit 820a and a processing unit 810a, and the second device 800a is configured to have a communication function on the first target object;
  • the transceiver unit 820a is configured to receive absolute position information of the at least one target object for each of the at least one first device, and the absolute position information of the at least one target object is that the first device detects the detection of the at least one target object according to the sensor. Signal determined;
  • the processing unit 810a is configured to respectively determine at least one first relative position information, wherein each of the at least one first relative position information is between two absolute position information in the absolute position information of the at least one target object Relative position information; and determining at least one second relative position information according to the detection signal when the sensor detects the at least one target object, wherein each of the second relative position information of the at least one second relative position information is the first target object and the at least one Relative position information of a target object in the target object; then determining absolute position information belonging to the first target object from absolute position information of the at least one target object by matching the at least one first relative position information and the at least one second relative position information; The positioning information of the first target object is determined according to the determined absolute position information belonging to the first target object.
  • the processing unit 810a in the embodiment of the present application may be implemented by a processor, and the transceiver unit 820a may be implemented by a transceiver.
  • the second device 800b can include a processor 810b, a transceiver 820b, and a memory 830b.
  • the memory 830b may be used to store a program/code pre-installed at the time of shipment of the second device 800b, or may store a code or the like for execution of the processor 810b.
  • the processor 810b may be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for performing related operations to implement the technical solutions provided by the embodiments of the present application.
  • the second device 800b shown in FIG. 8b only shows the processor 810b, the transceiver 820b, and the memory 830b, in a specific implementation process, those skilled in the art should understand that the second device 800b also includes Contains other devices necessary to achieve normal operation. At the same time, those skilled in the art will appreciate that the second device 800b may also include hardware devices that implement other additional functions, depending on the particular needs. Moreover, those skilled in the art will appreciate that the second device 800b may also include only the devices or modules necessary to implement the embodiments of the present application, and does not necessarily include all of the devices shown in FIG. 8b.
  • the above storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, or the like.
  • the technical solution of the embodiment of the present application can solve the problem that the second device can locate the target object according to the absolute position information of the target object sent by the first device, and solve the problem that the prior art does not have a GPS signal.
  • embodiments of the present application can be provided as a method, system, or computer program product. Therefore, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, embodiments of the present 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.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG.
  • 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 device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种定位方法及设备，涉及通信技术领域，用以提高在没有GPS信号时定位的可操作性。该方法包括：第一设备使用传感器探测传感器能够探测到的范围内出现的目标物体；第一设备在传感器探测到任一目标物体时，执行：根据传感器探测到该目标物体时的探测信号，确定第一设备与该目标物体的相对位置信息，根据相对位置信息和预先存储的第一设备的绝对位置信息，确定该目标物体的绝对位置信息；最后通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。因此与现有技术中的定位方式相比，易于实施，提高了定位的可操作性。

Description

一种定位方法及设备
本申请要求在2017年01月24日提交中国专利局、申请号为201710060298.9、申请名称为“一种定位方法及设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，特别涉及一种定位方法及设备。
背景技术
自动驾驶是指车辆在任何场景、任何时间都能够安全行驶，任何场景包括隧道、山区、桥梁、高架等各种特殊的行驶环境，在实现自动驾驶的技术中最关键的是定位技术。高精度的定位技术是保证车辆安全行驶的依据。
目前，车辆中的车载终端通过接收全球定位系统(Global Positioning System，GPS)信号来确定自身的位置，然而在隧道、山区等一些特殊场景中，车辆中的车载终端无法接收到GPS信号时，现有技术采用如下技术方案进行定位，具体的，在车载终端中预先存储有具有地貌特征的高精度地图，其中该高精度地图中除必备的道路信息外，还提供了道路周边的建筑物、标识物等固定物的3D图像及高精度的位置信息，车载终端通过64线激光雷达扫描周围的环境，得到一个3D图像，车载终端通过比对扫描得到的3D图像与预先存储的高精度地图，确定车辆的位置信息。
但是，这种定位方式中车载终端中预先存储的具有地貌特征的高精度地图制作困难，而且可维护性较差，如果该高精度地图更新不及时，会严重影响定位的准确性，导致发生交通事故。综上所述在无法接收到GPS信号时，现有的定位方式实用性较差。
发明内容
本申请实施例提供一种定位方法及设备，用以提高在没有GPS信号时定位的可操作性。
第一方面，提供了一种定位方法，包括：
第一设备使用传感器探测传感器能够探测到的范围内出现的目标物体；第一设备在传感器探测到任一目标物体时，执行：根据传感器探测到该目标物体时的探测信号，确定第一设备与该目标物体的相对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备；根据相对位置信息和预先存储的第一设备的绝对位置信息，确定该目标物体的绝对位置信息；最后通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
由于在本申请实施例中第一设备能够根据预先存储的第一设备的绝对位置信息和传感器探测到的目标物体的探测信号确定目标物体的绝对位置信息，并且能够通过无线网络向配置到目标物体上的第二设备发送第一设备确定的目标物体的绝对位置信息，从而使得第二设备能够根据第一设备发送的目标物体的绝对位置信息实现对目标物体的定位，解决了现有技术中在没有GPS信号时，无法对目标物体进行定位的问题，且与现有技术中通过扫描目标物体周围的物体与预设的高精度地图进行比对的方式对目标物体进行定位相比， 易于实施，提高了定位的可操作性，且通过提高传感器的精度能够提高目标物体的定位精度。
在第一方面的基础上，一种可能的实现方式，传感器为摄像机或照相机；第一设备使用传感器获取该目标物体上贴附的目标物标识，并通过无线网络向该目标物体上配置的第二设备发送获取的目标物标识和该目标物体的绝对位置信息；或者，第一设备使用传感器获取该目标物体上贴附的目标物标识，并从预设的目标物标识与第二设备的身份标识的对应关系列表中，确定与目标物标识对应的第二设备的身份标识；第一设备根据确定的第二设备的身份标识，通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
由于目标物标识与目标物体的绝对位置相对应，因此避免了第一设备在确定多个绝对位置信息时，降低了第一设备向第二设备发送的绝对位置信息与配置第二设备的目标物体不匹配的可能性。
在第一方面的基础上，第一设备通过无线网络向该目标物体上配置的第二设备发送目标物标识和目标物体的绝对位置信息的一种可能的实现方式为：
第一设备通过无线网络广播一个数据包，数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；或者，
第一设备通过无线网络广播一个数据包，数据包中包括第一设备使用传感器探测到的每个目标物体的第二设备的身份标识与每个目标物体的绝对位置信息的对应关系。
在第一方面的基础上，一种可能的实现方式，传感器装载到第一设备上，或者传感器与第一设备通过无线或有线的方式连接。
在第一方面的基础上，一种可能的实现方式，目标物体为车辆，目标物标识为车牌号码。
第二方面，提供了一种定位方法，包括：
配置到第一目标物体上具有通信功能的第二设备通过无线网络接收至少一个第一设备发送的第一目标物体的绝对位置信息，至少一个第一设备发送的第一目标物体的绝对位置信息为至少一个第一设备根据传感器探测到第一目标物体的探测信号确定的；
第二设备根据至少一个第一设备发送的第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
由于第二设备能够根据第一设备发送的目标物体的绝对位置信息实现对目标物体的定位，解决了现有技术中在没有GPS信号时，无法对目标物体进行定位的问题，且与现有技术中通过扫描目标物体周围的物体与预设的高精度地图进行比对的方式对目标物体进行定位相比，易于实施，提高了定位的可操作性，且通过提高传感器的精度能够提高目标物体的定位精度。
在第二方面的基础上，一种可能的实现方式为，传感器为摄像机或照相机；
第二设备通过无线网络接收到至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；确定第一目标物体的绝对位置信息为至少一个数据包中与第一目标物体的目标物标识对应的绝对位置信息；或者
第二设备通过无线网络接收到至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体所在的通信设备 的身份标识与每个目标物体的绝对位置信息的对应关系；确定第一目标物体的绝对位置信息为至少一个数据包中与第二设备的身份标识对应的绝对位置信息。
由于通过第二设备能够基于目标物标识或第二设备的身份标识从数据包中包括的各个对应关系中找到配置该第二设备的目标物体的绝对位置信息，提高了定位的准确性。
在第二方面的基础上，一种可能的实现方式，传感器装载到第一设备上，或者传感器与第一设备通过无线或有线的方式连接。
在第二方面的基础上，一种可能的实现方式，第一目标物体为车辆，第一目标物标识为车牌号码。
在第二方面的基础上，一种可能的实现方式，第二设备确定第一目标物体的定位信息为至少一个第一设备发送的第一目标物体的绝对位置信息中的一个绝对位置信息；或者，
第二设备确定第一目标物体的定位信息为至少一个第一设备发送的至少一个第一目标物体的绝对位置信息的平均值。
第三方面，提供了一种定位方法，包括：
配置到移动目标物体上的通信设备在移动目标物体移动过程中，通过装载在移动目标物体上的传感器探测移动环境中出现的至少一个固定物体的身份标识，以及通过传感器确定移动目标物体与至少一个固定物体的相对位置信息；并根据至少一个固定物体的身份标识，从预设的固定物体身份标识与绝对位置信息的对应关系中，分别确定与至少一个固定物体的身份标识对应的绝对位置信息；然后根据至少一个固定物体的绝对位置信息，以及移动目标物体分别与至少一个固定物体的相对位置信息，估算移动目标物体的定位信息。
第四方面，提供了一种定位方法，包括：
针对至少一个第一设备中的各个第一设备，配置到第一目标物体上具有通信功能的第二设备通过无线网络接收至少一个目标物体的绝对位置信息，至少一个目标物体的绝对位置信息为第一设备根据传感器探测到至少一个目标物体的探测信号确定的；然后分别确定至少一个第一相对位置信息，至少一个第一相对位置信息中的每个第一相对位置信息为至少一个目标物体的绝对位置信息中的两个绝对位置信息之间的相对位置信息；并根据传感器探测到至少一个目标物体时的探测信号，确定至少一个第二相对位置信息，至少一个第二相对位置信息中每个第二相对位置信息为第一目标物体与至少一个目标物体中一个目标物体的相对位置信息；通过匹配至少一个第一相对位置信息和至少一个第二相对位置信息，从至少一个目标物体的绝对位置信息确定属于第一目标物体的绝对位置信息；最后根据确定的属于第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
第五方面，提供了一种第一设备，包括：处理单元和收发单元；其中，
处理单元，用于控制传感器探测传感器能够探测到的范围内出现的目标物体，以及在传感器探测到任一目标物体时，执行：
根据传感器探测到该目标物体时的探测信号，确定第一设备与该目标物体的相对位置信息，并根据相对位置信息和预先存储的第一设备的绝对位置信息，确定该目标物体的绝对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备；收发单元，用于通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
在第五方面的基础上，一种可能的实现方式为：传感器为摄像机或照相机；
处理单元，还用于控制传感器获取该目标物体上贴附的目标物标识；收发单元，具体用于通过无线网络向该目标物体上配置的第二设备发送获取的目标物标识和该目标物体 的绝对位置信息；或者
处理单元，还用于控制传感器获取该目标物体上贴附的目标物标识，并从预设的目标物标识与第二设备的身份标识的对应关系列表中，确定与目标物标识对应的第二设备的身份标识；收发单元，具体用于根据确定的第二设备的身份标识，通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
在第五方面的基础上，一种可能的实现方式为：收发单元具体用于通过无线网络广播一个数据包，数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；或者
通过无线网络广播一个数据包，数据包中包括第一设备使用传感器探测到的每个目标物体上的第二设备的身份标识与每个目标物体的绝对位置信息的对应关系。
在第五方面的基础上，一种可能的实现方式为，传感器装载到第一设备上，或者传感器与第一设备通过无线或有线的方式连接。
在第五方面的基础上，一种可能的实现方式为，目标物体为车辆，目标物标识为车牌号码。
第六方面，提供了一种第二设备，包括：收发单元和处理单元，第二设备配置到第一目标物体上；
收发单元，用于通过无线网络接收至少一个第一设备发送的第一目标物体的绝对位置信息，至少一个第一设备发送的第一目标物体的绝对位置信息为至少一个第一设备根据传感器探测到第一目标物体的探测信号确定的；
处理单元，用于根据至少一个第一设备发送的第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
在第六方面的基础上，一种可能的实现方式为，传感器为摄像机或照相机；
收发单元具体用于通过无线网络接收到至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；
处理单元具体用于确定第一目标物体的绝对位置信息为至少一个数据包中与第一目标物体的目标物标识对应的绝对位置信息。
在第六方面的基础上，一种可能的实现方式为，传感器为摄像机或照相机；
收发单元具体用于通过无线网络接收到至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体上的通信设备的身份标识与每个目标物体的绝对位置信息的对应关系；处理单元具体用于确定第一目标物体的绝对位置信息为至少一个数据包中与第二设备的身份标识相同的通信设备的身份标识对应的绝对位置信息。
在第六方面的基础上，一种可能的实现方式为，传感器装载到第一设备上，或者传感器与第一设备通过无线或有线的方式连接。
在第六方面的基础上，一种可能的实现方式为，第一目标物体为车辆，第一目标物标识为车牌号码。
在第六方面的基础上，一种可能的实现方式为，处理单元具体用于确定第一目标物体的定位信息为至少一个第一设备发送的第一目标物体的绝对位置信息中的一个绝对位置信息；或者，
确定第一目标物体的定位信息为至少一个第一设备发送的第一目标物体的绝对位置信息的平均值。
第七方面，提供了一种通信设备，包括：处理单元和收发单元，且通信设备配置到移动目标物体上；
收发单元，用于接收通过装载在所述移动目标物体上的传感器在探测到移动环境中出现的至少一个固定物体时，发来的探测到的移动环境中出现的至少一个固定物体的身份标识，以及所述移动目标物体与所述至少一个固定物体的相对位置信息；
处理单元，用于根据至少一个固定物体的身份标识，从预设的固定物体身份标识与绝对位置信息的对应关系中，分别确定与至少一个固定物体的身份标识对应的绝对位置信息；并根据至少一个固定物体的绝对位置信息，以及移动目标物体分别与至少一个固定物体的相对位置信息，估算移动目标物体的定位信息。
第八方面，提供了一种第二设备，包括：收发单元和处理单元，且第二设备配置到第一目标物体上具有通信功能；
收发单元，用于针对至少一个第一设备中的各个第一设备，接收至少一个目标物体的绝对位置信息，至少一个目标物体的绝对位置信息为第一设备根据传感器探测到至少一个目标物体的探测信号确定的；
处理单元，用于分别确定至少一个第一相对位置信息，至少一个第一相对位置信息中的每个第一相对位置信息为至少一个目标物体的绝对位置信息中的两个绝对位置信息之间的相对位置信息；并根据传感器探测到至少一个目标物体时的探测信号，确定至少一个第二相对位置信息，至少一个第二相对位置信息中每个第二相对位置信息为第一目标物体与至少一个目标物体中一个目标物体的相对位置信息；然后通过匹配至少一个第一相对位置信息和至少一个第二相对位置信息，从至少一个目标物体的绝对位置信息确定属于第一目标物体的绝对位置信息；根据确定的属于第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
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图1为本申请实施例定位方法的流程示意图；
图2为本申请实施例应用场景示意图；
图3为本申请实施例定位方法的流程示意图；
图4为本申请实施例定位方法的流程示意图；
图5a为本申请实施例第一设备的结构示意图；
图5b为本申请实施例第一设备的硬件结构示意图；
图6a为本申请实施例第二设备的结构示意图；
图6b为本申请实施例第二设备的硬件结构示意图；
图7a为本申请实施例通信设备的结构示意图；
图7b为本申请实施例通信设备的硬件结构示意图；
图8a为本申请实施例第二设备的结构示意图；
图8b为本申请实施例第二设备的硬件结构示意图。
具体实施方式
本申请实施例可以应用于交通系统中的车辆定位、行人定位和障碍物定位等场景，还可以应用于机器人对室内或室外目标物体的定位的场景等。
以应用于交通系统中的车辆定位为例对本申请实施例进行详细说明，当应用于其它应用场景时其定位方式与应用于交通系统的场景中车辆的定位的方式类似，在此不再一一赘述。
由于在本申请实施例中第一设备能够根据预先存储的第一设备的绝对位置信息和传感器探测到的目标物体的探测信号确定目标物体的绝对位置信息，并且能够通过无线网络向配置到目标物体上的第二设备发送第一设备确定的目标物体的绝对位置信息，从而使得第二设备能够根据第一设备发送的目标物体的绝对位置信息实现对目标物体的定位，解决了现有技术中在没有GPS信号时，无法对目标物体进行定位的问题，且与现有技术中通过扫描目标物体周围的物体与预设的高精度地图进行比对的方式对目标物体进行定位相比，易于实施，提高了实用性，且通过提高传感器的精度能够提高目标物体的定位精度。
如图1所示，本申请实施例的定位方法，包括：
第一设备使用传感器探测该传感器能够探测到的范围内出现的目标物体；
第一设备在传感器探测到任一目标物体时，执行步骤100至步骤130：
步骤100，第一设备根据传感器探测到该目标物体时的探测信号，确定第一设备与该目标物体的相对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备。
步骤110，第一设备根据相对位置信息和预先存储的该第一设备的绝对位置信息，确定该目标物体的绝对位置信息。
步骤120，第一设备通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
步骤130，第二设备通过无线网络接收至少一个第一设备发送的第一目标物体的绝对位置信息，该第二设备所在的目标物体为第一目标物体，其中，第一目标物体的绝对位置信息为至少一个第一设备确定的目标位置的绝对信息中的一个。
步骤140，第二设备根据至少一个第一设备发送的第一目标物体的绝对位置信息，确定第第一目标物体的定位信息。
应理解，在本申请实施例中无线网络可以为运营商提供的移动数据网络，如长期演进(Long Term Evolution，LTE)等网络制式的网络，或者无线局域网(Wireless Local Area Networks，WLAN)等。
应理解，在本申请实施例中每个第一设备可以绑定一个传感器，也可以绑定多个传感器，在本申请实施例中的传感器可以为摄像机，也可以为照相机，还可以为激光雷达、毫米雷达等传感设备。具体的第一设备可以配置到第一设备上，还可以通过无线或有线的方式向第一设备发送探测信号，第一设备为具有通信功能的设备。
下面以图2为例进行详细说明。如图2所示，传感器T1、传感器T2、传感器T3为摄像机，其中传感器T1、传感器T2、传感器T3分别固定在一个固定物体上，其中固定物可以为电线杆、或者某一个建筑物等，车辆C1、车辆C2、车辆C3、车辆C4为目标物体，且车辆C1、车辆C2、车辆C3和车辆C4上分别配置有一个具有通信功能的第二设备，其中第二设备可以为智能终端设备，如车载台、智能手机、笔记本电脑、掌上电脑、平板电脑等。
以T1为例，若T1配置在第一设备1上，由于T1能够探测到的范围有限，若T1在能 够探测到的范围内仅能探测到C1、C2和C3，则T1在拍摄到C1、C2和C3后，将拍摄到的C1、C2、C3的图像信息发送到第一设备1，则探测信号为T1拍摄到的C1,、C2、C3的图像信息。
第一设备1根据T1拍摄到的C1、C2、C3的图像信息，分别确定第一设备1与C1的相对位置信息、第一设备1与C2的相对位置信息、第一设备1与C3的相对位置信息，其中第一设备1的绝对位置信息是预先测量好存储到第一设备1中的，如第一设备1的绝对位置信息为(x1，y1，z1)，x1用于表示第一设备1所在的经度，y1用于表示第一设备1所在的纬度，z1用于表示第一设备1所在的高度；则第一设备1可以通过与C1的相对位置信息和第一设备1的绝对位置信息确定C1的绝对位置信息，通过与C2的相对位置信息和第一设备1的绝对位置信息确定C2的绝对位置信息，通过与C3的相对位置信息和第一设备1的绝对位置信息确定C3的绝对位置信息；然后第一设备1将C1的绝对位置信息发送到配置到C1上的第二设备1上，将C2的绝对位置信息发送到配置到C1上的第二设备2上，将C3的绝对位置信息发送到配置到C3上的第二设备3上。
其中，若T2配置到第一设备2上，T3配置到第一设备3上，若T2在能够探测到的范围内能够探测到C1、C2、C3和C4，T3在能够探测到的范围内能探测到C2、C3和C4，则第一设备2分别确定C1、C2、C3和C4的绝对位置信息的方式以及第一设备3分别确定C2、C3和C4的绝对位置信息的方式，与第一设备1分别确定C1、C2和C3的绝对位置信息的方式类似，在此不再赘述。
具体的，由于第一设备2向配置在C1上第二设备1发送C1的绝对位置信息的方式、第一设备2向配置在C2上第二设备2发送C2的绝对位置信息的方式、第一设备2向配置在C3上的第二设备3发送C3的绝对位置信息的方式和第一设备2向配置在C4上的第二设备4发送C4绝对位置信息的方式以及第一设备3向配置在C2上的第二设备2发送C2的绝对位置信息的方式、第一设备3向配置在C3上的第二设备3发送C3绝对位置信息的方式和第一设备3向配置在C4上的第二设备4发送C4的绝对位置信息的方式，第一设备1向配置在C2上的第二设备2发送C2的绝对位置信息的方式、以及第一设备1向配置在C3上第二设备3发送C3的绝对位置信息的方式与第一设备1向配置在C1上的第一设备1发送C1的绝对位置信息的方式类似，下面以第一设备1向配置在C1上的第一设备1发送C1的绝对位置信息的方式为例进行具体介绍。
第一设备1通过T1获取C1上贴附的目标物标识，具体的一种可选的实现方式为，第一设备1从T1探测到的C1、C2和C3的图像信息中获取C1上贴附的目标物标识，并通过无线网络向C1上配置的第二设备1发送目标物标识和C1的绝对位置信息，其中当C1为车辆时，目标物标识可以为车牌号。第二设备1在接收到目标物标识和C1的绝对位置信息后，通过目标物标识确定接收到的绝对位置信息为C1的绝对位置信息。
第一设备1通过目标物标识向第二设备1发送C1的绝对位置信息的一种可能的实现方式为：第一设备1可以将目标物标识和C1的绝对位置信息的对应关系发送到智能交通系统，然后智能交通系统根据目标物标识，从预先存储的目标物标识和第二设备的身份标识的对应关系中，找到第二设备1的身份标识，根据第二设备1的身份标识向第二设备1发送C1的绝对位置信息，例如当第二设备1为智能手机时，身份标识可以为网络标识如手机号，用户设备标识(User Equipment IDentification，UE_ID)等能够用于指示第二设备1的标识信息，身份标识还可以为网络地址，如媒体访问控制地址(Media Access Control  Address，MAC Address)、网际协议地址(Internet Protocol Address，IP Address)等，通过这种发送方式，第二设备1就能够直接接收到C1的绝对位置信息，而不用接收到除C1的绝对位置信息以外的其它目标物体的绝对位置信息；第一设备1通过目标物标识向第二设备1发送C1的绝对位置信息的另一种可能的实现方式为：第一设备1通过无线网络广播一个数据包，该数据包中包括C1的目标物标识与C1的绝对位置信息的对应关系。在具体的实现中，由于第一设备1能够分别能够确定C1、C2和C3的绝对位置信息，因此第一设备1可以将C1的目标物标识与C1的绝对位置信息的对应关系、C2的目标物标识与C2的绝对位置信息的对应关系、以及C3的目标物标识与C3的绝对位置信息的对应关系封装到一个数据包中进行广播，也可以分别将C1的目标物标识与C1的绝对位置信息的对应关系、C2的目标物标识与C2的绝对位置信息的对应关系、以及C3的目标物标识与C3的绝对位置信息的对应关系封装到三个数据包中进行广播。第二设备1在接收到数据包后，从数据包中包括的对应关系中，确定与C1的目标物标识对应的C1的绝对位置信息。
第一设备1通过目标物标识向第二设备1发送C1的绝对位置信息的第三种可能的实现方式为：第一设备1中预先存储有目标物标识与第二设备的身份标识的对应关系，第一设备1根据C1的目标物标识，从预先存储有目标物标识与第二设备的身份标识的对应关系中确定第二设备1的身份标识，然后第一设备1向第二设备1发送C1的绝对位置信息，无需通过智能交通系统就可以直接将C1的绝对位置信息发送到第二设备1。第一设备1通过目标物标识向第二设备1发送C1的绝对位置信息的第四种可能的实现方式为：第一设备1中预先存储有目标物标识与第二设备的身份标识的对应关系，第一设备1根据C1的目标物标识，从预先存储有目标物标识与第二设备的身份标识的对应关系中确定第二设备1的身份标识，然后广播一个数据包，该数据包中包括第二设备1的身份标识与C1的绝对位置信息的对应关系。由于第一设备1能够分别能够确定C1、C2和C3的绝对位置信息，因此第一设备1可以将C1的目标物标识与C1的绝对位置信息的对应关系、C2的目标物标识与C2的绝对位置信息的对应关系、以及C3的目标物标识与C3的绝对位置信息的对应关系封装到一个数据包中进行广播，也可以分别将C1的目标物标识与C1的绝对位置信息的对应关系、C2的目标物标识与C2的绝对位置信息的对应关系、以及C3的目标物标识与C3的绝对位置信息的对应关系封装到三个数据包中进行广播。第二设备1在接收到数据包后，从数据包中包括的对应关系中，确定与C1的目标物标识对应的C1的绝对位置信息。
此外，由于当传感器为摄像机或照相机时，还有可能拍摄到驾驶员的外貌图像信息，可以通过驾驶员的外貌图像信息，获取该驾驶员的身份证号，从而基于驾驶员的身份证号，得到该第二设备的身份标识。
需要说明的是，在本申请实施例中，当目标物体为车辆时，目标物标识除了可以为车牌号之外，还可以为车辆的外在特征信息，如车辆的品牌、颜色、新旧等。
当传感器为激光雷达或其它不能够获取图像信息的传感器时，第一设备可通过下列方式确定第二设备的身份标识：
第一设备通过第二设备发出的无线信号，确定第二设备在无线网络中的身份标识。具体的，无线信号可以为小区切换信号、参考信号等。当目标物体正处于小区切换区域时，而第二设备向网络设备发送的小区切换信号，第一设备获取该小区切换信号，并从该切换信号中提取出第二设备的身份标识。或者，第一设备获取第二设备的参考信号，并从参考 信号中提取第二设备的身份标识。
此外，当传感器为激光雷达或其它不能够获取图像信息的传感器时，可以通过向目标物体发送激光或者其他信号，然后测量这些传感器发送的信号在到达目标物体返回后的信号确定第一设备与目标物体的相对位置信息，在这种情形下，通常将传感器配置到第一设备上，在本申请实施例中，不限定配置到第一设备上的传感器的个数。
以图2为例，由于第一设备1和第一设备2都能够确定C1的绝对位置信息，第二设备1在接收到至少能够接收到第一设备1发送的C1的绝对位置信息和第一设备2发送的C1的绝对位置信息。
具体的，第二设备1可以从接收的第一设备1和第一设备2发送的C1的绝对位置信息中任选一个绝对位置信息作为C1的定位信息，为了使得定位信息更加准确，第二设备1可以确定C1的定位信息为第一设备1和第一设备2发送的C1的绝对位置信息的平均值，此外现有技术中其它计算位置的算法同样适用于本申请，在此不做限定。
此外，第一设备还可以将确定的目标物体的绝对位置信息上传到智能交通系统，或者第二设备将目标物体的定位信息上传到智能交通系统，用于智能交通系统记录目标物体的绝对位置信息，以便于工作人员及时了解交通状况。
如图3所示，本申请实施例的定位方法，包括：
步骤300，配置到移动目标物体上的通信设备在移动目标物体移动过程中，通过装载在移动目标物体上的传感器探测移动环境中出现的至少一个固定物体的身份标识，以及通过传感器确定移动目标物体与至少一个固定物体的相对位置信息。
步骤301，通信设备根据至少一个固定物体的身份标识，从预设的固定物体身份标识与绝对位置信息的对应关系中，分别确定与至少一个固定物体的身份标识对应的绝对位置信息。
步骤302，通信设备根据至少一个固定物体的绝对位置信息，以及移动目标物体分别与至少一个固定物体的相对位置信息，估算移动目标物体的定位信息。
应理解，在本申请实施例中的通信设备可以智能手机、车载台、笔记本电脑、平板电脑等通信设备，固定物体可以为建筑物、树木等位置固定的物体。固定物体的身份标识是预先配置到固定物体上的，固定物体的身份标识可以为建筑物的名称、树木配置的数字标识等，其中固定物体的身份标识与固定物体的绝对位置信息一一对应，且固定物体的绝对位置信息是预先测量出来的。
在本申请实施例中传感器为可以识别固定物体身份标识、且能够基于传感器探测到的固定物体的探测信号确定目标物体与固定物体的相对位置信息的传感器，如摄像机、照相机等。
传感器还可以包括第一传感模块和第二传感模块，其中第一传感模块用于获取固定物体身份标识，第二传感模块用于获取探测信号。
在本申请实施例中，目标物体可以为车辆、行人等。
预设的固定物体身份标识与绝对位置信息的对应关系可以预先存储在移动设备中，也可以预先存储在智能交通系统中。
当预设的固定物体身份标识与绝对位置信息的对应关系预先存储在智能交通系统中时，通信设备可以将获取的固定物体的身份标识发送到智能交通系统中，智能交通系统再将确定的与该固定物体的身份标识对应的绝对位置信息发送到通信设备。
应理解，步骤302中，通信设备根据至少一个固定物体的绝对位置信息，以及移动目标物体分别与至少一个固定物体的相对位置信息，估算移动目标物体的定位信息，具体的，通信设备先根据每个固定物体的绝对位置信息、移动目标物体与该固定物体的相对位置信息，确定至少一个移动目标物体的绝对位置信息，然后根据至少一个目标物体的绝对位置信息，估算移动目标物体的定位信息。具体的根据至少一个目标物体的绝对位置信息，估算移动目标物体的定位信息的方式与图1中第二设备根据至少一个第一设备发送的第一目标物体的绝对位置信息，确定第二设备的定位信息的方式类似，在此不再赘述。
需要说明的是，本申请实施例中还可以在各个固定物体上安装通信设备，这些位置已知的通信设备通过无线网络广播各个固定物体的标识与绝对位置信息的对应关系，本申请实施例中的通信设备通过无线网络中的信号获取这些固定物体的标识与绝对位置信息的对应关系。
此外，当目标物体为车辆或者其他陆地上的交通工具时，在通信设备确定了目标物体的定位信息后，还可以上传智能交通系统，便于实时了解道路上的交通状况。
如图4所示，本申请实施例定位方法，包括：
第一设备使用传感器探测该传感器能够探测到的范围内出现的目标物体；
第一设备在传感器探测到至少一个目标物体时，针对至少一个目标物体中的任一目标物体执行步骤400至步骤410：
步骤400，第一设备根据传感器探测到该目标物体时的探测信号，确定第一设备与该目标物体的相对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备。
步骤410，第一设备根据相对位置信息和预先存储的该第一设备的绝对位置信息，确定该目标物体的绝对位置信息。
步骤420，第一设备通过无线网络向分别各个目标物体上配置的第二设备发送各个目标物体的绝对位置信息。
步骤430，针对至少一个第一设备中的各个第一设备，配置到第一目标物体上具有通信功能的第二设备通过无线网络接收至少一个目标物体的绝对位置信息，至少一个目标物体的绝对位置信息为第一设备根据传感器探测到至少一个目标物体的探测信号确定的。
步骤440，第二设备分别确定至少一个第一相对位置信息，至少一个第一相对位置信息中的每个第一相对位置信息为至少一个目标物体的绝对位置信息中的两个绝对位置信息之间的相对位置信息。
步骤450，第二设备根据传感器探测到至少一个目标物体时的探测信号，确定至少一个第二相对位置信息，至少一个第二相对位置信息中每个第二相对位置信息为第一目标物体与至少一个目标物体中一个目标物体的相对位置信息。
步骤460，第二设备通过匹配至少一个第一相对位置信息和至少一个第二相对位置信息，从至少一个目标物体的绝对位置信息确定属于第一目标物体的绝对位置信息。
步骤470，第二设备根据确定的属于第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
在本申请实施例中第一设备无需获取第二设备的身份标识，只需将确定的至少一个绝对位置信息通过无线网络广播的方式发送到第二设备。
例如，第二设备1接收到第一设备1发送的绝对位置信息1、绝对位置信息2、绝对位置信息3，分别确定第一相对位置信息1、第一相对位置信息2和第一相对位置信息3， 其中第一相对位置信息1位绝对位置信息1与绝对位置信息2的差值、第一相对位置信息2为绝对位置信息1与绝对位置信息3的差值，第一相对位置信息3为绝对位置信息2与绝对位置信息3的差值，假设绝对位置信息1为(x1，y1，z1)，绝对位置信息2为(x2，y2，z2)，则第一相对位置信息1为(x1-x2，y1-y2，z1-z2)，其中绝对位置信息1、绝对位置信息2、绝对位置信息3中存在一个绝对位置信息为配置有第二设备1的目标物体的绝对位置信息，而通常情况下，配置有第二设备1的目标物体周围的物体的目标位置即为绝对位置信息1、绝对位置信息2、绝对位置信息3中另两个绝对位置，第二设备1通过传感器探测与周围至少一个目标物体时的探测信号，确定第二相对位置信息1和第二相对位置信息2，然后匹配第二相对位置信息1、第二相对位置信息2和第一相对位置信息1、第一相对位置信息2和第一相对位置信息3，假设第二相对位置1与第一相对位置信息2相近，第二相对位置2与第一相对位置信息1相近，则配置第二设备1的目标物体的绝对位置信息为绝对位置信息1、绝对位置信息2、绝对位置信息3中的绝对位置信息1。
当第二设备1接收到其它第一设备的绝对位置信息时，确定配置第二设备1的目标物体的绝对位置信息的方式与第二设备1接收到第一设备1的绝对位置信息时，确定配置第二设备1的目标物体的绝对位置信息的方式类似，在此不再一一赘述。
其中在本申请实施例中，还可以通过第一设备确定第一相对位置信息，然后发送到第二设备。
基于同一构思，本申请实施例中还提供了一种如图5a所示的第一设备500a和如图6a所示的第二设备600a，由于如图5a所示的第一设备和如图6a所示的第二设备对应的方法为本申请实施例如图1所示的定位方法，因此本申请实施例如图5a所示的第一设备500a和如图6a所示的第二设备600a的实施可以参见该方法的实施，重复之处不再赘述。
如图5a所示，本申请实施例的第一设备500a，包括处理单元510a和收发单元520a；
处理单元510a，用于控制传感器探测传感器能够探测到的范围内出现的目标物体；以及在传感器探测到任一目标物体时，执行：
根据传感器探测到该目标物体时的探测信号，确定第一设备与该目标物体的相对位置信息，并根据相对位置信息和预先存储的第一设备的绝对位置信息，确定该目标物体的绝对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备；收发单元520a用于通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
在一种可能的实现方式中传感器为摄像机或照相机；处理单元510a还用于控制传感器获取该目标物体上贴附的目标物标识；收发单元520a具体用于通过无线网络向该目标物体上配置的第二设备发送获取的目标物标识和该目标物体的绝对位置信息；或者
传感器为摄像机或照相机时，处理单元510a还用于控制传感器获取该目标物体上贴附的目标物标识，并从预设的目标物标识与第二设备的身份标识的对应关系列表中，确定与目标物标识对应的第二设备的身份标识；收发单元520a具体用于根据确定的第二设备的身份标识，通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
在一种可能的实现方式中，收发单元520a具体用于通过无线网络广播一个数据包，数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；或者
通过无线网络广播一个数据包，数据包中包括第一设备使用传感器探测到的每个目标物体上的第二设备的身份标识与每个目标物体的绝对位置信息的对应关系。
在一种可能的实现方式中，传感器装载到第一设备500a上，或者传感器与第一设备500a无线或有线的方式连接。
需要说明的是，传感器与第一设备500a相连，通常情况下传感器将信号发送到收发单元520a，然后处理单元510a从收发单元520a获取传感器探测到的信号。应理解，在本申请实施例中，在一种可能的实现方式中处理单元510a还可直接从传感器获取该传感器探测到的信号。
当传感器通过无线方式与第一设备500a相连时，具体的，可以通过无线网络、红外线或蓝牙等无线方式与第一设备500a建立连接。
在一种可能的实现方式中，目标物体为车辆，目标物标识为车牌号码。
应注意，本申请实施例中处理单元510a可以由处理器实现，收发单元520a可以由收发器实现。如图5b所示，第一设备500b可以包括处理器510b、收发器520b和存储器530b。其中，存储器530b可以用于存储第一设备500b出厂时预装的程序/代码，也可以存储用于处理器510b执行时的代码等。
其中，处理器510b可以采用通用的中央处理器(Central Processing Unit，CPU)，微处理器，应用专用集成电路(Application Specific Integrated Circuit，ASIC)，或者一个或多个集成电路，用于执行相关操作，以实现本申请实施例所提供的技术方案。
应注意，尽管图5b所示的第一设备500b仅仅示出了处理器510b、收发器520b和存储器530b，但是在具体实现过程中，本领域的技术人员应当明白，该第一设备500b还包含实现正常运行所必须的其他器件。同时，根据具体需要，本领域的技术人员应当明白，该第一设备500b还可包含实现其他附加功能的硬件器件。此外，本领域的技术人员应当明白，该第一设备500b也可仅仅包含实现本申请实施例所必须的器件或模块，而不必包含图5b中所示的全部器件。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，上述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，上述的存储介质可为磁盘、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
如图6a所示，本申请实施例第二设备600a，包括：收发单元620a和处理单元610a，第二设备600a配置到第一目标物体上；
收发单元620a用于通过无线网络接收至少一个第一设备发送的第一目标物体的绝对位置信息，至少一个第一设备发送的第一目标物体的绝对位置信息为至少一个第一设备根据传感器探测到第一目标物体的探测信号确定的；
处理单元610a用于根据至少一个第一设备发送的第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
在一种可能的实现方式中传感器为摄像机或照相机；收发单元620a具体用于通过无线网络接收到至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；处理单元610a具体用于确定第一目标物体的绝对位置信息为至少一个数据包中与第一目标物体的目标物标识对应的绝对位置信息。
在一种可能的实现方式中，传感器为摄像机或照相机；收发单元620a具体用于通过无 线网络接收到至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体上的通信设备的身份标识与每个目标物体的绝对位置信息的对应关系；处理单元610a具体用于确定第一目标物体的绝对位置信息为至少一个数据包中与第二设备的身份标识相同的通信设备的身份标识对应的绝对位置信息。
在一种可能的实现方式中，传感器装载到第一设备上，或者传感器与第一设备通过无线或有线的方式连接。
在一种可能的实现方式中，第一目标物体为车辆，第一目标物标识为车牌号码。
在一种可能的实现方式中，处理单元610a具体用于确定第一目标物体的定位信息为至少一个第一设备发送的第一目标物体的绝对位置信息中的一个绝对位置信息；或者，
确定第一目标物体的定位信息为至少一个第一设备发送的第一目标物体的绝对位置信息的平均值。
应注意，本申请实施例中处理单元610a可以由处理器实现，收发单元620a可以由收发器实现。如图6b所示，第二设备600b可以包括处理器610b、收发器620b和存储器630b。其中，存储器630b可以用于存储第二设备600b出厂时预装的程序/代码，也可以存储用于处理器610b执行时的代码等。
其中，处理器610b可以采用通用的CPU，微处理器，ASIC，或者一个或多个集成电路，用于执行相关操作，以实现本申请实施例所提供的技术方案。
应注意，尽管图6b所示的第二设备600b仅仅示出了处理器610b、收发器620b和存储器630b，但是在具体实现过程中，本领域的技术人员应当明白，该第二设备600b还包含实现正常运行所必须的其他器件。同时，根据具体需要，本领域的技术人员应当明白，该第二设备600b还可包含实现其他附加功能的硬件器件。此外，本领域的技术人员应当明白，该第二设备600b也可仅仅包含实现本申请实施例所必须的器件或模块，而不必包含图6b中所示的全部器件。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，上述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，上述的存储介质可为磁盘、光盘、ROM或RAM等。
基于同一构思，本申请实施例中还提供了一种如图7a所示的通信设备700a，由于如图7a所示的通信设备对应的方法为本申请实施例如图3所示的定位方法，因此本申请实施例如图7a所示的通信设备700a的实施可以参见该方法的实施，重复之处不再赘述。
如图7a所示，本申请实施例的通信设备700a，包括处理单元710a和收发单元720a，且通信设备配700a置到移动目标物体上；
收发单元720a用于接收通过装载在所述移动目标物体上的传感器在探测到移动环境中出现的至少一个固定物体时，发来的探测到的移动环境中出现的至少一个固定物体的身份标识，以及所述移动目标物体与所述至少一个固定物体的相对位置信息；处理单元710a用于根据至少一个固定物体的身份标识，从预设的固定物体身份标识与绝对位置信息的对应关系中，分别确定与至少一个固定物体的身份标识对应的绝对位置信息；并根据至少一个固定物体的绝对位置信息，以及移动目标物体分别与至少一个固定物体的相对位置信息，估算移动目标物体的定位信息。
应注意，本申请实施例中处理单元710a可以由处理器实现，收发单元720a可以由收发器实现。如图7b所示，通信设备700b可以包括处理器710b、收发器720b和存储器730b。其中，存储器730b可以用于存储通信设备700b出厂时预装的程序/代码，也可以存储用于处理器710b执行时的代码等。
其中，处理器710b可以采用通用的CPU，微处理器，ASIC，或者一个或多个集成电路，用于执行相关操作，以实现本申请实施例所提供的技术方案。
应注意，尽管图7b所示的通信设备700b仅仅示出了处理器710b、收发器720b和存储器730b，但是在具体实现过程中，本领域的技术人员应当明白，该通信设备700b还包含实现正常运行所必须的其他器件。同时，根据具体需要，本领域的技术人员应当明白，该通信设备700b还可包含实现其他附加功能的硬件器件。此外，本领域的技术人员应当明白，该通信设备700b也可仅仅包含实现本申请实施例所必须的器件或模块，而不必包含图7b中所示的全部器件。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，上述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，上述的存储介质可为磁盘、光盘、ROM或RAM等。
基于同一构思，本申请实施例中还提供了一种如图8a所示的第二设备800a，由于如图8a所示的第二设备对应的方法为本申请实施例如图4所示的定位方法，因此本申请实施例如图8a所示的第二设备800a的实施可以参见该方法的实施，重复之处不再赘述。
如图8a所示，本申请实施例的第二设备800a，包括收发单元820a和处理单元810a，且第二设备800a配置到第一目标物体上具有通信功能；
收发单元820a用于针对至少一个第一设备中的各个第一设备，接收至少一个目标物体的绝对位置信息，至少一个目标物体的绝对位置信息为第一设备根据传感器探测到至少一个目标物体的探测信号确定的；
处理单元810a用于分别确定至少一个第一相对位置信息，至少一个第一相对位置信息中的每个第一相对位置信息为至少一个目标物体的绝对位置信息中的两个绝对位置信息之间的相对位置信息；并根据传感器探测到至少一个目标物体时的探测信号，确定至少一个第二相对位置信息，至少一个第二相对位置信息中每个第二相对位置信息为第一目标物体与至少一个目标物体中一个目标物体的相对位置信息；然后通过匹配至少一个第一相对位置信息和至少一个第二相对位置信息，从至少一个目标物体的绝对位置信息确定属于第一目标物体的绝对位置信息；根据确定的属于第一目标物体的绝对位置信息，确定第一目标物体的定位信息。
应注意，本申请实施例中处理单元810a可以由处理器实现，收发单元820a可以由收发器实现。如图8b所示，第二设备800b可以包括处理器810b、收发器820b和存储器830b。其中，存储器830b可以用于存储第二设备800b出厂时预装的程序/代码，也可以存储用于处理器810b执行时的代码等。
其中，处理器810b可以采用通用的CPU，微处理器，ASIC，或者一个或多个集成电路，用于执行相关操作，以实现本申请实施例所提供的技术方案。
应注意，尽管图8b所示的第二设备800b仅仅示出了处理器810b、收发器820b和存储器830b，但是在具体实现过程中，本领域的技术人员应当明白，该第二设备800b还包 含实现正常运行所必须的其他器件。同时，根据具体需要，本领域的技术人员应当明白，该第二设备800b还可包含实现其他附加功能的硬件器件。此外，本领域的技术人员应当明白，该第二设备800b也可仅仅包含实现本申请实施例所必须的器件或模块，而不必包含图8b中所示的全部器件。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，上述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，上述的存储介质可为磁盘、光盘、ROM或RAM等。
综上所述，本申请实施例的技术方案由于第二设备能够根据第一设备发送的目标物体的绝对位置信息实现对目标物体的定位，解决了现有技术中在没有GPS信号时，无法对目标物体进行定位的问题，且与现有技术中通过扫描目标物体周围的物体与预设的高精度地图进行比对的方式对目标物体进行定位相比，易于实施，提高了实用性，且通过提高传感器的精度能够提高目标物体的定位精度。
本领域内的技术人员应明白，本申请实施例可提供为方法、系统、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请实施例进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (25)

  1. 一种定位方法，其特征在于，包括：
    第一设备使用传感器探测所述传感器能够探测到的范围内出现的目标物体；
    第一设备在传感器探测到任一目标物体时，执行：
    根据所述传感器探测到该目标物体时的探测信号，确定所述第一设备与该目标物体的相对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备；
    所述第一设备根据所述相对位置信息和预先存储的所述第一设备的绝对位置信息，确定该目标物体的绝对位置信息；
    所述第一设备通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
  2. 如权利要求1所述的方法，其特征在于，所述传感器为摄像机或照相机；
    所述第一设备通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息，包括：
    所述第一设备使用所述传感器获取该目标物体上贴附的目标物标识，并通过无线网络向该目标物体上配置的第二设备发送获取的目标物标识和该目标物体的绝对位置信息；或者
    所述第一设备使用所述传感器获取该目标物体上贴附的目标物标识，并从预设的目标物标识与第二设备的身份标识的对应关系列表中，确定与所述目标物标识对应的第二设备的身份标识；所述第一设备根据确定的第二设备的身份标识，通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
  3. 如权利要求2所述的方法，其特征在于，第一设备通过无线网络向该目标物体上配置的第二设备发送目标物标识和目标物体的绝对位置信息，包括：
    所述第一设备通过无线网络广播一个数据包，所述数据包中包括所述第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；
    所述第一设备根据确定的第二设备的身份标识，通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息，包括：
    所述第一设备通过无线网络广播一个数据包，所述数据包中包括所述第一设备使用传感器探测到的每个目标物体的第二设备的身份标识与每个目标物体的绝对位置信息的对应关系。
  4. 如权利要求1至3任一所述的方法，其特征在于，所述传感器装载到所述第一设备上，或者所述传感器与所述第一设备通过无线或有线的方式连接。
  5. 如权利要求2或3所述的方法，其特征在于，所述目标物体为车辆，所述目标物标识为车牌号码。
  6. 一种定位方法，其特征在于，包括：
    配置到第一目标物体上具有通信功能的第二设备通过无线网络接收至少一个第一设备发送的所述第一目标物体的绝对位置信息，所述至少一个第一设备发送的所述第一目标物体的绝对位置信息为所述至少一个第一设备根据传感器探测到所述第一目标物体的探测信号确定的；
    所述第二设备根据所述至少一个第一设备发送的所述第一目标物体的绝对位置信息， 确定所述第一目标物体的定位信息。
  7. 如权利要求6所述的方法，其特征在于，所述传感器为摄像机或照相机；
    所述第二设备通过无线网络接收至少一个第一设备发送的所述第一目标物体的绝对位置信息，包括：
    所述第二设备通过无线网络接收到所述至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；确定所述第一目标物体的绝对位置信息为所述至少一个数据包中与所述第一目标物体的目标物标识对应的绝对位置信息；或者
    所述第二设备通过无线网络接收到所述至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体所在的通信设备的身份标识与每个目标物体的绝对位置信息的对应关系；确定所述第一目标物体的绝对位置信息为所述至少一个数据包中与所述第二设备的身份标识对应的绝对位置信息。
  8. 如权利要求6或7所述的方法，其特征在于，所述传感器装载到所述第一设备上，或者所述传感器与所述第一设备通过无线或有线的方式连接。
  9. 如权利要求7所述的方法，其特征在于，所述第一目标物体为车辆，所述第一目标物标识为车牌号码。
  10. 如权利要求6至9任一所述的方法，其特征在于，所述第二设备根据所述至少一个第一设备发送的所述第一目标物体的绝对位置信息，确定所述第二设备的定位信息，包括：
    所述第二设备确定所述第一目标物体的定位信息为所述至少一个第一设备发送的所述第一目标物体的绝对位置信息中的一个绝对位置信息；或者，
    所述第二设备确定所述第一目标物体的定位信息为所述至少一个第一设备发送的至少一个所述第一目标物体的绝对位置信息的平均值。
  11. 一种定位方法，其特征在于，包括：
    配置到移动目标物体上的通信设备在所述移动目标物体移动过程中，通过装载在所述移动目标物体上的传感器探测移动环境中出现的至少一个固定物体的身份标识，以及通过所述传感器确定所述移动目标物体与所述至少一个固定物体的相对位置信息；
    所述通信设备根据所述至少一个固定物体的身份标识，从预设的固定物体身份标识与绝对位置信息的对应关系中，分别确定与所述至少一个固定物体的身份标识对应的绝对位置信息；
    所述通信设备根据所述至少一个固定物体的绝对位置信息，以及所述移动目标物体分别与所述至少一个固定物体的相对位置信息，估算所述移动目标物体的定位信息。
  12. 一种定位方法，其特征在于，包括：
    针对至少一个第一设备中的各个第一设备，配置到第一目标物体上具有通信功能的第二设备通过无线网络接收至少一个目标物体的绝对位置信息，所述至少一个目标物体的绝对位置信息为第一设备根据传感器探测到至少一个目标物体的探测信号确定的；
    所述第二设备分别确定至少一个第一相对位置信息，所述至少一个第一相对位置信息中的每个第一相对位置信息为所述至少一个目标物体的绝对位置信息中的两个绝对位置信息之间的相对位置信息；
    所述第二设备根据传感器探测到所述至少一个目标物体时的探测信号，确定至少一个第二相对位置信息，所述至少一个第二相对位置信息中每个第二相对位置信息为所述第一目标物体与所述至少一个目标物体中一个目标物体的相对位置信息；
    所述第二设备通过匹配所述至少一个第一相对位置信息和所述至少一个第二相对位置信息，从至少一个目标物体的绝对位置信息确定属于所述第一目标物体的绝对位置信息；
    所述第二设备根据确定的属于所述第一目标物体的绝对位置信息，确定所述第一目标物体的定位信息。
  13. 一种第一设备，其特征在于，包括：处理单元和收发单元；其中：
    所述处理单元，用于控制传感器探测所述传感器能够探测到的范围内出现的目标物体；以及在传感器探测到任一目标物体时，执行：
    根据所述传感器探测到该目标物体时的探测信号，确定所述第一设备与该目标物体的相对位置信息，并根据所述相对位置信息和预先存储的所述第一设备的绝对位置信息，确定该目标物体的绝对位置信息，其中，每个目标物体上配置有一个具有通信功能的第二设备；
    所述收发单元，用于通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
  14. 如权利要求13所述的第一设备，其特征在于，所述传感器为摄像机或照相机；
    所述处理单元，还用于控制所述传感器获取该目标物体上贴附的目标物标识；所述收发单元，具体用于：通过无线网络向该目标物体上配置的第二设备发送获取的目标物标识和该目标物体的绝对位置信息；或者
    所述处理单元，还用于控制所述传感器获取该目标物体上贴附的目标物标识，并从预设的目标物标识与第二设备的身份标识的对应关系列表中，确定与所述目标物标识对应的第二设备的身份标识；所述收发单元，具体用于：根据确定的第二设备的身份标识，通过无线网络向该目标物体上配置的第二设备发送该目标物体的绝对位置信息。
  15. 如权利要求14所述的第一设备，其特征在于，所述收发单元，具体用于：
    通过无线网络广播一个数据包，所述数据包中包括所述第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；或者
    通过无线网络广播一个数据包，所述数据包中包括所述第一设备使用传感器探测到的每个目标物体上的第二设备的身份标识与每个目标物体的绝对位置信息的对应关系。
  16. 如权利要求13至15任一所述的第一设备，其特征在于，所述传感器装载到所述第一设备上，或者所述传感器与所述第一设备通过无线或有线的方式连接。
  17. 如权利要求14或15所述的第一设备，其特征在于，所述目标物体为车辆，所述目标物标识为车牌号码。
  18. 一种第二设备，其特征在于，包括：收发单元和处理单元，所述第二设备配置到第一目标物体上；
    所述收发单元，用于通过无线网络接收至少一个第一设备发送的所述第一目标物体的绝对位置信息，所述至少一个第一设备发送的所述第一目标物体的绝对位置信息为所述至少一个第一设备根据传感器探测到所述第一目标物体的探测信号确定的；
    所述处理单元，用于根据所述至少一个第一设备发送的所述第一目标物体的绝对位置 信息，确定所述第一目标物体的定位信息。
  19. 如权利要求18所述的第二设备，其特征在于，所述传感器为摄像机或照相机；
    所述收发单元，具体用于：
    通过无线网络接收到所述至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体的目标物标识与每个目标物体的绝对位置信息的对应关系；
    所述处理单元，具体用于：
    确定所述第一目标物体的绝对位置信息为所述至少一个数据包中与所述第一目标物体的目标物标识对应的绝对位置信息。
  20. 如权利要求18所述的第二设备，其特征在于，所述传感器为摄像机或照相机；
    所述收发单元，具体用于：
    通过无线网络接收到所述至少一个数据包，其中每个数据包分别是由一个第一设备广播的，每个数据包中包括第一设备使用传感器探测到的每个目标物体上的通信设备的身份标识与每个目标物体的绝对位置信息的对应关系；
    所述处理单元，具体用于：
    确定所述第一目标物体的绝对位置信息为所述至少一个数据包中与所述第二设备的身份标识相同的通信设备的身份标识对应的绝对位置信息。
  21. 如权利要求19至20任一所述的第二设备，其特征在于，所述传感器装载到所述第一设备上，或者所述传感器与所述第一设备通过无线或有线的方式连接。
  22. 如权利要求20或21所述的第二设备，其特征在于，所述第一目标物体为车辆，所述第一目标物标识为车牌号码。
  23. 如权利要求20至22任一所述的第二设备，其特征在于，所述处理单元，具体用于：
    确定所述第一目标物体的定位信息为所述至少一个第一设备发送的所述第一目标物体的绝对位置信息中的一个绝对位置信息；或者，
    确定所述第一目标物体的定位信息为所述至少一个第一设备发送的所述第一目标物体的绝对位置信息的平均值。
  24. 一种通信设备，其特征在于，包括：处理单元和收发单元，且所述通信设备配置到移动目标物体上；
    所述收发单元，用于接收通过装载在所述移动目标物体上的传感器在探测到移动环境中出现至少一个固定物体时，发来的探测到的移动环境中出现的至少一个固定物体的身份标识，以及所述移动目标物体与所述至少一个固定物体的相对位置信息；
    所述处理单元，用于根据所述至少一个固定物体的身份标识，从预设的固定物体身份标识与绝对位置信息的对应关系中，分别确定与所述至少一个固定物体的身份标识对应的绝对位置信息；并根据所述至少一个固定物体的绝对位置信息，以及所述移动目标物体分别与所述至少一个固定物体的相对位置信息，估算所述移动目标物体的定位信息。
  25. 一种第二设备，其特征在于，包括：收发单元和处理单元，且所述第二设备配置到第一目标物体上；
    所述收发单元，用于针对至少一个第一设备中的各个第一设备，接收至少一个目标物体的绝对位置信息，所述至少一个目标物体的绝对位置信息为第一设备根据传感器探测到 至少一个目标物体的探测信号确定的；
    所述处理单元，用于分别确定至少一个第一相对位置信息，所述至少一个第一相对位置信息中的每个第一相对位置信息为所述至少一个目标物体的绝对位置信息中的两个绝对位置信息之间的相对位置信息；并根据传感器探测到所述至少一个目标物体时的探测信号，确定至少一个第二相对位置信息，所述至少一个第二相对位置信息中每个第二相对位置信息为所述第一目标物体与所述至少一个目标物体中一个目标物体的相对位置信息；然后通过匹配所述至少一个第一相对位置信息和所述至少一个第二相对位置信息，从至少一个目标物体的绝对位置信息确定属于所述第一目标物体的绝对位置信息；根据确定的属于所述第一目标物体的绝对位置信息，确定所述第一目标物体的定位信息。
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CN108347691A (zh) 2018-07-31
EP3565283A4 (en) 2019-11-27
JP2020510813A (ja) 2020-04-09
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