CN108037483A - A kind of vehicle positioning method, device and vehicle radio station system - Google Patents

Abstract

The present application provides a vehicle positioning method, device and vehicle radio system. The method includes: when the vehicle positioning system cannot locate the vehicle, controlling the vehicle radio equipment to send assistance positioning requests to other vehicles around; The assisted positioning data fed back by other vehicles, the assisted positioning data at least includes the position information of the vehicle responding to the assisted positioning request and the distance information from the vehicle to be positioned; the vehicle is positioned based on the assisted positioning data. Realize the vehicle positioning of the current vehicle in the case of vehicle positioning system failure.

Description

A vehicle positioning method, device and vehicle radio system

technical field

The invention relates to the technical field of mobile positioning, in particular to a vehicle positioning method, device and vehicle radio system based on a vehicle radio.

Background technique

In order to facilitate positioning and navigation, the vehicle positioning system is an indispensable auxiliary system for more and more vehicles. In the prior art, the vehicle system usually uses GPS to achieve positioning and navigation. However, the GPS-based navigation system will be affected by the surrounding The impact of the environment, if the vehicle is in an environment with occluders, it will make it difficult for the vehicle positioning system to achieve positioning.

Therefore, how to accurately locate the vehicle when the vehicle-mounted GPS positioning system fails has become one of the technical problems to be solved urgently by those skilled in the art.

Contents of the invention

In view of this, the embodiments of the present invention provide a vehicle positioning method, device and vehicle radio system, so as to realize accurate positioning of the current vehicle in the case of the vehicle positioning system.

In order to achieve the above purpose, embodiments of the present invention provide the following technical solutions:

A vehicle positioning method, comprising:

Determine whether the vehicle positioning system can locate the vehicle;

When the vehicle positioning system cannot locate the vehicle, control the vehicle radio equipment to send assistance positioning requests to other vehicles around;

Acquiring the assisted positioning data fed back by other vehicles through the on-board radio equipment, the assisted positioning data at least including the position information of the vehicle responding to the assisted positioning request and the distance information from the vehicle to be positioned;

The vehicle is positioned based on the assisted positioning data.

Preferably, in the above vehicle positioning method, the positioning of the vehicle based on the assisted positioning data includes:

Based on the assisted positioning data, the vehicle is positioned using three-circle positioning measurement and triangulation mapping algorithm.

Preferably, in the above-mentioned vehicle positioning method, after obtaining the assisted positioning data fed back by other vehicles through the vehicle-mounted radio equipment, and before positioning the vehicle based on the assisted positioning data, it further includes:

Importing the assisted positioning data acquired by the vehicle radio equipment as candidate assisted positioning data into the positioning data set;

Selecting at least three groups of assisted positioning data with different position information from the positioning data set as target assisted positioning data;

The positioning of the vehicle based on the assisted positioning data is specifically:

Positioning of the vehicle based on selected target assisted positioning data.

Preferably, in the above-mentioned vehicle positioning method, each acquired assisted positioning data may be assisted positioning data sent by the same vehicle or assisted positioning data sent by different vehicles.

Preferably, in the above-mentioned vehicle location method, also include:

When the assisted positioning request sent by other vehicles is obtained through the on-board radio equipment, the assisted positioning data is generated based on the coordinates of the vehicle to be positioned obtained by using the radio positioning technology contained in the assisted positioning request.

Preferably, in the above vehicle positioning method, when the vehicle is in motion, a set of assisted positioning data is generated every preset time or travel distance, and the generated assisted positioning data is fed back to the vehicle to be positioned.

A vehicle positioning device, comprising:

The working condition judging unit is used to judge whether the vehicle-mounted positioning system can locate the vehicle, and if not, output a trigger signal to the vehicle-mounted radio interaction unit;

The vehicle-mounted radio interaction unit, when the trigger signal output by the working condition determination unit is obtained, controls the vehicle-mounted radio equipment to send assistance positioning requests to other vehicles around; obtains the assistance positioning data fed back by other vehicles through the vehicle-mounted radio equipment, and the assistance positioning The data includes at least the location information of the vehicle responding to the assistance positioning request and the distance information from the vehicle to be positioned;

The positioning unit is used for positioning the vehicle based on the assisted positioning data acquired by the vehicle radio interaction unit.

Preferably, in the above vehicle positioning device, the positioning unit is specifically used for:

Based on the assisted positioning data, the vehicle is positioned using three-circle positioning measurement and triangulation mapping algorithm.

Preferably, in the above-mentioned vehicle positioning device, a data screening unit is also provided in the vehicle radio interaction unit, and the data screening unit is used for:

Importing the assisted positioning data acquired by the vehicle radio equipment as candidate assisted positioning data into the positioning data set; selecting at least three sets of assisted positioning data with different position information from the positioning data set as the target assisted positioning data;

The positioning unit is specifically configured to: obtain the target-assisted positioning data screened by the data screening unit, and locate the vehicle based on the target-assisted positioning data.

Preferably, the above-mentioned vehicle positioning device also includes:

The assistance request response unit is configured to: obtain an assistance positioning request sent by other vehicles, and generate assistance positioning data based on the coordinates of the vehicle to be positioned obtained by using the radio positioning technology contained in the assistance positioning request.

Preferably, in the above-mentioned vehicle positioning device, the assistance request response unit is also used for:

Judging whether the vehicle where the vehicle positioning device is located is in a moving state, when it is in a moving state, a set of auxiliary positioning data is generated every preset time or driving distance, and the generated auxiliary positioning data is fed back through the vehicle radio interaction unit and the vehicle radio To locate the vehicle.

A vehicle radio system is applied with the vehicle positioning device described in any one of the above.

Based on the above-mentioned technical solution, the above-mentioned method provided by the embodiment of the present invention can be seen from the method disclosed in the above-mentioned embodiment of the present application. When the vehicle-mounted positioning system fails to accurately locate the current vehicle, the vehicle-mounted platform sends assistance to other vehicles around. request, when the assisted positioning data sent by other vehicles in response to the assisted positioning request is obtained, the location information of other vehicles in the assisted positioning data and the distance information between other vehicles and the current vehicle are extracted, based on the extracted location information and distance information to locate the current vehicle, and realize the vehicle positioning of the current vehicle in the case of a failure of the vehicle positioning system.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

FIG. 1 is a schematic flowchart of a vehicle positioning method disclosed in an embodiment of the present application;

FIG. 2 is a schematic diagram of a scene of a carrier phase measurement technology;

Fig. 3 is a schematic diagram of the principle of the three-circle intersection positioning method;

Fig. 4 is the schematic diagram of the principle of triangulation surveying and mapping technology positioning;

Fig. 5 is a schematic structural diagram of a vehicle positioning device disclosed in an embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Just imagine, if the GPS device of a vehicle is damaged, or he drives to a place that interferes with GPS signals or even has no GPS signals, such as under an overpass, by a lake, or in an underground garage. How should he know his place? Imagine again, when the above situation occurs, the car control platform of the taxi company loses the location signal of the car, and even cannot contact the driver for some reason. How should the platform find the car? Aiming at this, the present application discloses a vehicle positioning method, device and vehicle radio based on the vehicle radio.

The applicant considers setting up two positioning systems on the vehicle, and when the GPS positioning system fails to work normally, another positioning system is used for vehicle positioning. Existing positioning technologies include radio positioning technologies in addition to GPS positioning. GPS positioning technology depends on the integrity of the GPS vehicle terminal, and no interference signal. In many scenarios, the GPS signal will disappear or be interfered, causing the positioning coordinates to drift. The existing radio positioning technology only uses the three-circle rendezvous positioning method, the base station is a fixed base station, and uses radio technology to send the position coordinates of the base station to the target to be located, as well as the distance between the base station and the target, and then uses the three-circle rendezvous technology to pass The position coordinates and the distance are calculated to obtain the position of the target. Therefore, the vehicle positioning method, device and vehicle radio station invented by the applicant can be realized based on the radio positioning technology.

Referring to Fig. 1, the specific process of the vehicle positioning method disclosed in the embodiment of the present application may include:

Step S101: Determine whether the vehicle positioning system can locate the vehicle, if yes, perform step S102, otherwise, continue to perform this step;

In the vehicle positioning method disclosed in the above embodiments of the present application, the working status information of the vehicle positioning system can be acquired actively or passively. Here, the vehicle positioning system can refer to the GPS positioning system. When it is detected that the vehicle positioning system cannot effectively When the vehicle is positioned, the vehicle positioning method disclosed in the embodiment of the present application is triggered, and when it is detected that the vehicle positioning system is working normally, the execution of the method is stopped.

Step S102: Control the vehicle-mounted radio equipment to send assistance positioning requests to other surrounding vehicles;

Before implementing the method disclosed in the embodiment of the present application, it is necessary to confirm that the vehicle-mounted radio equipment of the vehicle can communicate with the vehicle-mounted radio equipment of other vehicles. Since the positioning process requires communication between the vehicle-mounted radio and the vehicle-mounted radio, the positioning method disclosed in this application And the device can be applied to taxis that can communicate with vehicle radios. Since taxis are uniformly equipped with standard vehicle radios, through the vehicle radios, taxis can exchange information through radio, and the car control platform of taxi companies It is also possible to monitor the taxi through the vehicle radio. The effective distance of the car radio is 15km in the urban area, 30km in the suburbs, and 5km on the Panshan Highway. It can be seen that the car radio has a large coverage area, which can ensure that there are other taxis in the coverage area, so use the car radio for vehicle information. Interaction is possible.

When the vehicle positioning system cannot locate the vehicle, the current vehicle is used as a base station, and other vehicles around are used as a mobile station, and the current vehicle sends an assistance positioning request to the vehicle stations of other vehicles around the coverage of the vehicle station equipment through the vehicle station equipment , currently, the vehicle-mounted radios of other surrounding vehicles are vehicle-mounted radios capable of interacting with the vehicle-mounted radios of the current vehicle. The data content in the request for assisted positioning may at least include: the location information of the vehicle assisted in positioning, and the distance between the vehicle assisted in positioning and the vehicle to be positioned.

Step S103: Obtaining assisted positioning data fed back by other vehicles through the vehicle radio equipment;

In the method disclosed in the embodiment of the present application, when the vehicle-mounted radio station of another vehicle obtains the request for assisted positioning, it can automatically respond to the request for assisted positioning, and of course it can also respond to the request for assisted positioning according to a user-triggered operation. That is, when the on-board radio of the vehicle obtains the assisted positioning request, it extracts the coordinates of the vehicle to be positioned that are obtained by using the radio positioning technology contained in the assisted positioning request, and automatically generates the assisted positioning data, or, when the on-board radio of the vehicle obtains the When an assisted positioning request is requested, a prompt message is output to the user, and when an instruction input by the user for representing a response to the assisted positioning request is obtained, the coordinates of the vehicle to be positioned obtained by using the radio positioning technology contained in the assisted positioning request, Generate assisted positioning data, and feed the assisted positioning data to the on-board radio equipment requesting assisted positioning, wherein the assisted positioning data includes at least the position information of the vehicle responding to the assisted positioning request and the distance between the vehicle and the vehicle to be positioned. The distance information of the vehicle, wherein the position information of the vehicle can be obtained by using carrier phase measurement technology.

Referring to Fig. 2, the carrier phase measurement is a method for precise positioning by receiving the phase difference between the transmitted carrier signals of multiple GPS satellites and the reference carrier signals generated by the receiver through the dynamic GPS signal receiver. Among them, the RTK (Real-time kinematic) measurement method uses carrier phase measurement to realize real-time dynamic positioning and has become the mainstream of GPS measurement today. Using carrier phase measurements, it is possible to accurately locate the position of the vehicle acting as a reference station.

Step S104: Positioning the vehicle based on the assisted positioning data;

In this step, after obtaining the assisted positioning data, the distance between the current vehicle and the target position can be known, and the target position is the position information contained in the assisted positioning data. The vehicle is positioned. Of course, in order to further improve the positioning accuracy, in the above method disclosed in the embodiment of the present application, the vehicle can be positioned by using three-circle positioning measurement and triangulation mapping algorithm based on the assisted positioning data.

It can be seen from the methods disclosed in the above-mentioned embodiments of the present application that when the on-board positioning system fails to accurately locate the current vehicle, the vehicle-mounted platform sends an assisting positioning request to other vehicles around, and when other vehicles are obtained in response to the assisting positioning request, sending When using the assisted positioning data, the location information of other vehicles in the assisted positioning data and the distance information between other vehicles and the current vehicle are extracted, and the current vehicle is positioned based on the extracted location information and distance information. Vehicle location in case of failure of the vehicle location system.

Referring to Figure 3, the three-circle intersection positioning is to draw a circle with the base station as the center and the distance between the base station 1 and the rover as the radius after the assisted positioning data is obtained, and then the rover is on the circle. In the same way as above, base station 2 also draws a circle, then the rover is also on the circle, and there are two intersection points A and B when the two circles intersect, then the position of the rover is at one of the intersection points of A and B. For further judgment, draw a circle to the reference station 3 in the same way, and this circle intersects with one of the intersection points A and B, and the position of this intersection point (intersection point B) is the position of the rover.

See Figure 4. Triangulation surveying and mapping technology is a high-precision surveying and mapping method commonly used by professional surveying and mapping teams. The position of the rover can be accurately calculated through the known position coordinates of the two reference stations and the distance and azimuth from the reference station to the rover. .

When positioning the rover, use the three-circle intersection positioning method for rough positioning and rough measurement of the azimuth angle, and then use the triangulation network surveying and mapping method for high-precision positioning.

Further, in the method disclosed in the above-mentioned embodiments of the present application, when a request for assisted positioning is issued, multiple assisted positioning data may be obtained, and only a few of the assisted positioning data need to be used when the current vehicle is performing positioning. Therefore, , before performing positioning, it is also necessary to screen the obtained assisted positioning data, and select N assisted positioning data for positioning the current vehicle. For example, in the solution disclosed in the embodiment of this application, the N The value may be 3, that is, in the above method, after obtaining the assisted positioning data fed back by other vehicles through the vehicle-mounted radio equipment, and before positioning the vehicle based on the assisted positioning data, it may also include:

Importing the assisted positioning data acquired by the vehicle radio equipment as candidate assisted positioning data into the positioning data set;

Selecting at least three groups of assisted positioning data with different position information from the positioning data set as target assisted positioning data;

The positioning of the vehicle based on the assisted positioning data is specifically:

The vehicle is localized based on the selected object-assisted localization data.

Among them, when screening the target assisted positioning data, it can be randomly selected. Of course, in order to make the positioning result more accurate, it can also be selected according to the preset rules. When a sufficient number of target assisted positioning data cannot be selected according to the preset rules , when using a random selection method to supplement, for example, the preset rule may be: the distance between the position contained in the selected target-assisted positioning data and the positions contained in other target-assisted positioning data is greater than a set value.

In the above method disclosed in the embodiment of the present application, it is also possible to respond to the assisted positioning request sent by the on-board radio equipment of other vehicles. When responding to the assisted positioning request, the assisted positioning request can be automatically responded. The instruction judges whether to respond to the request for assisted positioning, and when responding to the request for assisted positioning, it can only respond once, or it can respond multiple times in a row. Data, the continuous response multiple times refers to feeding back multiple sets of assisted positioning data with different vehicle positions to the vehicle that sent the request. When performing multiple responses, it is necessary to ensure that the vehicle is in motion. When the vehicle is in motion, a set of assisted positioning data is generated every preset time or driving distance, and the generated assisted positioning data is fed back to the vehicle to be positioned.

Therefore, each assisted positioning data acquired in the above method may be assisted positioning data sent by the same vehicle or assisted positioning data sent by different vehicles.

It can be seen from the above scheme that the patent of the present invention solves the problem of using the vehicle-mounted radio station when the current vehicle GPS is unavailable and the GPS positioning drifts, and relies on the surrounding vehicles that can be positioned with high precision and real-time dynamic positioning to achieve high-precision hybrid positioning. The current vehicle driver of this invention knows his position in real time.

Corresponding to the above method in this embodiment, this application also provides a vehicle positioning device. For the specific work content of each unit in the vehicle positioning device, please refer to the content of the above method embodiment. The following describes the vehicle provided by the embodiment of this application. The positioning device is described, and the vehicle positioning device described below and the vehicle positioning method described above can be referred to in correspondence.

Referring to Figure 5, the vehicle positioning device includes:

The working condition judging unit 100, which corresponds to step S101 in the above method, is used to judge whether the vehicle-mounted positioning system can effectively locate the vehicle, and if not, output a trigger signal to the vehicle-mounted radio interaction unit;

The vehicle-mounted radio interaction unit 200, which corresponds to steps S102 and S103 in the above method, controls the vehicle-mounted radio to send assistance positioning requests to other vehicles around when the trigger signal output by the working condition determination unit is obtained; through the vehicle-mounted radio Acquiring assisted positioning data fed back by other vehicles, the assisted positioning data at least including the position information of the vehicle responding to the assisted positioning request and the distance information from the vehicle to be positioned;

The positioning unit 300, which corresponds to step S104 in the above method, is used for positioning the vehicle based on the assisted positioning data acquired by the vehicle radio interaction unit.

Preferably, corresponding to the above method, the positioning unit 300 is specifically used for:

Based on the assisted positioning data, the vehicle is positioned using three-circle positioning measurement and triangulation mapping algorithm.

Preferably, corresponding to the above method, a data screening unit is also provided in the vehicle radio interaction unit 200, and the data screening unit is used for:

Importing the assisted positioning data acquired by the vehicle radio equipment as candidate assisted positioning data into the positioning data set; selecting at least three sets of assisted positioning data with different position information from the positioning data set as the target assisted positioning data;

The positioning unit 300 is specifically configured to: obtain the object-assisted positioning data screened by the data screening unit, and locate the vehicle based on the object-assisted positioning data.

Preferably, corresponding to the above method, it also includes:

The assistance request response unit is configured to: obtain an assistance positioning request sent by other vehicles, and generate assistance positioning data based on the coordinates of the vehicle to be positioned obtained by using the radio positioning technology contained in the assistance positioning request.

Preferably, corresponding to the above method, the assistance request response unit is also used for:

Judging whether the vehicle where the vehicle positioning device is located is in a moving state, when it is in a moving state, a set of auxiliary positioning data is generated every preset time or driving distance, and the generated auxiliary positioning data is fed back through the vehicle radio interaction unit and the vehicle radio For a vehicle that needs to be positioned, count the number of assisted positioning data generated, and stop generating assisted positioning data when the number reaches the target value.

Corresponding to the above method, the above device may also include:

Prompt unit and response trigger unit;

The prompting unit is configured to output to the user prompt information representing the acquisition of a request for assistance in positioning;

The response triggering unit is configured to generate a first control instruction for responding to the assistance positioning request corresponding to user trigger execution or a second control instruction for ignoring the assistance response request, when the first control instruction is generated When an instruction is issued, the control instruction is sent to the assistance request response unit, and the assistance request response unit is controlled to respond to the assistance positioning request; when the second control instruction is generated, the control instruction is sent to the assistance request response unit, and the control The assistance request responding unit does not respond to the assistance positioning request.

Corresponding to the above method, the present application also discloses a vehicle radio system, and the vehicle radio can be applied with the vehicle positioning device disclosed in any one embodiment of the present application.

For the convenience of description, when describing the above system, the functions are divided into various modules and described separately. Of course, when implementing the present application, the functions of each module can be realized in one or more pieces of software and/or hardware.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment. The systems and system embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is It can be located in one place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

It should also be noted that in this article, relational terms such as first and second etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations Any such actual relationship or order exists between. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. A vehicle positioning method, characterized in that, comprising: Determine whether the vehicle positioning system can locate the vehicle; When the vehicle positioning system cannot locate the vehicle, control the vehicle radio equipment to send assistance positioning requests to other vehicles around; Acquiring the assisted positioning data fed back by other vehicles through the on-board radio equipment, the assisted positioning data at least including the position information of the vehicle responding to the assisted positioning request and the distance information from the vehicle to be positioned; The vehicle is positioned based on the assisted positioning data. 2. The vehicle positioning method according to claim 1, wherein said positioning the vehicle based on the assisted positioning data comprises: Based on the assisted positioning data, the vehicle is positioned using three-circle positioning measurement and triangulation mapping algorithm. 3. The vehicle positioning method according to claim 1, characterized in that, after obtaining the assisted positioning data fed back by other vehicles through the vehicle-mounted radio equipment, before positioning the vehicle based on the assisted positioning data, further comprising: Importing the assisted positioning data acquired by the vehicle radio equipment as candidate assisted positioning data into the positioning data set; Selecting at least three groups of assisted positioning data with different position information from the positioning data set as target assisted positioning data; The positioning of the vehicle based on the assisted positioning data is specifically: Positioning of the vehicle based on selected target assisted positioning data. 4 . The vehicle positioning method according to claim 1 , wherein the acquired assisted positioning data can be assisted positioning data sent by the same vehicle or assisted positioning data sent by different vehicles. 5. The vehicle positioning method according to claim 1, further comprising: When the assisted positioning request sent by other vehicles is obtained through the on-board radio equipment, the assisted positioning data is generated based on the coordinates of the vehicle to be positioned obtained by using the radio positioning technology contained in the assisted positioning request. 6. The vehicle positioning method according to claim 5, characterized in that, when the vehicle is in motion, a set of assisted positioning data is generated every preset time or driving distance, and the generated assisted positioning data is fed back to the vehicle to be positioned. vehicle. 7. A vehicle positioning device, characterized in that it comprises: The working condition judging unit is used to judge whether the vehicle-mounted positioning system can locate the vehicle, and if not, output a trigger signal to the vehicle-mounted radio interaction unit; The vehicle-mounted radio interaction unit, when the trigger signal output by the working condition determination unit is obtained, controls the vehicle-mounted radio equipment to send assistance positioning requests to other vehicles around; obtains the assistance positioning data fed back by other vehicles through the vehicle-mounted radio equipment, and the assistance positioning The data includes at least the location information of the vehicle responding to the assistance positioning request and the distance information from the vehicle to be positioned; The positioning unit is used for positioning the vehicle based on the assisted positioning data acquired by the vehicle radio interaction unit. 8. The vehicle positioning device according to claim 7, wherein the positioning unit is specifically used for: Based on the assisted positioning data, the vehicle is positioned using three-circle positioning measurement and triangulation mapping algorithm. 9. The vehicle positioning device according to claim 7, wherein a data screening unit is also arranged in the vehicle radio interactive unit, and the data screening unit is used for: Importing the assisted positioning data acquired by the vehicle radio equipment as candidate assisted positioning data into the positioning data set; selecting at least three sets of assisted positioning data with different position information from the positioning data set as the target assisted positioning data; The positioning unit is specifically configured to: obtain the target-assisted positioning data screened by the data screening unit, and locate the vehicle based on the target-assisted positioning data. 10. The vehicle positioning device according to claim 7, further comprising: The assistance request response unit is configured to: obtain an assistance positioning request sent by other vehicles, and generate assistance positioning data based on the coordinates of the vehicle to be positioned obtained by using the radio positioning technology contained in the assistance positioning request. 11. The vehicle positioning device according to claim 10, wherein the assistance request response unit is further used for: Judging whether the vehicle where the vehicle positioning device is located is in a moving state, when it is in a moving state, a set of auxiliary positioning data is generated every preset time or driving distance, and the generated auxiliary positioning data is fed back through the vehicle radio interaction unit and the vehicle radio To locate the vehicle. 12. A vehicle radio system, characterized in that the vehicle positioning device described in any one of claims 7-11 is applied.