Parking method, device and equipment based on Bluetooth position and storage medium

Abstract

The invention discloses a parking method, device and equipment based on a Bluetooth position and a storage medium, and relates to the technical field of remote control parking, and the parking method based on the Bluetooth position comprises the steps that Bluetooth position signals of a preset parking area and a user side are acquired; obtaining signal intensity, a source angle and position information according to the Bluetooth position signal; determining a relative position according to the signal intensity, the source angle and the position information; selecting a parking direction according to the relative position and the preset parking area; and parking according to the parking direction. A position signal sent by a Bluetooth key of a user side is received through a vehicle-mounted Bluetooth module, the relative position of a vehicle and the user side is determined based on the signal strength, the source angle and the position information, then the parking direction is automatically selected according to the relative position and a preset parking area, the operation interaction level during remote control parking is reduced, and the parking efficiency is improved. And the parking efficiency and convenience are improved.

Description

Technical Field

[0001] The present application relates to the technical field of remote control parking, and in particular to a parking method, device, equipment and storage medium based on Bluetooth location. Background Art

[0002] With the development of Bluetooth technology and intelligent driving assistance functions, remote control parking function has gradually become a key technical requirement for automatic parking of vehicles. Traditional parking technology cannot automatically select the parking direction according to the relative position of the driver and the vehicle and the specific type of parking area, resulting in the determination of parking direction relying on cumbersome user operations, which increases complexity and reduces operational efficiency.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide a parking method, device, equipment and storage medium based on Bluetooth location, aiming to solve the technical problems that traditional remote control parking is cumbersome to operate, requires multiple interaction levels to select parking methods and directions, and reduces the convenience and efficiency of the parking function.

[0005] To achieve the above objectives, the present application proposes a parking method based on Bluetooth location, the method comprising:

[0006] Obtain Bluetooth location signals of the preset parking area and the user terminal;

[0007] According to the Bluetooth location signal, signal strength, source angle and location information are obtained;

[0008] Determine a relative position according to the signal strength, the source angle and the position information;

[0009] selecting a parking direction according to the relative position and the preset parking area;

[0010] Parking is performed according to the parking direction.

[0011] In one embodiment, the step of determining the relative position according to the signal strength, the source angle and the position information comprises:

[0012] Calculate the deflection angle according to the source angle to obtain the source signal deflection angle;

[0013] Positioning the user terminal according to the signal strength, the source signal deflection angle, the location information and a preset Kalman filter strategy to obtain a positioning result;

[0014] The relative position with respect to the user terminal is calculated according to the positioning result.

[0015] In one embodiment, the step of selecting a parking direction according to the relative position and the preset parking area includes:

[0016] selecting horizontal parking or vertical parking according to the relative position and the preset parking area, the preset parking area including a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area and a sixth parking area;

[0017] The parking direction is selected according to the preset parking area and the horizontal parking or the vertical parking.

[0018] In one embodiment, the step of selecting horizontal parking or vertical parking according to the relative position and the preset parking area, wherein the preset parking area includes a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area, and a sixth parking area, comprises:

[0019] When the relative position is in the first parking area and the sixth parking area, selecting horizontal parking;

[0020] When the relative position is in the third parking area and the fourth parking area, horizontal parking is selected.

[0021] In one embodiment, the step of selecting horizontal parking or vertical parking according to the relative position and the preset parking area, wherein the preset parking area includes a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area, and a sixth parking area, further includes:

[0022] When the relative position is in the second parking area and the fifth parking area, selecting perpendicular parking;

[0023] When the relative position is in any one of the first parking area, the second parking area, the third parking area, the fourth parking area, the fifth parking area, and the sixth parking area, vertical parking is selected.

[0024] In one embodiment, the step of selecting a parking direction according to a preset parking area and the horizontal parking or the vertical parking comprises:

[0025] When the relative position is in the first parking area and the sixth parking area, selecting a first parking direction;

[0026] When the relative position is within the third parking area and the fourth parking area, a second parking direction is selected.

[0027] In one embodiment, the step of selecting a parking direction according to the preset parking area and the horizontal parking or the vertical parking further includes:

[0028] When the relative position is in the first parking area, selecting a third parking direction;

[0029] When the relative position is in the second parking area, selecting a fourth parking direction;

[0030] selecting a fifth parking direction when the relative position is in the third parking area;

[0031] When the relative position is in the fourth parking area, selecting a sixth parking direction;

[0032] When the relative position is in the fifth parking area, selecting a seventh parking direction;

[0033] When the relative position is in the sixth parking area, an eighth parking direction is selected.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a parking device based on Bluetooth location, and the parking device based on Bluetooth location includes: an acquisition module, used to acquire Bluetooth location signals of a preset parking area and a user terminal;

[0035] An obtaining module, used to obtain signal strength, source angle and location information according to the Bluetooth location signal;

[0036] A determination module, configured to determine a relative position according to the signal strength, the source angle and the position information;

[0037] A selection module, configured to select a parking direction according to the relative position and the preset parking area;

[0038] The parking module is used to park according to the parking direction.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a Bluetooth location-based parking device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the Bluetooth location-based parking method as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the Bluetooth location-based parking method as described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the Bluetooth location-based parking method as described above are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] By acquiring the Bluetooth location signals of the preset parking area and the user end, these signals are then analyzed to extract the signal strength, source angle, and location information. Using the signal strength, source angle, and location information, the relative position of the vehicle and the user end can be determined, and then the appropriate parking direction is automatically selected based on this relative position and the preset parking area. Finally, the parking operation is performed according to the selected direction. This process reduces the manual selection and operation that users need to perform when parking, improves the convenience and efficiency of the parking process compared to the existing technology, and realizes a more user-friendly and automated parking experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A flowchart diagram of the first embodiment of the parking method based on Bluetooth location of the present application;

[0047] Figure 2 A schematic diagram of a preset parking area provided in Embodiment 1 of the parking method based on Bluetooth location of the present application;

[0048] Figure 3 A schematic diagram of parking direction provided for the first embodiment of the parking method based on Bluetooth location of the present application;

[0049] Figure 4 A schematic diagram of an optimization process provided for the first embodiment of the parking method based on Bluetooth location of the present application;

[0050] Figure 5 A flowchart diagram of the second embodiment of the parking method based on Bluetooth location of the present application;

[0051] Figure 6A relative position diagram provided for the second embodiment of the parking method based on Bluetooth location of the present application;

[0052] Figure 7 This is a schematic diagram of the module structure of a parking device based on Bluetooth location according to an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the Bluetooth location-based parking method in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present application is to obtain the Bluetooth location signal of the preset parking area and the user terminal;

[0058] According to the Bluetooth location signal, signal strength, source angle and location information are obtained;

[0059] Determine a relative position according to the signal strength, the source angle and the position information;

[0060] selecting a parking direction according to the relative position and the preset parking area;

[0061] Parking is performed according to the parking direction.

[0062] In this embodiment, for ease of description, the following description is made by taking the identification of parking equipment based on Bluetooth location as the execution subject.

[0063] Since the conventional remote control parking in the prior art is cumbersome to operate, and multiple interaction levels are required to select the parking method and direction, which reduces the convenience and efficiency of the parking function, the present application provides a solution by obtaining the Bluetooth location signals of the preset parking area and the user end, and then analyzing these signals to extract the signal strength, source angle and location information. Using the signal strength, source angle and location information, the relative position of the vehicle and the user end can be determined, and then the appropriate parking direction can be automatically selected according to this relative position and the preset parking area. Finally, the parking operation is performed according to the selected direction. This process reduces the manual selection and operation that the user needs to perform when parking, improves the convenience and efficiency of the parking process compared to the prior art, and realizes a more user-friendly and automated parking experience.

[0064] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle terminal, a parking device based on Bluetooth location, etc. The following takes the parking device based on Bluetooth location as an example to illustrate this embodiment and the following embodiments.

[0065] Based on this, the embodiment of the present application provides a parking method based on Bluetooth location, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the Bluetooth location-based parking method of the present application.

[0066] In this embodiment, the parking method based on Bluetooth location includes steps S10 to S50:

[0067] Step S10, obtaining Bluetooth location signals of a preset parking area and a user terminal;

[0068] It should be noted that the preset parking area refers to a specific area set during the parking process based on factors such as the parking environment, vehicle size and parking requirements. This area is usually divided according to the location of the vehicle. The Bluetooth location signal on the user side refers to the location information transmitted via Bluetooth technology. The user side is usually a device carried by the driver, such as a smartphone or a Bluetooth key, which communicates with the vehicle or the vehicle system via Bluetooth. These location signals contain the relative distance, angle and other positioning information between the device and the vehicle's Bluetooth module.

[0069] For example, assuming that the driver holds a Bluetooth key and moves in the parking lot, the vehicle will receive the Bluetooth signal from the user through the on-board Bluetooth module, and calculate the relative position of the driver and the vehicle through information such as signal strength and angle, to help perform smart parking or directional parking operations.

[0070] Step S20, obtaining signal strength, source angle and location information according to the Bluetooth location signal;

[0071] It should be noted that signal strength refers to the strength of the Bluetooth signal transmitted from the user-end device to the vehicle-mounted Bluetooth module. Usually, by measuring the strength of the Bluetooth signal, such as RSSI, the received signal strength indication, the approximate distance between the device and the Bluetooth receiver can be inferred. The stronger the signal, the closer the device is to the vehicle-mounted Bluetooth module. The source angle refers to the offset angle of the connection direction between the user-end device and the vehicle-mounted Bluetooth module relative to the reference direction of the vehicle. The source direction of the signal can be calculated through the multi-antenna structure of the Bluetooth module or the signal arrival angle technology. The location information is the coordinate position of the user-end device in three-dimensional space calculated by data such as signal strength and source angle. The specific location of the device can be determined through the reference coordinate system of the vehicle.

[0072] It can be understood that the signal strength, source angle and location information of the user-end device are analyzed based on the Bluetooth signal, providing accurate and real-time input data for the subsequent judgment and control of the parking direction, thereby reducing the complexity of manual operation and improving the degree of automation.

[0073] Step S30, determining a relative position according to the signal strength, the source angle and the position information;

[0074] It should be noted that the relative position refers to the relative spatial position between the user device and the vehicle, which is calculated based on signal strength, source angle and location information, and is used to determine the driver's specific position, such as front, back, left, right and distance.

[0075] It is understandable that by comprehensively analyzing the Bluetooth signal strength, source angle and location information emitted by the user device, the spatial position relationship between the device and the vehicle can be calculated, and then the specific position of the user device around the vehicle can be determined. For example, assuming that the signal strength measured by the Bluetooth module is -45dBm, the distance is 2 meters, and the source angle is 60°, the relative position can be calculated as the specific coordinates 2 meters in front of the right side of the vehicle. Such relative position judgment provides reliable data support for subsequent parking direction selection.

[0076] Step S40, selecting a parking direction according to the relative position and the preset parking area;

[0077] It should be noted that the parking direction is the specific direction of movement of the vehicle when parking in or out of the parking space, such as leftward or rightward parking for horizontal parking, forward parking for vertical parking, backward parking for vertical parking, etc. The parking direction selection depends on the relative position and the preset parking area.

[0078] It is understandable that the relative position of the user device is obtained through the previous steps. For example, if the signal strength display device is 2 meters away from the vehicle and the source angle is -30°, the relative position is "2 meters in front of the left side of the vehicle". This information is used to determine the spatial relationship of the user device around the vehicle. The type of parking space in the area where the vehicle is located is detected by the vehicle-mounted module, such as determining whether the current parking space is a horizontal parking space or a vertical parking space, or a more specific parking partition, and the parking direction is determined by combining the relative position with the characteristics of the preset parking area.

[0079] In a feasible implementation, step S40 may include steps S41 to S42:

[0080] Step S41, selecting horizontal parking or vertical parking according to the relative position and the preset parking area, the preset parking area including a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area and a sixth parking area;

[0081] It should be noted that horizontal parking means that the vehicle moves out of the parking space in the horizontal direction, which usually corresponds to the movement of the vehicle in the left and right directions. Vertical parking means that the vehicle moves out of the parking space in the vertical direction, which usually corresponds to the movement of the vehicle in the front and rear directions. The first parking area refers to the left front area in the vehicle reference coordinate system, which is usually defined by the center point of the vehicle, that is, the origin, on the left side, that is, the intersection area of ​​the negative X axis and the front, that is, the positive Y axis. The second parking area is the area directly in front of the vehicle reference coordinate system, located on the positive Y axis extension line of the center point of the vehicle, representing an area directly in front of the vehicle. The third parking area is defined as the spatial area in front of the right side of the vehicle, located on the right side of the reference coordinate system, that is, the intersection of the positive X axis and the front, that is, the positive Y axis. The fourth parking area is the right rear area in the vehicle reference coordinate system, located on the right side, that is, the intersection area of ​​the positive X axis and the rear, that is, the negative Y axis. The fifth parking area is the area directly behind the vehicle, located on the negative Y axis extension line of the reference coordinate system, representing an area behind the vehicle. The sixth parking area is defined as the space area behind the left side of the vehicle, located at the intersection of the left side, i.e., the negative X-axis, and the rear side, i.e., the negative Y-axis.

[0082] It is understandable that, referring to Figure 2 , Figure 2 A schematic diagram of a preset parking area of ​​the first embodiment of the Bluetooth location-based parking method of the present application.

[0083] like Figure 2As shown, the center point O of the vehicle is used as the origin, and six areas are divided in combination with the heading of the vehicle. Each area represents the specific position of the user device relative to the vehicle: Area 1: Located in front of the left side of the vehicle, with an angle of 60° between the left side and the front. Area 2: Located directly in front of the vehicle, it is the front direction, that is, the area within the middle 60° range. Area 3: Located in front of the right side of the vehicle, with an angle of 60° between the right side and the front. Area 4: Located in the right rear of the vehicle, with an angle of 60° between the right side and the rear. Area 5: Located directly behind the vehicle, it is the rear direction, that is, the area within the middle 60° range of the rear. Area 6: Located in the left rear of the vehicle, with an angle of 60° between the left side and the rear. The preset parking area clarifies the relative position of the user device around the vehicle by dividing it into six equal parts, providing an intuitive regional basis for the intelligent selection of the parking direction.

[0084] For example, the user device is 3 meters to the left of the vehicle, the vehicle is currently in the first parking area, and the parking method is selected as "horizontal parking". If the user device is changed to 1 meter behind the vehicle, the vehicle is in the third parking area, and the parking method is "vertical parking".

[0085] In a feasible implementation, step S41 may include steps A411 to A412:

[0086] Step A411, when the relative position is in the first parking area and the sixth parking area, selecting horizontal parking;

[0087] It is understandable that, according to the relative position calculated in the previous step, it is determined whether the user device is located in the boundary range of the first parking area and the sixth parking area. When the user device is located in the first parking area and the sixth parking area, the vehicle selects "horizontal parking" as the parking mode.

[0088] Step A412, when the relative position is in the third parking area and the fourth parking area, select horizontal parking.

[0089] It is understandable that, according to the relative position calculated in the previous step, it is determined whether the user device is located in the boundary range of the third parking area and the fourth parking area. When the user device is located in the third parking area and the fourth parking area, the vehicle selects "horizontal parking" as the parking mode.

[0090] In a feasible implementation, step S41 may include steps B411 to B412:

[0091] Step B411, when the relative position is in the second parking area and the fifth parking area, selecting vertical parking;

[0092] It is understandable that it is determined whether the user device is located in the boundary range of the second parking area and the fifth parking area. When the user device is in the second parking area or the fifth parking area, the vehicle selects "vertical parking".

[0093] Step B412, when the relative position is in any one of the first parking area, the second parking area, the third parking area, the fourth parking area, the fifth parking area and the sixth parking area, select vertical parking.

[0094] It is understandable that, when determining whether the user equipment is located in any one of the six parking areas, if the user equipment is in any one of the six parking areas and does not overlap with other areas, "vertical parking" is uniformly selected according to the distribution of the relative position in the six parking areas.

[0095] Step S42, selecting a parking direction according to a preset parking area and the horizontal parking or the vertical parking.

[0096] It is understandable that the parking method, horizontal parking or vertical parking, obtained from step S41 is used as input, and a specific parking direction is selected in combination with the parking method and the area type.

[0097] In a feasible implementation, step S42 may include steps A421 to A422:

[0098] Step A421, when the relative position is in the first parking area and the sixth parking area, selecting a first parking direction;

[0099] It is understandable that the first parking direction is a preset parking direction, and when the user's relative position is in the first parking area or the sixth parking area, this direction will be automatically selected for parking. In this embodiment, the first parking direction refers to parking the vehicle horizontally to the left from the current position.

[0100] Step A422, when the relative position is in the third parking area and the fourth parking area, select a second parking direction.

[0101] It is understandable that the second parking direction is another preset parking direction, and when the user's relative position is in the third parking area or the fourth parking area, this direction will be automatically selected for parking. For example, the second parking direction refers to parking the vehicle horizontally to the right from the current position.

[0102] In a feasible implementation, step S42 may include steps B421 to B426:

[0103] Step B421, when the relative position is in the first parking area, selecting a third parking direction;

[0104] It is understandable that when the angle between the user's Bluetooth key and the vehicle is in the first parking area, the third parking direction is selected, that is, vertical left front parking. This means that the user is located in front of the left side of the vehicle, and the vehicle will automatically choose to park in the front left direction.

[0105] Step B422, when the relative position is in the second parking area, selecting a fourth parking direction;

[0106] It is understandable that when the angle between the user's Bluetooth key and the vehicle is in the second parking area, the fourth parking direction is selected, that is, vertical forward parking. This means that the user is located directly in front of the vehicle, and the vehicle will automatically choose to park directly forward.

[0107] Step B423, when the relative position is in the third parking area, selecting a fifth parking direction;

[0108] It is understandable that when the angle between the user's Bluetooth key and the vehicle is in the third parking area, the fifth parking direction is selected, that is, vertical right front parking. This means that the user is located in front of the right side of the vehicle, and the vehicle will automatically choose to park in the front right direction.

[0109] Step B424, when the relative position is in the fourth parking area, selecting a sixth parking direction;

[0110] It is understandable that when the angle between the user's Bluetooth key and the vehicle is in the fourth parking area, the sixth parking direction is selected, that is, parking vertically to the right and backward. This means that the user is located behind the right side of the vehicle, and the vehicle will automatically choose to park to the right rear.

[0111] Step B425, when the relative position is in the fifth parking area, selecting a seventh parking direction;

[0112] It is understandable that when the angle between the user's Bluetooth key and the vehicle is in the fifth parking area, the seventh parking direction is selected, that is, vertical rear parking. This means that the user is directly behind the vehicle and the vehicle will automatically choose to park directly rearward.

[0113] Step B426, when the relative position is in the sixth parking area, select the eighth parking direction.

[0114] It is understandable that when the angle between the user's Bluetooth key and the vehicle is in the sixth parking area, the eighth parking direction is selected, that is, vertical left rear parking. This means that the user is located behind the left side of the vehicle, and the vehicle will automatically choose to park to the left rear.

[0115] In addition, it can be understood that the first parking direction indicates that when the driver is at the left front of the vehicle, that is, the intersection of the first parking area and the left rear, that is, the sixth parking area, the horizontal left parking is automatically selected, and the driver can directly control the vehicle to park to the left. The second parking direction indicates that when the driver is at the right front of the vehicle, that is, the third parking area or the right rear, that is, the intersection of the fourth parking area, the horizontal right parking is automatically selected, and the driver can directly control the vehicle to park to the right. The third parking direction indicates that when the driver is in front of the vehicle, the vertical forward parking is automatically selected, and the vehicle will leave the parking space vertically forward. The fourth parking direction indicates that when the driver is behind the vehicle, the vertical backward parking is automatically selected, and the vehicle will leave the parking space vertically backward. The fifth parking direction indicates that when the driver is in the left front of the vehicle, the system automatically selects the vertical left forward parking, and the vehicle will enter the parking space vertically forward and turn left. The sixth parking direction indicates that when the driver is in the right front of the vehicle, the system automatically selects the vertical right forward parking, and the vehicle will enter the parking space vertically forward and turn right. The seventh parking direction indicates that when the driver is at the left rear of the vehicle, the system automatically selects to park vertically to the left and the vehicle will drive out of the parking space vertically backward and turn left. The eighth parking direction indicates that when the driver is at the right rear of the vehicle, the system automatically selects to park vertically to the right and the vehicle will drive out of the parking space vertically backward and turn right. The front of the vehicle is taken as the positive Y-axis direction, and the right side of the vehicle is taken as the positive X-axis direction. All parking directions will be calculated and described based on this coordinate system, and the offset of the driving angle can be calculated according to the reference coordinate system of the vehicle. In this embodiment, vertical forward parking can be the vehicle parking along the front of the vehicle body, that is, along the positive Y-axis, with an angle of 0°. Vertical backward parking can be the vehicle parking along the rear of the vehicle body, that is, along the negative Y-axis, with an angle of 180°. Horizontal left parking can be the vehicle parking along the left side of the vehicle body, that is, along the negative X-axis, with an angle of 90°. Horizontal right parking can be the vehicle parking along the right side of the vehicle body, that is, along the positive X-axis, with an angle of 270°. Vertical left forward parking means that the vehicle is parked diagonally forward along the left front of the vehicle, with an angle of 45°. Vertical right forward parking means that the vehicle is parked diagonally forward along the right front of the vehicle, with an angle of 315°. Vertical left rearward parking means that the vehicle is parked diagonally backward along the left rear of the vehicle, with an angle of 135°. Vertical right rearward parking means that the vehicle is parked diagonally backward along the right rear of the vehicle, with an angle of 225°.

[0116] Reference Figure 3 , Figure 3 This is a schematic diagram of the parking direction of the first embodiment of the Bluetooth location-based parking method of the present application.

[0117] like Figure 3As shown, the black frame represents the possible parking position of the vehicle in each parking direction. The first parking direction is located on the left side of the vehicle, and the vehicle is parked horizontally to the left at an angle of 90°; the second parking direction is located on the right side of the vehicle, and the vehicle is parked horizontally to the right at an angle of 270°; the third parking direction is located in the left front of the vehicle, and the vehicle is parked vertically to the left and forward at an angle of 45°; the fourth parking direction is located directly in front of the vehicle, and the vehicle is parked vertically forward at an angle of 0°; the fifth parking direction is located in the right front of the vehicle, and the vehicle is parked vertically to the right and forward at an angle of 315°; the sixth parking direction is located at the right rear of the vehicle, and the vehicle is parked vertically to the right and backward at an angle of 225°; the seventh parking direction is located directly behind the vehicle, and the vehicle is parked vertically backward at an angle of 180°; the eighth parking direction is located at the left rear of the vehicle, and the vehicle is parked vertically to the left and backward at an angle of 135°. The angular interval between each parking direction is 60°. Such a layout helps to automatically select the most appropriate parking direction according to the relative position of the user end.

[0118] Step S50: Parking according to the parking direction.

[0119] It is understandable that the actual parking operation is performed according to the parking direction selected in the previous step. The vehicle will complete the parking in or out operation through its own steering control, power output and speed adjustment in combination with the current environmental perception data, such as parking space boundaries, obstacle detection results and parking direction instructions. Exemplarily, if the parking direction is "horizontal right parking", the vehicle will turn the steering wheel to the right and slowly move out of the parking space, while detecting surrounding obstacles through sensors to ensure that it does not collide with other vehicles or objects. After confirming that it has completely exited the parking space, the vehicle stops and completes the parking operation. Refer to Figure 4 , Figure 4 This is a schematic diagram of the optimization process of the first embodiment of the Bluetooth location-based parking method of the present application.

[0120] like Figure 4 As shown in the figure, the driver starts the remote parking function through the APP on the mobile phone, automatically determines and selects the appropriate parking direction based on the Bluetooth signal and other information, and the mobile phone APP immediately enters the parking activation interface, without the user manually selecting the direction. After the user confirms the activation of the parking operation on the mobile phone APP, the vehicle automatically completes the parking action according to the selected direction, and the entire operation process ends. It simplifies user operations, reduces interaction steps through automatic direction selection, and improves parking efficiency and convenience.

[0121] This embodiment provides a parking method based on Bluetooth location, which uses Bluetooth technology to obtain Bluetooth location signals of a preset parking area and a user terminal, and determines the relative position of the user terminal and the vehicle based on signal strength, source angle, and location information, and then intelligently selects the parking direction. This solves the technical problem that traditional remote control parking is cumbersome to operate and the user needs to manually select the parking direction, and achieves the beneficial effect of simplifying the parking process and improving parking efficiency and safety.

[0122] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 5 , step S30 of the parking method based on Bluetooth location includes steps S31 to S33:

[0123] Step S31, calculating the deflection angle according to the source angle to obtain the source signal deflection angle;

[0124] It should be noted that the deflection angle is the signal deviation angle calculated from the source angle, which is used to correct and accurately locate the relative position of the user device and the vehicle. The source signal deflection angle is the result of comprehensive consideration of the reference coordinate transformation in the Bluetooth signal path.

[0125] Step S32, positioning the user terminal according to the signal strength, the source signal deflection angle, the location information and a preset Kalman filter strategy to obtain a positioning result;

[0126] It should be noted that Kalman filtering is an algorithm based on probability theory and statistics, which is used to optimize and correct noise data in the signal. The preset Kalman filtering strategy improves the accuracy and stability of the positioning results through prediction and correction steps. When the vehicle is moving or the environment is highly disturbed, the Kalman filtering strategy can stabilize the Bluetooth signal strength and angle data and reduce the impact of noise on the positioning results.

[0127] It can be understood that the signal strength, source signal deflection angle and location information are combined to form a preliminary estimate of the user device location. By optimizing the signal data through the Kalman filter strategy, filtering out random noise and smoothing data changes, a stable positioning result can be obtained.

[0128] Step S33 calculates the relative position with respect to the user terminal according to the positioning result.

[0129] It can be understood that the filtered and optimized positioning result is mapped to the reference coordinate system of the vehicle. According to the center point of the vehicle, the positioning result is converted into a relative position to describe the specific position and distance of the user equipment. Figure 6 , Figure 6 A schematic diagram of relative positions of a second embodiment of the parking method based on Bluetooth location in the present application.

[0130] like Figure 6As shown, a reference coordinate system with the center point O of the vehicle as the origin is established to describe the position and direction relationship of the Bluetooth key. The vehicle is simplified into a rectangle, the X-axis of the reference coordinate system is aligned with the horizontal direction of the vehicle, and the Y-axis is aligned with the longitudinal direction of the vehicle. The position of the Bluetooth key is represented by point S, which is connected to the center point O of the vehicle by a dotted line. The angle α formed by the dotted line and the positive direction of the Y-axis represents the source angle, which is used to describe the direction relationship of the Bluetooth key relative to the vehicle. This picture is intended to illustrate that the source angle α of the Bluetooth signal is an important parameter for the vehicle to locate the user device.

[0131] This embodiment provides a parking method based on Bluetooth location, which solves the problems of low positioning accuracy and poor stability in traditional parking systems by combining the source angle to calculate the deflection angle, applying the Kalman filtering strategy to optimize the signal strength and angle data, and mapping the optimized positioning result to the vehicle reference coordinate system to calculate the relative position of the user device. It achieves the beneficial effect of improving the parking positioning accuracy and stability, thereby optimizing the parking operation process and enhancing the user experience.

[0132] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the Bluetooth location-based parking method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0133] This application also provides a parking device based on Bluetooth location, please refer to Figure 7 , the parking device based on Bluetooth location includes:

[0134] An acquisition module 10 is used to acquire Bluetooth location signals of a preset parking area and a user terminal;

[0135] An obtaining module 20 is used to obtain signal strength, source angle and location information according to the Bluetooth location signal;

[0136] A determination module 30, configured to determine a relative position according to the signal strength, the source angle and the position information;

[0137] A selection module 40, configured to select a parking direction according to the relative position and the preset parking area;

[0138] The parking module 50 is used to park according to the parking direction. The parking device based on Bluetooth location provided in the present application adopts the parking method based on Bluetooth location in the above embodiment, which can solve the technical problems that the traditional remote control parking is cumbersome to operate and requires multiple interaction levels to select the parking mode and direction, which reduces the convenience and efficiency of the parking function. Compared with the prior art, the beneficial effects of the parking device based on Bluetooth location provided in the present application are the same as the beneficial effects of the parking method based on Bluetooth location provided in the above embodiment, and the other technical features of the parking device based on Bluetooth location are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0139] In one embodiment, the determination module 30 is also used to calculate the deflection angle based on the source angle to obtain the source signal deflection angle; locate the user terminal based on the signal strength, the source signal deflection angle, the position information and a preset Kalman filtering strategy to obtain a positioning result; and calculate the relative position with respect to the user terminal based on the positioning result.

[0140] In one embodiment, the selection module 40 is further used to select horizontal parking or vertical parking according to the relative position and the preset parking area, the preset parking area including a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area and a sixth parking area; and select a parking direction according to the preset parking area and the horizontal parking or the vertical parking.

[0141] In one embodiment, the selection module 40 is further configured to select horizontal parking when the relative position is in the first parking area and the sixth parking area; and select horizontal parking when the relative position is in the third parking area and the fourth parking area.

[0142] In one embodiment, the selection module 40 is further used to select vertical parking when the relative position is in the second parking area and the fifth parking area; and select vertical parking when the relative position is in any one of the first parking area, the second parking area, the third parking area, the fourth parking area, the fifth parking area and the sixth parking area.

[0143] In one embodiment, the selection module 40 is further configured to select a first parking direction when the relative position is in the first parking area and the sixth parking area; and select a second parking direction when the relative position is in the third parking area and the fourth parking area.

[0144] In one embodiment, the selection module 40 is further configured to select a third parking direction when the relative position is in the first parking area; select a fourth parking direction when the relative position is in the second parking area; select a fifth parking direction when the relative position is in the third parking area; select a sixth parking direction when the relative position is in the fourth parking area; select a seventh parking direction when the relative position is in the fifth parking area; and select an eighth parking direction when the relative position is in the sixth parking area.

[0145] The present application provides a Bluetooth location-based parking device, and the Bluetooth location-based parking device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the Bluetooth location-based parking method in the above-mentioned embodiment 1.

[0146] Reference below Figure 8 , which shows a schematic diagram of the structure of a parking device based on Bluetooth location suitable for implementing the embodiment of the present application. The parking device based on Bluetooth location in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The Bluetooth location-based parking device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0147] like Figure 8As shown, the parking device based on Bluetooth location may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the parking device based on Bluetooth location are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the Bluetooth location-based parking device to communicate wirelessly or wired with other devices to exchange data. Although the Bluetooth location-based parking device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0148] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0149] The parking device based on Bluetooth location provided by the present application adopts the parking method based on Bluetooth location in the above embodiment, which can solve the technical problems that the traditional remote control parking is cumbersome to operate and requires multiple interaction levels to select the parking mode and direction, which reduces the convenience and efficiency of the parking function. Compared with the prior art, the beneficial effects of the parking device based on Bluetooth location provided by the present application are the same as the beneficial effects of the parking method based on Bluetooth location provided by the above embodiment, and the other technical features of the parking device based on Bluetooth location are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0150] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0152] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the Bluetooth location-based parking method in the above-mentioned embodiment.

[0153] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0154] The computer-readable storage medium may be included in the Bluetooth location-based parking device; or may exist independently without being assembled into the Bluetooth location-based parking device.

[0155] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the Bluetooth location-based parking device, the Bluetooth location-based parking device: obtains Bluetooth location signals of a preset parking area and a user terminal; obtains signal strength, source angle and location information based on the Bluetooth location signal; determines a relative position based on the signal strength, the source angle and the location information; selects a parking direction based on the relative position and the preset parking area; and parks according to the parking direction.

[0156] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0158] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0159] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned parking method based on Bluetooth location, and can solve the technical problems that the traditional remote control parking is cumbersome to operate, requires multiple interaction levels to select the parking mode and direction, and reduces the convenience and efficiency of the parking function. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the parking method based on Bluetooth location provided by the above-mentioned embodiment, and will not be repeated here.

[0160] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned Bluetooth location-based parking method when executed by a processor.

[0161] The computer program product provided by the present application can solve the technical problem that the traditional remote control parking is cumbersome to operate, requires multiple interaction levels to select the parking mode and direction, and reduces the convenience and efficiency of the parking function. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the parking method based on Bluetooth location provided by the above embodiment, which will not be repeated here.

[0162] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A parking method based on Bluetooth location, characterized in that: The method comprises: Obtain Bluetooth location signals of the preset parking area and the user terminal; According to the Bluetooth location signal, signal strength, source angle and location information are obtained; Determine a relative position according to the signal strength, the source angle and the position information; selecting a parking direction according to the relative position and the preset parking area; Parking is performed according to the parking direction.

2. The method according to claim 1, characterized in that The step of determining the relative position according to the signal strength, the source angle and the position information comprises: Calculate the deflection angle according to the source angle to obtain the source signal deflection angle; Positioning the user terminal according to the signal strength, the source signal deflection angle, the location information and a preset Kalman filter strategy to obtain a positioning result; The relative position with respect to the user terminal is calculated according to the positioning result.

3. The method according to claim 1, characterized in that The step of selecting a parking direction according to the relative position and the preset parking area comprises: selecting horizontal parking or vertical parking according to the relative position and the preset parking area, the preset parking area including a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area and a sixth parking area; The parking direction is selected according to the preset parking area and the horizontal parking or the vertical parking.

4. The method according to claim 3, characterized in that The step of selecting horizontal parking or vertical parking according to the relative position and the preset parking area, wherein the preset parking area includes a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area and a sixth parking area comprises: When the relative position is in the first parking area and the sixth parking area, selecting horizontal parking; When the relative position is in the third parking area and the fourth parking area, horizontal parking is selected.

5. The method according to claim 3, characterized in that The step of selecting horizontal parking or vertical parking according to the relative position and the preset parking area, wherein the preset parking area includes a first parking area, a second parking area, a third parking area, a fourth parking area, a fifth parking area and a sixth parking area, further includes: When the relative position is in the second parking area and the fifth parking area, selecting perpendicular parking; When the relative position is in any one of the first parking area, the second parking area, the third parking area, the fourth parking area, the fifth parking area, and the sixth parking area, vertical parking is selected.

6. The method according to claim 3, characterized in that The step of selecting a parking direction according to a preset parking area and the horizontal parking or the vertical parking comprises: When the relative position is in the first parking area and the sixth parking area, selecting a first parking direction; When the relative position is within the third parking area and the fourth parking area, a second parking direction is selected.

7. The method according to claim 3, characterized in that The step of selecting a parking direction according to the preset parking area and the horizontal parking or the vertical parking further includes: When the relative position is in the first parking area, selecting a third parking direction; When the relative position is in the second parking area, selecting a fourth parking direction; selecting a fifth parking direction when the relative position is in the third parking area; When the relative position is in the fourth parking area, selecting a sixth parking direction; When the relative position is in the fifth parking area, selecting a seventh parking direction; When the relative position is in the sixth parking area, an eighth parking direction is selected.

8. A parking device based on Bluetooth location, characterized in that: The device comprises: An acquisition module, used to acquire Bluetooth location signals of a preset parking area and a user terminal; An obtaining module, used to obtain signal strength, source angle and location information according to the Bluetooth location signal; A determination module, configured to determine a relative position according to the signal strength, the source angle and the position information; A selection module, configured to select a parking direction according to the relative position and the preset parking area; The parking module is used to park according to the parking direction.

9. A parking device based on Bluetooth location, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the Bluetooth location-based parking method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the Bluetooth location-based parking method as described in any one of claims 1 to 7 are implemented.

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