A method and system for collaborative vehicle location using door lock tags

Abstract

This invention discloses a method and system for collaborative vehicle location using door lock tags. The method includes: sending an IGMP join message carrying a building identifier from a unit door lock, and recording the door lock's interface information and associated tag information in the router's multicast forwarding table; writing its own door lock identifier to a vehicle's Bluetooth tag after the unit door lock detects it, and determining that the vehicle has stopped when this set remains unchanged for several consecutive periods; actively scanning surrounding Bluetooth devices after the vehicle stops, and reporting stopping information including its own identifier and the list to the unit door lock with the strongest signal; and performing interface matching processing on other Bluetooth identifiers in the multicast message carrying an official announcement identifier generated by the received unit door lock to trigger confirmation feedback. Using this invention, accurate collaborative location between vehicle tags and resident door locks can be achieved, improving the accuracy and real-time performance of vehicle parking detection in complex environments.

Description

Technical Field

[0001] This invention belongs to the field of smart door lock technology, and in particular to a method and system for collaborative vehicle positioning using door lock tags. Background Technology

[0002] With the rapid development of IoT technology, Bluetooth-based vehicle management solutions are widely used in smart communities and park parking scenarios. Existing methods often use fixed nodes such as door locks to detect the location of vehicle tags, achieving coarse positioning through signal strength or time difference of arrival (TDOA). However, in complex residential environments, when a vehicle enters an underground garage or the coverage area of ​​a building entrance, determining its exact parking location often relies on identifying which door lock detected the vehicle. This method struggles to accurately distinguish the ownership of vehicles in different parking spaces within the same building. Furthermore, traditional solutions lack intelligent judgment regarding the vehicle's stationary state, often leading to misjudgments due to tags briefly leaving the detection range. When a vehicle is stationary and numerous unrelated Bluetooth devices such as resident tags and mobile phones are present nearby, existing systems struggle to effectively filter these interference signals, resulting in inaccurate parking space occupancy information and an inability to achieve precise association notifications between vehicles and resident door locks. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for vehicle location collaboratively using door lock tags, in order to overcome the shortcomings of the prior art, achieve accurate collaborative location of vehicle tags and owner door locks, and improve the accuracy and real-time performance of vehicle parking detection in complex environments.

[0004] One embodiment of this application provides a method for coordinated vehicle location using door lock tags, the method comprising: Multicast group registration and tag binding: Based on the IGMP join message carrying the building identifier sent by the unit door lock and the IGMP join message carrying the Bluetooth tag identifier of interest sent by the resident door lock, the interface information and associated tag information of the door lock are recorded in the multicast forwarding table of the router respectively. Vehicle-side tag contact recording and station stability determination: After the unit door lock detects the vehicle's Bluetooth tag, it writes its own door lock identifier to it. The vehicle-side tag records the unit door lock identifiers that have been contacted to form a set. When the set does not change within several consecutive cycles, it is determined that the vehicle has come to a complete stop. After the vehicle comes to a complete stop, it actively scans for surrounding Bluetooth devices based on the vehicle-mounted tag. It removes the recorded unit door lock set from the scan list to obtain a list of other Bluetooth devices and reports the stopping information, including its own identifier and the list, to the unit door lock with the strongest signal. Multicast Cooperative Localization and Invalid Tag Filtering: Based on the multicast message with the official announcement identifier generated by the reported unit door lock, the router forwards the vehicle tag identifier in the message to the corresponding owner door lock according to the multicast forwarding table, and performs interface matching processing on other Bluetooth identifiers in the message to trigger confirmation feedback. Finally, the reporting door lock identifies invalid tags based on the feedback and notifies all unit door locks in the network for filtering.

[0005] Optionally, the multicast group registration and identifier binding includes: Unit door lock registration: Each unit door lock in the community sends an IGMP join message with a preset multicast address to the directly connected router. The message carries the door lock identifier and the building identifier. The router records the door lock identifier and the building identifier in the corresponding interface of the multicast forwarding table. Owner door lock registration: Send an IGMP join message with the same destination address to the owner door lock that has been paired with the vehicle Bluetooth tag. The message carries the formal announcement identifier and the Bluetooth tag identifier of interest. The router records the Bluetooth tag identifier in the corresponding interface of the multicast forwarding table. Multicast routing table synchronization: Based on the improved PIM join message sent by the router towards the aggregation point, which carries the aforementioned door lock identifier, building identifier, and Bluetooth tag identifier, the multicast route is established and synchronized.

[0006] Optionally, the vehicle-side tag contact recording and stationary determination include: Unit door lock detection and writing: After the unit door lock detects the vehicle Bluetooth tag signal, it generates a discovery message with a preset multicast address as the destination address. The message carries the unit door lock identifier and the vehicle tag identifier. At the same time, the unit door lock actively establishes a connection with the vehicle tag and writes its own door lock identifier to the vehicle tag via unicast. Vehicle-side tag records contact with door locks: Based on the door lock identifier received by the vehicle tag, a message is written, and the door lock identifier and the receiving timestamp are stored in the local circular storage space to form a set of unit door lock contact records; Periodic set comparison and vehicle stabilization determination: Based on the vehicle tag, the local unit door lock set is checked every set period to see the changes in the local unit door lock set over the most recent consecutive periods. If the set contents are completely consistent, the vehicle is determined to have stopped; otherwise, the system continues to update and periodically check.

[0007] Optionally, the environmental perception and location reporting after stabilization includes: Environmental scanning and list generation: After the vehicle stops based on the vehicle tag, the active scanning mode is activated to continuously record the identifiers and signal strengths of all detectable Bluetooth devices in the surrounding environment within a set time period, forming a list of Bluetooth devices in the surrounding environment. Extraction of other Bluetooth devices: Based on the vehicle tag, compare the list of Bluetooth devices in the surrounding environment with the local set of unit door locks, remove the overlapping parts, and obtain the list of other Bluetooth devices; Stopping Information Reporting: Based on the vehicle tag, select the unit door lock with the strongest signal strength from the list of Bluetooth devices in the surrounding environment, and send a stopping and environmental reporting message to that door lock via unicast. The message includes the vehicle tag's own identifier, the stopping timestamp, and a list of other Bluetooth devices. Formal Announcement Multicast Message Generation: Based on the unit door lock that received the stop information report, a formal announcement multicast message with a preset multicast address is generated. The message carries the formal announcement identifier, the unit door lock's own identifier, the vehicle tag's own identifier, a timestamp, and a list of other Bluetooth devices.

[0008] Optionally, the multicast cooperative localization and invalid label filtering includes the router performing targeted forwarding and acknowledgment feedback based on the multicast forwarding table: Vehicle tag identification forwarding: After the router receives the official announcement multicast message, it extracts the vehicle tag's own identifier from the message, queries the multicast forwarding table for the interface that records the identifier, and forwards the message from that interface to the corresponding owner's door lock. Interface matching for other Bluetooth identifiers: Based on each identifier in the list of other Bluetooth devices in the packet, the router checks whether there is an interface that records the identifier in the multicast forwarding table. If the interface is a PIM neighbor interface, the router forwards the packet to that neighbor interface. If the interface is an IGMP member interface, the router does not forward the packet, but instead generates a unicast acknowledgment packet on behalf of the owner's door lock corresponding to that interface and sends it to the source unit door lock of the formal announcement packet. The packet carries the acknowledged Bluetooth identifier. Confirmation information collection: After the source unit door lock starts a timer after sending the formal announcement message, it collects unicast confirmation replies from each router representing the owner door locks directly connected to it.

[0009] Optionally, the multicast cooperative localization and invalid label filtering includes invalid label identification and filtering: Invalid tag determination: After the source unit door lock times out, Bluetooth identifiers that have not received any acknowledgment response from other Bluetooth devices in the list are marked as invalid and irrelevant tags; Filtering announcement multicast: Generates an invalid label filtering announcement message with a preset multicast address as the destination address based on the source unit door lock. The message carries a list of invalid irrelevant labels and the building identifier. Filter list synchronization: Based on the multicast forwarding table of the router, the interface with the building identifier is recorded, and the filter announcement message is forwarded to all unit door locks. Each unit door lock adds the invalid tag list to the local filter list, and then ignores the Bluetooth tag in the list when it is detected thereafter.

[0010] Another embodiment of this application provides a system for collaboratively locating a vehicle using a door lock tag, the system comprising: The registration module is used for multicast group registration and identifier binding: based on the IGMP join message carrying the building identifier sent by the unit door lock and the IGMP join message carrying the Bluetooth tag identifier of the owner door lock sent, the interface information and associated tag information of the door lock are recorded in the multicast forwarding table of the router respectively. The recording module is used for vehicle-side tag contact recording and stopping determination: based on the operation of the unit door lock writing its own door lock identifier to the vehicle after detecting the vehicle's Bluetooth tag, the vehicle-side tag records the unit door lock identifiers that have been contacted to form a set, and the vehicle is determined to have stopped when the set does not change within several consecutive cycles. The perception module is used for environmental perception and location reporting after the vehicle comes to a complete stop: it actively scans the surrounding Bluetooth devices based on the vehicle-side tag after the vehicle comes to a complete stop, removes the recorded unit door lock set from the scan list to obtain a list of other Bluetooth devices, and reports the stopping information, including its own identifier and the list, to the unit door lock with the strongest signal. The positioning module is used for multicast cooperative positioning and invalid tag filtering: Based on the multicast message with the official announcement identifier generated by the reported unit door lock, the router forwards the vehicle tag identifier in the message to the corresponding owner door lock according to the multicast forwarding table, and performs interface matching processing on other Bluetooth identifiers in the message to trigger confirmation feedback. Finally, the reporting door lock identifies invalid tags based on the feedback and notifies all unit door locks in the network for filtering.

[0011] Another embodiment of this application provides a storage medium storing a computer program, wherein the computer program is configured to execute the method described in any of the preceding claims when running.

[0012] Another embodiment of this application provides an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the method described in any of the preceding claims.

[0013] Compared with existing technologies, the present invention provides a method for vehicle location collaboratively using door lock tags, which can achieve accurate collaborative location of vehicle tags and owner door locks, and improve the accuracy and real-time performance of vehicle parking detection in complex environments. Attached Figure Description

[0014] Figure 1 Hardware structure block diagram of a computer terminal for a method of collaborative vehicle location using door lock tags provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for collaborative vehicle location using door lock tags, provided in an embodiment of the present invention. Figure 3A schematic diagram of the door lock and router association topology for a method of collaborative vehicle location using door lock tags provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a system for collaboratively locating vehicles using door lock tags, provided as an embodiment of the present invention. Detailed Implementation

[0015] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0016] In existing Bluetooth positioning systems for residential communities, the focus is typically solely on tracking the target vehicle's trajectory, neglecting the potential impact of other Bluetooth devices in the parking environment (such as other vehicle tags, pedestrian mobile phones, temporary devices, etc.) on positioning accuracy and system resources. This leads to the following problems: 1) In areas with dense Bluetooth coverage, the system struggles to distinguish between valid vehicle tags and environmental interference signals, potentially resulting in false alarms or missed alarms; 2) Door locks continuously detect and report all detected Bluetooth tags, generating a large amount of redundant network traffic and invalid records, increasing the system's processing burden; 3) The lack of a collaborative identification and filtering mechanism for "invalid" or "irrelevant" Bluetooth tags leads to a waste of computing, storage, and communication resources; 4) Car owners only know their own vehicle's location and cannot obtain information about the status of devices in the parking environment, potentially affecting efficiency during the vehicle search process due to obstructions from surrounding vehicles, temporary parking, and other factors.

[0017] This invention first provides a method for vehicle location using door lock tags. This method can be applied to electronic devices, such as computer terminals, specifically ordinary computers.

[0018] The following detailed explanation uses a computer terminal as an example. Figure 1 This is a hardware structure block diagram of a computer terminal for a method of collaboratively locating vehicles using door lock tags, provided in an embodiment of the present invention. Figure 1 As shown, the computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.

[0019] See Figure 2 and Figure 3 The present invention provides a method for locating a vehicle in collaboration with a door lock tag, which may include the following steps: S201, Multicast Group Registration and Identifier Binding: Based on the IGMP join message carrying the building identifier sent by the unit door lock, and the IGMP join message carrying the Bluetooth tag identifier of interest sent by the resident door lock, the interface information and associated tag information of the door lock are recorded in the router's multicast forwarding table respectively; specifically, the multicast group registration and identifier binding includes: Unit door lock registration: Each unit door lock in the community sends an IGMP join message with a preset multicast address to the directly connected router. The message carries the door lock identifier and the building identifier. The router records the door lock identifier and the building identifier in the corresponding interface of the multicast forwarding table. Owner door lock registration: Send an IGMP join message with the same destination address to the owner door lock that has been paired with the vehicle Bluetooth tag. The message carries the formal announcement identifier and the Bluetooth tag identifier of interest. The router records the Bluetooth tag identifier in the corresponding interface of the multicast forwarding table. Multicast routing table synchronization: Based on the improved PIM join message sent by the router towards the aggregation point, which carries the aforementioned door lock identifier, building identifier, and Bluetooth tag identifier, the multicast route is established and synchronized.

[0020] S202, Vehicle-side tag contact recording and stationary determination: Based on the operation of the unit door lock writing its own door lock identifier to the vehicle after detecting the vehicle's Bluetooth tag, the vehicle-side tag records the contacted unit door lock identifiers to form a set, and the vehicle is determined to have come to a complete stop when this set remains unchanged for multiple consecutive cycles; specifically, the vehicle-side tag contact recording and stationary determination includes: Unit door lock detection and writing: After the unit door lock detects the vehicle Bluetooth tag signal, it generates a discovery message with a preset multicast address as the destination address. The message carries the unit door lock identifier and the vehicle tag identifier. At the same time, the unit door lock actively establishes a connection with the vehicle tag and writes its own door lock identifier to the vehicle tag via unicast. Vehicle-side tag records contact with door locks: Based on the door lock identifier received by the vehicle tag, a message is written, and the door lock identifier and the receiving timestamp are stored in the local circular storage space to form a set of unit door lock contact records; Periodic set comparison and vehicle stabilization determination: Based on the vehicle tag, the local unit door lock set is checked every set period to see the changes in the local unit door lock set over the most recent consecutive periods. If the set contents are completely consistent, the vehicle is determined to have stopped; otherwise, the system continues to update and periodically check.

[0021] S203, Environmental Awareness and Location Reporting After Parking: Based on the vehicle-mounted tag after the vehicle has parked, the system actively scans for surrounding Bluetooth devices, removes the recorded unit door lock set from the scan list to obtain a list of other Bluetooth devices, and reports the parking information, including its own identifier and the list, to the unit door lock with the strongest signal; specifically, the environmental awareness and location reporting after parking includes: Environmental scanning and list generation: After the vehicle stops based on the vehicle tag, the active scanning mode is activated to continuously record the identifiers and signal strengths of all detectable Bluetooth devices in the surrounding environment within a set time period, forming a list of Bluetooth devices in the surrounding environment. Extraction of other Bluetooth devices: Based on the vehicle tag, compare the list of Bluetooth devices in the surrounding environment with the local set of unit door locks, remove the overlapping parts, and obtain the list of other Bluetooth devices; Stopping Information Reporting: Based on the vehicle tag, select the unit door lock with the strongest signal strength from the list of Bluetooth devices in the surrounding environment, and send a stopping and environmental reporting message to that door lock via unicast. The message includes the vehicle tag's own identifier, the stopping timestamp, and a list of other Bluetooth devices. Formal Announcement Multicast Message Generation: Based on the unit door lock that received the stop information report, a formal announcement multicast message with a preset multicast address is generated. The message carries the formal announcement identifier, the unit door lock's own identifier, the vehicle tag's own identifier, a timestamp, and a list of other Bluetooth devices.

[0022] S204, Multicast Cooperative Localization and Invalid Tag Filtering: Based on the multicast message carrying the official announcement identifier generated by the reported unit door lock, the router forwards the vehicle tag identifier in the message to the corresponding owner door lock according to the multicast forwarding table, and performs interface matching processing on other Bluetooth identifiers in the message to trigger confirmation feedback. Finally, the reporting door lock identifies invalid tags based on the feedback and notifies all unit door locks in the network for filtering. Specifically, the multicast cooperative localization and invalid tag filtering includes the router performing targeted forwarding and confirmation feedback according to the multicast forwarding table: Vehicle tag identification forwarding: After the router receives the official announcement multicast message, it extracts the vehicle tag's own identifier from the message, queries the multicast forwarding table for the interface that records the identifier, and forwards the message from that interface to the corresponding owner's door lock. Interface matching for other Bluetooth identifiers: Based on each identifier in the list of other Bluetooth devices in the packet, the router checks whether there is an interface that records the identifier in the multicast forwarding table. If the interface is a PIM neighbor interface, the router forwards the packet to that neighbor interface. If the interface is an IGMP member interface, the router does not forward the packet, but instead generates a unicast acknowledgment packet on behalf of the owner's door lock corresponding to that interface and sends it to the source unit door lock of the formal announcement packet. The packet carries the acknowledged Bluetooth identifier. Confirmation information collection: After the source unit door lock starts a timer after sending the formal announcement message, it collects unicast confirmation replies from each router representing the owner door locks directly connected to it.

[0023] Specifically, the multicast cooperative localization and invalid label filtering includes invalid label identification and filtering: Invalid tag determination: After the source unit door lock times out, Bluetooth identifiers that have not received any acknowledgment response from other Bluetooth devices in the list are marked as invalid and irrelevant tags; Filtering announcement multicast: Generates an invalid label filtering announcement message with a preset multicast address as the destination address based on the source unit door lock. The message carries a list of invalid irrelevant labels and the building identifier. Filter list synchronization: Based on the multicast forwarding table of the router, the interface with the building identifier is recorded, and the filter announcement message is forwarded to all unit door locks. Each unit door lock adds the invalid tag list to the local filter list, and then ignores the Bluetooth tag in the list when it is detected thereafter.

[0024] This invention provides a community vehicle positioning system and method based on vehicle-mounted Bluetooth tag environmental perception and door lock collaborative positioning. The system discovers and records the identity data of vehicle-mounted Bluetooth tags through unit door locks. After the vehicle comes to a stop, the tag actively scans the entire surrounding Bluetooth environment, distinguishing between "known unit door locks" and "other Bluetooth devices." The tag reports its stopping information and a list of environmental devices to the optimal unit door lock, which then performs intelligent multicast notifications and information distribution. Through a door lock collaborative confirmation mechanism, the system dynamically identifies and filters irrelevant Bluetooth tags, thereby achieving the triple goals of accurate positioning, environmental perception, and resource optimization.

[0025] Solution: I. Prerequisites: Smart unit door locks are deployed at the entrances of each building unit within the community. These locks feature Bluetooth broadcasting (broadcasting their own lock ID), Bluetooth detection, active connection, and multicast communication capabilities. Residents' vehicles are equipped with smart vehicle-mounted Bluetooth tags, which possess Bluetooth broadcasting, scanning, storage, logical judgment, and communication capabilities. Residents' door locks and vehicle Bluetooth tags are pre-paired and their Bluetooth tag IDs are recorded. All unit door locks and resident door locks are connected to the network, and the routers operate a bidirectional PIM multicast routing protocol (router A is the RP), supporting IGMP message processing and multicast forwarding (multicast address, for example, 226.12.12.1).

[0026] II. Solution Steps: 1: Unit door locks and owner door locks (paired with vehicle Bluetooth tags) are added to a specific multicast group.

[0027] (1) The naming rule for unit door lock IDs is: building number - unit number, such as 1-1 for building 1, unit 1 (abbreviations are used in the text for ease of description). All unit door locks in the community send an IGMP join message with a destination address of 226.12.12.1 to the directly connected router. The message carries the door lock ID of the lock and the "building tag" set to 1 (indicating that this door lock is the unit door lock of the building). After receiving the IGMP join message, the router records the door lock ID and the "building tag" set to 1 on the interface corresponding to the multicast forwarding table of (*, 226.12.12.1), and marks the interface as an IGMP member interface. The router sends an improved PIM message to the RP direction. The message also carries the door lock ID and the "building tag" set to 1.

[0028] (2) Each owner's door lock sends an IGMP join message to the same destination address, but without the building tag. Instead, it carries the official announcement tag set to 1 (for receiving subsequent official announcement messages) and the ID of the pre-paired Bluetooth tag (e.g., Bluetooth tag A), indicating that the door lock is interested in the location information of the tag and has registered it with the router. After receiving the IGMP join message, the router records the Bluetooth tag ID it is interested in on the interface connected to the owner's door lock in the (*, 226.12.12.1) multicast forwarding table, and marks the interface as an IGMP member interface. The router sends an improved PIM message to the RP direction, which additionally carries the official announcement tag set to 1 and the Bluetooth tag AID.

[0029] 2: After the vehicle enters the community, the unit door lock actively detects the Bluetooth tag signal and writes the door lock ID. The Bluetooth tag, based on the recorded changes in the unit door lock set, coordinates the vehicle's environmental perception and stopping stability determination.

[0030] (1) The vehicle-mounted Bluetooth tag A (hereinafter referred to as tag A) enters the community with the vehicle. Each unit door lock in the community continuously listens for Bluetooth signals around it. When a unit door lock (such as door lock C) detects tag A, it immediately generates a "Bluetooth tag discovery" multicast message with a destination address of 226.12.12.1. The message carries: building tag (set to 1), Bluetooth tag AID, door lock CID, and timestamp. After sending the "Bluetooth tag discovery" multicast message, door lock C stores the record in the local "discovered tag list" and by default will not send discovery messages for tag A again.

[0031] (2) At the same time, door lock C actively establishes a Bluetooth connection with tag A and unicasts a "Door Lock Identifier Write" message, which carries the door lock CID. After sending, the connection is disconnected. After receiving the "Door Lock Identifier Write" message, tag A stores the door lock CID and the received timestamp into the "Door Lock Contact Record List" in its local circular storage space (capacity N), forming the initial "Unit Door Lock Set" (if the storage space is full, the oldest record is overwritten).

[0032] (3) Tag A continuously and passively receives "lock identifier write" messages from the unit locks and updates the "unit lock set". Tag A checks the changes in the locally stored "unit lock set" over the most recent K periods (K is configurable, such as 3 periods) every period P (configurable, such as 15 seconds). If the contents of the set are completely consistent for K consecutive periods, it is determined that the vehicle is in a stable parking state. If the contents of the set are inconsistent for K consecutive periods, it is determined that the vehicle is still moving, and Tag A continues to update and periodically check the changes in the "unit lock set".

[0033] (4) After the stop is determined, tag A starts the active environment scanning mode and continuously scans and records the IDs and signal strengths of all detectable Bluetooth devices in the surrounding area for a duration of M (configurable, such as 30 seconds), forming a "list of Bluetooth IDs in the surrounding environment" stored locally.

[0034] 3. After the Bluetooth tag comes to a complete stop, it begins processing Bluetooth tag information from the surrounding environment and reporting its own location. The unit door lock then issues a formal tag notification and distributes other Bluetooth tag information.

[0035] (1) Tag A subtracts the records with the same lock ID from the local "Unit Lock Set" from the "Ambient Bluetooth ID List" (because the "Ambient Bluetooth ID List" must contain nearby unit locks) to obtain the "Other Bluetooth ID List". The Bluetooth tags in this list may include other vehicle Bluetooth tags, pedestrian devices, temporary Bluetooth beacons, etc.

[0036] (2) Tag A then compares the local "Unit Lock Set" with the "Ambient Environment Bluetooth ID List", takes the intersection of the two sets, and sends a "Stop and Environment Report" message to the lock with the strongest signal (such as lock F) via unicast. The message includes: its own Bluetooth tag ID (tag AID), stop timestamp, and "List of Other Bluetooth IDs".

[0037] (3) After receiving the “Stop and report environment” message, the door lock F immediately generates and sends a “Bluetooth tag official announcement” multicast message with a destination address of 226.12.12.1. This message does not carry the “building tag”, but sets the “official announcement tag” to 1 and carries the following key information: its own Bluetooth tag ID (tag AID), its own door lock ID (door lock FID), timestamp, and “other Bluetooth ID list”.

[0038] (4) After receiving the "Bluetooth Tag Official Announcement" message, the router processes and forwards it according to the following rules: First, the router parses the message and identifies that its "Official Announcement Tag" is set to 1. Based on this identifier, the router determines that the message is a final location announcement message that needs to be forwarded to the door locks of owners who have registered the Bluetooth tags it is interested in. Subsequently, the router queries the multicast forwarding table (*, 226.12.12.1) to make a forwarding decision.

[0039] (5) For the “self-Bluetooth tag ID” carried in the message, the router looks up the interface that records the ID in the forwarding table and forwards the “Bluetooth tag official announcement” message from that interface to ensure that the vehicle owner’s door lock can receive the vehicle’s parking location information. If the door lock of the owner of tag A receives the “Bluetooth tag official announcement” forwarded by the router, it parses the “self-Bluetooth tag ID” in the message. If it is consistent with the vehicle-side tag ID that it has been paired with before (both are tag A, and the comparison is consistent), it extracts the self-lock ID (lock F) in the message, converts it into readable location information (such as “the vehicle is parked near unit 3 of building 4”), saves it as the current location of the vehicle, and can push the information to the owner’s mobile APP to guide the owner to find the car quickly.

[0040] (6) For the "List of Other Bluetooth IDs" contained in the message, the router will traverse each Bluetooth ID in the list and perform the following operations: search the (*, 226.12.12.1) multicast forwarding table to see if there is an interface with a matching Bluetooth ID. If the found interface is a PIM neighbor interface, it means that the Bluetooth ID may be of interest to a homeowner's door lock under the remote router. Therefore, the router will forward the "Bluetooth Tag Official Advertisement" message to the PIM neighbor interface for further processing by the downstream router. If the found interface is an IGMP member interface, it means that this router is directly connected to a homeowner's door lock that is of interest to this Bluetooth ID. In this case, the router will not forward the multicast message, but will instead generate and unicast a "Tag Valid Confirmation" message on behalf of the homeowner's door lock (e.g., door lock F). The message will explicitly carry the confirmed Bluetooth tag ID so that the sending door lock can perform collaborative filtering in the future.

[0041] (7) If no record matching the ID is found in the forwarding table, the router will not forward the ID.

[0042] 4: Unit door locks collect owners' "tag validity confirmation" responses and filter invalid tags collaboratively.

[0043] (1) After door lock F sends a "Bluetooth Tag Official Announcement" multicast message, it starts a timer W (configurable, such as 15 seconds) to collect "Tag Valid Confirmation" replies from each owner's door lock gateway router. After timer W expires, door lock F marks the Bluetooth tag IDs in the "Other Bluetooth ID List" that have not been confirmed by any door lock as "Invalid Irrelevant Tags".

[0044] (2) Door lock F generates an "Invalid Tag Filtering Announcement" multicast message with a destination address of 226.12.12.1, carrying the building tag (set to 1) and a list of "Invalid Irrelevant Tags". The router queries the multicast forwarding table (*, 226.12.12.1) and forwards the announcement message from the outgoing interface that records the building tag (set to 1). After receiving the announcement, all unit door locks add the Bluetooth tag IDs in the "Invalid Irrelevant Tags" list to their local "Filtering List". Thereafter, if a Bluetooth tag in the list is detected again, it is directly discarded, no "Bluetooth Tag Discovery" message is sent, and no connection or recording is performed, thereby significantly reducing system redundancy and network traffic.

[0045] Beneficial effects: 1. By comparing whether the set of door locks changes over a continuous period, the vehicle-side tag can autonomously determine the vehicle's stationary status and actively scan the surrounding environment for Bluetooth tag devices, providing the system with the vehicle's final accurate location and the status information of surrounding Bluetooth devices.

[0046] 2. By using a "Bluetooth Tag Official Announcement" message carrying a "list of other Bluetooth IDs", combined with the router's interface matching and forwarding and the unicast confirmation mechanism that replaces the owner's door lock, the accurate and private distribution of the target Bluetooth tag's stationary position and surrounding environment information is achieved, avoiding the broadcast of irrelevant information.

[0047] 3. Based on the active confirmation mechanism represented by the owner's door lock gateway router, the system can automatically and collaboratively identify unrelated Bluetooth tags and form a network-wide filtering list, greatly reducing the redundant detection, storage and communication overhead of the entire system.

[0048] Protection points: 1. After the unit door lock detects the vehicle-side Bluetooth tag, it sends a multicast-based "Bluetooth tag discovery" message and actively connects to the Bluetooth tag to inform itself of the door lock ID; the vehicle-side tag records the door lock ID to form a set, and when the set does not change within several consecutive cycles, it is determined that the vehicle has come to a complete stop.

[0049] 2. After the vehicle tag comes to a complete stop, it actively scans all surrounding Bluetooth tag IDs, distinguishes them into the unit door lock set and other Bluetooth ID lists, and reports the stopping information, which includes the "other Bluetooth ID list", to the unit door lock with the strongest signal.

[0050] 3. Upon receiving the reported unit door lock, generate a "Bluetooth Tag Official Announcement" multicast message. This message carries the official announcement tag and a "List of Other Bluetooth IDs". Based on this message, the router forwards the tag's own ID to its owner's door lock. For other IDs in the list, it only forwards the message when the interface is a PIM neighbor interface. If the interface is an IGMP member interface, it triggers a unicast confirmation reply from the router on behalf of the owner's door lock.

[0051] 4. The reporting door lock identifies the list of invalid Bluetooth tags based on the received unicast confirmation reply and multicasts to all unit door locks to add them to the filter list. Subsequent detections will be ignored without further processing.

[0052] Another embodiment of the present invention provides a system for coordinating vehicle location using door lock tags, see [link to relevant documentation]. Figure 4 The system may include: Registration module 401 is used for multicast group registration and identifier binding: based on the IGMP join message carrying the building identifier sent by the unit door lock and the IGMP join message carrying the Bluetooth tag identifier of interest sent by the owner door lock, the interface information and associated tag information of the door lock are recorded in the multicast forwarding table of the router respectively. Recording module 402 is used for vehicle-side tag contact recording and stopping determination: based on the operation of the unit door lock writing its own door lock identifier to the vehicle after detecting the vehicle's Bluetooth tag, the vehicle-side tag records the unit door lock identifiers that have been contacted to form a set, and when the set does not change within several consecutive cycles, it is determined that the vehicle has stopped. The sensing module 403 is used for environmental perception and location reporting after the vehicle stops: it actively scans the surrounding Bluetooth devices based on the vehicle-side tag after the vehicle stops, removes the recorded unit door lock set from the scanning list to obtain the list of other Bluetooth devices, and reports the stopping information, including its own identifier and the list, to the unit door lock with the strongest signal. The positioning module 404 is used for multicast cooperative positioning and invalid tag filtering: Based on the multicast message with the official announcement identifier generated by the reported unit door lock, the router forwards the vehicle tag identifier in the message to the corresponding owner door lock according to the multicast forwarding table, and performs interface matching processing on other Bluetooth identifiers in the message to trigger confirmation feedback. Finally, the reporting door lock identifies invalid tags based on the feedback and notifies all unit door locks in the network for filtering.

[0053] This invention also provides a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0054] This invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0055] Specifically, the aforementioned electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the aforementioned processor, and the input / output device is connected to the aforementioned processor.

[0056] The above description, based on the embodiments shown in the figures, details the structure, features, and effects of the present invention. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A method for collaboratively locating a vehicle using door lock tags, characterized in that, The method includes: Multicast group registration and tag binding: Based on the IGMP join message carrying the building identifier sent by the unit door lock and the IGMP join message carrying the Bluetooth tag identifier of interest sent by the resident door lock, the interface information and associated tag information of the door lock are recorded in the multicast forwarding table of the router respectively. Vehicle-side tag contact recording and station stability determination: After the unit door lock detects the vehicle's Bluetooth tag, it writes its own door lock identifier to it. The vehicle-side tag records the unit door lock identifiers that have been contacted to form a set. When the set does not change within several consecutive cycles, it is determined that the vehicle has come to a complete stop. After the vehicle comes to a complete stop, it actively scans for surrounding Bluetooth devices based on the vehicle-mounted tag. It removes the recorded unit door lock set from the scan list to obtain a list of other Bluetooth devices and reports the stopping information, including its own identifier and the list, to the unit door lock with the strongest signal. Multicast Cooperative Localization and Invalid Tag Filtering: Based on the multicast message with the official announcement identifier generated by the reported unit door lock, the router forwards the vehicle tag identifier in the message to the corresponding owner door lock according to the multicast forwarding table, and performs interface matching processing on other Bluetooth identifiers in the message to trigger confirmation feedback. Finally, the reporting door lock identifies invalid tags based on the feedback and notifies all unit door locks in the network for filtering.

2. The method according to claim 1, characterized in that, The multicast group registration and identifier binding includes: Unit door lock registration: Each unit door lock in the community sends an IGMP join message with a preset multicast address to the directly connected router. The message carries the door lock identifier and the building identifier. The router records the door lock identifier and the building identifier in the corresponding interface of the multicast forwarding table. Owner door lock registration: Send an IGMP join message with the same destination address to the owner door lock that has been paired with the vehicle Bluetooth tag. The message carries the formal announcement identifier and the Bluetooth tag identifier of interest. The router records the Bluetooth tag identifier in the corresponding interface of the multicast forwarding table. Multicast routing table synchronization: Based on the improved PIM join message sent by the router towards the aggregation point, which carries the aforementioned door lock identifier, building identifier, and Bluetooth tag identifier, the multicast route is established and synchronized.

3. The method according to claim 2, characterized in that, The vehicle-side tag contact recording and stationary determination include: Unit door lock detection and writing: After the unit door lock detects the vehicle Bluetooth tag signal, it generates a discovery message with a preset multicast address as the destination address. The message carries the unit door lock identifier and the vehicle tag identifier. At the same time, the unit door lock actively establishes a connection with the vehicle tag and writes its own door lock identifier to the vehicle tag via unicast. Vehicle-side tag records contact with door locks: Based on the door lock identifier received by the vehicle tag, a message is written, and the door lock identifier and the receiving timestamp are stored in the local circular storage space to form a set of unit door lock contact records; Periodic set comparison and vehicle stabilization determination: Based on the vehicle tag, the local unit door lock set is checked every set period to see the changes in the local unit door lock set over the most recent consecutive periods. If the set contents are completely consistent, the vehicle is determined to have stopped; otherwise, the system continues to update and periodically check.

4. The method according to claim 3, characterized in that, The environmental perception and location reporting after stabilization include: Environmental scanning and list generation: After the vehicle stops based on the vehicle tag, the active scanning mode is activated to continuously record the identifiers and signal strengths of all detectable Bluetooth devices in the surrounding environment within a set time period, forming a list of Bluetooth devices in the surrounding environment. Extraction of other Bluetooth devices: Based on the vehicle tag, compare the list of Bluetooth devices in the surrounding environment with the local set of unit door locks, remove the overlapping parts, and obtain the list of other Bluetooth devices; Stopping Information Reporting: Based on the vehicle tag, select the unit door lock with the strongest signal strength from the list of Bluetooth devices in the surrounding environment, and send a stopping and environmental reporting message to that door lock via unicast. The message includes the vehicle tag's own identifier, the stopping timestamp, and a list of other Bluetooth devices. Formal Announcement Multicast Message Generation: Based on the unit door lock that received the stop information report, a formal announcement multicast message with a preset multicast address is generated. The message carries the formal announcement identifier, the unit door lock's own identifier, the vehicle tag's own identifier, a timestamp, and a list of other Bluetooth devices.

5. The method according to claim 4, characterized in that, The multicast cooperative localization and invalid label filtering include the router performing targeted forwarding and acknowledgment feedback based on the multicast forwarding table: Vehicle tag identification forwarding: After the router receives the official announcement multicast message, it extracts the vehicle tag's own identifier from the message, queries the multicast forwarding table for the interface that records the identifier, and forwards the message from that interface to the corresponding owner's door lock. Interface matching for other Bluetooth identifiers: Based on each identifier in the list of other Bluetooth devices in the packet, the router queries the multicast forwarding table to see if there is an interface that records that identifier. If the interface is a PIM neighbor interface, the router will forward the packet to that neighbor interface. If the interface is an IGMP member interface, the router does not forward the message, but instead generates a unicast confirmation message on behalf of the owner's door lock corresponding to the interface and sends it to the source unit door lock of the formal announcement message. The message carries the confirmed Bluetooth identifier. Confirmation information collection: After the source unit door lock starts a timer after sending the formal announcement message, it collects unicast confirmation replies from each router representing the owner door locks directly connected to it.

6. The method according to claim 5, characterized in that, The multicast cooperative localization and invalid label filtering includes invalid label identification and filtering: Invalid tag determination: After the source unit door lock times out, Bluetooth identifiers that have not received any acknowledgment response from other Bluetooth devices in the list are marked as invalid and irrelevant tags; Filtering announcement multicast: Generates an invalid label filtering announcement message with a preset multicast address as the destination address based on the source unit door lock. The message carries a list of invalid irrelevant labels and the building identifier. Filter list synchronization: Based on the multicast forwarding table of the router, the interface with the building identifier is recorded, and the filter announcement message is forwarded to all unit door locks. Each unit door lock adds the invalid tag list to the local filter list, and then ignores the Bluetooth tag in the list when it is detected thereafter.

7. A system for collaboratively locating vehicles using door lock tags, characterized in that, The system includes: The registration module is used for multicast group registration and identifier binding: based on the IGMP join message carrying the building identifier sent by the unit door lock and the IGMP join message carrying the Bluetooth tag identifier of the owner door lock sent, the interface information and associated tag information of the door lock are recorded in the multicast forwarding table of the router respectively. The recording module is used for vehicle-side tag contact recording and stopping determination: based on the operation of the unit door lock writing its own door lock identifier to the vehicle after detecting the vehicle's Bluetooth tag, the vehicle-side tag records the unit door lock identifiers that have been contacted to form a set, and the vehicle is determined to have stopped when the set does not change within several consecutive cycles. The perception module is used for environmental perception and location reporting after the vehicle comes to a complete stop: it actively scans the surrounding Bluetooth devices based on the vehicle-side tag after the vehicle comes to a complete stop, removes the recorded unit door lock set from the scan list to obtain a list of other Bluetooth devices, and reports the stopping information, including its own identifier and the list, to the unit door lock with the strongest signal. The positioning module is used for multicast cooperative positioning and invalid tag filtering: Based on the multicast message with the official announcement identifier generated by the reported unit door lock, the router forwards the vehicle tag identifier in the message to the corresponding owner door lock according to the multicast forwarding table, and performs interface matching processing on other Bluetooth identifiers in the message to trigger confirmation feedback. Finally, the reporting door lock identifies invalid tags based on the feedback and notifies all unit door locks in the network for filtering.

8. The system according to claim 7, characterized in that, The registration module is specifically used for: Unit door lock registration: Each unit door lock in the community sends an IGMP join message with a preset multicast address to the directly connected router. The message carries the door lock identifier and the building identifier. The router records the door lock identifier and the building identifier in the corresponding interface of the multicast forwarding table. Owner door lock registration: Send an IGMP join message with the same destination address to the owner door lock that has been paired with the vehicle Bluetooth tag. The message carries the formal announcement identifier and the Bluetooth tag identifier of interest. The router records the Bluetooth tag identifier in the corresponding interface of the multicast forwarding table. Multicast routing table synchronization: Based on the improved PIM join message sent by the router towards the aggregation point, which carries the aforementioned door lock identifier, building identifier, and Bluetooth tag identifier, the multicast route is established and synchronized.

9. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method of any one of claims 1-6 when it is run.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method of any one of claims 1-6.

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