A method and system for linking a car and a parking lock, a parking lock and a storage medium

Abstract

The method of the present invention provides a method, system, parking lock and storage medium for linkage between a car and a parking lock. Specifically, when a first Bluetooth terminal and a second Bluetooth terminal establish a Bluetooth connection, Bluetooth signal strength data is obtained, and the distance value and the direction of travel between the first Bluetooth terminal and the second Bluetooth terminal are calculated according to the Bluetooth signal strength data, and a control instruction is issued according to the distance value and the direction of travel to realize linkage between the car and the parking lock. The present invention can calculate the distance value and the direction of travel between the vehicle end and the parking lock end through the Bluetooth signal strength, realize automatic unlocking and locking of the parking lock, and improve the user's parking experience.

Description

Technical Field

[0001] The present invention relates to the field of parking locks, and in particular to a method and system for linking a car and a parking lock, a parking lock and a storage medium. Background Art

[0002] Parking ground lock is a mechanical device installed on the ground to prevent others from occupying the parking space, so it is called ground lock, also called parking lock. The types of parking locks on the market are mainly divided into mechanical key unlocking and locking type and remote control key unlocking and locking type. These two types of parking locks have obvious defects. For example, the mechanical key unlocking and locking type does not provide a wireless control module, and it is impossible to unlock or lock the ground lock without getting off the car. Every time the owner wants to park in this parking space, he must get off the car to open the parking lock, and get off the car to lock the parking lock when leaving; the remote control key unlocking and locking type does not have automatic vehicle recognition and automatic unlocking functions, and requires users to manually unlock and lock. Every time you park, you need to find the remote control key to press the lock to unlock, and when you leave, you need to press the lock to lock the parking lock. The operation is relatively complicated and numerous, affecting the parking speed and user experience; and these two types of parking locks are easy to cause accidents of vehicles and parking locks when the driver forgets to unlock them when parking. If you forget to lock them when leaving, it is easy to cause the parking space to be occupied by others. In addition, the penetration rate of vehicles with automatic parking functions is also increasing rapidly. If the parking lock used on the parking space is still the mechanical key unlocking and locking type or the remote control key unlocking and locking type, there is a high probability that the automatic parking will be interrupted. If there is insufficient light or the space is blocked by pillars, the automatic parking perception device may make misjudgments, which may cause scratches, thereby greatly reducing the user experience of automatic parking. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, system, parking lock and storage medium for linkage between a car and a parking lock, which can calculate the distance value and movement direction between the vehicle end and the parking lock end through the Bluetooth signal strength, realize automatic unlocking and locking of the parking lock, and improve the user's parking experience.

[0004] The present invention provides a method for linking a car and a parking lock, the method comprising the following steps:

[0005] S100: When the first Bluetooth terminal and the second Bluetooth terminal establish a Bluetooth connection, obtain Bluetooth signal strength data.

[0006] S200: Calculate the distance value and movement direction between the first Bluetooth terminal and the second Bluetooth terminal according to the Bluetooth signal strength data.

[0007] S300: issuing a control instruction according to the distance value and the travel direction to realize the linkage between the car and the parking lock.

[0008] In the above technical solution, the first Bluetooth terminal can be the car end, and the second Bluetooth terminal can be the parking lock end. Through Bluetooth identification between the vehicle end and the parking lock end, the parking lock can automatically identify the vehicle; the distance value and movement direction between the vehicle end and the parking lock end are calculated through the Bluetooth signal strength, so as to realize automatic unlocking and locking of the parking lock, thereby improving the user's parking experience.

[0009] Furthermore, the obtaining of Bluetooth signal strength data specifically includes:

[0010] The first Bluetooth terminal continuously obtains Bluetooth signal strength data from the second Bluetooth terminal at a frequency of N Hz, where N is a natural number greater than 1.

[0011] Each frame of the Bluetooth signal strength data includes M first Bluetooth signal strength values, where M is a natural number greater than 1.

[0012] Further, the calculating the distance value between the first Bluetooth terminal and the second Bluetooth terminal specifically includes:

[0013] The two first Bluetooth signal strength values ​​with the strongest signals in the Bluetooth signal strength data are selected to calculate the average value to obtain the second Bluetooth signal strength value.

[0014] The first distance value between the first Bluetooth terminal and the second Bluetooth terminal is calculated using the following formula:

[0015] .

[0016] in, is the first distance value; is the absolute value function; is the second Bluetooth signal strength value; is the Bluetooth signal strength value between the first Bluetooth terminal and the second Bluetooth terminal at a distance of 1 meter, is the environmental attenuation factor.

[0017] The first distance value is stored in a distance history list. When the number of first distance values ​​in the distance history list is greater than Y1, an average value is calculated for the last Y1+1 first distance value in the distance history list and the currently calculated first distance value to obtain a final distance value, where Y1 is a natural number greater than 1.

[0018] Further, the calculating the movement direction between the first Bluetooth terminal and the second Bluetooth terminal specifically includes:

[0019] When the number of first distance values ​​in the distance history list is greater than Y2, the difference between the last and the Y2+1th last first distance values ​​in the distance history list is calculated to obtain a first difference; the difference between the last and the Y2 / 2th last first distance values ​​in the distance history list is calculated to obtain a second difference; the difference between the Y2 / 2th last and the Y2+1th last first distance values ​​in the distance history list is calculated to obtain a third difference, where Y2 is a natural number greater than 1.

[0020] When the first difference is greater than or equal to a1, the first distance weight is a2%.

[0021] When the first difference is less than or equal to -a1, the first approach weight is a2%.

[0022] When the second difference is greater than or equal to b1, the second away weight is b2%.

[0023] When the second difference is less than or equal to -b1, the second approach weight is b2%.

[0024] When the third difference is greater than or equal to c1, the third distance weight is c2%.

[0025] When the third difference is less than or equal to -c1, the third proximity weight is c2%.

[0026] Among them, a1, a2, b1, b2, c1 and c2 are real numbers greater than zero;

[0027] The first moving away weight, the second moving away weight and the third moving away weight are added together to obtain a final moving away weight. When the final moving away weight is greater than or equal to e1%, the movement direction is moving away; otherwise, the movement direction is stopping. The first moving closer weight, the second moving closer weight and the third moving closer weight are added together to obtain a final moving closer weight d1%. When the final moving closer weight is greater than or equal to e1%, the movement direction is moving closer; otherwise, the movement direction is stopping.

[0028] Furthermore, the step S300 specifically includes:

[0029] When the final distance value is less than Z and the moving direction is approaching, the first Bluetooth terminal sends an unlocking instruction through the Bluetooth private protocol channel to unlock the vehicle, and activates the automatic parking function through the CAN bus.

[0030] When the final distance value is greater than or equal to Z and the moving direction is moving away, the first Bluetooth terminal sends a locking instruction through the Bluetooth private protocol channel to achieve locking.

[0031] Where Z is a real number greater than zero.

[0032] As another preferred embodiment, the present invention further provides a linkage system between a car and a parking lock, the system at least comprising:

[0033] A Bluetooth array and a positioning module are arranged at the vehicle end; a second Bluetooth module and a lock control module are arranged at the parking lock end; and the Bluetooth array is connected to the second Bluetooth module via Bluetooth.

[0034] The Bluetooth array is used to obtain the Bluetooth signal strength data of the second Bluetooth module and transmit it to the positioning module.

[0035] The positioning module is used to calculate the distance value and the moving direction between the car and the parking lock according to the Bluetooth signal strength data, and send a control instruction to the lock control module according to the distance value and the moving direction;

[0036] And a lock control module is used to respond to the control instruction to realize the linkage between the car and the parking lock.

[0037] Further, the Bluetooth array includes at least a first Bluetooth module and at least one sub-Bluetooth module;

[0038] The sub-Bluetooth module monitors the Bluetooth signal strength data through the connection parameters from the first Bluetooth module.

[0039] Furthermore, the positioning module sends a control instruction to the locking control module via a Bluetooth private protocol channel.

[0040] As another preferred embodiment, the present invention further provides a parking lock, which is used to send Bluetooth signal strength data to a car end, and the Bluetooth signal strength data adopts the above-mentioned car and parking lock linkage method to realize the linkage between the car and the parking lock.

[0041] As another preferred embodiment, the present invention further provides a storage medium located in any control unit, wherein the storage medium includes a computer program executable by a processor, and the computer program is used to execute the above-mentioned method for linking a car and a parking lock.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] Through Bluetooth identification between the vehicle end and the parking lock end, the parking lock can automatically identify the vehicle; the distance value and the direction of travel between the vehicle end and the parking lock end are calculated through the Bluetooth signal strength, so as to realize automatic unlocking and locking of the parking lock, thereby improving the user parking experience; by calculating the average value of the distance value, the distance jitter caused by the unstable Bluetooth signal strength is prevented, thereby improving the accuracy of the calculation; the present invention can realize that when the vehicle approaches the parking lock and enters the unlocking range, the parking lock is automatically unlocked, and when the vehicle moves away from the parking lock and out of the unlocking range, the parking lock is automatically locked; if the vehicle has the automatic parking function and it is enabled, when the vehicle approaches the parking lock and enters the unlocking range, the parking lock is automatically unlocked, and the vehicle automatic parking function continues to park the vehicle in the parking space. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The present invention is a flow chart of a method for linking a car and a parking lock.

[0045] Figure 2 Flow chart of calculating distance value and travel direction of the present invention.

[0046] Figure 3 This is a flow chart of the action direction determination of the present invention.

[0047] Figure 4 The present invention is a schematic diagram of a linkage system between a car and a parking lock. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The drawings show preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0049] Please refer to Figure 1 The present invention provides a method for linking a car and a parking lock, the method comprising the following steps:

[0050] S100: When the first Bluetooth terminal and the second Bluetooth terminal establish a Bluetooth connection, obtain Bluetooth signal strength data.

[0051] S200: Calculate the distance value and movement direction between the first Bluetooth terminal and the second Bluetooth terminal according to the Bluetooth signal strength data.

[0052] S300: issuing a control instruction according to the distance value and the travel direction to realize the linkage between the car and the parking lock.

[0053] Among them, the first Bluetooth terminal can be the car end, and the second Bluetooth terminal can be the parking lock end. Through Bluetooth identification between the vehicle end and the parking lock end, the parking lock can automatically identify the vehicle; the distance value and movement direction between the vehicle end and the parking lock end are calculated through the Bluetooth signal strength, so as to realize automatic unlocking and locking of the parking lock, thereby improving the user's parking experience.

[0054] Exemplarily, a first Bluetooth terminal and three sub-Bluetooth modules are installed on the car side, which are respectively installed at the left front, left rear, right front, and right rear positions of the car, and a second Bluetooth terminal is installed on the parking lock.

[0055] During the specific implementation process, the connection process of the first Bluetooth terminal and the second Bluetooth terminal to establish a Bluetooth connection is as follows: the first Bluetooth terminal initiates a Bluetooth broadcast, allowing other Bluetooth devices to scan and initiate a connection request, the second Bluetooth terminal initiates a scan, and when the Bluetooth broadcast is scanned, a connection request is initiated to the first Bluetooth terminal, the first Bluetooth terminal receives the connection request and performs authentication, if the authentication is successful, the connection is successful, otherwise, the connection fails.

[0056] Preferably, the obtaining of Bluetooth signal strength data specifically includes:

[0057] The first Bluetooth terminal continuously obtains Bluetooth signal strength data from the second Bluetooth terminal at a frequency of N Hz, where N is a natural number greater than 1.

[0058] Each frame of the Bluetooth signal strength data includes M first Bluetooth signal strength values, where M is a natural number greater than 1.

[0059] During the specific implementation process: the first Bluetooth terminal obtains the Bluetooth signal strength data and uploads it to the MCU module through the universal asynchronous receiver and transmitter. Each sub-Bluetooth module monitors the Bluetooth signal strength data through the connection parameters and uploads it to the MCU through the CAN communication module.

[0060] Exemplarily, the MCU on the car side actively notifies the first Bluetooth terminal on the car side and each sub-Bluetooth module to report the Bluetooth signal strength data received from the parking lock. The reporting frequency is 5Hz. Each frame of data contains the Bluetooth signal strength of the second Bluetooth terminal of the parking lock obtained by the first Bluetooth terminal on the car side and the three sub-Bluetooth modules. Each Bluetooth module contains 10 first Bluetooth signal strength values.

[0061] Please refer to Figure 2 Preferably, the calculating the distance value between the first Bluetooth terminal and the second Bluetooth terminal specifically includes:

[0062] The two first Bluetooth signal strength values ​​with the strongest signals in the Bluetooth signal strength data are selected to calculate the average value to obtain the second Bluetooth signal strength value.

[0063] The first distance value between the first Bluetooth terminal and the second Bluetooth terminal is calculated using the following formula:

[0064] .

[0065] in, is the first distance value; is the absolute value function; is the second Bluetooth signal strength value; is the Bluetooth signal strength value between the first Bluetooth terminal and the second Bluetooth terminal at a distance of 1 meter, is the environmental attenuation factor.

[0066] The first distance value is stored in a distance history list. When the number of first distance values ​​in the distance history list is greater than Y1, an average value is calculated for the last Y1+1 first distance value in the distance history list and the currently calculated first distance value to obtain a final distance value, where Y1 is a natural number greater than 1.

[0067] Exemplarily, when the length of the distance history list is greater than 6, the average value of the last 7 distance data in the distance history list and the currently calculated distance is calculated and then used as the newly calculated distance. This method is used to prevent distance jitter caused by unstable Bluetooth RSSI.

[0068] Preferably, the calculating the movement direction between the first Bluetooth terminal and the second Bluetooth terminal specifically includes:

[0069] When the number of first distance values ​​in the distance history list is greater than Y2, the difference between the last and the Y2+1th last first distance values ​​in the distance history list is calculated to obtain a first difference; the difference between the last and the Y2 / 2th last first distance values ​​in the distance history list is calculated to obtain a second difference; the difference between the Y2 / 2th last and the Y2+1th last first distance values ​​in the distance history list is calculated to obtain a third difference, where Y2 is a natural number greater than 1.

[0070] When the first difference is greater than or equal to a1, the first distance weight is a2%.

[0071] When the first difference is less than or equal to -a1, the first approach weight is a2%.

[0072] When the second difference is greater than or equal to b1, the second away weight is b2%.

[0073] When the second difference is less than or equal to -b1, the second approach weight is b2%.

[0074] When the third difference is greater than or equal to c1, the third distance weight is c2%.

[0075] When the third difference is less than or equal to -c1, the third proximity weight is c2%.

[0076] Among them, a1, a2, b1, b2, c1 and c2 are real numbers greater than zero;

[0077] Please refer to Figure 3 , add the first moving away weight, the second moving away weight and the third moving away weight to obtain a final moving away weight. When the final moving away weight is greater than or equal to e1%, the movement direction is moving away, otherwise, the movement direction is stopping; add the first approaching weight, the second approaching weight and the third approaching weight to obtain a final approaching weight d1%. When the final approaching weight is greater than or equal to e1%, the movement direction is approaching, otherwise, the movement direction is stopping.

[0078] Exemplarily, when the length of the distance history list is greater than 9, the difference diff_range1 between the last distance and the tenth-to-last distance in the distance history list is calculated, the difference diff_range2 between the first-to-last distance and the fifth-to-last distance in the distance history list is calculated, and the difference diff_range3 between the fifth-to-last distance and the tenth-to-last distance in the distance history list is calculated. When diff_range1 is greater than or equal to 0.6 meters, the weight of moving away is 0.5, when diff_range2 is greater than or equal to 0.4 meters, the weight of moving away is 0.25, and when diff_range3 is greater than or equal to 0.3 meters, the weight of moving away is 0.25. When the total weight of moving away is finally calculated to be greater than or equal to 0.5, the travel direction is given as moving away. When diff_range1 is less than or equal to -0.6 meters, the weight of approaching is 0.5, when diff_range2 is less than or equal to -0.4 meters, the weight of far approaching is 0.25, when diff_range3 is less than or equal to -0.3 meters, the weight of approaching is 0.25, and when the total weight of approaching is greater than or equal to 0.5, the direction of travel is given as approaching. In other cases, the direction of travel is given as stopping.

[0079] Preferably, the step S300 specifically includes:

[0080] When the final distance value is less than Z and the moving direction is approaching, the first Bluetooth terminal sends an unlocking instruction through the Bluetooth private protocol channel to unlock the vehicle, and activates the automatic parking function through the CAN bus.

[0081] When the final distance value is greater than or equal to Z and the moving direction is moving away, the first Bluetooth terminal sends a locking instruction through the Bluetooth private protocol channel to achieve locking.

[0082] Where Z is a real number greater than zero.

[0083] It should be understood that if the vehicle is equipped with an automatic parking module, the second Bluetooth terminal sends the parking lock unlocking status to the first Bluetooth terminal, the first Bluetooth terminal sends the parking lock unlocking status to the MCU via the universal asynchronous receiver and transmitter, the MCU sends the parking lock unlocking status to the automatic parking module via the CAN communication module, and the automatic parking module makes an automatic parking decision based on its own high-definition camera, ultrasonic radar, millimeter-wave radar and parking lock status; otherwise, manual parking is performed.

[0084] Exemplarily, the unlocking range is defined as 2 meters away from the vehicle body, that is, the unlocking zone is within 2 meters. For vehicles without automatic parking function, when the vehicle is moving towards the parking lock and enters the unlocking range, the first Bluetooth terminal will send an unlocking command to the second Bluetooth terminal of the parking lock through the Bluetooth private protocol channel. After receiving the unlocking command, the second Bluetooth terminal of the parking lock sends an unlocking command to the lock control module. The parking lock is automatically unlocked and the vehicle can be parked in the parking space.

[0085] For vehicles with automatic parking function, when the automatic parking function is activated, when the vehicle is moving towards the parking lock and enters the unlocking range, the first Bluetooth terminal will send an unlocking command to the second Bluetooth terminal through the Bluetooth private protocol channel. After receiving the unlocking command, the second Bluetooth terminal will send an unlocking command to the lock control module, and the parking lock will be automatically unlocked. The second Bluetooth terminal will notify the first Bluetooth terminal of the unlocking status of the parking lock through Bluetooth communication, and the first Bluetooth terminal will notify the MCU of the unlocking status of the parking lock through the universal asynchronous receiver and transmitter. The MCU will notify the automatic parking module of the unlocking status of the parking lock through CAN communication. The automatic parking module receives the unlocking status of the parking lock and makes a decision whether to continue automatic parking based on the parking lock status detected by the perception modules such as the high-definition camera, ultrasonic radar, and millimeter-wave radar. If the conditions are met, automatic parking will continue and the vehicle can be parked in the parking space.

[0086] The locking range is defined as 4 meters away from the vehicle body, that is, the area outside the 4-meter range is the locking area.

[0087] When the vehicle is moving away from the parking lock and out of the locking range, the first Bluetooth terminal on the vehicle side will send a locking command to the second Bluetooth terminal through the Bluetooth private protocol channel. After receiving the locking command, the second Bluetooth terminal will send a locking command to the locking control module, and the parking lock will be automatically locked.

[0088] Please refer to Figure 4 As another preferred embodiment, the present invention further provides a linkage system between a car and a parking lock, the system at least comprising:

[0089] A Bluetooth array and a positioning module are arranged at the vehicle end; a second Bluetooth module and a lock control module are arranged at the parking lock end; and the Bluetooth array is connected to the second Bluetooth module via Bluetooth.

[0090] The Bluetooth array is used to obtain the Bluetooth signal strength data of the second Bluetooth module and transmit it to the positioning module.

[0091] The positioning module is used to calculate the distance value and the moving direction between the car and the parking lock according to the Bluetooth signal strength data, and send a control instruction to the lock control module according to the distance value and the moving direction;

[0092] And a lock control module is used to respond to the control instruction to realize the linkage between the car and the parking lock.

[0093] Preferably, the Bluetooth array comprises at least a first Bluetooth module and at least one sub-Bluetooth module; the sub-Bluetooth module monitors the Bluetooth signal strength data through connection parameters from the first Bluetooth module.

[0094] Preferably, the positioning module sends control instructions to the locking module via a Bluetooth private protocol channel.

[0095] Exemplarily, a first Bluetooth module and three sub-Bluetooth modules are installed on the vehicle side, which are respectively installed at the left front, left rear, right front and right rear positions of the vehicle, and a second Bluetooth module is installed on the parking lock; the first Bluetooth module obtains the Bluetooth signal strength data and uploads it to the MCU module through a universal asynchronous receiver-transmitter transmitter; each of the sub-Bluetooth modules monitors the Bluetooth signal strength data through the connection parameters, and uploads it to the MCU module through the CAN communication module; the MCU module calls the positioning module to calculate the distance value and movement direction between the vehicle side and the parking lock side.

[0096] As another preferred embodiment, the present invention further provides a parking lock, which is used to send Bluetooth signal strength data to a car end, and the Bluetooth signal strength data adopts the above-mentioned car and parking lock linkage method to realize the linkage between the car and the parking lock.

[0097] As another preferred embodiment, the present invention further provides a storage medium located in any control unit, wherein the storage medium includes a computer program executable by a processor, and the computer program is used to execute the above-mentioned method for linking a car and a parking lock.

[0098] Compared with the prior art, the present invention has the following beneficial effects:

[0099] Through Bluetooth identification between the vehicle end and the parking lock end, the parking lock can automatically identify the vehicle; the distance value and the direction of travel between the vehicle end and the parking lock end are calculated through the Bluetooth signal strength, so as to realize automatic unlocking and locking of the parking lock, thereby improving the user parking experience; by calculating the average value of the distance value, the distance jitter caused by the unstable Bluetooth signal strength is prevented, thereby improving the accuracy of the calculation; the present invention can realize that when the vehicle approaches the parking lock and enters the unlocking range, the parking lock is automatically unlocked, and when the vehicle moves away from the parking lock and out of the unlocking range, the parking lock is automatically locked; if the vehicle has the automatic parking function and it is enabled, when the vehicle approaches the parking lock and enters the unlocking range, the parking lock is automatically unlocked, and the vehicle automatic parking function continues to park the vehicle in the parking space.

[0100] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0101] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0102] The various system and method embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a system program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, for example, the division of functions is only a logical function division, and there may be other division methods in actual implementation, such as multiple tools or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0104] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0105] Although the present invention is described in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes according to the above content. Therefore, all such substitutions, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A method for linking a car and a parking lock, characterized in that: The method comprises the following steps: S100: when the first Bluetooth terminal and the second Bluetooth terminal establish a Bluetooth connection, obtain Bluetooth signal strength data; S200: calculate the distance value and the movement direction between the first Bluetooth terminal and the second Bluetooth terminal according to the Bluetooth signal strength data; S300: issuing a control instruction according to the distance value and the travel direction to realize the linkage between the car and the parking lock; The obtaining of Bluetooth signal strength data specifically includes: The first Bluetooth terminal continuously obtains Bluetooth signal strength data from the second Bluetooth terminal at a frequency of N Hz, where N is a natural number greater than 1; Each frame of the Bluetooth signal strength data includes M first Bluetooth signal strength values, where M is a natural number greater than 1; The calculating the distance value between the first Bluetooth terminal and the second Bluetooth terminal specifically includes: Select the two first Bluetooth signal strength values ​​with the strongest signals in the Bluetooth signal strength data and calculate the average value to obtain the second Bluetooth signal strength value; The first distance value between the first Bluetooth terminal and the second Bluetooth terminal is calculated using the following formula: Wherein, d is the first distance value; abs is the absolute value function; RSSI is the second Bluetooth signal strength value; A is the Bluetooth signal strength value between the first Bluetooth terminal and the second Bluetooth terminal at a distance of 1 meter, and n is the environmental attenuation factor; The first distance value is stored in a distance history list, and when the number of first distance values ​​in the distance history list is greater than Y1, an average value is calculated for the last Y1+1 first distance value in the distance history list and the currently calculated first distance value to obtain a final distance value, where Y1 is a natural number greater than 1; The calculating of the movement direction between the first Bluetooth terminal and the second Bluetooth terminal specifically includes: When the number of first distance values ​​in the distance history list is greater than Y2, the difference between the last and the last Y2+1 first distance values ​​in the distance history list is calculated to obtain a first difference; the difference between the last and the last Y2 / 2 first distance values ​​in the distance history list is calculated to obtain a second difference; the difference between the last Y2 / 2 first distance values ​​and the last Y2+1 first distance values ​​in the distance history list is calculated to obtain a third difference, wherein Y2 is a natural number greater than 1; When the first difference is greater than or equal to a1, the first distance weight is a2%; When the first difference is less than or equal to -a1, the first approach weight is a2%; When the second difference is greater than or equal to b1, the second distance weight is b2%; When the second difference is less than or equal to -b1, the second approach weight is b2%; When the third difference is greater than or equal to c1, the third distance weight is c2%; When the third difference is less than or equal to -c1, the third proximity weight is c2%; Among them, a1, a2, b1, b2, c1 and c2 are real numbers greater than zero; The first moving away weight, the second moving away weight and the third moving away weight are added together to obtain a final moving away weight. When the final moving away weight is greater than or equal to e1%, the movement direction is moving away; otherwise, the movement direction is stopping. The first moving closer weight, the second moving closer weight and the third moving closer weight are added together to obtain a final moving closer weight d1%. When the final moving closer weight is greater than or equal to e1%, the movement direction is moving closer; otherwise, the movement direction is stopping.

2. The method for linking a car and a parking lock according to claim 1, characterized in that: The step S300 specifically includes: When the final distance value is less than Z and the moving direction is approaching, the first Bluetooth terminal sends an unlocking instruction through the Bluetooth private protocol channel to unlock the vehicle, and activates the automatic parking function through the CAN bus; When the final distance value is greater than or equal to Z and the moving direction is moving away, the first Bluetooth terminal sends a locking instruction through a Bluetooth private protocol channel to achieve locking; Where Z is a real number greater than zero.

3. A linkage system using the linkage method of a car and a parking lock as described in any one of claims 1-2, characterized in that: The system at least comprises: A Bluetooth array and a positioning module are arranged at the vehicle end; a second Bluetooth module and a lock control module are arranged at the parking lock end; the Bluetooth array is connected to the second Bluetooth module via Bluetooth; The Bluetooth array is used to obtain the Bluetooth signal strength data of the second Bluetooth module and transmit it to the positioning module; The positioning module is used to calculate the distance value and the moving direction between the car and the parking lock according to the Bluetooth signal strength data, and send a control instruction to the lock control module according to the distance value and the moving direction; And a lock control module is used to respond to the control instruction to realize the linkage between the car and the parking lock.

4. The linkage system according to claim 3, characterized in that: The Bluetooth array comprises at least a first Bluetooth module and at least one sub-Bluetooth module; The sub-Bluetooth module monitors the Bluetooth signal strength data through the connection parameters from the first Bluetooth module.

5. The linkage system according to claim 4, characterized in that: The positioning module sends a control instruction to the locking module through a Bluetooth private protocol channel.

6. A parking lock, characterized in that: The parking lock is used to send Bluetooth signal strength data to the car end, and the Bluetooth signal strength data adopts the car and parking lock linkage method as described in any one of claims 1-2 to realize the linkage between the car and the parking lock.

7. A storage medium, located in any control unit, characterized in that: The storage medium includes a computer program executable by a processor, and the computer program is used to execute the method for linking a car and a parking lock as described in any one of claims 1-2.

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