A method and device for returning a vehicle based on an electronic fence

Abstract

The present application belongs to the technical field of shared vehicles, and particularly relates to a method for returning a vehicle based on an electronic fence and a return control device. The method for returning a vehicle based on an electronic fence starts a vehicle to be returned to scan a Bluetooth broadcast signal when an event of starting the vehicle to be returned to occur, can obtain device level information of at least one reference device in the electronic fence and a signal strength value of the reference device, and can judge whether the vehicle to be returned is positioned in the electronic fence according to the level information of the reference device and the signal strength value of the reference device. The reference device includes a Bluetooth spike or a reference vehicle. The reference vehicle can make up for the deficiency of the Bluetooth spike under certain conditions, can participate in the setting of the electronic fence, and can improve the stability of the return process only by using existing facilities without increasing hardware devices.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of shared vehicles, and particularly relates to a method for returning a vehicle based on an electronic fence and a return control device. BACKGROUND

[0002] For shared bicycles, the Bluetooth beacon electronic fence technology is used to standardize user parking, which is the main technical means adopted by major shared bicycle operators and is also the technical means recommended by city appearance managers. At present, a low-power signal emitting device (such as a Bluetooth low-power base station) is used to mark an electronic fence parking area, which is a common means.

[0003] A plurality of Bluetooth spikes are fixedly buried in a vehicle parking area. When a user parks a vehicle, the Bluetooth spikes interact with the vehicle to automatically identify whether the vehicle is reasonably parked in the specified area. However, when the vehicle is directly above the Bluetooth spike, the signal of the Bluetooth spike is blocked by the vehicle structure such as the controller and the storage battery, so that the intensity is weakened, resulting in that the central control of the vehicle to be returned cannot successfully return the vehicle due to insufficient intensity. If the accuracy of returning the vehicle is improved by adding Bluetooth spikes, the cost of setting up a station will be increased. SUMMARY

[0004] The purpose of the present application is to provide a method for returning a vehicle based on an electronic fence and a return control device.

[0005] In order to solve the above technical problems, the present application provides a method for returning a vehicle based on an electronic fence, comprising: detecting whether an event of starting a vehicle to be returned to perform a return occurs; according to the detection result of the event, starting the vehicle to be returned to scan a Bluetooth broadcast signal to obtain device level information of at least one reference device in the electronic fence and a signal strength value of the reference device; wherein the reference device includes a Bluetooth spike or a reference vehicle; according to the level information of the reference device and the signal strength value of the reference device, judging whether the vehicle to be returned is positioned in the electronic fence; if yes, performing the return, otherwise not performing the return.

[0006] In another aspect, the present application also provides a return control device, comprising: a detection module for detecting whether an event of starting a vehicle to be returned to perform a return occurs; a signal acquisition module for scanning a Bluetooth broadcast signal to obtain device level information of at least one reference device in the electronic fence and a signal strength value of the reference device; wherein the reference device includes a Bluetooth spike or a reference vehicle; a processing module for judging whether the vehicle to be returned is positioned in the electronic fence according to the level information of the reference device and the signal strength value of the reference device obtained by the signal acquisition module; if yes, performing the return, otherwise not performing the return.

[0007] The beneficial effect of the present application is that the electronic fence-based vehicle returning method of the present application can start the vehicle to be returned to scan the Bluetooth broadcast signal when the event of starting the vehicle to be returned to return the vehicle occurs, and can obtain the device level information of at least one reference device in the electronic fence and the signal strength value of the reference device, and can determine whether the vehicle to be returned is positioned in the electronic fence according to the level information of the reference device and the signal strength value of the reference device; wherein the reference device includes a Bluetooth spike or a reference vehicle, the reference vehicle can make up for the deficiency of the Bluetooth spike under certain circumstances, and can participate in the setting of the electronic fence, so as to improve the stability of the returning process only by using the existing facilities without increasing the hardware devices.

[0008] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and achieved by means of the structures particularly pointed out in the description and the claims.

[0009] In order to make the above-mentioned objects, features and advantages of the present application more apparent, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0011] Figure 1 The flowchart of the electronic fence-based vehicle returning method of the present application;

[0012] Figure 2 The flowchart of the reference device resetting broadcast information of the present application;

[0013] Figure 3 The electronic fence schematic diagram of the embodiment of the present application;

[0014] Figure 4 The partial schematic diagram of the electronic fence of the embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0016] As shown in the embodiment, the present embodiment provides an electronic fence-based vehicle returning method, comprising: detecting whether an event of starting a vehicle to be returned to return the vehicle occurs; according to a detection result of the event, starting the vehicle to be returned to scan a Bluetooth broadcast signal to obtain device level information of at least one reference device within an electronic fence and a signal strength value of the reference device; wherein the reference device comprises a Bluetooth spike or a reference vehicle; according to the level information of the reference device and the signal strength value of the reference device, judging whether the vehicle to be returned is positioned within the electronic fence; if yes, performing vehicle returning, otherwise not performing vehicle returning. Figure 1 In the embodiment, when the event of starting the vehicle to be returned to return the vehicle occurs, the vehicle to be returned is started to scan the Bluetooth broadcast signal, the device level information of at least one reference device within the electronic fence and the signal strength value of the reference device can be obtained, and whether the vehicle to be returned is positioned within the electronic fence can be judged according to the level information of the reference device and the signal strength value of the reference device; wherein the reference device comprises the Bluetooth spike or the reference vehicle, the reference vehicle can make up for the deficiency of the Bluetooth spike under certain circumstances, and can participate in the setting of the electronic fence to improve the stability of the vehicle returning process only by using the existing facilities without increasing hardware devices.

[0017] In an alternative embodiment, the event of starting the vehicle to be returned to return the vehicle comprises that a vehicle returning application module on the vehicle body sends a vehicle returning application, or a mobile terminal sends a vehicle returning application.

[0018] In an application scenario, the vehicle returning application module can be installed on the vehicle body, and sends the vehicle returning application after detecting a user's operation on a lock vehicle button; or the user can send the vehicle returning application through a mobile terminal such as a mobile phone.

[0019] In the embodiment, optionally, according to the detection result of the event, starting the vehicle to be returned to scan the Bluetooth broadcast signal can comprise: after receiving the vehicle returning application, starting the vehicle to be returned to scan the Bluetooth broadcast signal; and without receiving the vehicle returning application, not starting the vehicle to be returned to scan the Bluetooth broadcast signal.

[0020] In the embodiment, optionally, performing vehicle returning can be that a control module of the vehicle controls a vehicle lock to lock the vehicle.

[0021] ​

[0022] In one embodiment, the electronic fence can be formed by pre-arranged Bluetooth road studs and successfully returned vehicles. The successfully returned vehicles that meet preset conditions can be called reference vehicles and can broadcast signals externally like Bluetooth road studs.

[0023] The vehicle to be returned can obtain at least two types of information from the broadcast signal of the Bluetooth road stud or the reference vehicle, such as the level information and the signal strength value of the reference device.

[0024] Optionally, the level information of the reference device can be specified according to the following optional implementation methods: the highest is level 1, level 2 is one level lower than level 1, level 3 is one level lower than level 2, and so on; of course, in other implementation methods, level 1 can be the lowest level, level 2 is one level higher than level 1, level 3 is one level higher than level 2, and so on; of course, other regulations can also be used.

[0025] In this embodiment, optionally, taking level 1 as the highest level as an example, the device level of each Bluetooth road stud can be set to level 1. According to the setting, when a vehicle that has been successfully returned is set as a reference vehicle, it will set its own device level based on the level information and signal strength value of the reference device it obtained. For example, when the level of the reference device with the highest signal strength it obtained is level 1, its own device level can be set to level 2; when the level of the reference device with the highest signal strength it obtained is level 2, its own device level can be set to level 3, and so on. Therefore, the reference vehicle will also be set to a corresponding device level, such as level 2, level 3, level 4, level 5, etc. Since the given device level is related to the obtained Bluetooth signal strength, it can be seen that the lower the device level, the farther it is from the center of the range defined by the electronic fence.

[0026] like Figure 1 As shown, in this embodiment, preferably, the method for judging whether the vehicle to be returned is positioned within the electronic fence based on the level information of the reference device and the signal strength value of the reference device includes: when the device level scanned and obtained by the vehicle to be returned is not lower than a first preset level and the signal strength value of the reference device is not lower than a first preset strength value, judging that the vehicle to be returned is positioned within the electronic fence; otherwise, judging that the vehicle to be returned is positioned outside the electronic fence.

[0027] In one application scenario, the first preset level may be level 3, and the first preset strength value may be -70dB. Then, when the device level scanned and obtained by the vehicle to be returned is not lower than level 3, and the signal strength value is not lower than -70dB, it can be determined that the vehicle to be returned is positioned within the electronic fence; otherwise, it can be determined that the vehicle to be returned is positioned outside the electronic fence.

[0028] In one application scenario, the reference vehicle can be moved out of the range of the electronic fence, thus, in order to make the electronic fence work normally, preferably, the reference vehicle scans the broadcast signals of the surrounding reference devices every preset time interval, and resets the device level in its own broadcast signal or stops broadcasting according to the scanning result.

[0029] As shown in Figure 2 , as an optional implementation, the step of resetting the device level in the broadcast signal of the reference vehicle or stopping broadcasting according to the scanning result comprises:

[0030] When the intensity of the broadcast signal with the highest intensity acquired by the reference vehicle is not lower than a second preset intensity value, the following judgment is performed:

[0031] If the acquired broadcast signal is broadcast by a Bluetooth beacon, the reference vehicle resets its device level to the next level of the device level of the Bluetooth beacon, and broadcasts a broadcast signal containing the device level information after the reset;

[0032] If the broadcast signal is from another reference vehicle and is not lower than the second preset level, the scanning vehicle resets its device level to the next level of the acquired device level, and broadcasts a broadcast signal containing the device level information after the reset, otherwise, it stops broadcasting the signal; and

[0033] When the intensity of the broadcast signal with the highest intensity acquired by the reference vehicle is lower than the second preset intensity value, stop broadcasting the signal.

[0034] In one application scenario, the reference vehicle can scan the broadcast signals of the surrounding reference devices every preset time interval, such as every few seconds, every few tens of seconds, every few minutes, every few tens of minutes, every few hours, etc.; the reference vehicle can scan and acquire the broadcast signals of the surrounding reference vehicles and Bluetooth beacons; according to the scanning result, the following judgment is performed:

[0035] First, it is judged whether the intensity value of the highest intensity signal acquired by scanning is not lower than a second preset intensity value, which can be but is not limited to -70dB, -75dB, -65dB, etc. If it is lower than the second preset intensity value, it is determined that the reference vehicle has been removed from the range of the electronic fence, and its broadcasting is stopped; if it is not lower than the second preset intensity value, it means that the reference vehicle is still located within the electronic fence and can continue to play the role of a reference device, and further judgment is continued. Of course, the second preset intensity value here can be customized according to the actual application scenario.

[0036] Further, after the intensity value of the highest intensity signal acquired by scanning satisfies the condition, it is needed to distinguish whether the signal source is the Bluetooth spike or another reference vehicle; if the broadcast signal is broadcast by the Bluetooth spike, the reference vehicle resets its device level to the next level of the device level of the Bluetooth spike, and broadcasts a broadcast signal containing the information of the reset device level; if the broadcast signal is from another reference vehicle, the scanning vehicle resets its device level to the next level of the acquired device level when the acquired device level is not lower than the second preset level, and broadcasts a broadcast signal containing the information of the reset device level, otherwise, stops broadcasting the signal.

[0037] Specifically, assuming that the device level of the Bluetooth spike is the highest level 1, the highest intensity signal acquired by scanning is from the Bluetooth spike, and the device level of the scanning vehicle can be reset to level 2. As can be seen, the device level of the reference vehicle reset based on the broadcast signal of the Bluetooth spike is level 2. Further, the highest intensity signal acquired by scanning is from the reference vehicle of level 2, and the device level of the scanning vehicle can be reset to level 3.

[0038] It can be understood that the higher the device level, the closer the reference vehicle is to the Bluetooth spike, i.e. the closer to the central area of the electronic fence.

[0039] Therefore, in order to prevent the boundary of the electronic fence from extending indefinitely, when resetting the device level based on another reference vehicle, a second preset level needs to be set, which can be level 3, level 4, level 5, etc., and can be defined according to the actual application scenario. For example, assuming that the second preset level is level 3, when the highest intensity signal acquired by scanning is from another reference vehicle, and the device level of the reference vehicle is not lower than level 3, the device level of the scanning vehicle is reset to level 4; if the device level of the reference vehicle is lower than level 3, it cannot be the basis for resetting the scanning vehicle, and the scanning vehicle may have been too far away from the central area of the electronic fence, and if the vehicle to be returned is returned based on the Bluetooth signal of the scanning vehicle, it will exceed the preset electronic fence area, so the scanning vehicle stops broadcasting, and it does not have the qualification to continue to be a reference vehicle.

[0040] In some application scenarios, there are multiple parked vehicles between two adjacent Bluetooth spikes, and if all of them broadcast as reference vehicles, it will waste power. Therefore, in the embodiment, preferably, the vehicle positioning method based on the electronic fence further comprises: among the multiple reference vehicles between two adjacent Bluetooth spikes which broadcast signals satisfying the condition, one reference vehicle is selected to broadcast the signal, and the broadcasting of other vehicles in the multiple reference vehicles which broadcast signals satisfying the condition is stopped.

[0041] In the embodiment, the method for selecting one of the reference vehicles to broadcast the signal outwardly can be various:

[0042] Method one: selecting one of the reference vehicles with the highest remaining power to broadcast the signal outwardly;

[0043] Method two: selecting one of the reference vehicles closest to the middle line between the two adjacent Bluetooth spikes to broadcast the signal outwardly;

[0044] Method three: selecting one of the reference vehicles with the lowest device level to broadcast the signal outwardly, and if there are multiple reference vehicles with the lowest device level, selecting one of the reference vehicles with the highest remaining power.

[0045] Specifically, in the method one, optionally, a server can select one of the reference vehicles with the highest remaining power to broadcast the signal outwardly, and send an instruction to broadcast to the reference vehicle, and the reference vehicle can broadcast the signal after receiving the instruction, and the other reference vehicles without receiving the instruction can stop broadcasting.

[0046] In the method two, optionally, the reference vehicle and the Bluetooth spike can further include the position information of the reference vehicle in the broadcast signal, and a server can select one of the reference vehicles closest to the middle line between the two adjacent Bluetooth spikes to broadcast the signal outwardly, and send an instruction to broadcast to the reference vehicle, and the reference vehicle can broadcast the signal after receiving the instruction, and the other reference vehicles without receiving the instruction can stop broadcasting.

[0047] In the method two, optionally, the method for the reference vehicle to reset the position information of the reference vehicle in the broadcast signal according to the scanning result includes that the reference vehicle determines the position of the reference vehicle according to the positions of the Bluetooth spikes in the scanning result, and broadcasts the signal outwardly.

[0048] Further, optionally, the method for the reference vehicle to determine the position of the reference vehicle according to the positions of the Bluetooth spikes in the scanning result includes that the reference vehicle determines the position of the reference vehicle relative to the Bluetooth spikes according to the positions of the Bluetooth spikes and the corresponding signal strength values in the scanning result.

[0049] In an application scenario, the Bluetooth spikes are arranged according to the relative positions of the Bluetooth spikes in the electronic fence, for example, the Bluetooth spikes can be a first position, a second position, a third position, a fourth position, a fifth position, and the like, and the Bluetooth spike broadcasts the signal with the corresponding position information. When a reference vehicle resets the broadcast information according to the scanning result, the reference vehicle can determine two Bluetooth spikes with the highest signal strength according to the scanning result, and the two Bluetooth spikes are adjacent. For example, Figure 3As shown, the reference vehicle is either between two adjacent Bluetooth studs, such as B in the figure, or outside the most edge Bluetooth stud, such as A in the figure. Further, the reference vehicle can also determine its position relative to each Bluetooth stud according to the signal strength value of each Bluetooth stud it acquires, which is a prior art and will not be described here.

[0050] This embodiment mainly selects when there are multiple reference vehicles that meet the condition to broadcast signals outside between two adjacent Bluetooth studs. As shown, Figure 4 As shown, between two adjacent Bluetooth studs ② and ③, there are three reference vehicles B, C, and D that meet the condition to broadcast signals outside, and B is closest to the middle line between ② and ③. Therefore, the server can send an instruction to broadcast to B, and B can broadcast after receiving the instruction, and the rest that do not receive the instruction can stop broadcasting.

[0051] In method three, based on the foregoing embodiments, it can be understood that the higher the device level, the closer the reference vehicle is to the Bluetooth stud, i.e., the closer it is to the central area of the electronic fence; on the contrary, the lower the device level, the farther it is from the central area of the electronic fence, i.e., the closer it is to the boundary of the electronic fence. Therefore, in the process of determining the boundary of the electronic fence, in addition to the signal strength value, the device level signal of the reference vehicle with the lowest level also plays a role. Therefore, in method three, the reference vehicle with the lowest device level among the multiple reference vehicles that meet the condition to broadcast signals outside can broadcast, and the rest can stop broadcasting to save power. If there are multiple reference vehicles with the lowest level, the one with the highest power can be selected. Therefore, in method three, a server can select the reference vehicle with the lowest device level among the multiple reference vehicles that meet the condition to broadcast signals outside, send an instruction to broadcast to it, and the reference vehicle can broadcast after receiving the instruction, and the rest that do not receive the instruction can stop broadcasting; if there are multiple reference vehicles with the lowest level, the one with the highest power can be selected, an instruction to broadcast can be sent to it, and the reference vehicle can broadcast after receiving the instruction, and the rest that do not receive the instruction can stop broadcasting.

[0052] In this embodiment, after the vehicle to be returned is parked in the electronic fence, it can be set as a reference vehicle. Specifically, after it is parked, it can scan the broadcast signals of the surrounding reference devices at a preset interval, and reset the device level in its broadcast signal or stop broadcasting according to the scanning result. If it successfully broadcasts, it is set as a reference vehicle. The method of resetting the device level in the broadcast signal or stopping broadcasting according to the scanning result can refer to the above process, which will not be described here.

[0053] On the basis of the above-mentioned embodiments, the present embodiment further provides a vehicle returning control device, comprising: a detection module configured to detect whether an event of starting a vehicle to be returned for returning occurs; a signal acquisition module configured to scan a Bluetooth broadcast signal to acquire device level information of at least one reference device in an electronic fence and a signal strength value of the reference device; wherein the reference device comprises a Bluetooth spike or a reference vehicle; and a processing module configured to determine whether the vehicle to be returned is positioned in the electronic fence according to the level information of the reference device and the signal strength value of the reference device acquired by the signal acquisition module, and execute the returning if yes, otherwise not.

[0054] In conclusion, the vehicle returning method based on the electronic fence provided by the present application can acquire the device level information of at least one reference device in the electronic fence and the signal strength value of the reference device when the event of starting the vehicle to be returned for returning occurs, and can determine whether the vehicle to be returned is positioned in the electronic fence according to the level information of the reference device and the signal strength value of the reference device; wherein the reference device comprises a Bluetooth spike or a reference vehicle, and the reference vehicle can make up for the deficiency of the Bluetooth spike under certain circumstances and can participate in the setting of the electronic fence, so as to improve the stability of the returning process only by using the existing facilities without increasing hardware devices.

[0055] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented by other manners. The device embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those described in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0056] In addition, each functional module in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0057] If the functions are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0058] Based on the above ideal embodiments according to the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. A method for returning a vehicle based on an electronic fence, characterized in that: include: Detect whether an event of starting the vehicle to be returned occurs; Based on the detection result of the event, the to-be-returned vehicle is started to scan for Bluetooth broadcast signals to obtain device level information and a signal strength value of at least one reference device within the electronic fence; wherein the reference device includes a Bluetooth road stud or a reference vehicle; determining whether the to-be-returned vehicle is located within the electronic fence based on the level information of the reference device and the signal strength value of the reference device; If yes, then return the car, otherwise do not return the car; The method for determining whether the to-be-returned vehicle is positioned within the electronic fence based on the level information of the reference device and the signal strength value of the reference device includes: when the device level scanned and obtained by the to-be-returned vehicle is not lower than a first preset level and the signal strength value of the reference device is not lower than a first preset strength value, determining that the to-be-returned vehicle is positioned within the electronic fence; otherwise, determining that the to-be-returned vehicle is positioned outside the electronic fence; The steps for the reference vehicle to reset the device level in its broadcast signal or stop broadcasting based on the scan results include: When the intensity of the highest broadcast signal acquired by the reference vehicle is not less than a second preset intensity value, the following judgment is performed: If the broadcast signal is broadcast by a Bluetooth road stud, the reference vehicle resets its device level to one level lower than that of the Bluetooth road stud and broadcasts a broadcast signal containing the reset device level information. If the broadcast signal is from another reference vehicle and is not lower than a second preset level, the scanning vehicle resets its equipment level to one level lower than the acquired equipment level and broadcasts a broadcast signal containing the reset equipment level information; otherwise, the scanning vehicle stops broadcasting the signal; and When the intensity of the highest broadcast signal acquired by the reference vehicle is lower than a second preset intensity value, the external broadcasting of the signal is stopped.

2. The method for returning a vehicle based on an electronic fence according to claim 1, wherein: The event of starting the vehicle to be returned includes: The vehicle return application module on the vehicle to be returned sends a vehicle return application, or The mobile terminal sends a car return application.

3. The method for returning a vehicle based on an electronic fence according to claim 1, wherein: The reference vehicle scans the broadcast signals of surrounding reference devices at a preset time interval, and resets the device level in its own broadcast signal or stops broadcasting according to the scanning result.

4. The method for returning a vehicle based on an electronic fence according to claim 1, wherein: Also includes: After the to-be-returned vehicle is parked within the electronic fence, it is set as a reference vehicle.

5. The method for returning a vehicle based on an electronic fence according to claim 1, wherein: Also includes: Among multiple reference vehicles that meet the conditions for broadcasting signals between two adjacent Bluetooth road studs, one reference vehicle is selected to broadcast signals, and the broadcasting of other vehicles among the multiple reference vehicles that meet the conditions for broadcasting signals is stopped.

6. The method for returning a vehicle based on an electronic fence according to claim 5, wherein: The method of selecting one of the reference vehicles to broadcast the signal outward is one of the following methods: Select a reference vehicle with the highest remaining battery power among multiple reference vehicles that meet the conditions for broadcasting signals; Selecting a reference vehicle closest to the middle line between the two adjacent Bluetooth road studs from among multiple reference vehicles that meet the conditions for broadcasting signals outward; A reference vehicle with the lowest equipment level among multiple reference vehicles that meet the conditions for broadcasting signals externally is selected. If there are multiple reference vehicles with the lowest equipment level, a reference vehicle with the highest remaining power is selected.

7. The method for returning a vehicle based on an electronic fence according to claim 6, wherein: The broadcast signals of the reference vehicle and the Bluetooth road stud also include their own location information; and The reference vehicle resets the device level in its broadcast signal and resets its own location information according to the scanning result.

8. The method for returning a vehicle based on an electronic fence according to claim 7, wherein: The method for the reference vehicle to reset its own position information in its own broadcast signal according to the scanning result includes: The reference vehicle determines its own position based on the position of each Bluetooth road stud in the scanning result and broadcasts it to the outside.

9. The method for returning a vehicle based on an electronic fence according to claim 8, wherein: The method for the reference vehicle to determine its own position based on the position of each Bluetooth road stud in the scanning result includes: The reference vehicle determines its own position relative to each Bluetooth road stud based on the position of each Bluetooth road stud in the scanning result and the corresponding signal strength value.

10. A vehicle return control device, characterized in that: include: A detection module, used to detect whether an event of starting the vehicle to be returned to be returned occurs; A signal acquisition module, configured to scan Bluetooth broadcast signals to obtain device level information and a signal strength value of at least one reference device within the electronic fence; wherein the reference device includes a Bluetooth road stud or a reference vehicle; The processing module is used to determine whether the vehicle to be returned is located within the electronic fence based on the level information of the reference device and the signal strength value of the reference device obtained by the signal acquisition module; if so, the vehicle is returned; otherwise, the vehicle is not returned; The method for determining whether the to-be-returned vehicle is positioned within the electronic fence based on the level information of the reference device and the signal strength value of the reference device includes: when the device level scanned and obtained by the to-be-returned vehicle is not lower than a first preset level and the signal strength value of the reference device is not lower than a first preset strength value, determining that the to-be-returned vehicle is positioned within the electronic fence; otherwise, determining that the to-be-returned vehicle is positioned outside the electronic fence; The steps for the reference vehicle to reset the device level in its broadcast signal or stop broadcasting based on the scan results include: When the intensity of the highest broadcast signal acquired by the reference vehicle is not less than a second preset intensity value, the following judgment is performed: If the broadcast signal is broadcast by a Bluetooth road stud, the reference vehicle resets its device level to one level lower than that of the Bluetooth road stud and broadcasts a broadcast signal containing the reset device level information. If the broadcast signal is from another reference vehicle and is not lower than the second preset level, the scanning vehicle resets its equipment level to the next level below the acquired equipment level and broadcasts a broadcast signal containing the reset equipment level information to the outside; otherwise, the broadcasting of the signal to the outside is stopped; and when the intensity of the highest intensity broadcast signal acquired by the reference vehicle is lower than the second preset intensity value, the broadcasting of the signal to the outside is stopped.

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