A vehicle lane entry method, system and vehicle central control device of fusion direction

Abstract

The embodiment of the present specification provides a vehicle parking method, a system and a vehicle central control device in a fusion direction. The method comprises: based on a vehicle returning request, obtaining a first RSSI value of a Bluetooth spike in a parking fence; determining whether the first RSSI value is greater than or equal to a first threshold value; in response to the first RSSI value being greater than or equal to the first threshold value, obtaining attitude information of the vehicle; the attitude information reflects the body direction of the vehicle; based on the attitude information, determining whether the included angle between the body direction of the vehicle and the preset frame line of the parking fence is within a preset range; in response to the included angle between the body direction of the vehicle and the preset frame line of the parking fence being within the preset range, determining that the vehicle successfully enters the fence; and in response to the vehicle failing to successfully enter the fence, guiding a user of the vehicle to park according to the specification.

Description

Technical Field

[0001] This specification relates to the field of intelligent transportation technology, and in particular to a method and system for vehicle entry into a parking space with integrated directions. Background Technology

[0002] With the rapid development of "Internet+" technology, Internet of Things (IoT) technology, represented by shared vehicles (such as shared bicycles), has been successfully integrated into people's daily lives. While the booming development of shared vehicles has facilitated citizens' travel, haphazard parking has also hindered traffic and negatively impacted the overall image of the city. Therefore, this paper aims to provide a unified method for vehicle parking to address the problem of haphazard parking and improve the overall image of the city. Summary of the Invention

[0003] This specification provides, in one aspect, a method for merging directional vehicle entry into a parking fence, executed by the vehicle's central control device. The method includes: acquiring a first RSSI value of a Bluetooth beacon within the parking fence based on a vehicle return request; determining whether the first RSSI value is greater than or equal to a first threshold; in response to the first RSSI value being greater than or equal to the first threshold, acquiring the vehicle's attitude information; the attitude information reflecting the vehicle's body direction; based on the attitude information, determining whether the angle between the vehicle's body direction and a preset frame line of the parking fence is within a preset range; and in response to the angle between the vehicle's body direction and the preset frame line of the parking fence being within the preset range, determining that the vehicle has successfully entered the parking fence.

[0004] In some embodiments, determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the attitude information further includes: determining that the vehicle is located within the parking fence in response to the first RSSI value being greater than a second threshold, wherein the second threshold is greater than the first threshold; and determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the attitude information.

[0005] In some embodiments, determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the attitude information further includes: determining a first distance between the vehicle and the target Bluetooth beacon based on the first RSSI value; in response to the first RSSI value being less than or equal to a second threshold, determining a second distance between the vehicle and the target Bluetooth beacon based on the first distance and the attitude information through compensation, wherein the accuracy of the second distance is higher than that of the first distance; determining whether the vehicle is located within the parking fence based on the second distance; and in response to the vehicle being located within the parking fence, determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the second distance and the attitude information.

[0006] In some embodiments, when it is determined that the vehicle is located within the parking fence, the method further includes: determining whether the vehicle's body direction is perpendicular to a preset frame line of the parking fence; when the vehicle's body direction is perpendicular to the preset frame line of the parking fence, determining that the vehicle has successfully entered the fence.

[0007] In some embodiments, determining whether the vehicle's body direction is perpendicular to the preset frame line of the parking fence further includes: calculating the vehicle's position direction relative to the parking fence based on the second distance and the attitude information; in response to the calculation result containing more than one position direction solution, sending the second distance to the Bluetooth beacon inside the parking fence so that the Bluetooth beacon inside the parking fence dynamically adjusts its signal transmission power based on the second distance; re-acquiring the second RSSI value of the Bluetooth beacon, and determining a third distance between the vehicle and the target Bluetooth beacon based on the second RSSI value, wherein the accuracy of the third distance is higher than that of the second distance; and determining whether the vehicle's body direction is perpendicular to the preset frame line of the parking fence based on the third distance and the attitude information.

[0008] In some embodiments, the method further includes: in response to the vehicle failing to park in the designated area, guiding the user of the vehicle to park according to regulations.

[0009] Another aspect of this specification provides a method for vehicle entry into a parking fence based on fusion direction, executed by a server. The method includes: obtaining a first RSSI value of a Bluetooth beacon within the parking fence based on a vehicle return request; determining whether the first RSSI value is greater than or equal to a first threshold; in response to the first RSSI value being greater than or equal to the first threshold, obtaining the vehicle's posture information, the posture information reflecting the vehicle's body direction; based on the posture information, determining whether the angle between the vehicle's body direction and a preset frame line of the parking fence is within a preset range; and in response to the angle between the vehicle's body direction and the preset frame line of the parking fence being within the preset range, determining that the vehicle has successfully entered the parking fence.

[0010] Another aspect of this specification provides a vehicle central control device. The device includes: a Bluetooth module; an attitude information determination module; and a control module, the control module including one or more processors and a memory, the memory including operating instructions adapted to cause the one or more processors to perform the following steps: based on a vehicle return request, controlling the Bluetooth module to acquire a first RSSI value of a Bluetooth beacon within a parking fence; determining whether the first RSSI value is greater than or equal to a first threshold; in response to the first RSSI value being greater than or equal to the first threshold, controlling the attitude information determination module to acquire attitude information of the vehicle, the attitude information reflecting the vehicle's body direction; based on the attitude information, determining whether the angle between the vehicle's body direction and a preset frame line of the parking fence is within a preset range; and in response to the angle between the vehicle's body direction and the preset frame line of the parking fence being within the preset range, determining that the vehicle has successfully entered the parking fence.

[0011] Another aspect of this specification provides a vehicle entry system for merging directions. The system includes: at least one storage medium storing computer instructions; and at least one processor executing the computer instructions to implement the vehicle entry method for merging directions as described above.

[0012] Another aspect of this specification provides a computer-readable storage medium that stores computer instructions, which, when read by a computer, execute the vehicle entry method in the fusion direction as described above. Attached Figure Description

[0013] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0014] Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle entry system with a fusion direction as shown in some embodiments of this specification.

[0015] Figure 2 These are schematic diagrams of exemplary vehicle central control devices according to some embodiments of this specification;

[0016] Figure 3 This is a software / hardware schematic diagram of an exemplary control module shown according to some embodiments of this specification;

[0017] Figure 4 This is a flowchart of an exemplary vehicle entry method in a fusion direction according to some embodiments of this specification;

[0018] Figure 5 This is a flowchart of an exemplary vehicle entry method in a fusion direction according to other embodiments of this specification;

[0019] Figure 6 This is a flowchart of an exemplary vehicle entry method in a fusion direction according to other embodiments of this specification;

[0020] Figure 7 This is a schematic diagram illustrating exemplary vehicle entry according to some embodiments of this specification;

[0021] Figure 8 This is a schematic diagram illustrating an exemplary vehicle successfully entering the parking space according to some embodiments of this specification;

[0022] Figure 9 This is a flowchart of an exemplary vehicle entry method according to other embodiments of this specification. Detailed Implementation

[0023] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0024] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0025] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0026] While this specification makes various references to certain modules or units in systems according to embodiments of this specification, any number of different modules or units may be used and run on clients and / or servers. The modules described are merely illustrative, and different aspects of the systems and methods may use different modules.

[0027] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0028] In some embodiments, the location information of the user / terminal device in this specification can be obtained through positioning technology embedded in the terminal device, and the vehicle location and / or trajectory can be obtained through positioning technology embedded in the vehicle. In some embodiments, the location of the terminal device and / or vehicle can be tracked and obtained in real time through positioning technology. The positioning technology used in this specification may include one or any combination of Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), BeiDou Navigation Satellite System (COMPASS), Galileo Positioning System (GLONASS), Quasi-Zenith Satellite System (QZSS), base station positioning technology, Wi-Fi positioning technology, etc. One or more of the above positioning technologies may be used interchangeably in this specification.

[0029] The booming development of shared vehicles (such as shared bicycles and shared e-bikes) has facilitated citizens' travel, but haphazard parking has also hindered traffic and negatively impacted the overall image of the city. Therefore, haphazard parking has gradually become a major problem that needs to be addressed in the development of shared vehicles. Designated parking technology requires users to complete the return process only in designated areas and locations, effectively strengthening the standardized management of shared vehicles and reducing parking chaos.

[0030] In some embodiments, vehicle entry detection can be achieved using fixed-point parking technologies such as "satellite positioning + inertial navigation" or "RTK (Real-time kinematic) positioning + inertial navigation." However, due to limitations in positioning accuracy, satellite positioning accuracy is relatively poor in complex environments such as single-sided buildings, double-sided buildings, and urban canyons, failing to meet the high-precision sub-meter entry requirements. Therefore, this solution has significant limitations and cannot meet the requirements of urban applications across all scenarios. In some embodiments, Bluetooth beacons can be used, based on the RSSI (Received Signal Strength Indication) ranging principle, to achieve vehicle entry detection within parking fences. While the Bluetooth beacon solution can meet the high-precision sub-meter positioning requirements across urban scenarios, a standalone Bluetooth beacon solution can only achieve distance measurement (fixed-point) and cannot achieve directional vehicle return within the parking fence (e.g., a vehicle entering the parking fence at a 90-degree angle). Furthermore, due to the limitations of the Bluetooth RSSI ranging principle, the different relative orientations of the shared vehicle body and the Bluetooth beacon will inevitably lead to errors in the distance measured by RSSI (for example, the antenna directionality of the vehicle body and the Bluetooth beacon is not an ideal omnidirectional antenna, so the measured distance will also change when the vehicle body angle changes), resulting in a lower rejection rate outside the parking fence.

[0031] Based on this, the embodiments of this specification provide a vehicle parking method with fused direction. The vehicle's central control device responds to the vehicle return request, obtains the RSSI value of the Bluetooth beacon inside the parking fence, determines whether the vehicle is inside the parking fence based on the RSSI value, and determines whether the vehicle is parked in a directional manner based on the vehicle's attitude information. This can improve positioning accuracy while realizing directional vehicle return, which is conducive to improving the overall image of the city and solving the problem of random parking.

[0032] Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle entry system with a fusion direction as shown in some embodiments of this specification.

[0033] like Figure 1 As shown, in some embodiments, the vehicle entry detection system 100 may include a shared vehicle 110, a Bluetooth beacon 120, a terminal device 130, a server 140, and a network 150. In some embodiments, the various components of the vehicle entry detection system 100 may be interconnected via the network 150 or directly connected without using the network 150. For example, the shared vehicle 110 and the terminal device 130 may be connected via the network 150. As another example, the shared vehicle 110 and the server 140 may be connected via the network 150 or directly connected. As yet another example, the server 140 and the terminal device 130 may be connected via the network 150 or directly connected.

[0034] In some embodiments, the shared vehicle 110 may include, but is not limited to, shared cars 110-1, shared electric bicycles 110-2, shared bicycles 110-3, or any combination thereof. In some embodiments, the shared vehicle 110 may include a central control device (e.g., a central control device 200). The central control device can communicate with the Bluetooth beacon 120, the terminal device 130, and / or the server 140 via a network. For example, the central control device can connect to the server 140 via a mobile communication network to upload orientation information (e.g., vehicle attitude information, the angle between the vehicle's orientation and the preset frame line of the parking fence, etc.) or location information (e.g., the RSSI value of the Bluetooth beacon, the distance between the vehicle and the Bluetooth beacon, etc.) of the shared vehicle 110 to the server 140. Alternatively, the central control device can connect to the terminal device 130 via a mobile communication network to obtain vehicle usage or return requests. For example, the central control device can establish a connection with the Bluetooth beacon 120 via a Bluetooth module (e.g., Bluetooth module 210) to obtain the RSSI values ​​(e.g., first RSSI value, second RSSI value) of the Bluetooth beacon within the parking fence.

[0035] In some embodiments, the central control unit may integrate a short-range communication device, enabling short-range communication with the Bluetooth beacon 120, terminal device 130, and / or server 140. In some embodiments, the central control unit may include a positioning device for providing vehicle location-related information (e.g., GPS signal information). Exemplarily, location-related information may include location, altitude, time, etc. In some embodiments, the central control unit may include an attitude information determination module (e.g., attitude information determination module 220) for providing vehicle attitude information. For more information on vehicle central control units, see [link to relevant documentation]. Figure 2 The details and related descriptions will not be repeated here.

[0036] Bluetooth beacon 120 can be used to acquire location-related information (e.g., a first RSSI value, a second RSSI value, etc.). For example, Bluetooth beacons may include RSSI beacons and / or AOA beacons. In some embodiments, Bluetooth beacons 120 can be installed in areas where a target object (e.g., a shared vehicle 110) may or is expected to appear (e.g., inside or around a parking fence). In some embodiments, Bluetooth beacons 120 can be laid across a portion of a road or a portion of a region to communicate with the target object (e.g., the shared vehicle 110). In some embodiments, Bluetooth beacons 120 can be evenly laid within a parking fence. In some embodiments, Bluetooth beacons 120 can be laid within a parking fence based on performance parameters. For example, a corresponding number of Bluetooth beacons can be laid based on the maximum distance that the signal strength of the Bluetooth beacons 120 can reach. In some embodiments, Bluetooth beacons 120 can establish a Bluetooth connection with the target object (e.g., the shared vehicle 110) when it passes by or approaches, to obtain the target object's location information.

[0037] In the embodiments described in this specification, Bluetooth beacons may include Bluetooth beacons based on the RSSI principle. In some embodiments, Bluetooth beacons 120 may include Bluetooth beacons with sub-meter (i.e., accuracy less than 1 meter) positioning accuracy. For example, by increasing the roll-off of the antenna gain in the vertex and low elevation directions, and by increasing the signal attenuation principle, Bluetooth beacons with positioning accuracy reaching sub-meter or even 0.3 meters can be obtained.

[0038] Positioning accuracy reflects the precision of the positioning. For example, in vehicle entry detection, when the positioning accuracy is at the sub-meter level, a vehicle is considered not to have entered the parking fence if the distance between it and the Bluetooth beacon (or parking fence) is greater than 1 meter.

[0039] In some embodiments, terminal device 130 can be used to receive and / or display information sent by shared vehicle 110 or server 140. For example, terminal device 130 can receive the parking status of shared vehicle 110 (e.g., distance from parking fence, parking angle, etc.) returned by shared vehicle 110 or server 140 and display it on a display interface to guide users to park according to regulations. In some embodiments, terminal device 130 can be used to initiate service requests related to shared vehicle 110. For example, users can initiate vehicle use requests and / or vehicle return requests through terminal device 130.

[0040] In some embodiments, the terminal device 130 can establish a communication connection with the shared vehicle 110 to obtain relevant vehicle information. For example, the terminal device 130 can obtain the location information of the shared vehicle 110 through a short-range communication device.

[0041] In some embodiments, terminal device 130 may include various devices with information receiving and / or sending functions. For example, terminal device 130 may include, but is not limited to, mobile device 130-1, tablet computer 130-2, laptop computer 130-3, etc., or any combination thereof. In some embodiments, terminal device 130 may be a device with positioning function, thereby providing location information of terminal device 130 and / or user.

[0042] Server 140 can process data and / or information obtained from at least one component of the vehicle entry detection system 100 (e.g., shared vehicle 110, Bluetooth beacon 120, terminal device 130) or an external data source (e.g., cloud data center). For example, server 140 can obtain the RSSI values ​​(e.g., first RSSI value, second RSSI value) of the Bluetooth beacon 120 within the parking fence from shared vehicle 110 via network 150, and determine whether shared vehicle 110 is within the parking fence based on the RSSI values. As another example, server 140 can obtain service requests (e.g., vehicle use request, vehicle return request) related to shared vehicle 110 from terminal device 130 via network 150. Furthermore, server 140 can obtain the distance between shared vehicle 110 and target Bluetooth beacon (e.g., first distance, second distance, third distance) from shared vehicle 110 via network 150.

[0043] In some embodiments, server 140 may include a shared vehicle platform server. In some embodiments, server 140 may be local or remote. For example, server 140 may directly connect to shared vehicle 110, Bluetooth beacon 120, or terminal device 130 to access data and / or information stored therein. In some embodiments, server 140 may be implemented on a cloud platform. By way of example only, cloud platforms may include private clouds, public clouds, hybrid clouds, community clouds, distributed clouds, internal clouds, multi-tiered clouds, etc., or any combination thereof.

[0044] In some embodiments, server 140 may include processing device 145. Processing device 145 may process information and / or data stored in shared vehicle 110, Bluetooth beacon 120, terminal device 130, and storage device.

[0045] In some embodiments, the processing device 145 may be part of the shared vehicle 110. For example, the processing device 145 may be integrated into the central control unit (e.g., central control unit 200) of the shared vehicle 110 to obtain location and orientation information related to the shared vehicle 110 to determine whether the shared vehicle 110 has successfully entered the parking fence. In some embodiments, the processing device 145 may be part of the terminal device 130. For example, the processing device 145 may be integrated into the terminal device 130.

[0046] In some embodiments, the vehicle entry detection system 100 may also include other devices with positioning capabilities (e.g., satellite positioning devices, GPS positioning devices) that can communicate with components in the vehicle entry detection system 100 (e.g., shared vehicle 110, terminal device 130, etc.) to determine their location-related information.

[0047] Network 150 can provide a channel for information exchange. Network 150 can be a single network or a combination of multiple networks. In some embodiments, network 150 may include one or more network access points. For example, network 150 may include wired or wireless network access points, such as base stations and / or internet exchange points, and one or more components of the vehicle entry detection system 100 can connect to network 150 through the access points to exchange data and / or information.

[0048] In some embodiments, the vehicle entry detection system 100 may further include a storage device (not shown) for storing data and / or instructions that can be executed or used to perform the exemplary methods described herein. In some embodiments, the storage device may include a mass storage device, a removable storage device, a volatile read-write storage device, a read-only storage device (ROM), or any combination thereof. In some embodiments, the storage device may be implemented on a cloud platform.

[0049] It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of this specification. Various changes and modifications can be made by those skilled in the art based on the content of this specification. Features, structures, methods, and other features of the exemplary embodiments described herein can be combined in various ways to obtain other and / or alternative exemplary embodiments. For example, depending on implementation needs, any number of shared vehicles, terminal devices, networks, and processing devices can be included. As another example, shared vehicle 110, terminal device 130, and server 140 can share a single storage device or have their own individual storage devices. However, these changes and modifications do not depart from the scope of this specification.

[0050] Figure 2 This is a schematic diagram of an exemplary vehicle central control device according to some embodiments of this specification.

[0051] like Figure 2 As shown, in some embodiments, the central control device 200 may include a Bluetooth module 210, an attitude information determination module 220, and a control module 230. These modules can communicate with each other via circuit connections or network connections.

[0052] Bluetooth module 210 can be used to communicate with Bluetooth beacons (e.g., Bluetooth beacon 120) to obtain signal information from the Bluetooth beacon (e.g., a first RSSI value, a second RSSI value). In some embodiments, Bluetooth module 210 may include Bluetooth Low Energy (BLE). BLE Bluetooth technology is a short-range, low-cost, interoperable wireless technology that can minimize power consumption using intelligent means.

[0053] In some embodiments, the Bluetooth module 210 may be installed at the center of the vehicle (e.g., shared vehicle 110). In some embodiments, the Bluetooth module 210 may include one or more Bluetooth devices. The one or more Bluetooth devices may be installed in the same or different locations within the vehicle (e.g., shared vehicle 110).

[0054] In some embodiments, the Bluetooth module 210 can also be used to determine the distance between the vehicle and the target Bluetooth beacon (e.g., a first distance, a second distance, a third distance, etc.) based on RSSI information.

[0055] The attitude information determination module 220 can be used to acquire the vehicle's attitude information. The attitude information reflects the vehicle's body orientation. In some embodiments, the attitude information determination module 220 may include sensors. For example, the sensors may include one or more of the following: an Inertial Measurement Unit (IMU) sensor, a GNSS sensor, an AHRS (Automatic Heading Reference System) sensor, a MARG (Magnetic Sensor), a MEMS accelerometer, a VRU (Dynamic Tilt Unit), and an Inertial Navigation System (INS).

[0056] In some embodiments, the control module 230 can control the Bluetooth module 210 to obtain the first RSSI value of the Bluetooth beacon within the parking fence based on the vehicle return request, determine whether the first RSSI value is greater than or equal to a first threshold, and, in response to the first RSSI value being greater than or equal to the first threshold, control the attitude information determination module 220 to obtain the vehicle's attitude information. In some embodiments, the control module 230 can determine whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the attitude information, and, in response to the angle between the vehicle's body direction and the preset frame line of the parking fence being within the preset range, determine that the vehicle has successfully entered the fence. For more information on vehicle entry detection, please refer to [link to relevant documentation]. Figures 4-6 The details and related descriptions will not be repeated here.

[0057] In some embodiments, the control module 230 may include an arithmetic unit (e.g., processor 310), a storage unit (e.g., memory 320), or any combination thereof. More information about the control module 230 can be found at [link to relevant documentation]. Figure 3 The details and related descriptions will not be repeated here.

[0058] In some embodiments, the control module 230 can communicate with other components in the vehicle parking detection system 100. For example, the control module 230 can communicate with the terminal device 130 to obtain a vehicle return request and / or guide the user to park according to regulations. Alternatively, the control module 230 can communicate with the server 140 via the network 150 to upload collected vehicle positioning information (e.g., distance to the target Bluetooth beacon) and / or orientation information (e.g., vehicle attitude information) to the server 140.

[0059] Figure 3 This is a software / hardware schematic diagram of an exemplary control module shown according to some embodiments of this specification.

[0060] like Figure 3 As shown, in some embodiments, the control module 230 may include a processor 310, a memory 320, an input / output 330, a communication port 340, and a bus 350.

[0061] Processor 310 can execute calculation instructions (program code) and perform the functions of the central control device 200 described in this specification. The calculation instructions may include programs, objects, components, data structures, processes, modules, and functions (the functions refer to the specific functions described in this specification). For example, processor 310 can process information and / or data obtained from any component of the vehicle entry detection system 100 (e.g., first RSSI value, second RSSI value, vehicle attitude information, etc.). This is for illustrative purposes only. Figure 3 The control module 230 described in this specification only includes one processor, but it should be noted that the control module 230 in this specification may also include multiple processors.

[0062] The memory 320 may store data / information obtained from the vehicle entry detection system 100 and / or any other component of the central control unit 200. In some embodiments, the memory 320 may include mass storage, removable memory, volatile read and write memory, and read-only memory (ROM), or any combination thereof. Exemplary mass storage may include disks, optical disks, and solid-state drives. Removable memory may include flash drives, floppy disks, optical disks, memory cards, compact disks, and magnetic tapes. Volatile read and write memory may include random access memory (RAM).

[0063] Input / output 330 can be used to input or output signals, data, or information. In some embodiments, input / output 330 can enable a user to communicate with components in the vehicle entry detection system 100 (e.g., Bluetooth beacon 120, terminal device 130, server 140). In some embodiments, input / output 330 may include input devices and output devices.

[0064] Communication port 340 can connect to a network for data communication. The connection can be wired, wireless, or a combination of both. Wired connections can include cables, fiber optic cables, or telephone lines, or any combination thereof. Wireless connections can include one or any combination of Bluetooth, Wi-Fi, WiMAX, WLAN, ZigBee, mobile networks (e.g., 3G, 4G, or 5G). In some embodiments, communication port 340 can be a standardized port, such as RS232 or RS485. In some embodiments, communication port 340 can be a specially designed port. For example, communication port 340 can be designed according to the Bluetooth protocol.

[0065] Bus 350 may include hardware and / or software for coupling components of control module 230 together. In some embodiments, bus 350 may include a data bus, address bus, control bus, expansion bus, and local bus. In some embodiments, bus 350 may include one or more buses. Although specific buses are described and illustrated in the embodiments described herein, any suitable bus or interconnection is contemplated herein.

[0066] Figure 4 This is a flowchart of an exemplary vehicle entry method according to some embodiments of this specification.

[0067] In some embodiments, process 400 may be executed by vehicle entry detection system 100 (e.g., shared vehicle 110) or central control device 200. For example, process 400 may be stored in a storage device (e.g., memory 320, system storage unit) in the form of a program or instructions, and process 400 may be implemented when vehicle entry detection system 100 or central control device 200 executes the instructions. The operational schematic diagram of process 400 presented below is illustrative. In some embodiments, the process may be accomplished using one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 4 The order of operations shown in the diagram and described below in process 400 is not restrictive.

[0068] Step 410: Based on the vehicle return request, obtain the first RSSI value of the Bluetooth beacon within the parking fence. In some embodiments, step 410 may be performed by the shared vehicle 110 or the central control device 200.

[0069] A vehicle return request can refer to a request initiated by a user of a shared vehicle (e.g., shared vehicle 110) to end their vehicle use. In some embodiments, the user can initiate a return request through a user terminal or the shared vehicle (e.g., the input device of shared vehicle 110). For example, after using the vehicle, the user can initiate a return request through a shared vehicle APP installed on terminal device 130, or through a return button on shared vehicle 110 or other interactive devices. In some embodiments, the user can initiate a return request after reaching or near a parking fence. In some embodiments, the user can initiate a return request after parking the vehicle (shared vehicle) within a parking fence.

[0070] Parking fences can refer to fences that mark the parking areas for shared vehicles (e.g., Figure 7 or Figure 8 (The black rectangle shown). In some embodiments, the size of the parking fences corresponding to different parking areas / cities can be the same or different. For example, parking fences of a preset size can be drawn in the corresponding city based on the regulations of government departments on the parking areas and deployment numbers of shared vehicles in different cities. In some embodiments, one or more RSSI Bluetooth bead (e.g., Figure 7 (b) or Figure 8 (as shown in the image).

[0071] RSSI Bluetooth beacons can emit signals in all directions, and these signals attenuate systematically with increasing distance. The RSSI value refers to the signal value emitted by the Bluetooth beacon. In some embodiments, when a Bluetooth module (e.g., Bluetooth module 210) on a vehicle (e.g., shared vehicle 110) receives this signal from the Bluetooth beacon, it can determine the distance between the vehicle and the RSSI Bluetooth beacon based on the magnitude of signal attenuation, thereby determining the vehicle's location information.

[0072] In some embodiments, the shared vehicle 110 or the central control device 200 can obtain the first RSSI value of the Bluetooth beacon within the parking fence by controlling the Bluetooth module (e.g., Bluetooth module 210).

[0073] In some embodiments, the first RSSI value may include the RSSI value of the target Bluetooth beacon. The target Bluetooth beacon may refer to the Bluetooth beacon within the parking fence that is closest to the vehicle or has the strongest signal strength. For example, the shared vehicle 110 can obtain the RSSI values ​​of all Bluetooth beacons within the parking fence through the Bluetooth module 210 and determine the largest RSSI value as the first RSSI value. Alternatively, the shared vehicle 110 can determine an RSSI value greater than a preset value as the first RSSI value. Furthermore, the shared vehicle 110 can obtain the RSSI values ​​of all Bluetooth beacons within the parking fence through the Bluetooth module 210, calculate the distance between each Bluetooth beacon and the shared vehicle based on the RSSI values, and determine the RSSI value corresponding to the minimum distance as the first RSSI value.

[0074] In some embodiments, the first RSSI value may include the RSSI values ​​of all Bluetooth beacons within the parking fence. Accordingly, in this case, in step 420, the RSSI value corresponding to each Bluetooth beacon may be compared with a first threshold.

[0075] In some embodiments, multiple RSSI values ​​of the Bluetooth beacon can be acquired within a preset time period (e.g., within 2 seconds, 3 seconds, 5 seconds, etc.), and a first RSSI value can be determined based on the multiple RSSI values. For example, the shared vehicle 110 can acquire multiple RSSI values ​​of the target Bluetooth beacon within 3 seconds through a Bluetooth module (e.g., Bluetooth module 210), and determine the average of the multiple RSSI values ​​as the first RSSI value of the target Bluetooth beacon.

[0076] In some embodiments, the first RSSI value of the Bluetooth beacon within the parking fence can be obtained based on the vehicle / user's location information. For example, the real-time location of the vehicle or user can be obtained through a GPS device, and when the vehicle is detected to be near the parking fence, the Bluetooth module 210 is controlled to obtain the first RSSI value of the Bluetooth beacon within the parking fence.

[0077] Step 420: Determine whether the first RSSI value is greater than or equal to the first threshold. In some embodiments, step 420 may be performed by the shared vehicle 110 or the central control device 200 (e.g., control module 230).

[0078] The first threshold can refer to the RSSI value of the nearest Bluetooth beacon (e.g., when the vehicle is placed outside the parking fence perpendicular to one of its frame lines (e.g., the long side of the parking fence)). Figure 7 (a) R1 shown in some embodiments, the vehicle may be placed vertically and close to the frame line of the parking barrier near the road side outside the parking barrier (e.g., the vehicle is located at...). Figure 8 When the middle arrow 2 is located on the side frame line, determine the RSSI value of the Bluetooth beacon closest to the vehicle at this time as the first threshold.

[0079] In some embodiments, when it is determined that the first RSSI value is greater than or equal to the first threshold, step 430 is executed; otherwise, if it is determined that the vehicle has not entered the parking fence, step 460 is executed to guide the user of the vehicle to park in accordance with the specifications (e.g., guide the user to park the vehicle in the parking fence). In some embodiments, the guidance method includes, but is not limited to, voice prompts, video prompts, information prompts, sound prompts, etc., or any combination thereof.

[0080] Step 430: Obtain vehicle attitude information. In some embodiments, step 430 may be performed by the shared vehicle 110 or the central control device 200 (e.g., attitude information determination module 220).

[0081] Vehicle attitude information can reflect the vehicle's orientation. In some embodiments, attitude information may include the vehicle's latitude and longitude, heading angle, coordinates, or any combination thereof.

[0082] In some embodiments, vehicle attitude information can be obtained through one or more of the following: IMU sensor, MARG, GPS, MEMS accelerometer, VRU, INS, etc. This specification does not limit this.

[0083] Step 440: Based on the attitude information, determine the angle between the vehicle's body direction and the preset frame line of the parking fence. In some embodiments, step 440 may be performed by the shared vehicle 110 or the central control device 200 (e.g., control module 230).

[0084] In some embodiments, the preset frame line may refer to the long side of the parking barrier. In some embodiments, the preset frame line may refer to the frame line of the parking barrier closer to the road side (e.g., Figure 8 (The frame line on the side where arrow 2 is located). In some embodiments, the angle between the vehicle's orientation and the preset frame line of the parking barrier can be determined based on the vehicle's attitude information and the parking barrier's position information. For example, the control module 230 can determine the angle between the vehicle's orientation and the preset frame line based on the vehicle's latitude and longitude and the latitude and longitude of the two vertices of the preset frame line. Alternatively, the control module 230 can determine the angle between the vehicle's orientation and the preset frame line based on the vehicle's coordinates and the coordinates of the preset frame line. In some embodiments, any reasonable and feasible method can be used to determine the angle between the vehicle's orientation and the preset frame line of the parking barrier; this specification does not limit this.

[0085] In some embodiments, the angle between the vehicle's body direction and the preset frame line of the parking barrier can reflect the vehicle's front-facing orientation. For example, a 45-degree angle between the vehicle's body direction and the preset frame line of the parking barrier indicates that the vehicle's front is facing the preset frame line, while a -45-degree angle indicates that the vehicle's front is facing away from the preset frame line.

[0086] Step 450: Determine whether the included angle is within a preset range. In some embodiments, step 450 may be performed by the shared vehicle 110 or the central control device 200 (e.g., control module 230).

[0087] The preset range reflects the parking direction that a vehicle needs to meet after entering the parking enclosure. In some embodiments, the preset range may include [80°, 100°], [81°, 99°], [82°, 98°], [83°, 97°], [84°, 96°], [85°, 95°], [86°, 94°], [87°, 93°], [88°, 92°], [89°, 91°], [89.5°, 90.5°], etc., and this specification does not limit it.

[0088] In some embodiments, when the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range, it can be determined that the vehicle has successfully entered the fence; otherwise, it is determined that the vehicle has not successfully entered the fence, and step 460 is executed to guide the user of the vehicle to park in accordance with the specifications (e.g., guide the user to park the vehicle in the prescribed direction).

[0089] Successful vehicle entry into the parking space can mean that both the vehicle's location information (position) and orientation information (angle) meet preset conditions. For example, if a vehicle enters the parking space and the angle between the vehicle's direction and the preset frame line of the parking space is within a preset range, then the vehicle has successfully entered the space. Figure 8 (Vehicle status shown).

[0090] In some embodiments, after a vehicle successfully enters the parking space, the central control device 200 can send a control command (e.g., a locking command) to the lock of the vehicle (e.g., a shared vehicle 110) to control the vehicle to lock.

[0091] Step 460 guides the vehicle user to park according to regulations. In some embodiments, step 460 may be performed by the shared vehicle 110 or the central control unit 200.

[0092] In some embodiments, guiding vehicle users to park in accordance with regulations may include guiding users to park their vehicles in parking barriers and / or guiding users to park their vehicles in a preset orientation (e.g., such that the angle between the vehicle's body direction and the roadside frame line of the parking barrier is within the range of [80°, 100°]).

[0093] In some embodiments, the guidance method may include, but is not limited to, voice prompts, information prompts, video prompts, sound prompts, or any combination thereof. For example, when it is determined that the vehicle has not entered the parking fence, the central control device 200 may send a prompt message such as "Please park the vehicle in the parking fence," or send the distance deviation between the vehicle and the parking fence determined based on a first distance or a second distance to the display interface of the shared vehicle 110 or the terminal device 130 to the user, guiding the user to park the vehicle in the parking fence. As another example, when it is determined that the angle between the vehicle's direction and the preset frame line of the parking fence is not within a preset range, the central control device 200 may play a voice prompt such as "Please straighten the vehicle" through the sound output device of the shared vehicle 110 or the terminal device 130 to guide the user to park according to the specifications.

[0094] In some embodiments, after guiding the user, the vehicle entry detection process can be executed again (e.g., steps 410-450) to determine whether the vehicle has successfully entered the parking space.

[0095] Figure 5 This is a flowchart of an exemplary vehicle entry method according to other embodiments of this specification.

[0096] In some embodiments, such as Figure 5 As shown, when the first RSSI value is greater than or equal to the first threshold, it can be further determined whether the first RSSI value is greater than the second threshold to determine whether the vehicle is located within the parking fence. In some embodiments, when the first RSSI value is greater than the second threshold, it is determined that the vehicle is located within the parking fence; when the first RSSI value is less than or equal to the second threshold, based on the first distance and attitude information between the vehicle and the target Bluetooth beacon, a second distance between the vehicle and the target Bluetooth beacon is determined through compensation, and the vehicle is determined to be located within the parking fence based on the second distance.

[0097] In some embodiments, process 500 may be executed by vehicle entry detection system 100 (e.g., shared vehicle 110) or central control device 200. For example, process 500 may be stored in a storage device (e.g., memory 320, system storage unit) in the form of a program or instructions, and process 500 can be implemented when vehicle entry detection system 100 or central control device 200 executes the instructions. The operational schematic diagram of process 500 presented below is illustrative. In some embodiments, the process may be accomplished using one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 5 The order of operations shown in the diagram and described below in process 500 is not restrictive.

[0098] Step 510: Based on the vehicle return request, obtain the first RSSI value of the Bluetooth beacon within the parking fence. In some embodiments, step 510 may be performed by the shared vehicle 110 or the central control device 200.

[0099] In some embodiments, the first RSSI value of the Bluetooth beacon within the parking fence can be obtained via a Bluetooth module (e.g., Bluetooth module 210). In some embodiments, multiple RSSI values ​​of the Bluetooth beacon can be obtained within a preset time period (e.g., within 2 seconds, 3 seconds, 5 seconds, etc.), and the first RSSI value is determined based on the multiple RSSI values. For more information on obtaining the first RSSI value, please refer to [link to relevant documentation]. Figure 4 (For example, step 410) and its related descriptions will not be repeated here.

[0100] Step 520: Determine a first distance between the vehicle and the target Bluetooth beacon based on the first RSSI value. In some embodiments, step 520 may be performed by the shared vehicle 110 or the central control device 200 (e.g., Bluetooth module 210 or control module 230).

[0101] In some embodiments, the first distance between the vehicle and the target Bluetooth beacon can be determined based on the RSSI ranging principle.

[0102] RSSI ranging principle refers to the principle that signal power attenuates with propagation distance when radio or sound waves travel through a medium. Based on the known transmitted and received signal power of the beacon node, the distance between nodes (e.g., between a vehicle and a target Bluetooth beacon) can be calculated using an attenuation model between signal and distance.

[0103] Step 530: Determine whether the first RSSI value is greater than or equal to a first threshold. In some embodiments, step 530 may be performed by the shared vehicle 110 or the central control device 200.

[0104] In some embodiments, when the first RSSI value is greater than or equal to the first threshold, step 540 may be performed; otherwise, step 590 is performed to guide the user of the vehicle to park in accordance with the specifications (e.g., guide the user to park the vehicle in a parking fence).

[0105] Step 540: Determine whether the first RSSI value is less than or equal to the second threshold. In some embodiments, step 540 may be performed by the shared vehicle 110 or the central control device 200.

[0106] In some embodiments, the second threshold is greater than the first threshold. The second threshold may refer to the RSSI value of the nearest Bluetooth beacon to the vehicle when the vehicle is positioned outside the parking fence, parallel to one of its frame lines. In some embodiments, the vehicle may be positioned parallel to and close to the frame line on the road side of the parking fence (e.g., the vehicle is located at...). Figure 8 When the side frame line (where arrow 2 is located) is used, the RSSI value of the Bluetooth beacon closest to the vehicle measured at this time is determined to be the second threshold. In some embodiments, the first threshold and the second threshold can be the RSSI values ​​measured when the same frame line (e.g., a preset frame line) is placed perpendicular to and parallel to the parking fence.

[0107] For example only, such as Figure 7 As shown in (a), the small black dots represent Bluetooth beacons, and the rectangles represent parking fences. The vehicle is placed vertically and close to one of the frame lines of the parking fence (e.g., the long side of the parking fence) outside the parking fence (i.e., outside the rectangle in the figure), and the RSSI value R1 between the vehicle and the Bluetooth beacon is measured and determined as the first threshold. The vehicle is placed parallel to and close to the frame line of the parking fence (e.g., the long side of the parking fence) outside the parking fence, and the RSSI value R2 between the vehicle and the Bluetooth beacon is measured and determined as the second threshold.

[0108] Since the signal attenuates with increasing distance, when the first RSSI value is less than the first threshold, the vehicle is located in the circle corresponding to the first threshold (e.g., Figure 7 (a) Outside the dashed circle corresponding to R1, the vehicle has not entered the parking barrier; when the first RSSI value is greater than or equal to the first threshold, the vehicle is located in the circle corresponding to the first threshold (e.g., Figure 7 (a) The vehicle is located within the dashed circle corresponding to R1. At this time, the vehicle may be located within the parking barrier (e.g., the vehicle is located within the parking barrier). Figure 7 (a) the second area), may also be located outside the parking fence (e.g., the vehicle is located in the second area). Figure 7 (a) the first region). When the first RSSI value is greater than the second threshold, it indicates that the vehicle is located in the circle corresponding to the second threshold (e.g., Figure 7 (a) The vehicle is located within the solid circle corresponding to R2, and is within the parking fence.

[0109] In some embodiments, when it is determined that the first RSSI value is less than or equal to the second threshold (i.e., the first RSSI value is within the interval [R1, R2], at which point the vehicle may be inside or outside the parking fence), step 550 can be executed; otherwise (i.e., the first RSSI value is greater than the second threshold), it is determined that the vehicle is inside the parking fence, and steps 570-580 are executed.

[0110] Step 550: Based on the first distance and attitude information, a second distance between the vehicle and the target Bluetooth beacon is determined through compensation. In some embodiments, step 550 may be performed by the shared vehicle 110 or the central control device 200.

[0111] In some embodiments, the second distance is more accurate than the first distance. The different relative orientations of the shared vehicle body and the Bluetooth beacon will inevitably cause errors in the distance measured by RSSI.

[0112] In some embodiments, to improve the accuracy of RSSI distance, compensation can be applied to the first distance between the vehicle and the target Bluetooth beacon. In some embodiments, compensation can be based on the vehicle's attitude information. In some embodiments, the angle between the vehicle's orientation and the parking fence frame line can be determined based on the vehicle's attitude information, and compensation can be applied based on this angle. For example, different angles can correspond to different compensation values, and a second distance can be determined based on the corresponding compensation value. In some embodiments, the calculation result of the first distance can be compensated based on the attitude information to obtain the second distance.

[0113] As an example only, in real-world or simulated scenarios, the distance between the vehicle and a Bluetooth beacon can be measured at different azimuth angles relative to the long side of a parking barrier within the range of [0°, 90°]. Based on the distance value corresponding to each angle within this range, a corresponding RSSI signal compensation value can be determined (e.g., 0–30 dB signal compensation, where a larger azimuth angle corresponds to a smaller compensation dB). Furthermore, the central control unit 200 can obtain the corresponding signal compensation value based on attitude information and compensate the calculated first distance based on the signal compensation value to obtain a more accurate second distance.

[0114] In some embodiments, multiple sets of experimental data can be acquired through simulation, and the compensation value can be determined based on these data. For example, multiple measurement data points corresponding to each angle within the range of [0°, 90°] can be obtained, and the multiple measurement data points can be smoothed to determine the compensation value corresponding to each angle. In some embodiments, two complementary angles in different quadrants can correspond to the same compensation value. For example, 45 degrees in the first quadrant and 135 degrees in the second quadrant can correspond to the same signal compensation value (e.g., both 15 dB). In some embodiments, two angles that are diagonally opposite each other can correspond to the same compensation value. For example, +60 degrees and -60 degrees can correspond to the same signal compensation value (e.g., both 5 dB).

[0115] Step 560: Determine whether the vehicle is within the parking enclosure. In some embodiments, step 560 may be performed by the shared vehicle 110 or the central control device 200.

[0116] In some embodiments, whether a vehicle is within a parking fence can be determined based on a second distance and a preset distance threshold. In some embodiments, the preset distance threshold may reflect the maximum distance between the vehicle and the target Bluetooth beacon when the vehicle is within the parking fence. In some embodiments, the preset distance threshold may be less than 1 meter (e.g., 0.2 meters, 0.4 meters, 0.6 meters, 0.9 meters, etc.). In some embodiments, the preset distance threshold may be any reasonable value, such as 0.3 meters, 0.5 meters, 0.7 meters, 0.8 meters, 1 meter, etc., and this specification does not limit this.

[0117] In some embodiments, when it is determined that the vehicle is within the parking fence (e.g., the second distance is less than or equal to a preset distance threshold), step 570 can be executed; otherwise (e.g., the second distance is greater than the preset distance threshold), it is determined that the vehicle has not entered the parking fence, and step 590 is executed.

[0118] Step 570: Determine the angle between the vehicle's body direction and the preset frame line of the parking fence. In some embodiments, step 570 may be performed by the shared vehicle 110 or the central control device 200.

[0119] In some embodiments, the angle between the vehicle's body direction and the preset frame line of the parking barrier can be determined using attitude information. In some embodiments, the angle between the vehicle's body direction and the preset frame line of the parking barrier can be determined based on the vehicle's attitude information and the parking barrier's position information. In some embodiments, any reasonable and feasible method can be used to determine the angle between the vehicle's body direction and the preset frame line of the parking barrier, and this specification does not limit this. For more details, please refer to... Figure 4 (For example, step 440) and its related descriptions will not be repeated here.

[0120] Step 580: Determine whether the included angle is within a preset range. In some embodiments, step 580 may be performed by the shared vehicle 110 or the central control device 200.

[0121] In some embodiments, when the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range, it can be determined that the vehicle has successfully entered the fence; otherwise, step 590 is executed to determine that the vehicle has not successfully entered the fence, and the user of the vehicle is guided to park according to the specifications (e.g., guide the user to park the vehicle perpendicularly).

[0122] Figure 6 This is a flowchart of an exemplary vehicle entry method according to other embodiments of this specification.

[0123] In some embodiments, such as Figure 6As shown, the shared vehicle 110 or the central control device 200 can determine that the vehicle has successfully entered the parking space when the vehicle's body direction is perpendicular to the preset frame line of the parking fence.

[0124] In some embodiments, process 600 may be executed by vehicle entry detection system 100 (e.g., shared vehicle 110) or central control device 200. For example, process 600 may be stored in a storage device (e.g., memory 320, system storage unit) in the form of a program or instructions, and process 600 may be implemented when vehicle entry detection system 100 or central control device 200 executes the instructions. The operational schematic diagram of process 600 presented below is illustrative. In some embodiments, the process may be accomplished using one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 6 The order of operations shown in the diagram and described below in process 600 is not restrictive.

[0125] Step 610: Based on the second distance and attitude information, calculate the position and orientation of the vehicle relative to the parking fence. In some embodiments, step 610 may be performed by the shared vehicle 110 or the central control device 200.

[0126] The position and orientation can reflect the azimuth of the vehicle relative to the parking fence and / or its frame (e.g., 89 degrees northeast, 45 degrees southwest, 79 degrees northwest, 60 degrees southeast, etc.).

[0127] In some embodiments, the vehicle's positional orientation relative to the parking fence can be calculated based on the location information of the Bluetooth beacon (e.g., the coordinates of the Bluetooth beacon relative to the parking fence), a second distance, and attitude information. In some embodiments, the vehicle's positional orientation relative to the Bluetooth beacon within the parking fence can be calculated based on the second distance and attitude information, thereby determining the vehicle's positional orientation relative to the parking fence. In some embodiments, the vehicle's positional orientation relative to one of the frame lines of the parking fence (e.g., the long frame line, or the frame line closer to the road side) can be calculated based on the second distance and attitude information.

[0128] Step 620: Determine whether the number of position direction solutions is equal to 1. In some embodiments, step 620 may be performed by the shared vehicle 110 or the central control device 200.

[0129] In some embodiments, one or more position and orientation solutions can be obtained based on the same set of second distance and attitude information. For example, when the vehicle is located on a circle centered on a Bluetooth beacon (e.g., Figure 7 (a) On the dashed circle corresponding to R2 or on the circle between R2 and R1, etc., the same angle includes the four position directions of southeast, northeast, southwest and northwest (e.g., Figure 7(a) The locations of the four white hollow originals, that is, the same angle in the four coordinate quadrants; when the vehicle is perpendicular to a certain frame line of the parking fence, there is only one 90-degree positional direction solution (for example, Figure 7 (b) Location of the vehicle.

[0130] In some embodiments, when the number of determined position direction solutions is equal to 1, it indicates that the vehicle body direction is perpendicular to the preset frame line of the parking fence, and the vehicle is determined to have successfully entered the fence; otherwise, it is initially determined that the vehicle body direction is not perpendicular to the preset frame line of the parking fence, and the process proceeds to step 630.

[0131] Step 630: The second distance is sent to the Bluetooth beacon. In some embodiments, step 630 may be performed by the shared vehicle 110 or the central control device 200.

[0132] In some embodiments, the second distance can be transmitted to all Bluetooth beadings within the parking fence. In some embodiments, the second distance can be transmitted to a target Bluetooth bead within the parking fence.

[0133] In some embodiments, after the Bluetooth beacons within the parking fence receive the second distance signal, their signal transmission power can be dynamically adjusted. In some embodiments, the signal transmission power of the target Bluetooth beacon (e.g., the Bluetooth beacon closest to the vehicle) can be increased. In some embodiments, the signal transmission power of other Bluetooth beacons within the parking fence, excluding the target Bluetooth beacon, can be decreased. In some embodiments, the signal transmission power of all Bluetooth beacons within the parking fence can be increased. For example... Figure 7 As shown in (b), when vehicle 710 is a vehicle that is performing entry detection, the signal transmission power of the target Bluetooth beacon 720 can be increased and / or the signal transmission power of the other 3 Bluetooth beacons can be decreased, or the signal transmission power of all 4 Bluetooth beacons can be increased.

[0134] Step 640: Obtain the second RSSI value of the Bluetooth beacon, and determine the third distance between the vehicle and the target Bluetooth beacon based on the second RSSI value. In some embodiments, step 640 may be performed by the shared vehicle 110 or the central control device 200.

[0135] In some embodiments, after the Bluetooth beacon adjusts its signal transmission power, the RSSI value of the Bluetooth beacon can be reacquired (e.g., a second RSSI value can be acquired), and a third distance between the vehicle and the target Bluetooth beacon (e.g., the Bluetooth beacon closest to the vehicle) can be determined based on the second RSSI value.

[0136] In some embodiments, the accuracy of the third distance is higher than that of the second distance. A higher signal transmission power corresponds to a higher signal strength, and consequently, a more accurate calculated distance value.

[0137] Step 650: Based on the third distance and attitude information, calculate the position and orientation of the vehicle relative to the parking fence. In some embodiments, step 650 may be performed by the shared vehicle 110 or the central control device 200.

[0138] In some embodiments, the vehicle's positional orientation relative to the parking fence can be calculated based on the location information of the Bluetooth beacon (e.g., the coordinates of the Bluetooth beacon relative to the parking fence), third distance, and attitude information. In some embodiments, the vehicle's positional orientation relative to the Bluetooth beacon within the parking fence can be calculated based on the third distance and attitude information, thereby determining the vehicle's positional orientation relative to the parking fence. In some embodiments, the vehicle's positional orientation relative to one of the frame lines of the parking fence (e.g., the long frame line, or the frame line closer to the road side) can be calculated based on the third distance and attitude information.

[0139] In some embodiments, when calculating the positional orientation of the vehicle relative to one of the frame lines of the parking fence, the frame lines in steps 610 and 650 can be the same or different.

[0140] Step 660: Determine whether it is perpendicular to the preset frame line of the parking fence. In some embodiments, step 660 may be performed by the shared vehicle 110 or the central control device 200.

[0141] In some embodiments, the orientation of the vehicle relative to the parking barrier can be used to determine whether the vehicle's body direction is perpendicular to the preset frame line of the parking barrier. In some embodiments, when the vehicle's body direction is perpendicular to the preset frame line of the parking barrier, it is determined that the vehicle has successfully entered the barrier; otherwise, it is determined that the vehicle has not successfully entered the barrier, and the vehicle user is guided to park according to the regulations.

[0142] In some embodiments, the position and orientation of the vehicle relative to the preset frame line of the parking barrier can be calculated directly based on the third distance and attitude information, and the vehicle body orientation can be determined to be perpendicular to the preset frame line of the parking barrier based on the calculation result. In some embodiments, the number of position and orientation solutions can be used to determine whether the vehicle body orientation is perpendicular to the preset frame line of the parking barrier. For example, if the number of position and orientation solutions is 1, it indicates that the vehicle body orientation is perpendicular to the preset frame line of the parking barrier; otherwise, it is determined that it is not perpendicular to the preset frame line of the parking barrier.

[0143] In some embodiments, it is possible to determine whether the vehicle's direction is perpendicular to the preset frame line of the parking barrier in other feasible ways, such as the vehicle's direction of movement. This specification does not limit this.

[0144] In some embodiments, the vehicle's orientation being perpendicular to the preset frame line of the parking barrier can refer to the front of the vehicle facing the preset frame line of the parking barrier and the vehicle body being perpendicular to the preset frame line (e.g. Figure 8 As shown, the vehicle enters in the direction indicated by arrow 1.

[0145] In some embodiments, when it is determined that the vehicle is perpendicular to the preset frame line of the parking barrier, it can be further determined whether the vehicle's orientation meets preset requirements (e.g., whether it is facing the parking barrier frame line on the side of the road). In some embodiments, any feasible method such as a geomagnetic sensor or an angle sensor can be used to determine whether the vehicle's orientation meets preset requirements, and this specification does not limit this.

[0146] It should be noted that the above descriptions of processes 400, 500, and 600 are for illustrative purposes only and do not limit the scope of this specification. Those skilled in the art can make various modifications and changes to processes 400, 500, and / or 600 under the guidance of this specification. For example, in process 600, the vehicle's position and orientation relative to the parking fence can be calculated based on the first distance and attitude information, and correspondingly, the first distance is sent to the Bluetooth beacon in step 630. As another example, in process 600, when the number of position and orientation solutions determined in step 620 is not equal to 1, the central control device 200 or the server 140 can directly send a signal transmission power adjustment command to the Bluetooth beacon inside the parking fence. However, these modifications and changes are still within the scope of this specification.

[0147] Figure 9 This is a flowchart of an exemplary vehicle entry method according to other embodiments of this specification.

[0148] In some embodiments, process 900 can be executed by a server (e.g., server 140). For example, process 900 can be stored in a storage device (e.g., system storage unit) as a program or instructions, and process 900 can be implemented when the server's processor (e.g., processing device 145) executes the instructions. The operational schematic diagram of process 900 presented below is illustrative. In some embodiments, the process can be accomplished using one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 9 The order of operations shown in the diagram and described below in process 900 is not restrictive.

[0149] Step 910: Based on the vehicle return request, obtain the first RSSI value of the Bluetooth beacon within the parking fence.

[0150] In some embodiments, a vehicle return request can be obtained from a terminal device (e.g., terminal device 130). In some embodiments, a server (e.g., server 140) can, in response to a vehicle return request, obtain the first RSSI value of the Bluetooth beacon within the parking fence from the vehicle terminal (e.g., central control unit 200). In some embodiments, the first RSSI value of the target Bluetooth beacon can be obtained from the vehicle terminal. For example, the vehicle's central control unit 200 can directly obtain the RSSI values ​​of all Bluetooth beacons within the parking fence based on the Bluetooth module 210, determine the first RSSI value of the target Bluetooth beacon, and send it to the server 140.

[0151] Step 920: Determine whether the first RSSI value is greater than or equal to the first threshold.

[0152] In some embodiments, when it is determined that the first RSSI value is greater than or equal to the first threshold, step 930 is executed; otherwise, if it is determined that the vehicle has not entered the parking fence, step 960 is executed to guide the user of the vehicle to park in accordance with the specifications (e.g., guide the user to park the vehicle in the parking fence).

[0153] Step 930: Obtain the vehicle's attitude information.

[0154] In some embodiments, when it is determined that the first RSSI value is greater than or equal to the first threshold, the vehicle's attitude information can be obtained from the vehicle terminal (e.g., the central control device 200).

[0155] Step 940: Based on the attitude information, determine the angle between the vehicle's body direction and the preset frame line of the parking barrier.

[0156] In some embodiments, the server (e.g., server 140) can determine the angle between the vehicle's body direction and the preset frame line of the parking barrier based on the acquired posture information. In some embodiments, the server can directly obtain the angle between the vehicle's body direction and the preset frame line of the parking barrier from the vehicle terminal (e.g., central control device 200). For example, after the central control device 200 determines the angle between the vehicle's body direction and the preset frame line of the parking barrier based on the posture information, it can directly send the result to the server 140.

[0157] In some embodiments, when the server determines that the first RSSI value is greater than or equal to a first threshold, it can further determine whether the first RSSI value is greater than a second threshold. In some embodiments, when the first RSSI value is greater than the second threshold, it can be determined that the vehicle is located within the parking fence. In some embodiments, when the first RSSI value is less than or equal to the second threshold, a second distance can be obtained from the vehicle terminal (e.g., central control device 200), and the vehicle can be determined to be located within the parking fence based on the second distance.

[0158] Step 950: Determine whether the included angle is within the preset range.

[0159] In some embodiments, when the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range, it is determined that the vehicle has successfully entered the fence; otherwise, it is determined that the vehicle has not successfully entered the fence, and step 960 is executed to guide the vehicle user to park in accordance with the specifications (e.g., guide the user to park the vehicle in the prescribed direction).

[0160] In some embodiments, it can be determined whether the vehicle's body direction is perpendicular to the preset frame line of the parking fence. When the vehicle's body direction is perpendicular to the preset frame line of the parking fence, the vehicle is determined to have successfully entered the fence. In some embodiments, it can be determined whether the vehicle's body direction is perpendicular to the preset frame line of the parking fence based on a first distance or a second distance and vehicle attitude information. In some embodiments, when more than one position orientation solution is obtained based on the second distance and attitude information, the second distance can be sent to the Bluetooth beacon inside the parking fence so that the Bluetooth beacon can dynamically adjust its signal transmission power based on the second distance. In some embodiments, when more than one position orientation solution is obtained based on the second distance and attitude information, a signal transmission power adjustment command can be sent to the Bluetooth beacon inside the parking fence. In some embodiments, the server can further determine whether the vehicle's body direction is perpendicular to the preset frame line of the parking fence based on a third distance and vehicle attitude information.

[0161] In some embodiments, the server (e.g., server 140) can obtain a first distance, a second distance, and / or a third distance from a vehicle terminal (e.g., central control device 200), or determine the first distance, the second distance, and / or the third distance based on a first RSSI value or a second RSSI value and attitude information.

[0162] The process of vehicle entry detection on the server side is similar to that of vehicle central locking system detection. For more details, please refer to [link / reference]. Figures 4-6 The details and related descriptions will not be repeated here.

[0163] In some embodiments, the vehicle can be locked after it is determined that it has successfully entered the designated area. For example, the server 140 can send a locking command to the central control device 200, which then controls the shared vehicle's locks to engage based on the command.

[0164] Step 960 guides vehicle users to park according to regulations.

[0165] In some embodiments, guiding vehicle users to park in accordance with regulations may include guiding users to park their vehicles within parking barriers and / or guiding users to park their vehicles in a preset location. In some embodiments, guidance methods may include, but are not limited to, voice prompts, information prompts, video prompts, audio prompts, or any combination thereof.

[0166] In some embodiments, the server (e.g., server 140) can send prompts to the terminal device (e.g., terminal device 130) or the shared vehicle (e.g., shared vehicle 110) to guide the user to park according to regulations. For example, when it is determined that the vehicle is not within the parking fence, the server 140 can send a prompt message such as "Please park the vehicle within the parking fence," or send the distance deviation between the vehicle and the parking fence determined based on a first distance or a second distance to the display interface of the shared vehicle 110 or the terminal device 130 to the user to guide the user to park the vehicle within the parking fence. As another example, when it is determined that the angle between the vehicle's direction and the preset frame line of the parking fence is not within a preset range, the server 140 can play voice prompts such as "Please straighten the vehicle" through the sound output device of the shared vehicle 110 or the terminal device 130 to guide the user to park according to regulations.

[0167] In some embodiments, after guiding the user, the vehicle entry detection process can be executed again (e.g., steps 910-950) to determine whether the vehicle has successfully entered the parking space.

[0168] It should be noted that the above description of process 900 is for illustrative purposes only and does not limit the scope of this specification. Those skilled in the art can make various modifications and changes to process 900 under the guidance of this specification. For example, steps 930 and 940 can be omitted, and the server 140 can directly obtain the angle between the vehicle's orientation and the preset frame line of the parking fence from the shared vehicle 110. However, these modifications and changes are still within the scope of this specification.

[0169] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) By judging the position of the vehicle based on the RSSI value of the vehicle and the Bluetooth beacon in the parking fence, and at the same time judging the vehicle's body direction by combining the vehicle's attitude information, it can not only improve the positioning accuracy and obtain more accurate vehicle entry detection, but also make the vehicle meet the body orientation specifications after entering the fence, making the vehicles parked more neatly, which is conducive to improving the overall image of the city; (2) Using the first threshold and the second threshold to judge whether the vehicle is located in the parking fence, and determining three interval ranges based on the two thresholds, judging layer by layer, can improve the accuracy of the judgment result; (3) Through (3) By compensating based on the vehicle's attitude information, a more accurate second distance is obtained. Based on the second distance, the vehicle's position is further judged, which can not only improve the accuracy of vehicle positioning, but also improve the accuracy of position judgment; (4) By dynamically adjusting the signal transmission power of the Bluetooth beacon, the distance between the vehicle and the Bluetooth beacon is determined based on the RSSI value received after adjustment, which can obtain a more accurate distance value, thereby improving the accuracy of vehicle positioning; (5) Based on the more accurate third distance and attitude information, it is further judged whether the vehicle is perpendicular to the preset frame line of the parking fence, which can improve the accuracy of the judgment result, thereby improving the accuracy of vehicle orientation detection.

[0170] It is understood that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0171] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0172] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0173] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments described herein. For example, while the system components described above can be implemented using hardware devices, they can also be implemented solely using software solutions, such as installing the described system on existing servers or mobile devices.

[0174] Similarly, it should be noted that, in order to simplify the description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0175] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0176] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials to this specification and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0177] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A method for vehicle entry into a parking space with integrated directions, characterized in that, The method, executed by the vehicle's central control unit, includes: Based on the vehicle return request, obtain the first RSSI value of the Bluetooth beacon within the parking fence; Determine whether the first RSSI value is greater than or equal to the first threshold; In response to the first RSSI value being greater than or equal to the first threshold, the attitude information of the vehicle is obtained, the attitude information reflecting the vehicle's body direction; Based on the posture information, determine whether the angle between the vehicle body direction and the preset frame line of the parking fence is within a preset range; In response to the fact that the angle between the vehicle's body direction and the preset frame line of the parking fence is within the preset range, it is determined that the vehicle has successfully entered the fence; The step of determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the posture information further includes: The first distance between the vehicle and the target Bluetooth beacon is determined based on the first RSSI value; In response to the first RSSI value being less than or equal to a second threshold, a second distance between the vehicle and the target Bluetooth beacon is determined based on the first distance and the attitude information through compensation. The accuracy of the second distance is higher than that of the first distance. The compensation is determined based on the angle between the vehicle body direction and the parking fence line. The angle is determined based on the vehicle's attitude information. The first threshold and the second threshold are the RSSI values ​​measured when the same frame line of the parking fence is placed perpendicular to and parallel to the parking fence, respectively. Based on the second distance, determine whether the vehicle is located within the parking fence; In response to the vehicle being located within the parking fence, the system determines, based on the second distance and the attitude information, whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range.

2. The method according to claim 1, characterized in that, The step of determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the posture information further includes: In response to the first RSSI value being greater than a second threshold, it is determined that the vehicle is located within the parking fence, wherein the second threshold is greater than the first threshold; and Based on the posture information, it is determined whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range.

3. The method according to claim 1, characterized in that, When it is determined that the vehicle is located within the parking fence, the method further includes: Determine whether the vehicle's body direction is perpendicular to the preset frame line of the parking barrier; When the vehicle's body direction is perpendicular to the preset frame line of the parking fence, the vehicle is determined to have successfully entered the fence.

4. The method according to claim 3, characterized in that, The step of determining whether the vehicle's body direction is perpendicular to the preset frame line of the parking barrier further includes: Based on the second distance and the attitude information, the position and orientation of the vehicle relative to the parking fence are calculated; In response to the calculation result containing more than one position and orientation solution, the second distance is sent to the Bluetooth beacon inside the parking fence so that the Bluetooth beacon inside the parking fence can dynamically adjust its signal transmission power based on the second distance; The second RSSI value of the Bluetooth beacon is reacquired, and a third distance between the vehicle and the target Bluetooth beacon is determined based on the second RSSI value. The accuracy of the third distance is higher than that of the second distance. Based on the third distance and the posture information, it is determined whether the vehicle's body direction is perpendicular to the preset frame line of the parking fence.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: In response to the vehicle failing to park in the designated area, the user of the vehicle is guided to park according to the regulations.

6. A method for vehicle entry into a parking space with integrated directions, characterized in that, Executed by the server, the method includes: Based on the vehicle return request, obtain the first RSSI value of the Bluetooth beacon within the parking fence; Determine whether the first RSSI value is greater than or equal to the first threshold; In response to the first RSSI value being greater than or equal to the first threshold, the attitude information of the vehicle is obtained, the attitude information reflecting the vehicle's body direction; Based on the posture information, determine whether the angle between the vehicle body direction and the preset frame line of the parking fence is within a preset range; In response to the fact that the angle between the vehicle's body direction and the preset frame line of the parking fence is within the preset range, it is determined that the vehicle has successfully entered the fence; The step of determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the posture information further includes: The first distance between the vehicle and the target Bluetooth beacon is determined based on the first RSSI value; In response to the first RSSI value being less than or equal to a second threshold, a second distance between the vehicle and the target Bluetooth beacon is determined based on the first distance and the attitude information through compensation. The accuracy of the second distance is higher than that of the first distance. The compensation is determined based on the angle between the vehicle body direction and the parking fence line. The angle is determined based on the vehicle's attitude information. The first threshold and the second threshold are the RSSI values ​​measured when the same frame line of the parking fence is placed perpendicular to and parallel to the parking fence, respectively. Based on the second distance, determine whether the vehicle is located within the parking fence; In response to the vehicle being located within the parking fence, the system determines, based on the second distance and the attitude information, whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range.

7. A vehicle central control device, characterized in that, The device includes: Bluetooth module; Attitude information determination module; A control module, comprising one or more processors and a memory, the memory including operating instructions adapted to cause the one or more processors to perform the following steps: Based on the vehicle return request, the Bluetooth module is controlled to obtain the first RSSI value of the Bluetooth beacon within the parking fence. Determine whether the first RSSI value is greater than or equal to the first threshold; In response to the first RSSI value being greater than or equal to the first threshold, the attitude information determination module is controlled to acquire the attitude information of the vehicle, the attitude information reflecting the vehicle's body direction; Based on the posture information, determine whether the angle between the vehicle body direction and the preset frame line of the parking fence is within a preset range; In response to the fact that the angle between the vehicle's body direction and the preset frame line of the parking fence is within the preset range, it is determined that the vehicle has successfully entered the fence; The step of determining whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range based on the posture information further includes: The first distance between the vehicle and the target Bluetooth beacon is determined based on the first RSSI value; In response to the first RSSI value being less than or equal to a second threshold, a second distance between the vehicle and the target Bluetooth beacon is determined based on the first distance and the attitude information through compensation. The accuracy of the second distance is higher than that of the first distance. The compensation is determined based on the angle between the vehicle body direction and the parking fence line. The angle is determined based on the vehicle's attitude information. The first threshold and the second threshold are the RSSI values ​​measured when the same frame line of the parking fence is placed perpendicular to and parallel to the parking fence, respectively. Based on the second distance, determine whether the vehicle is located within the parking fence; In response to the vehicle being located within the parking fence, the system determines, based on the second distance and the attitude information, whether the angle between the vehicle's body direction and the preset frame line of the parking fence is within a preset range.

8. A vehicle entry system with integrated directions, characterized in that, The system includes: At least one storage medium that stores computer instructions; At least one processor executes the computer instructions to implement the method of any one of claims 1 to 6.

9. A computer-readable storage medium storing computer instructions that, when read by a computer, execute the method as described in any one of claims 1 to 6.

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