Bluetooth signal controlled parking lot automatic vehicle searching and parking method and system

Abstract

The invention provides a Bluetooth signal controlled parking lot automatic vehicle searching and parking method and system, and the method comprises the steps: receiving a parking space reservation instruction, determining a corresponding reserved parking space based on the parking space reservation instruction, and determining a corresponding Bluetooth beacon based on the reserved parking space; activating the corresponding Bluetooth beacon, constructing the connection between the corresponding Bluetooth beacon and a vehicle-mounted Bluetooth device, determining the position of the vehicle based on the vehicle-mounted Bluetooth device, and determining the beacon position based on the corresponding Bluetooth beacon; constructing a parking path based on the position of the vehicle and the beacon position, and sending the parking path to the vehicle end; and the vehicle position is determined in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth equipment until the vehicle is parked at the corresponding parking position. According to the scheme, the parking space is distributed for the vehicle based on the reservation instruction, the parking path is further provided, the vehicle can run along the parking path by adopting an automatic driving function, efficient automatic parking is completed, and efficient intelligent management is provided for the parking lot.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent parking lots, and in particular to a method and system for automatically finding and parking a parking lot controlled by a Bluetooth signal. Background Art

[0002] Car remote control / digital key is an innovative technology for the intelligent transformation of automobiles, mainly including low-power Bluetooth BLE, near-field communication NFC, and ultra-wideband UWB. Among them, Bluetooth keys are relatively widely used. In addition to remotely controlling vehicle start, unlocking doors, and opening and closing windows, Bluetooth keys based on Bluetooth Low Energy (BLE) technology can also be set up on mobile devices (such as smartphones). Car owners can add their mobile phone numbers in the digital key management interface, download the App to create the key, and use it. By establishing a connection between the Bluetooth key of the mobile device and the vehicle's Bluetooth master node, keyless start, key sharing, remote vehicle control and other functions can be realized, providing people with a smart and convenient car experience.

[0003] Bluetooth keys are usually used within a range of 15 meters in an open space. They have low power consumption and mature technology. Their performance may vary depending on factors such as the mobile phone used and environmental interference. UWB technology is generally not used for information communication, but is mainly used for accurate positioning of vehicles.

[0004] Some intelligent connected cars already have autonomous driving and assisted autonomous driving functions, such as remote parking and automatic parking, and some large parking lots have also deployed smart parking system equipment and management software with reverse car search functions. However, the satellite navigation signals in large parking lots are generally weak, making it difficult to achieve smart management in large parking lots. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method and system for automatic parking and searching for a parking lot controlled by a Bluetooth signal, so as to eliminate or improve one or more defects existing in the prior art.

[0006] One aspect of the present invention provides a method for automatically finding and parking a parking lot controlled by a Bluetooth signal, the method comprising the steps of:

[0007] receiving a parking space reservation instruction, determining a corresponding reserved parking space based on the parking space reservation instruction, and determining a corresponding Bluetooth beacon based on the reserved parking space;

[0008] Activate the corresponding Bluetooth beacon, establish a connection between the corresponding Bluetooth beacon and the vehicle-mounted Bluetooth device, determine the location of the vehicle based on the vehicle-mounted Bluetooth device, and determine the beacon location based on the corresponding Bluetooth beacon;

[0009] Constructing a parking path based on the position of the vehicle and the position of the beacon, and sending the parking path to the vehicle end;

[0010] The vehicle's position is determined in real time based on the connection between the Bluetooth beacon and the vehicle's onboard Bluetooth device until the vehicle stops at the corresponding parking position.

[0011] By adopting the above scheme, this scheme allocates parking spaces to vehicles based on the user's reservation instructions, and builds a connection between the vehicle and the Bluetooth beacon based on the Bluetooth beacon pre-installed near the parking space in the parking lot, and further provides a parking path. The vehicle can use the automatic driving function to travel along the parking path, complete efficient automatic parking, and provide efficient intelligent management for the parking lot.

[0012] In some embodiments of the present invention, in the steps of determining the corresponding reserved parking space based on the parking space reservation instruction and determining the corresponding Bluetooth beacon based on the reserved parking space, the parking space reservation instruction includes a specified reserved parking space, and it is determined whether a vehicle already exists in the specified reserved parking space in the parking space reservation instruction. If so, information that the vehicle is occupied is fed back to the user end.

[0013] In some embodiments of the present invention, in the steps of determining the corresponding reserved parking space based on the parking space reservation instruction and determining the corresponding Bluetooth beacon based on the reserved parking space, an idle parking space is allocated to the user based on the parking space reservation instruction, and the location of the idle vehicle is fed back to the user end.

[0014] In some embodiments of the present invention, in the step of constructing a parking path based on the vehicle position and the beacon position, and sending the parking path to the vehicle end, a preset path planning algorithm is used to construct a parking path based on the vehicle position and the beacon position, and the parking path is sent to the vehicle end.

[0015] In some embodiments of the present invention, in the step of constructing a parking path based on the vehicle position and the beacon position using a preset path planning algorithm, the path planning algorithm is an A* search algorithm, a Dijkstra algorithm, or a breadth-first search.

[0016] In some embodiments of the present invention, the method further comprises:

[0017] receiving a parking lot exit instruction, and obtaining a current position of the vehicle and a target exit position based on the parking lot exit instruction;

[0018] Constructing a departure path based on the current position of the vehicle and the target departure position, and sending the departure path to the vehicle end;

[0019] Based on the connection between the Bluetooth beacon and the on-board Bluetooth device, the vehicle position is determined in real time until the vehicle drives to the corresponding target departure position. The Bluetooth beacon is connected to the control end, which controls each Bluetooth beacon to transmit signals using encrypted communication and controls the format and content of the transmitted signals.

[0020] In some embodiments of the present invention, in the step of determining the vehicle position in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle drives to the corresponding target departure position or determining the vehicle position in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle stops at the corresponding parking position,

[0021] Determine the vehicle position in real time and determine the vehicle position at the next moment;

[0022] Based on the vehicle position at the next moment, a driving instruction is issued to the vehicle, instructing the vehicle to drive to the vehicle position at the next moment, thereby completing the vehicle's automatic driving.

[0023] In some embodiments of the present invention, in the step of issuing a driving instruction to the vehicle based on the vehicle position at the next moment, instructing the vehicle to drive to the vehicle position at the next moment, to complete the automatic driving of the vehicle, sensor data of the vehicle sensors are acquired in real time, and the sensor data includes radar data or video data, and avoidance is completed during the automatic driving process based on the sensor data of the vehicle sensors.

[0024] In some embodiments of the present invention, the method further includes: if a vehicle leaves the parking lot, recording the time when the vehicle leaves the parking lot, charging based on the time when the vehicle leaves the parking lot and the time when the vehicle enters the parking lot, and sending a charging request to the user end.

[0025] The second aspect of the present invention also provides a parking lot automatic car search and parking system controlled by Bluetooth signals, the system comprising a computer device, the computer device comprising a processor and a memory, the memory storing computer instructions, the processor being used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps implemented by the method described above.

[0026] The third aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned automatic parking lot search and parking method controlled by Bluetooth signals.

[0027] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be specifically pointed out and obtained in the specification and the accompanying drawings.

[0028] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention.

[0030] Figure 1 A schematic diagram of an implementation of the method for automatic parking lot search and parking controlled by Bluetooth signals in this solution;

[0031] Figure 2 A schematic diagram of another implementation of the automatic parking lot search and parking method controlled by Bluetooth signals in this solution;

[0032] Figure 3 This is a schematic diagram of the architecture of this solution. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0034] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0035] Generally, the satellite navigation signals in large parking lots are relatively weak, so the Bluetooth beacon base station can be used as a signal for precise indoor navigation in the parking lot, providing navigation services for intelligent connected vehicles. In a smart parking lot with Bluetooth beacon navigation services, vehicles with automatic parking can park automatically without manual parking, and vehicles with automatic driving can also automatically drive out and drive to the location specified by the owner.

[0036] A Bluetooth beacon is a wireless electronic device based on the Bluetooth low energy broadcast protocol and compatible with Apple's iBeacon protocol. Bluetooth beacons continuously broadcast signals containing information such as UUID (Universal Unique Identifier), Major (Major value) and Minor (Minor value), allowing nearby Bluetooth-enabled devices to receive these signals and calculate relative positions based on signal strength, angle or transmission time. The main Bluetooth positioning technologies include: distance measurement based on Bluetooth RSSI, positioning based on AoA / AoD measurement of azimuth, and the Channel Sounding function of Bluetooth low energy (BLE) introduced in Bluetooth 6.0, which can achieve centimeter-level positioning.

[0037] In the present invention, the Bluetooth beacon has both positioning function and can transmit other data information as a network node and connect to the parking lot management system. Vehicles with automatic driving also have Bluetooth nodes, which can realize the remote control and communication functions of the owner's mobile phone Bluetooth key through encrypted communication, so that the owner can authorize the parking lot system to remotely start and stop the vehicle through the Bluetooth node, realize self-service parking, parking lot navigation and automatic driving functions. The parking lot background management system has the location information of all Bluetooth beacons in the parking lot, and can control the transmission signal format and content of each Bluetooth beacon.

[0038] The vehicle in the present invention has a Bluetooth communication function. Usually, one or more Bluetooth nodes are installed on the vehicle body for communicating with external Bluetooth devices, including Bluetooth beacons and mobile phones, tablet computers and other devices. Through secure communication channels such as authorization and encryption, as well as the location information of Bluetooth beacons, digital key related functions such as automatic unlocking can be realized at the application layer, and the owner can remotely control the vehicle start and stop and automatic parking operations. The vehicle calculates and determines the driving angle and driving direction of the vehicle based on the location of the Bluetooth beacon, thereby deciding whether to go straight, turn or reverse into a parking space.

[0039] In addition, in the present invention, in addition to the vehicle-mounted Bluetooth node and mobile terminal having the function of receiving Bluetooth beacon signals for positioning; the Bluetooth beacon in the parking lot can also receive the signal strength and arrival angle of the vehicle-mounted Bluetooth node or use the channel detection function to calculate the position of the vehicle Bluetooth node or the position of the mobile terminal. That is, in the present invention, the positioning function of the parking lot Bluetooth beacon and the mobile terminal / node is bidirectionally achievable.

[0040] like Figure 1 and 3 As shown, the present invention proposes a parking lot automatic car search and parking method controlled by Bluetooth signals;

[0041] During the specific implementation process, before entering the parking lot, the user can log in to the smart parking lot application software and reserve a parking space. Then, through authorization, the parking lot system is provided with information such as the IP / MAC address of the vehicle's Bluetooth node / user's mobile phone's Bluetooth module, UUDI, authorization authentication code, etc. Through the parking lot's Bluetooth signal, the vehicle is controlled to automatically drive to the reserved parking space according to the parking lot navigation instructions.

[0042] The parking lot's management system supports communication with car owners via mobile phones. According to the authorized Bluetooth nodes and / or terminal serial numbers, it detects and identifies Bluetooth terminals / nodes, calculates their locations, and realizes vehicle remote control and vehicle online digital twin functions using user Bluetooth keys. The application software in the mobile phone encrypts the communication information to ensure the legality of controlling the vehicle.

[0043] The steps of the method include:

[0044] Step S100, receiving a parking space reservation instruction, determining a corresponding reserved parking space based on the parking space reservation instruction, and determining a corresponding Bluetooth beacon based on the reserved parking space;

[0045] A Bluetooth beacon is a battery-powered wireless electronic device based on the Bluetooth low energy broadcast protocol and compatible with Apple's iBeacon protocol.

[0046] The Bluetooth beacon / base station in the parking lot is installed in a distributed manner. Different beacons transmit signals with specific serial numbers, and continuously broadcast signals and data packets to the surroundings. The vehicle-mounted Bluetooth node or the user's mobile phone realizes indoor positioning by receiving the signal of the Bluetooth beacon, such as receiving the RSSI value, MAC address and serial number of the Bluetooth beacon, and can realize centimeter-level positioning through the angle of arrival (AoA), angle of departure (AOD) and time of flight (ToF) detection algorithm. When the user's mobile phone is used for Bluetooth positioning, the signal of the Bluetooth beacon in the parking lot can be marked in advance to achieve indoor high-precision positioning; when the vehicle-mounted Bluetooth node is used for positioning, considering that the number, installation position, installation angle and range of the Bluetooth nodes of different vehicles are different, the present invention assumes that the position of the vehicle-mounted Bluetooth node is in the middle of the top of the vehicle. When the vehicle has multiple Bluetooth nodes, the array antenna positioning algorithm can be used to calculate the vehicle position.

[0047] During the specific implementation process, the user sends a parking space reservation instruction to the parking lot's control terminal through the user's mobile terminal. The user's mobile terminal can be a smartphone or tablet computer, etc. The user's mobile terminal has functions such as Bluetooth communication and Internet communication, and can control the car to perform automatic parking and automatic exit.

[0048] During the specific implementation process, the parking lot management system provides user registration and communication interfaces, and communicates with user smartphones or other smart terminals via the Internet to realize functions such as parking space reservation, parking space navigation, encrypted communication, reverse car search and parking fee payment.

[0049] During the specific implementation process, the Bluetooth beacon can detect the vehicle and mobile phone Bluetooth information of each parking space in the parking lot. The vehicle can be positioned in the parking lot based on the Bluetooth beacon, and the location of the parking lot can also be identified in combination with video recognition and other positioning methods; the Bluetooth beacon in the parking lot can provide Internet services through the background server, including web pages, applets and mobile application services.

[0050] The user's mobile phone is connected to the parking lot server via 4G / 5G, and the parking lot server communicates with the vehicle's Bluetooth node through the Bluetooth protocol to start the vehicle control application. When the parking lot server and the vehicle's Bluetooth connection is successful, it communicates with the smart vehicle through the Bluetooth mode to control the smart vehicle to perform the operations corresponding to the vehicle control instructions.

[0051] The steps of this program also include:

[0052] Deploy parking lot Bluetooth beacons and set the parameters of the beacons. When setting the beacon parameters, different installation positions, angles, and distribution densities are designed according to different positioning principles. Each Bluetooth beacon has a unique identification character and corresponds to the precise location of the parking lot;

[0053] Before the vehicle enters the parking lot entrance, satellite positioning navigation can be used; after the vehicle enters the underground or indoor parking lot, it switches to Bluetooth navigation; the navigation switch can be automatically switched according to the location of the mobile phone when the owner logs in to the parking lot's mobile application APP through the mobile phone, or the outdoor navigation software automatically switches to the indoor navigation application software interface after the outdoor navigation software is connected to the parking lot's indoor navigation application service background.

[0054] The correspondence between the position coordinates in the parking lot and the signals of different Bluetooth beacons can be achieved through advance data collection and annotation. Data collection vehicles, data collection robots or manual handheld collection terminals can be used to collect Bluetooth signals inside the parking lot. According to the differences in signal strength, angle, arrival time and other parameters of different Bluetooth beacons received at different locations in the parking lot, the coordinates in the parking lot corresponding to the terminal's location are marked, and the position coordinates and signal parameters and other information are stored in the parking lot backend management system; the annotation method can be based on a fixed distance, such as an interval of 10 cm or 30 cm, to form a set of annotation points consisting of 10 cm squares; or different levels of annotation can be performed on different areas, for example, high-density annotation (10 cm interval) is performed on the road where the vehicle travels and the left and right center lines of each parking space and the front and rear side lines of the parking space, and low-density annotation (50 cm interval) is performed on other areas.

[0055] The Bluetooth beacons / base stations in the parking lot are installed in a distributed manner. Different beacons transmit signals with specific serial numbers, and continuously broadcast signals and data packets to the surrounding area. When using the user's mobile phone for Bluetooth positioning, the signals of the Bluetooth beacons in the parking lot can be marked in advance to achieve high-precision indoor positioning; when using the vehicle-mounted Bluetooth node for positioning, considering that the number, installation location, installation angle and range of received signals of different vehicles' Bluetooth nodes are different, the present invention assumes that the location of the vehicle-mounted Bluetooth node is in the middle of the top of the vehicle. When the vehicle has multiple Bluetooth nodes, the array antenna positioning algorithm can be used to calculate the vehicle position.

[0056] After the car owner reserves a parking space, the parking lot constructs the best parking path for the vehicle after it enters the parking lot based on the vehicle's driving path, entrance location and other information; the parking lot application system sends the parking path to the vehicle based on the vehicle's location and parking path; after the vehicle enters the parking lot, the parking lot backend system activates the Bluetooth beacon near the vehicle's driving path, communicates with the car owner's mobile phone and / or the vehicle-mounted Bluetooth node, calculates the vehicle's real-time location, and can display the vehicle's driving path in real time on the parking lot backend and the user's mobile phone application APP interface, and selects the best route to the reserved parking space based on the current vehicle location until the vehicle reaches the reserved parking space.

[0057] Step S200, activating the corresponding Bluetooth beacon, establishing a connection between the corresponding Bluetooth beacon and the vehicle-mounted Bluetooth device, determining the location of the vehicle based on the vehicle-mounted Bluetooth device, and determining the beacon location based on the corresponding Bluetooth beacon;

[0058] Step S300, constructing a parking path based on the vehicle position and the beacon position, and sending the parking path to the vehicle end;

[0059] Step S400, determining the vehicle position in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle stops at the corresponding parking position.

[0060] During the specific implementation process, for cars with automatic parking function, after the car drives to the parking lot, the owner drives to the vicinity of the reserved parking space, gets off the car, and authorizes the parking lot Bluetooth system to communicate with the vehicle Bluetooth node through the mobile phone application software, starts the automatic parking function, and parks the vehicle in the parking space.

[0061] When the car owner leaves the parking lot, he or she can use the parking lot's Bluetooth beacon service (reverse car search) to navigate to the reserved parking space via mobile phone. After getting in the car, the car owner leaves the parking lot and pays the parking fee through the parking lot application software.

[0062] After the vehicle arrives at the parking lot, the owner receives parking space information through the mobile phone application based on the parking lot's Bluetooth beacon service, and navigates to the reserved parking space through the mobile phone.

[0063] By adopting the above scheme, this scheme allocates parking spaces to vehicles based on the user's reservation instructions, and builds a connection between the vehicle and the Bluetooth beacon based on the Bluetooth beacon pre-installed near the parking space in the parking lot, and further provides a parking path. The vehicle can use the automatic driving function to travel along the parking path, complete efficient automatic parking, and provide efficient intelligent management for the parking lot.

[0064] In some embodiments of the present invention, in the steps of determining the corresponding reserved parking space based on the parking space reservation instruction and determining the corresponding Bluetooth beacon based on the reserved parking space, the parking space reservation instruction includes a specified reserved parking space, and it is determined whether a vehicle already exists in the specified reserved parking space in the parking space reservation instruction. If so, information that the vehicle is occupied is fed back to the user end.

[0065] During the specific implementation process, the vehicle has the function of remote start and stop via Bluetooth key, and further, has the functions of automatic parking and automatic driving. The owner uses a mobile phone application to activate the Bluetooth signal and communicate with the vehicle through the Bluetooth beacon in the parking lot, thereby controlling the vehicle's entry and exit in an encrypted manner.

[0066] By adopting the above solution, the car owner can also authorize the Bluetooth key function to specific people to use, realizing functions such as automatic parking lot search, automatic parking with parking space reservation, and automatic exit.

[0067] In some embodiments of the present invention, in the steps of determining the corresponding reserved parking space based on the parking space reservation instruction and determining the corresponding Bluetooth beacon based on the reserved parking space, an idle parking space is allocated to the user based on the parking space reservation instruction, and the location of the idle vehicle is fed back to the user end.

[0068] In some embodiments of the present invention, in the step of constructing a parking path based on the vehicle position and the beacon position, and sending the parking path to the vehicle end, a preset path planning algorithm is used to construct a parking path based on the vehicle position and the beacon position, and the parking path is sent to the vehicle end.

[0069] In some embodiments of the present invention, in the step of constructing a parking path based on the vehicle position and the beacon position using a preset path planning algorithm, the path planning algorithm is an A* search algorithm, a Dijkstra algorithm, or a breadth-first search.

[0070] like Figure 2 As shown, in some embodiments of the present invention, the steps of the method further include:

[0071] Step S500, receiving a parking lot exit instruction, and acquiring a vehicle current position and a target exit position based on the parking lot exit instruction;

[0072] Step S600, constructing a departure path based on the current position of the vehicle and the target departure position, and sending the departure path to the vehicle end;

[0073] Step S700, based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device, the vehicle position is determined in real time until the vehicle travels to the corresponding target departure position. The Bluetooth beacon is connected to the control end, and the control end controls each Bluetooth beacon to transmit signals in an encrypted communication manner and controls the format and content of the transmitted signals.

[0074] In some implementations of the present invention, the control terminal is a parking lot backend management system.

[0075] In a specific implementation process, the target departure position may be in a parking lot, or may be another parking location designated by a user.

[0076] The present invention utilizes the management platform of the smart parking lot and the mobile phone Bluetooth remote control application to control the vehicle through communication between the Bluetooth beacon base station of the parking lot and the vehicle's Bluetooth node. It can provide car owners with the functions of remote automatic parking, automatic exit and automatic driving to a specific location, avoiding car owners from looking for the car in the parking lot. The vehicle automatically drives to the vicinity of the car owner according to the set position, thereby providing a better parking experience.

[0077] In some embodiments of the present invention, the positioning of the Bluetooth beacon and the vehicle-mounted Bluetooth device can be achieved bidirectionally, and the distance between the two is calculated based on the bidirectional positioning, and in the step of determining the vehicle position in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle drives to the corresponding target departure position or determining the vehicle position in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle stops at the corresponding parking position,

[0078] Specifically, the method of calculating the distance between the two includes but is not limited to RSSI, AOA and TOF.

[0079] Determine the vehicle position in real time and determine the vehicle position at the next moment;

[0080] Based on the vehicle position at the next moment, a driving instruction is issued to the vehicle, instructing the vehicle to drive to the vehicle position at the next moment, thereby completing the vehicle's automatic driving.

[0081] In the specific implementation process, in addition to the vehicle-mounted Bluetooth node and mobile terminal having the function of receiving Bluetooth beacon signals for positioning; the Bluetooth beacon in the parking lot can also receive the signal strength and arrival angle of the vehicle-mounted Bluetooth node or use the channel detection function to calculate the position of the vehicle Bluetooth node or the position of the mobile terminal, that is, the positioning of the Bluetooth beacon and the vehicle-mounted Bluetooth device can be achieved in both directions.

[0082] During the specific implementation process, encrypted communication is used to realize the remote start and stop function of the car owner's Bluetooth key, and the autonomous driving vehicle can drive autonomously to the designated location.

[0083] By adopting the above scheme, this scheme can further refine the vehicle's driving path in automatic navigation. By refining the vehicle's position at each moment, the vehicle only needs to consider the current position and the position at the next moment during each driving process, thereby improving the calculation precision.

[0084] In some embodiments of the present invention, in the step of issuing a driving instruction to the vehicle based on the vehicle position at the next moment, instructing the vehicle to drive to the vehicle position at the next moment, to complete the automatic driving of the vehicle, sensor data of the vehicle sensors are acquired in real time, and the sensor data includes radar data or video data, and avoidance is completed during the automatic driving process based on the sensor data of the vehicle sensors.

[0085] In some embodiments of the present invention, the method further includes: if a vehicle leaves the parking lot, recording the time when the vehicle leaves the parking lot, charging based on the time when the vehicle leaves the parking lot and the time when the vehicle enters the parking lot, and sending a charging request to the user end.

[0086] When the car owner leaves the parking lot, he can use the parking lot's Bluetooth beacon service to specify the vehicle to drive to the corresponding location. The car owner can get in the car and leave, and pay the parking fee through the parking lot application software.

[0087] When the parking lot and the vehicle also have UWB positioning function, the vehicle positioning can also be achieved through UWB technology. UWB positioning technology and Bluetooth positioning can achieve the same function, or Bluetooth positioning calibration can be automatically performed according to the UWB positioning of the vehicle.

[0088] The above scheme is adopted. This scheme controls the vehicle with Bluetooth key and automatic parking function to automatically drive into the predetermined parking space through the Bluetooth signal of the parking lot, and automatically drives out to the predetermined position under the control of the owner. The owner communicates with the Bluetooth beacon installed in the parking lot through the Bluetooth of the mobile phone to remotely control the vehicle. The application software in the mobile phone encrypts the communication information to ensure the legality of controlling the vehicle. The owner can also authorize the Bluetooth key function to a specific person. The present invention can realize the functions of automatic car search, automatic parking and automatic exit of intelligent networked vehicles in the parking lot.

[0089] An embodiment of the present invention also provides a parking lot automatic car search and parking system controlled by Bluetooth signals, the system comprising a computer device, the computer device comprising a processor and a memory, the memory storing computer instructions, the processor being used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps implemented by the method described above.

[0090] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps implemented by the automatic parking lot search and parking method controlled by the Bluetooth signal are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0091] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0092] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0093] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically finding and parking a parking lot controlled by a Bluetooth signal, characterized in that: The steps of the method include: receiving a parking space reservation instruction, determining a corresponding reserved parking space based on the parking space reservation instruction, and determining a corresponding Bluetooth beacon based on the reserved parking space; Activate the corresponding Bluetooth beacon, establish a connection between the corresponding Bluetooth beacon and the vehicle-mounted Bluetooth device, determine the location of the vehicle based on the vehicle-mounted Bluetooth device, and determine the beacon location based on the corresponding Bluetooth beacon; Constructing a parking path based on the position of the vehicle and the position of the beacon, and sending the parking path to the vehicle end; The vehicle's position is determined in real time based on the connection between the Bluetooth beacon and the vehicle's onboard Bluetooth device until the vehicle stops at the corresponding parking position.

2. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 1, characterized in that: In the steps of determining the corresponding reserved parking space based on the parking space reservation instruction and determining the corresponding Bluetooth beacon based on the reserved parking space, the parking space reservation instruction includes a designated reserved parking space, and determining whether a vehicle already exists in the designated reserved parking space in the parking space reservation instruction. If so, information that the vehicle has been occupied is fed back to the user end.

3. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 1, characterized in that: In the steps of determining the corresponding reserved parking space based on the parking space reservation instruction and determining the corresponding Bluetooth beacon based on the reserved parking space, an idle parking space is allocated to the user based on the parking space reservation instruction, and the position of the idle vehicle is fed back to the user end.

4. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 1, characterized in that: In the step of constructing a parking path based on the vehicle position and the beacon position and sending the parking path to the vehicle end, a preset path planning algorithm is used to construct a parking path based on the vehicle position and the beacon position, and the parking path is sent to the vehicle end.

5. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 4, characterized in that: In the step of constructing a parking path based on the position of the vehicle and the position of the beacon using a preset path planning algorithm, the path planning algorithm is an A* search algorithm, a Dijkstra algorithm, or a breadth-first search.

6. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 1, characterized in that: The method further comprises the steps of: Receiving a parking lot exit instruction, and obtaining a current position of the vehicle and a target exit position based on the parking lot exit instruction; Constructing a departure path based on the current position of the vehicle and the target departure position, and sending the departure path to the vehicle end; Based on the connection between the Bluetooth beacon and the on-board Bluetooth device, the vehicle position is determined in real time until the vehicle drives to the corresponding target departure position. The Bluetooth beacon is connected to the control end, which controls each Bluetooth beacon to transmit signals using encrypted communication and controls the format and content of the transmitted signals.

7. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 6, characterized in that: The positioning of the Bluetooth beacon and the vehicle-mounted Bluetooth device can be achieved bidirectionally, and the distance between the two is calculated based on the bidirectional positioning, and the vehicle position is determined in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle drives to the corresponding target departure position or the vehicle position is determined in real time based on the connection between the Bluetooth beacon and the vehicle-mounted Bluetooth device until the vehicle stops at the corresponding parking position. Determine the vehicle position in real time and determine the vehicle position at the next moment; Based on the vehicle position at the next moment, a driving instruction is issued to the vehicle, instructing the vehicle to drive to the vehicle position at the next moment, thereby completing the vehicle's automatic driving.

8. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 7, characterized in that: In the step of issuing a driving instruction to the vehicle based on the vehicle position at the next moment, instructing the vehicle to drive to the vehicle position at the next moment, and completing the automatic driving of the vehicle, sensor data of the vehicle sensor is acquired in real time, and the sensor data includes radar data or video data, and avoidance is completed during the automatic driving process based on the sensor data of the vehicle sensor.

9. The method for automatically finding and parking a car in a parking lot controlled by a Bluetooth signal according to claim 1, characterized in that: The method further includes the following steps: if the vehicle leaves the parking lot, recording the time when the vehicle leaves the parking lot, charging based on the time when the vehicle leaves the parking lot and the time when the vehicle enters the parking lot, and sending a charging request to the user end.

10. A parking lot automatic car search and parking system controlled by Bluetooth signals, characterized in that: The system includes a computer device, which includes a processor and a memory. The memory stores computer instructions. The processor is used to execute the computer instructions stored in the memory. When the computer instructions are executed by the processor, the system implements the steps implemented by the method as described in any one of claims 1 to 9.

Images