A vehicle and door lock cooperative positioning method and system

Abstract

The application discloses a positioning method and system of vehicle and door lock cooperation, and the method comprises the following steps: determining whether the vehicle is steady according to the cooperative positioning starting instruction sent by the cell vehicle brake when the vehicle enters; according to the determination result of the vehicle steady, the vehicle end Bluetooth label unicast reports the steady position information to the target unit door lock with the strongest signal, and the position is announced by the target unit door lock; according to the received multicast announcement message, each unit door lock records the vehicle position information, and adds a special mark to the record meeting the condition; according to the event that the unit door lock without a special mark first detects the vehicle Bluetooth label, it is determined that the vehicle has moved, and the door lock sends a repositioning starting instruction to the vehicle end Bluetooth label. By using the embodiment of the application, the accurate perception of the vehicle steady position and the dynamic repositioning of the moving state can be realized, and the automatic response efficiency and user experience of the community access control are improved.

Description

Technical Field

[0001] This invention belongs to the field of smart door lock technology, and in particular to a positioning method and system for coordinated positioning of vehicles and door locks. Background Technology

[0002] With the popularization of smart community and smart home technologies, the coordinated control of vehicles and access control systems has become a key scenario for improving user experience. Currently, mainstream underground parking garage positioning solutions mostly rely on UWB (Ultra-Wideband) or Bluetooth AOA (Angle of Arrival) technologies. Although the positioning accuracy is high, it requires the deployment of dedicated base station arrays, which is costly and difficult to achieve full coverage in older communities. Another common solution is inertial navigation or visual recognition based on the vehicle's own sensors. However, in underground parking garages lacking GPS signals, the accumulated error is large, and it cannot be linked with security facilities such as unit doors and gate barriers. In existing technologies, after a vehicle enters the community, the door lock system cannot know the vehicle's precise parking location, forcing residents to manually swipe cards or remotely open the door via a mobile app when carrying heavy items to the unit door. This interaction is cumbersome and lacks a high level of intelligence. In addition, when the vehicle moves within the garage, the door lock cannot adaptively switch states, which can easily lead to false wake-ups or missed detections. Summary of the Invention

[0003] The purpose of this invention is to provide a vehicle and door lock collaborative positioning method and system to overcome the shortcomings of the prior art, enabling accurate perception of the vehicle's stationary position and dynamic repositioning of its movement state, thereby improving the automation response efficiency and user experience of community access control.

[0004] One embodiment of this application provides a vehicle and door lock coordinated positioning method, the method comprising:

[0005] Triggering Start and Autonomous Stop Judgment: Based on the collaborative positioning start command sent when the community gate detects the vehicle entering, the vehicle-side Bluetooth tag switches from low power mode to high power mode, starts periodically scanning the surrounding unit door lock signals, and determines whether the vehicle has stopped based on the consistency of the set of nearby door locks obtained in multiple consecutive scanning cycles.

[0006] Parking position reporting and multicast notification: Based on the determination that the vehicle has come to a complete stop, the vehicle-side Bluetooth tag unicasts the parking position information to the target unit door lock with the strongest signal. The target unit door lock then generates a multicast message carrying an official notification tag to notify all registered unit door locks and owner door locks of the location.

[0007] Status recording and collaborative detection: Based on the received multicast notification messages, each unit lock records the vehicle's location information and determines whether it is within the vehicle's stationary range based on the set of nearby locks. It adds special marks to records that meet the conditions and detects and listens to the vehicle's Bluetooth tag at a set frequency.

[0008] Motion detection and relocation trigger: When a unit door lock without special markings detects the vehicle's Bluetooth tag for the first time, it is determined that the vehicle has moved. The door lock then sends a relocation start command to the vehicle's Bluetooth tag and multicasts a notification to other door locks to stop detection, triggering the vehicle to re-enter the stationary judgment process.

[0009] Optionally, the trigger start and autonomous stabilization determination includes:

[0010] Entry trigger and mode switching: Based on the detection of the pre-registered Bluetooth tag signal by the community gate, a collaborative positioning start command is sent to the tag via unicast. After receiving the command, the tag switches from low-power standby mode to high-power working mode.

[0011] Periodic scanning and set construction: Based on the tag in high power mode, scan the Bluetooth broadcast signals of surrounding unit door locks at fixed periods to obtain the detectable door lock IDs and signal strengths, form a set of nearby door locks for the current period and store it locally;

[0012] Multi-cycle comparison and stationary determination: The consistency of the nearby door lock set obtained from three consecutive scanning cycles is compared. If the three cycle sets are completely consistent, the vehicle is determined to be in a stable parking state. If any two cycle sets are inconsistent, the vehicle is determined to be still moving, and the periodic scanning continues.

[0013] Optionally, the stopping position reporting and multicast announcement includes:

[0014] Target lock selection and reporting: Based on the vehicle's stopping determination, select the lock with the strongest Bluetooth signal from the set of locks in the current period as the target lock, and send a stopping position reporting message to that lock via unicast. The message includes the tag ID, a list of nearby lock IDs, and a timestamp.

[0015] After reporting, the mode switches: based on the event that the report message has been sent after the vehicle has come to a complete stop, the vehicle-side Bluetooth tag immediately exits the high-power working mode, switches back to the low-power state, and stops periodic scanning;

[0016] Multicast notification message generation: Based on the stop position report message received by the target door lock, generate a Bluetooth tag formal notification multicast message with a preset multicast address as the destination address. The message carries the formal notification tag, tag ID, this door lock ID, a list of nearby door lock IDs, and a timestamp.

[0017] Multicast forwarding and reception: After the router receives the formal announcement multicast message and identifies the formal announcement flag, it forwards the message to all outgoing interfaces in the multicast forwarding table, so that all registered unit door locks and owner door locks can receive the location announcement.

[0018] Optionally, the state recording and cooperative detection include:

[0019] Owner's door lock location analysis: Based on the official notification multicast message received by the owner's door lock, the tag ID in the message is parsed and compared with the local pre-paired tag ID. If the match is successful, the target door lock ID and the list of nearby door lock IDs in the message are extracted, converted into readable location information and saved as the vehicle's current location.

[0020] Unit door lock record and tag: Based on the official notification multicast message received by each unit door lock, create or update a record for the tag locally, including the tag ID, the ID of the last reported door lock, and a list of nearby door lock IDs;

[0021] Special marker addition: Based on the list of nearby lock IDs in the message for each unit lock, compare the lock ID with its own ID. If the lock ID is in the set, add a special marker to the record to indicate that the lock is within the range where the vehicle is stationary.

[0022] Detection and monitoring activation: Based on the status of the record creation, each unit door lock activates active detection and monitoring of the tag at a preset frequency.

[0023] Optionally, the motion detection and relocation triggering includes:

[0024] First detection of unmarked door locks: If a unit door lock without special markings detects the Bluetooth signal of the tag for the first time during the detection and monitoring process, it is determined that the vehicle has left the original stationary area;

[0025] Relocation Trigger and Unicast Command: Based on the determination result, the unit door lock unicasts a restart cooperative positioning command to the vehicle Bluetooth tag, notifying the tag to re-enter the high-power working mode and start periodic scanning;

[0026] Multicast status synchronization: Based on the relocation trigger event, the unit door lock generates a tag status update multicast message with the destination address as a preset multicast address. The message carries the building marker, tag ID, this door lock ID, and a restart trigger flag, which is used to notify all other unit door locks to suspend active detection of this tag.

[0027] Repositioning process execution: Upon receiving the restart cooperative positioning command from the tag, switch to high power mode and execute periodic scanning and autonomous stabilization determination processes to complete the repositioning after the vehicle moves.

[0028] Optionally, the method further includes vehicle departure detection and system reset:

[0029] Departure Detection and Stop Command: Based on the continuous detection of the vehicle-side Bluetooth tag signal by the community gate in multiple detection cycles, it is determined that the vehicle is about to leave. A stop cooperative positioning command is unicast to the tag, notifying the tag to restore the low-power standby mode and stop all active scanning.

[0030] Departure Multicast Announcement: Based on the vehicle departure determination result, the gate generates a tag departure announcement multicast message with a preset multicast address as the destination address. The message carries the tag ID, departure timestamp, and departure reset flag.

[0031] System status cleanup: Based on the departure notification multicast message received by all unit door locks and resident door locks, after identifying the departure reset mark, immediately clear all records and status information related to the tag stored locally, including tag ID, last reported location, list of nearby door lock IDs and special marks, so that the system returns to the initial waiting state.

[0032] Another embodiment of this application provides a vehicle and door lock coordinated positioning system, the system comprising:

[0033] The trigger module is used to trigger the start-up and autonomous stopping determination: based on the collaborative positioning start command sent when the community gate detects the vehicle entering, the vehicle-side Bluetooth tag switches from low power mode to high power mode, starts to periodically scan the surrounding unit door lock signals, and determines whether the vehicle has stopped based on the consistency of the set of nearby door locks obtained in multiple consecutive scanning cycles.

[0034] The reporting module is used for reporting the vehicle's stationary position and multicast notification: Based on the determination of the vehicle's stationary position, the vehicle-side Bluetooth tag unicasts the stationary position information to the target unit door lock with the strongest signal, and the target unit door lock generates a multicast message carrying an official notification tag to notify all registered unit door locks and owner door locks of the position.

[0035] The recording module is used for status recording and collaborative detection: based on the received multicast notification message, each unit door lock records the vehicle's location information and determines whether it is within the vehicle's stationary range based on the set of nearby door locks. It adds a special mark to the records that meet the conditions and detects and listens to the vehicle's Bluetooth tag at a set frequency.

[0036] The detection module is used for motion detection and relocation triggering: based on the event that the unit door lock without special marking first detects the vehicle's Bluetooth tag, it is determined that the vehicle has moved. The door lock sends a relocation start command to the vehicle's Bluetooth tag and multicasts a notification to other door locks to stop detection, triggering the vehicle to re-enter the stop judgment process.

[0037] Another embodiment of this application provides a storage medium storing a computer program, wherein the computer program is configured to execute the method described in any of the preceding claims when running.

[0038] Another embodiment of this application provides an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the method described in any of the preceding claims.

[0039] Compared with existing technologies, the present invention provides a vehicle and door lock collaborative positioning method, which can achieve accurate perception of the vehicle's stationary position and dynamic repositioning of its moving state, thereby improving the automation response efficiency and user experience of community access control. Attached Figure Description

[0040] Figure 1 A hardware structure block diagram of a computer terminal for a vehicle and door lock coordinated positioning method provided in an embodiment of the present invention;

[0041] Figure 2 A flowchart illustrating a vehicle and door lock coordinated positioning method provided in an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the door lock and router association topology for a vehicle and door lock collaborative positioning method provided in an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of a vehicle and door lock coordinated positioning system provided in an embodiment of the present invention. Detailed Implementation

[0044] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In modern residential community vehicle location management, existing solutions often begin continuous tracking as soon as a vehicle enters, causing devices such as vehicle-mounted Bluetooth tags and unit door locks to operate at high power consumption for extended periods. Even after the vehicle has come to a complete stop, the system maintains high-frequency detection and communication, resulting in unnecessary energy consumption and network load. Furthermore, vehicle stabilization determination often relies on simple timeouts or single signal strengths, which can easily lead to false reports when the vehicle is briefly paused (e.g., waiting for someone or yielding to another vehicle). The mechanism for re-triggering location tracking after the vehicle moves is unclear, causing sluggish system response or repeated initialization, affecting location consistency and user experience. Simultaneously, the lack of an effective vehicle departure detection mechanism may result in tags still being tracked by the system after the vehicle has left, generating incorrect location information.

[0046] This invention first provides a positioning method that coordinates vehicle and door lock, which can be applied to electronic devices, such as computer terminals, specifically ordinary computers.

[0047] The following detailed explanation uses a computer terminal as an example. Figure 1 This is a hardware structure block diagram of a computer terminal for a vehicle and door lock coordinated positioning method provided in an embodiment of the present invention. Figure 1 As shown, the computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.

[0048] See Figure 2 and Figure 3 The present invention provides a vehicle and door lock coordinated positioning method, which may include the following steps:

[0049] S201, Triggered Start and Autonomous Stop Judgment: Based on the cooperative positioning start command sent when the community gate detects the vehicle entering, the vehicle-side Bluetooth tag switches from low-power mode to high-power mode, begins periodically scanning the surrounding unit door lock signals, and determines whether the vehicle has stopped based on the consistency of the nearby door lock set obtained in multiple consecutive scanning cycles; specifically, the triggered start and autonomous stop judgment includes:

[0050] Entry trigger and mode switching: Based on the detection of the pre-registered Bluetooth tag signal by the community gate, a collaborative positioning start command is sent to the tag via unicast. After receiving the command, the tag switches from low-power standby mode to high-power working mode.

[0051] Periodic scanning and set construction: Based on the tag in high power mode, scan the Bluetooth broadcast signals of surrounding unit door locks at fixed periods to obtain the detectable door lock IDs and signal strengths, form a set of nearby door locks for the current period and store it locally;

[0052] Multi-cycle comparison and stationary determination: The consistency of the nearby door lock set obtained from three consecutive scanning cycles is compared. If the three cycle sets are completely consistent, the vehicle is determined to be in a stable parking state. If any two cycle sets are inconsistent, the vehicle is determined to be still moving, and the periodic scanning continues.

[0053] S202, Stationary Position Reporting and Multicast Notification: Based on the vehicle's stationary determination, the vehicle-side Bluetooth tag unicasts the stationary position information to the target unit door lock with the strongest signal. This target unit door lock then generates a multicast message carrying a formal notification marker, notifying all registered unit door locks and resident door locks of the location. Specifically, the stationary position reporting and multicast notification includes:

[0054] Target lock selection and reporting: Based on the vehicle's stopping determination, select the lock with the strongest Bluetooth signal from the set of locks in the current period as the target lock, and send a stopping position reporting message to that lock via unicast. The message includes the tag ID, a list of nearby lock IDs, and a timestamp.

[0055] After reporting, the mode switches: based on the event that the report message has been sent after the vehicle has come to a complete stop, the vehicle-side Bluetooth tag immediately exits the high-power working mode, switches back to the low-power state, and stops periodic scanning;

[0056] Multicast notification message generation: Based on the stop position report message received by the target door lock, generate a Bluetooth tag formal notification multicast message with a preset multicast address as the destination address. The message carries the formal notification tag, tag ID, this door lock ID, a list of nearby door lock IDs, and a timestamp.

[0057] Multicast forwarding and reception: After the router receives the formal announcement multicast message and identifies the formal announcement flag, it forwards the message to all outgoing interfaces in the multicast forwarding table, so that all registered unit door locks and owner door locks can receive the location announcement.

[0058] S203, Status Recording and Cooperative Detection: Based on the received multicast notification message, each unit lock records the vehicle's location information and determines whether it is within the vehicle's stationary range based on the set of nearby locks. Records meeting the criteria are marked with a special tag, and the vehicle's Bluetooth tag is detected and monitored at a set frequency. Specifically, the status recording and cooperative detection includes:

[0059] Owner's door lock location analysis: Based on the official notification multicast message received by the owner's door lock, the tag ID in the message is parsed and compared with the local pre-paired tag ID. If the match is successful, the target door lock ID and the list of nearby door lock IDs in the message are extracted, converted into readable location information and saved as the vehicle's current location.

[0060] Unit door lock record and tag: Based on the official notification multicast message received by each unit door lock, create or update a record for the tag locally, including the tag ID, the ID of the last reported door lock, and a list of nearby door lock IDs;

[0061] Special marker addition: Based on the list of nearby lock IDs in the message for each unit lock, compare the lock ID with its own ID. If the lock ID is in the set, add a special marker to the record to indicate that the lock is within the range where the vehicle is stationary.

[0062] Detection and monitoring activation: Based on the status of the record creation, each unit door lock activates active detection and monitoring of the tag at a preset frequency.

[0063] S204, Motion Detection and Relocation Trigger: Based on the event that an unmarked unit door lock first detects the vehicle's Bluetooth tag, it is determined that the vehicle has moved. This door lock then sends a relocation start command to the vehicle's Bluetooth tag and multicasts a notification to other door locks to pause detection, triggering the vehicle to re-enter the stationary judgment process. Specifically, the motion detection and relocation trigger includes:

[0064] First detection of unmarked door locks: If a unit door lock without special markings detects the Bluetooth signal of the tag for the first time during the detection and monitoring process, it is determined that the vehicle has left the original stationary area;

[0065] Relocation Trigger and Unicast Command: Based on the determination result, the unit door lock unicasts a restart cooperative positioning command to the vehicle Bluetooth tag, notifying the tag to re-enter the high-power working mode and start periodic scanning;

[0066] Multicast status synchronization: Based on the relocation trigger event, the unit door lock generates a tag status update multicast message with the destination address as a preset multicast address. The message carries the building marker, tag ID, this door lock ID, and a restart trigger flag, which is used to notify all other unit door locks to suspend active detection of this tag.

[0067] Repositioning process execution: Upon receiving the restart cooperative positioning command from the tag, switch to high power mode and execute periodic scanning and autonomous stabilization determination processes to complete the repositioning after the vehicle moves.

[0068] Optionally, the method further includes vehicle departure detection and system reset:

[0069] Departure Detection and Stop Command: Based on the continuous detection of the vehicle-side Bluetooth tag signal by the community gate in multiple detection cycles, it is determined that the vehicle is about to leave. A stop cooperative positioning command is unicast to the tag, notifying the tag to restore the low-power standby mode and stop all active scanning.

[0070] Departure Multicast Announcement: Based on the vehicle departure determination result, the gate generates a tag departure announcement multicast message with a preset multicast address as the destination address. The message carries the tag ID, departure timestamp, and departure reset flag.

[0071] System status cleanup: Based on the departure notification multicast message received by all unit door locks and resident door locks, after identifying the departure reset mark, immediately clear all records and status information related to the tag stored locally, including tag ID, last reported location, list of nearby door lock IDs and special marks, so that the system returns to the initial waiting state.

[0072] This invention provides a method and system for vehicle positioning in residential communities based on gate-triggered activation, periodic scanning and autonomous stopping determination by vehicle-mounted Bluetooth tags, and collaborative status updates by door locks. The gate identifies vehicle entry and triggers the Bluetooth tag to initiate the positioning process. The tag periodically probes surrounding unit door locks only in high-power mode. Once the vehicle autonomously determines it has stopped, the tag actively reports its location and switches to low-power mode. The system achieves rapid repositioning after vehicle movement through a collaborative recording and dynamic detection mechanism between door locks. Specifically, when a vehicle leaves, the gate detects the tag and notifies it to reset, and the system simultaneously clears relevant statuses, thus achieving on-demand, low-power, and highly accurate vehicle positioning management throughout the entire process.

[0073] Solution:

[0074] I. Prerequisites:

[0075] A smart gate is deployed at the community entrance, equipped with a Bluetooth detection and communication module to identify vehicles and send commands. Smart unit door locks are deployed at the entrances of each building unit within the community, possessing Bluetooth broadcasting (carrying the unit door lock ID during broadcasts), Bluetooth detection, and multicast communication capabilities. Residents' vehicles are equipped with smart vehicle-side Bluetooth tags, which possess Bluetooth broadcasting (carrying their own Bluetooth tag ID during broadcasts), Bluetooth detection, information storage, logical judgment, and high / low power mode switching capabilities. Residents' door locks and vehicle Bluetooth tags are pre-paired and their IDs are recorded. All unit door locks and resident door locks are connected to the network, and the routers operate a bidirectional PIM multicast routing protocol (router A is the RP), supporting IGMP message processing and multicast forwarding (multicast address, for example, 228.14.14.1).

[0076] II. Solution Steps:

[0077] 1: Door lock registration and vehicle entry trigger, tag activation.

[0078] (1) The naming rule for unit door lock IDs is: building number - unit number, such as 1-1 for building 1, unit 1 (abbreviations are used in the text for ease of description). All unit door locks in the community send an IGMP join message with a destination address of 228.14.14.1 to the directly connected router. The message carries the door lock ID of the lock and the "building tag" set to 1 (indicating that this door lock is the unit door lock of the building). After receiving the IGMP join message, the router records the door lock ID and the "building tag" set to 1 on the interface corresponding to the multicast forwarding table of (*, 228.14.14.1), and marks the interface as an IGMP member interface. The router sends an improved PIM message to the RP direction. The message also carries the door lock ID and the "building tag" set to 1.

[0079] (2) The door lock of owner X sends an IGMP join message to the same destination address, but without carrying the building tag. Instead, it carries the ID of the pre-paired Bluetooth tag (e.g., Bluetooth tag A), indicating that the door lock is interested in the location information of that tag. After receiving the IGMP join message, the router records the Bluetooth tag ID it is interested in on the interface connected to the owner's door lock in the multicast forwarding table (*, 228.14.14.1), and marks the interface as an IGMP member interface. The router sends an improved PIM message to the RP direction, which only additionally carries the Bluetooth tag AID.

[0080] (3) The owner's vehicle-side Bluetooth tag A (hereinafter referred to as tag A) is registered in the community property system in advance. When the vehicle enters the community, the community gate detects the vehicle-side Bluetooth tag A and sends a "cooperative positioning start" command to tag A via unicast. After receiving the command, tag A switches from low-power standby mode to high-power working mode and begins to execute the periodic nearby Bluetooth scanning process.

[0081] 2: The vehicle-mounted Bluetooth tag actively scans and detects, and after autonomously stopping and determining its location, it reports its position. The door lock then officially announces the final location of the Bluetooth tag.

[0082] (1) Tag A actively scans the surrounding unit door locks' Bluetooth signals at a period of T (configurable, such as 10 seconds) to obtain the detectable surrounding unit door lock IDs and signal strengths, forming a "nearby door lock set" stored locally. Tag A continuously scans, and after each scan, it compares the "nearby door lock set" obtained this time with the previous and earlier sets.

[0083] (2) When tag A finds that the “nearby door lock set” obtained in 3 consecutive scanning cycles (i.e., cycles N, N+1, N+2) are completely consistent, it is determined that the vehicle is in a stable parking state. If the “nearby door lock set” obtained in any two cycles within 3 consecutive cycles is inconsistent, it is determined that the vehicle is still moving and the periodic scanning continues.

[0084] (3) After tag A determines that it has come to a stop, it selects the unit lock with the strongest Bluetooth signal (e.g., lock D) from the "nearby lock set" detected in the current period. Tag A unicasts a "stopped position report" message to lock D, which carries: tag A's ID, the "nearby lock ID list" (i.e., the nearby lock set data) at the time of stopping, and a timestamp. After sending, tag A immediately exits the high-power cooperative positioning working mode, switches back to the low-power state, stops periodic scanning, and only maintains basic Bluetooth discoverability.

[0085] (4) After receiving the “stopped position report” message from tag A, door lock D generates a “Bluetooth tag official announcement” multicast message with a destination address of 228.14.14.1. This message carries: official announcement tag (set to 1), tag A’s ID, door lock D’s own ID, “list of nearby door lock IDs” carried in the message, and timestamp.

[0086] 3: Unit door lock collaboratively records the location range and status of Bluetooth tags in sync.

[0087] (1) When the router receives the "Bluetooth Tag Official Announcement" message, since this message carries the official announcement tag and is set to 1, and since this message aims to synchronize the final location to all relevant door locks in the system, the router will forward this message to all outgoing interfaces (including PIM neighbor interfaces and interfaces connecting unit door locks and owner door locks) in the multicast forwarding table of (*, 228.14.14.1). After receiving the message, the owner door lock parses the tag ID in the message. If it is consistent with the vehicle tag ID that it has been pre-paired with, it extracts the door lock DID and the list of nearby door lock IDs in the message, converts them into readable location information (such as "the vehicle is parked near Unit 1 of Building 3, adjacent to Unit 2 of Building 2 and Unit 1 of Building 4"), saves it as the current location of the vehicle, and pushes the information to the owner's mobile APP if no new announcement is received within a certain period of time (such as 30 minutes) to guide the owner to find the car quickly.

[0088] (2) All unit locks can receive the "Bluetooth Tag Official Announcement" message carrying the official announcement tag and set to 1. Upon receipt, each unit lock creates or updates an entry for tag A in its local record. The record includes: tag AID, the lock ID (lock D) of the last reported location, and a list of nearby lock IDs. Each unit lock compares the "list of nearby lock IDs" in the message with its own lock ID. If its own ID is within the set, it "specially marks" the record for tag A (e.g., sets a flag), indicating that the lock is within the range of the last reported stopping position of tag A.

[0089] (3) After the record is completed, each unit door lock will start to detect and listen to tag A according to the newly recorded status.

[0090] 4: Vehicle movement detection and collaborative relocation.

[0091] (1) Each unit door lock detects the signal of tag A at a certain frequency (configurable, such as 1 minute). If a unit door lock with a "special mark" for tag A detects tag A again, it is determined that tag A is likely still within its original stationary range or moving in a small range nearby, which is normal. No action is taken and the current state is maintained.

[0092] (2) If a unit door lock that does not have a "special mark" for tag A detects that it has detected tag A, it determines that tag A has likely left the originally reported parking area and triggers the relocation mechanism: The first unit door lock that detects tag A and does not have a "special mark" (such as door lock E) sends a "restart cooperative positioning" command to tag A via unicast. At the same time, it generates and sends a "tag status update" multicast message with a destination address of 228.14.14.1. The message carries: building tag (set to 1), tag AID, door lock EID, and "restart triggered" flag. This message is used to inform all other unit door locks in the community that tag A has been triggered for restart by door lock E, and other door locks can stop actively detecting tag A to avoid repeated triggering.

[0093] (3) After receiving the “Restart Cooperative Positioning” command from door lock E, tag A re-enters the high-power working mode and begins to execute the active scanning detection and autonomous stabilization determination process as described in the second subsection of the solution. After receiving the “Tag Status Update” message from door lock E, other unit door locks suspend the active detection of tag A and wait for tag A to complete a new round of stabilization determination and reporting.

[0094] (4) If the vehicle eventually leaves the community, the community gate will detect the signal of tag A. If the gate continuously detects tag A within two high-frequency detection cycles (configurable to once every 10 seconds to avoid false alarms when passing through the gate), it will send a "Stop Cooperative Positioning" command to tag A via unicast, notifying tag A to return to low-power standby mode and stop all active scanning and cooperative work. At the same time, the gate will generate a "Tag Departure Announcement" multicast message with a destination address of 228.14.14.1, which carries: tag AID, departure timestamp, and "Departure Reset" tag set to 1.

[0095] (5) After receiving the “Label Departure Notice” message, all unit door locks and owner door locks shall immediately clear all records and status information related to label A stored locally (including but not limited to label A’s ID, last reported location, list of nearby door lock IDs and special markings, etc.) so that the system returns to the initial waiting state.

[0096] Beneficial effects: 1. By triggering the vehicle's entry through the vehicle gate and allowing the vehicle to automatically stop and go into sleep mode, the vehicle's Bluetooth tag is in a low-power state most of the time, significantly extending battery life.

[0097] 2. The vehicle-side tag autonomously determines the stationary status through continuous multi-cycle environmental scanning and comparison, effectively distinguishing between pauses during driving and final stops, resulting in high reporting accuracy.

[0098] 3. Necessary multicast communication is only performed at key nodes such as vehicle entry, stopping and reporting, abnormal movement triggering, and departure reset, which greatly reduces redundant discovery messages in the network.

[0099] 4. The door locks intelligently filter invalid detections based on "special markers". The first door lock to detect the vehicle moving out of the range will trigger relocation and broadcast the synchronization status, avoiding repeated responses and command conflicts from multiple door locks, resulting in high system coordination efficiency.

[0100] 5. By detecting vehicle departure through the gate, the tag status is reset and the system records are cleared, preventing misjudgments caused by residual historical data and ensuring the independence and accuracy of each positioning process.

[0101] Innovation points: 1. After the vehicle brake detects the pre-recorded vehicle-side Bluetooth tag, it sends a "cooperative positioning start" command to the tag; after receiving the command, the vehicle-side Bluetooth tag switches from low power mode to high power mode and begins to periodically scan the surrounding unit door locks to form a door lock set, until the set remains unchanged for several consecutive cycles, which is considered as a stable stop.

[0102] 2. After determining that the vehicle-mounted Bluetooth tag has come to a complete stop, it reports its own ID and a list of nearby lock IDs to the unit lock with the strongest signal. It then switches back to low-power mode and stops periodic scanning. Upon receiving the stopping information from the vehicle-mounted tag, each unit lock multicasts a formal notification message, carrying the formal notification tag, tag ID, its own ID, and a list of nearby lock IDs. Each unit lock checks the list of nearby lock IDs to see if its own ID is included. If it is, it marks the record for Bluetooth tag A with a special tag.

[0103] 3. When a unit door lock detects a Bluetooth tag that has been recorded, if it has no special markings in its own records and detects the tag, it determines that the vehicle has moved, and then notifies the tag to restart cooperative positioning, and multicasts a notification to other unit door locks to stop detecting the tag.

[0104] 4. After detecting a Bluetooth tag that has started cooperative positioning, the gate of the community sends a "stop cooperative positioning" command to the tag to restore it to low power mode, and multicasts an exit notification message to notify all door locks to clear the relevant records of the tag.

[0105] Another embodiment of the present invention provides a vehicle and door lock coordinated positioning system, see [link to relevant documentation]. Figure 4 The system may include:

[0106] Trigger module 401 is used to trigger start-up and autonomous stopping judgment: based on the cooperative positioning start command sent when the community gate detects the vehicle entering, the vehicle-side Bluetooth tag switches from low power mode to high power mode, starts periodically scanning the surrounding unit door lock signals, and determines whether the vehicle has stopped based on the consistency of the set of nearby door locks obtained in multiple consecutive scanning cycles.

[0107] The reporting module 402 is used for reporting the vehicle's stationary position and multicast notification: Based on the determination of the vehicle's stationary position, the vehicle-side Bluetooth tag unicasts the stationary position information to the target unit door lock with the strongest signal, and the target unit door lock generates a multicast message carrying an official notification tag to notify all registered unit door locks and owner door locks of the position.

[0108] The recording module 403 is used for status recording and collaborative detection: based on the received multicast notification message, each unit door lock records the vehicle location information and determines whether it is within the vehicle's stationary range based on the set of nearby door locks. It adds a special mark to the records that meet the conditions and detects and listens to the vehicle's Bluetooth tag at a set frequency.

[0109] The detection module 404 is used for motion detection and relocation triggering: based on the event that the unit door lock without special marking first detects the vehicle's Bluetooth tag, it is determined that the vehicle has moved. The door lock sends a relocation start command to the vehicle's Bluetooth tag and multicasts a notification to other door locks to stop detection, triggering the vehicle to re-enter the stop judgment process.

[0110] This invention also provides a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0111] This invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0112] Specifically, the aforementioned electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the aforementioned processor, and the input / output device is connected to the aforementioned processor.

[0113] The above description, based on the embodiments shown in the figures, details the structure, features, and effects of the present invention. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A positioning method that coordinates vehicle and door lock, characterized in that, The method includes: Triggering Start and Autonomous Stop Judgment: Based on the collaborative positioning start command sent when the community gate detects the vehicle entering, the vehicle-side Bluetooth tag switches from low power mode to high power mode, starts periodically scanning the surrounding unit door lock signals, and determines whether the vehicle has stopped based on the consistency of the set of nearby door locks obtained in multiple consecutive scanning cycles. Parking position reporting and multicast notification: Based on the determination that the vehicle has come to a complete stop, the vehicle-side Bluetooth tag unicasts the parking position information to the target unit door lock with the strongest signal. The target unit door lock then generates a multicast message carrying an official notification tag to notify all registered unit door locks and owner door locks of the location. Status recording and collaborative detection: Based on the received multicast notification messages, each unit lock records the vehicle's location information and determines whether it is within the vehicle's stationary range based on the set of nearby locks. It adds special marks to records that meet the conditions and detects and listens to the vehicle's Bluetooth tag at a set frequency. Motion detection and relocation trigger: When a unit door lock without special markings detects the vehicle's Bluetooth tag for the first time, it is determined that the vehicle has moved. The door lock then sends a relocation start command to the vehicle's Bluetooth tag and multicasts a notification to other door locks to stop detection, triggering the vehicle to re-enter the stationary judgment process.

2. The method according to claim 1, characterized in that, The trigger start and autonomous stabilization judgment includes: Entry trigger and mode switching: Based on the detection of the pre-registered Bluetooth tag signal by the community gate, a collaborative positioning start command is sent to the tag via unicast. After receiving the command, the tag switches from low-power standby mode to high-power working mode. Periodic scanning and set construction: Based on the tag in high power mode, scan the Bluetooth broadcast signals of surrounding unit door locks at fixed periods to obtain the detectable door lock IDs and signal strengths, form a set of nearby door locks for the current period and store it locally; Multi-cycle comparison and stationary determination: The consistency of the nearby door lock set obtained from three consecutive scanning cycles is compared. If the three cycle sets are completely consistent, the vehicle is determined to be in a stable parking state. If any two cycle sets are inconsistent, the vehicle is determined to be still moving, and the periodic scanning continues.

3. The method according to claim 2, characterized in that, The reported and multicast notification of the stationary position includes: Target lock selection and reporting: Based on the vehicle's stopping determination, select the lock with the strongest Bluetooth signal from the set of locks in the current period as the target lock, and send a stopping position reporting message to that lock via unicast. The message includes the tag ID, a list of nearby lock IDs, and a timestamp. After reporting, the mode switches: based on the event that the report message has been sent after the vehicle has come to a complete stop, the vehicle-side Bluetooth tag immediately exits the high-power working mode, switches back to the low-power state, and stops periodic scanning; Multicast notification message generation: Based on the stop position report message received by the target door lock, generate a Bluetooth tag formal notification multicast message with a preset multicast address as the destination address. The message carries the formal notification tag, tag ID, this door lock ID, a list of nearby door lock IDs, and a timestamp. Multicast forwarding and reception: After the router receives the formal announcement multicast message and identifies the formal announcement flag, it forwards the message to all outgoing interfaces in the multicast forwarding table, so that all registered unit door locks and owner door locks can receive the location announcement.

4. The method according to claim 3, characterized in that, The state recording and collaborative detection include: Owner's door lock location analysis: Based on the official notification multicast message received by the owner's door lock, the tag ID in the message is parsed and compared with the local pre-paired tag ID. If the match is successful, the target door lock ID and the list of nearby door lock IDs in the message are extracted, converted into readable location information and saved as the vehicle's current location. Unit door lock record and tag: Based on the official notification multicast message received by each unit door lock, create or update a record for the tag locally, including the tag ID, the ID of the last reported door lock, and a list of nearby door lock IDs; Special marker addition: Based on the list of nearby lock IDs in the message for each unit lock, compare the lock ID with its own ID. If the lock ID is in the set, add a special marker to the record to indicate that the lock is within the range where the vehicle is stationary. Detection and monitoring activation: Based on the status of the record creation, each unit door lock activates active detection and monitoring of the tag at a preset frequency.

5. The method according to claim 4, characterized in that, The motion detection and relocation triggering includes: First detection of unmarked door locks: If a unit door lock without special markings detects the Bluetooth signal of the tag for the first time during the detection and monitoring process, it is determined that the vehicle has left the original stationary area; Relocation Trigger and Unicast Command: Based on the determination result, the unit door lock unicasts a restart cooperative positioning command to the vehicle Bluetooth tag, notifying the tag to re-enter the high-power working mode and start periodic scanning; Multicast status synchronization: Based on the relocation trigger event, the unit door lock generates a tag status update multicast message with the destination address as a preset multicast address. The message carries the building marker, tag ID, this door lock ID, and a restart trigger flag, which is used to notify all other unit door locks to suspend active detection of this tag. Repositioning process execution: Upon receiving the restart cooperative positioning command from the tag, switch to high power mode and execute periodic scanning and autonomous stabilization determination processes to complete the repositioning after the vehicle moves.

6. The method according to claim 5, characterized in that, The method also includes vehicle departure detection and system reset: Departure Detection and Stop Command: Based on the continuous detection of the vehicle-side Bluetooth tag signal by the community gate in multiple detection cycles, it is determined that the vehicle is about to leave. A stop cooperative positioning command is unicast to the tag, notifying the tag to restore the low-power standby mode and stop all active scanning. Departure Multicast Announcement: Based on the vehicle departure determination result, the gate generates a tag departure announcement multicast message with a preset multicast address as the destination address. The message carries the tag ID, departure timestamp, and departure reset flag. System status cleanup: Based on the departure notification multicast message received by all unit door locks and resident door locks, after identifying the departure reset mark, immediately clear all records and status information related to the tag stored locally, including tag ID, last reported location, list of nearby door lock IDs and special marks, so that the system returns to the initial waiting state.

7. A positioning system that coordinates vehicle and door lock operation, characterized in that, The system includes: The trigger module is used to trigger the start-up and autonomous stopping determination: based on the collaborative positioning start command sent when the community gate detects the vehicle entering, the vehicle-side Bluetooth tag switches from low power mode to high power mode, starts to periodically scan the surrounding unit door lock signals, and determines whether the vehicle has stopped based on the consistency of the set of nearby door locks obtained in multiple consecutive scanning cycles. The reporting module is used for reporting the vehicle's stationary position and multicast notification: Based on the determination of the vehicle's stationary position, the vehicle-side Bluetooth tag unicasts the stationary position information to the target unit door lock with the strongest signal, and the target unit door lock generates a multicast message carrying an official notification tag to notify all registered unit door locks and owner door locks of the position. The recording module is used for status recording and collaborative detection: based on the received multicast notification message, each unit door lock records the vehicle's location information and determines whether it is within the vehicle's stationary range based on the set of nearby door locks. It adds a special mark to the records that meet the conditions and detects and listens to the vehicle's Bluetooth tag at a set frequency. The detection module is used for motion detection and relocation triggering: based on the event that the unit door lock without special marking first detects the vehicle's Bluetooth tag, it is determined that the vehicle has moved. The door lock sends a relocation start command to the vehicle's Bluetooth tag and multicasts a notification to other door locks to stop detection, triggering the vehicle to re-enter the stop judgment process.

8. The system according to claim 7, characterized in that, The triggering module is specifically used for: Entry trigger and mode switching: Based on the detection of the pre-registered Bluetooth tag signal by the community gate, a collaborative positioning start command is sent to the tag via unicast. After receiving the command, the tag switches from low-power standby mode to high-power working mode. Periodic scanning and set construction: Based on the tag in high power mode, scan the Bluetooth broadcast signals of surrounding unit door locks at fixed periods to obtain the detectable door lock IDs and signal strengths, form a set of nearby door locks for the current period and store it locally; Multi-cycle comparison and stationary determination: The consistency of the nearby door lock set obtained from three consecutive scanning cycles is compared. If the three cycle sets are completely consistent, the vehicle is determined to be in a stable parking state. If any two cycle sets are inconsistent, the vehicle is determined to be still moving, and the periodic scanning continues.

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

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

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