Method and system for coordinating positioning of a vehicle with a door lock

Abstract

This invention discloses a method and system for collaborative vehicle location using door locks. The method includes: sending join messages carrying identification information to a preset multicast address based on unit door locks and resident door locks within a residential community; constructing a collaborative forwarding path for vehicle location in a router; triggering a door lock to send a discovery message and notify the tag to record the path based on the event that the vehicle's Bluetooth tag is first discovered by a unit door lock; based on the result of historical comparison of the received door lock identifier by the vehicle's Bluetooth tag, the tag actively notifies the relevant door lock to resend the discovery message; triggering the last discovering door lock to query the movement status of the vehicle's Bluetooth tag based on the timer timeout event maintained by the router for each active tag, and generating a final location announcement to report to the resident after determining that the vehicle has come to a complete stop. Using this invention, low-cost, highly robust vehicle location can be achieved in signal-obstructed areas, ensuring the continuity and accuracy of dynamic tracking.

Description

Technical Field

[0001] This invention belongs to the field of smart door lock technology, and in particular, it relates to a method and system for door lock collaborative vehicle positioning. Background Technology

[0002] With the increasing demand for smart communities and vehicle management, low-cost positioning using existing IoT devices has become a research hotspot. Currently, vehicle positioning relies heavily on GPS or dedicated base stations, which have blind spots in signal-deprived areas such as indoor spaces and underground parking lots, and are also costly to deploy and maintain. Existing Bluetooth or Wi-Fi positioning technologies typically require the pre-deployment of dense reference nodes, making them difficult to implement flexibly in existing communities, and they lack the ability to continuously track and collaboratively determine the dynamic movement paths of vehicles. Furthermore, traditional methods often use unidirectional beacon detection, which cannot maintain robustness in tracking when devices are intermittently offline or when loops appear in the path, easily leading to location loss or misjudgment, failing to meet residents' needs for real-time, accurate vehicle location services. Therefore, there is an urgent need for a collaborative positioning method that can reuse existing IoT devices such as door locks in the community to achieve low cost and high robustness. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for vehicle positioning in conjunction with door locks, so as to overcome the shortcomings of the prior art, achieve low-cost and robust vehicle positioning in signal-obstructed areas, and ensure the continuity and accuracy of dynamic tracking.

[0004] One embodiment of this application provides a method for door lock cooperative vehicle positioning, the method comprising: Collaborative network construction: Based on the unit door locks and resident door locks within the community, join messages carrying identification information are sent to a preset multicast address, and a collaborative forwarding path for vehicle positioning is constructed in the router; Motion tracking and path recording: Based on the event that the vehicle Bluetooth tag is first discovered by the unit door lock, the door lock is triggered to send a discovery message and notify the tag to record the path. At the same time, the router forwards the message between unit door locks based on the building identifier in the message, forming a record of the vehicle's direction of movement. Wreakaround detection and link refresh: Based on the historical comparison results of the received door lock identifiers by the vehicle-side Bluetooth tag, when a path loopback is detected, the tag actively notifies the relevant door lock to resend the discovery message to refresh the tracking link; Parking determination and final location: Based on the timer timeout event maintained by the router for each active tag, the final discovery door lock is triggered to query the movement status of the vehicle's Bluetooth tag. Based on the autonomous environment scan and comparison results of the vehicle tag, the final location notification is generated and reported to the owner after the vehicle is determined to be parked.

[0005] Optionally, the construction of the cooperative network includes: Unit door lock multicast registration: Based on the activation of unit door locks in each building within the community, generate an IGMP join message carrying its own door lock ID and building identifier, and send it to the preset multicast address; Owner door lock interest registration: Based on the pre-pairing relationship between the owner's door lock and the vehicle's Bluetooth tag, generate an IGMP join message carrying the ID of the tag of interest, and send it to the same preset multicast address; Router forwarding table construction: Based on the two types of join messages received by the router, the router records the door lock ID and building identifier for the outgoing interface connecting to the unit door lock, and records the Bluetooth tag ID that the owner is interested in for the outgoing interface connecting to the owner's door lock, thus completing the construction of the cooperative forwarding path.

[0006] Optionally, the motion tracking and path recording includes: Initial discovery and message transmission: When the unit door lock first detects a vehicle-side Bluetooth tag within its signal range, it immediately generates and sends a Bluetooth tag discovery multicast message carrying the building identifier, tag ID, its own door lock ID, and timestamp, and records the tag ID in the local list, and will not send it again by default; Path information is written to the tag: Based on the event of sending a discovery message, the unit door lock connects to the Bluetooth tag, unicasts a door lock identifier write message containing its own door lock ID, and disconnects after completion; Tag path recording: Write the door lock identifier received by the Bluetooth tag into a message, and store the door lock ID and its receiving timestamp carried in the message into the local circular storage space in sequence; Router forwarding: Based on the Bluetooth tag discovery message carrying the building identifier received by the router, identify the door lock ID recorded on its source interface, and forward the message only to all outgoing interfaces marked with the building identifier in the multicast forwarding table. At the same time, record the tag ID on the source interface and start its dedicated last discovery timer.

[0007] Optionally, the loopback detection and link refresh include: Wrapback comparison and judgment: Based on the operation of storing the newly received door lock ID into the loop storage space each time the vehicle Bluetooth tag is used, the new ID is matched and compared with the existing historical door lock ID list in the storage space; Active notification trigger: Based on the comparison result of the new ID matching a certain historical ID, the Bluetooth tag determines that the vehicle has retraced its route, and then sends a rediscovery notification message to the door lock corresponding to the historical ID via unicast. Tracking link refresh: Based on the rediscovery notification message received by the target unit door lock, immediately regenerate and send a Bluetooth tag discovery multicast message for the tag, and update the tag information in the local list to achieve dynamic refresh of the tracking link.

[0008] Optionally, the parking determination and final location include: Timer Expiration Triggered Query: Based on the event that the last discovery timer maintained by the router for a certain Bluetooth tag expires and no new discovery message is received, a location query trigger command is sent to the door lock interface associated with the tag and marked as the last discovered in the multicast forwarding table; Door lock initiates status query: Based on the last location query trigger command received by the door lock, attempt to connect to the vehicle's Bluetooth tag and unicast a motion status query request; Vehicle-side autonomous parking determination: Based on the movement status query request received by the Bluetooth tag, a monitoring process with multiple continuous detection cycles is initiated: in each cycle, the surrounding door lock IDs are scanned and recorded to form a set, and the set of multiple consecutive cycles is compared. Judgment result reporting: Based on the comparison results of the surrounding door lock ID sets that are completely consistent collected over multiple consecutive periods, the Bluetooth tag autonomously determines that the vehicle has come to a complete stop and replies to the query door lock with a stop moving confirmation message; if the sets are inconsistent, it replies with a still moving message; if the door lock does not detect the Bluetooth tag for a period of time and does not receive a detection message about the Bluetooth tag from other door locks, it still determines that the vehicle has come to a complete stop near this door lock.

[0009] Optionally, the method further includes final location and state reset: Generate final location notification: Based on the last discovered door lock receiving a stop movement confirmation message from the Bluetooth tag, or based on the fact that no discovery message about the tag has been received for a period of time after the query is triggered, generate and send a Bluetooth tag official notification multicast message that clears the building identifier and carries the tag ID and its own door lock ID; Collaborative network state reset: Based on the sending of the final location notification, the door lock simultaneously generates and sends a state reset notification multicast message carrying the building identifier and reset identifier to notify all unit door locks to restore the tag-related records to the initial state; Owner location reception and push: When the router receives a formal announcement message without a building identifier, it only forwards it to the door lock of the owner's home that is interested in the tag ID in the multicast forwarding table; the owner's door lock parses the message to obtain the vehicle's final location information, and if no new announcement is received within a preset time, it pushes the location information to the owner's mobile terminal.

[0010] Another embodiment of this application provides a system for door lock-assisted vehicle positioning, the system comprising: The construction module is used for collaborative network construction: based on the unit door locks and homeowner door locks in the community, a join message carrying identification information is sent to the preset multicast address, and a collaborative forwarding path for vehicle positioning is constructed in the router; The recording module is used for motion tracking and path recording: based on the event that the vehicle Bluetooth tag is first discovered by the unit door lock, the door lock is triggered to send a discovery message and notify the tag to record the path. At the same time, the router forwards the message between unit door locks based on the building identifier in the message, forming a record of the vehicle's direction of movement. The refresh module is used for loopback detection and link refresh: based on the historical comparison results of the received door lock identifiers by the vehicle-side Bluetooth tag, when a loopback is detected, the tag actively notifies the relevant door lock to resend the discovery message to refresh the tracking link; The positioning module is used for parking determination and final location: based on the timer timeout event maintained by the router for each active tag, the last-discovery door lock is triggered to query the movement status of the vehicle's Bluetooth tag, and based on the autonomous environment scan and comparison results of the vehicle tag, after determining that the vehicle has come to a complete stop, a final location notification is generated and reported to the owner.

[0011] 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.

[0012] 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.

[0013] Compared with existing technologies, the present invention provides a method for vehicle positioning in cooperation with door locks, which can achieve low-cost and robust vehicle positioning in signal-obscured areas and ensure the continuity and accuracy of dynamic tracking. Attached Figure Description

[0014] Figure 1 Hardware structure block diagram of a computer terminal for a method of door lock cooperative vehicle positioning provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a method for coordinated vehicle positioning via door locks, provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the routing and door lock topology relationship of a method for door lock cooperative vehicle positioning provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a door lock cooperative vehicle positioning system provided in an embodiment of the present invention. Detailed Implementation

[0015] 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.

[0016] In modern residential communities, vehicle management often faces problems such as unclear parking locations, difficulty in locating vehicles, complex community paths, and disputes over parking space occupancy. This is especially true in large, older communities where residents often forget the exact location of their vehicles, as parking locations are not fixed. Existing Bluetooth-based vehicle positioning solutions for communities generally suffer from high device power consumption, excessive network redundancy, and inaccurate parking determination. Specifically: positioning beacons (such as unit door locks) need to repeatedly send probe messages to continuously track vehicles, leading to increased power consumption and significant network traffic; when vehicles move within the community, especially when navigating between buildings or making U-turns, the system is prone to confusion or loss of tracking; furthermore, it is difficult to accurately distinguish between temporary parking and final parking, potentially resulting in premature, late, or incorrect location reporting, impacting user experience and system reliability.

[0017] This invention first provides a method for locating vehicles in coordination with door locks. This method can be applied to electronic devices, such as computer terminals, specifically ordinary computers.

[0018] 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 method of locating a vehicle in conjunction with a door lock, 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.

[0019] See Figure 2 , Figure 3 The present invention provides a method for locating a vehicle in coordination with door locks, which may include the following steps: S201, Cooperative Network Construction: Based on the unit door locks and resident door locks within the community, join messages carrying identification information are sent to a preset multicast address, and a cooperative forwarding path for vehicle positioning is constructed in the router; specifically, the cooperative network construction includes: Unit door lock multicast registration: Based on the activation of unit door locks in each building within the community, generate an IGMP join message carrying its own door lock ID and building identifier, and send it to the preset multicast address; Owner door lock interest registration: Based on the pre-pairing relationship between the owner's door lock and the vehicle's Bluetooth tag, generate an IGMP join message carrying the ID of the tag of interest, and send it to the same preset multicast address; Router forwarding table construction: Based on the two types of join messages received by the router, the router records the door lock ID and building identifier for the outgoing interface connecting to the unit door lock, and records the Bluetooth tag ID that the owner is interested in for the outgoing interface connecting to the owner's door lock, thus completing the construction of the cooperative forwarding path.

[0020] S202, Motion Tracking and Path Recording: Based on the event that the vehicle Bluetooth tag is first discovered by the unit door lock, the door lock is triggered to send a discovery message and notify the tag to record the path. Simultaneously, the router forwards the message between unit door locks based on the building identifier, forming a record of the vehicle's direction of movement. Specifically, the motion tracking and path recording includes: Initial discovery and message transmission: When the unit door lock first detects a vehicle-side Bluetooth tag within its signal range, it immediately generates and sends a Bluetooth tag discovery multicast message carrying the building identifier, tag ID, its own door lock ID, and timestamp, and records the tag ID in the local list, and will not send it again by default; Path information is written to the tag: Based on the event of sending a discovery message, the unit door lock connects to the Bluetooth tag, unicasts a door lock identifier write message containing its own door lock ID, and disconnects after completion; Tag path recording: Write the door lock identifier received by the Bluetooth tag into a message, and store the door lock ID and its receiving timestamp carried in the message into the local circular storage space in sequence; Router forwarding: Based on the Bluetooth tag discovery message carrying the building identifier received by the router, identify the door lock ID recorded on its source interface, and forward the message only to all outgoing interfaces marked with the building identifier in the multicast forwarding table. At the same time, record the tag ID on the source interface and start its dedicated last discovery timer.

[0021] S203, Loopback Detection and Link Refresh: Based on the historical comparison results of the received door lock identifiers by the vehicle-side Bluetooth tag, when a loopback is detected, the tag actively notifies the relevant door lock to resend the discovery message to refresh the tracking link; specifically, the loopback detection and link refresh includes: Wrapback comparison and judgment: Based on the operation of storing the newly received door lock ID into the loop storage space each time the vehicle Bluetooth tag is used, the new ID is matched and compared with the existing historical door lock ID list in the storage space; Active notification trigger: Based on the comparison result of the new ID matching a certain historical ID, the Bluetooth tag determines that the vehicle has retraced its route, and then sends a rediscovery notification message to the door lock corresponding to the historical ID via unicast. Tracking link refresh: Based on the rediscovery notification message received by the target unit door lock, immediately regenerate and send a Bluetooth tag discovery multicast message for the tag, and update the tag information in the local list to achieve dynamic refresh of the tracking link.

[0022] S204, Parking Determination and Final Location: Based on the timer timeout event maintained by the router for each active tag, the last discovered door lock is triggered to query the movement status of the vehicle's Bluetooth tag. Based on the autonomous environment scan and comparison results of the vehicle tag, after determining that the vehicle has come to a complete stop, a final location notification is generated and reported to the owner. Specifically, the parking determination and final location includes: Timer Expiration Triggered Query: Based on the event that the last discovery timer maintained by the router for a certain Bluetooth tag expires and no new discovery message is received, a location query trigger command is sent to the door lock interface associated with the tag and marked as the last discovered in the multicast forwarding table; Door lock initiates status query: Based on the last location query trigger command received by the door lock, attempt to connect to the vehicle's Bluetooth tag and unicast a motion status query request; Vehicle-side autonomous parking determination: Based on the movement status query request received by the Bluetooth tag, a monitoring process with multiple continuous detection cycles is initiated: in each cycle, the surrounding door lock IDs are scanned and recorded to form a set, and the set of multiple consecutive cycles is compared. Judgment result reporting: Based on the comparison results of the surrounding door lock ID sets that are completely consistent collected over multiple consecutive periods, the Bluetooth tag autonomously determines that the vehicle has come to a complete stop and replies to the query door lock with a stop moving confirmation message; if the sets are inconsistent, it replies with a still moving message; if the door lock does not detect the Bluetooth tag for a period of time and does not receive a detection message about the Bluetooth tag from other door locks, it still determines that the vehicle has come to a complete stop near this door lock.

[0023] Furthermore, the method also includes final location and state reset: Generate final location notification: Based on the last discovered door lock receiving a stop movement confirmation message from the Bluetooth tag, or based on the fact that no discovery message about the tag has been received for a period of time after the query is triggered, generate and send a Bluetooth tag official notification multicast message that clears the building identifier and carries the tag ID and its own door lock ID; Collaborative network state reset: Based on the sending of the final location notification, the door lock simultaneously generates and sends a state reset notification multicast message carrying the building identifier and reset identifier to notify all unit door locks to restore the tag-related records to the initial state; Owner location reception and push: When the router receives a formal announcement message without a building identifier, it only forwards it to the door lock of the owner's home that is interested in the tag ID in the multicast forwarding table; the owner's door lock parses the message to obtain the vehicle's final location information, and if no new announcement is received within a preset time, it pushes the location information to the owner's mobile terminal.

[0024] This invention provides a method and system for vehicle positioning in residential communities based on intelligent sensing and network-based collaborative judgment using vehicle-mounted Bluetooth tags. By endowing vehicle-mounted Bluetooth tags with information storage, logical judgment, and active communication capabilities, the system enables intelligent collaboration with unit door locks and routers deployed within the community. The system triggers necessary communication only when the vehicle's movement path undergoes a critical change (such as turning back) or finally comes to a stop, thereby achieving low-power, low-data-flow, and highly accurate automated vehicle positioning and location reporting.

[0025] Solution: I. Prerequisites: Each building unit entrance within the community is equipped with a smart unit door lock. These locks feature Bluetooth eavesdropping, communication modules, and network access capabilities, supporting the sending of multicast messages and the receiving of unicast notifications from vehicle-mounted Bluetooth tags. Each resident's vehicle is equipped with a smart vehicle-mounted Bluetooth tag. This tag not only broadcasts its own unique identifier (ID) but also has the ability to receive and store information, perform logical judgments, and actively initiate connection communication. Each tag has a unique ID; resident door locks and vehicle Bluetooth tags are pre-paired, and the tag ID is recorded. Routers are deployed throughout the community to build an IoT network. All unit door locks and resident door locks are connected to the network. The routers operate a bidirectional PIM multicast routing protocol (router A is the RP), supporting IGMP message processing and multicast forwarding.

[0026] II. Solution Steps: 1: Neighbor topology construction and door lock registration.

[0027] (1) The naming rule for unit door lock IDs is: building number - unit number, such as 1-1 for unit 1 of building 1. For ease of description, abbreviations are used throughout the text. 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.

[0028] (2) The door lock of owner X sends an IGMP join message with 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 A ID.

[0029] 2: When the door lock discovers the Bluetooth tag, the router records the tag information on the interface that receives the discovery message, and the door lock writes its own identifier into the Bluetooth tag for storage.

[0030] (1) The unit door locks of each building continuously listen for nearby Bluetooth tag signals. When unit door lock A detects Bluetooth tag A placed in the car by owner X, it immediately generates a "Bluetooth tag discovery" multicast message with a destination address of 228.14.14.1. The message sets the building tag to 1 and carries the detected Bluetooth tag A ID, the door lock ID, and the timestamp. After sending the "Bluetooth tag discovery" message, door lock A records the Bluetooth tag A ID, its own door lock ID (door lock A), and the timestamp in the local "discovered Bluetooth tag list". By default, door lock A will no longer send "Bluetooth tag discovery" messages about Bluetooth tag A (this mechanism can save the unit door lock's computing resources and avoid frequently disturbing other door locks). Simultaneously, door lock A connects to Bluetooth tag A and unicasts a "Door Lock Identifier Write" message containing its own door lock ID (door lock A) to Bluetooth tag A. After completion, it disconnects and, even if Bluetooth tag A's signal is continuously detected within a set time t (configurable, such as 1 minute), it will not send another "Door Lock Identifier Write" message. Upon receiving the message, tag A stores the door lock A ID and its reception timestamp in its local circular storage space (capacity N). If the storage space is full, it overwrites the oldest record.

[0031] (2) After receiving the "Bluetooth Tag Discovery" multicast message from G0 / 1, Router A identifies that the message carries a building tag and sets it to 1. In addition to the door lock ID (door lock A) recorded on this interface, there are no other door lock IDs in the message. Then, the router forwards the message to the outgoing interface (i.e., all connected unit door lock interfaces or PIM neighbor interfaces in this direction) that records the building tag in the multicast forwarding table of (*, 228.14.14.1). The owner's door lock does not receive this discovery message. At the same time, Router A records the Bluetooth tag A ID and timestamp on the outgoing interface G0 / 1 of the multicast forwarding table of (*, 228.14.14.1), adds the association attribute as "tag discovery", and starts the "last discovery timer S" for the Bluetooth tag ID in the multicast forwarding table (the role of the association attribute and timer will be further described in Section 4 - "Bluetooth Tag Parking Determination and Final Location Announcement, Owner Door Lock Reception"). After receiving the "Bluetooth Tag Discovery" multicast message sent by lock A, other unit locks will save the Bluetooth tag ID, lock ID and timestamp carried in the message to the local "discovered Bluetooth tag list", forming the discovery lock sequence of Bluetooth tag A.

[0032] (3) If the vehicle arrives near door lock B along the path from door lock A to door lock B, and door lock B detects Bluetooth tag A, then door lock B constructs and sends a new "Bluetooth tag discovery" message. This message carries the Bluetooth tag A ID, the building tag set to 1, its own door lock ID, and a timestamp. After sending the discovery message, door lock B records the Bluetooth tag A ID and timestamp in its local "discovered Bluetooth tag list". At the same time, door lock B connects to Bluetooth tag A and unicasts a "door lock identifier write" message containing door lock B ID to Bluetooth tag A. After completion, it disconnects and sets a time t during which it will not send "door lock identifier write" messages again. After receiving the message, tag A stores the door lock B ID and its received timestamp in its local circular storage space.

[0033] (4) After receiving the "Bluetooth Tag Discovery" multicast message from G0 / 2, Router A identifies that the message carries a building tag and sets it to 1. Since there are no other lock IDs besides the lock ID (Lock B) recorded on this interface, the router forwards the message to the outgoing interface (i.e., all connected unit lock interfaces or PIM neighbor interfaces in that direction) that records the building tag in the multicast forwarding table of (*, 228.14.14.1). Owner locks do not receive this discovery message. Simultaneously, Router A records the Bluetooth tag A ID and timestamp on the outgoing interface G0 / 2 of the multicast forwarding table of (*, 228.14.14.1), adds the associated attribute as "tag discovery," and starts the "last discovery timer S" for the Bluetooth tag ID in the multicast forwarding table. Other unit locks, upon receiving the "Bluetooth Tag Discovery" multicast message sent by Lock B, save the Bluetooth tag ID, lock ID, and timestamp carried in the message to their local "discovered Bluetooth tag list," forming a sequence of discovered locks for Bluetooth tag A.

[0034] (5) When the vehicle subsequently travels along the path from lock A, lock B, lock C… to lock D, each lock along the path detects Bluetooth tag A according to the aforementioned process and sends a “Bluetooth tag discovery” message. Simultaneously, it unicasts a “Lock ID Write” message containing its own lock ID to Bluetooth tag A for storage. Upon receiving the “Bluetooth tag discovery” message, the router forwards it to the outgoing interface in the multicast forwarding table (*, 228.14.14.1) that records the building tag, records the Bluetooth tag A ID and timestamp on the corresponding interface in the forwarding table, adds the association attribute as “tag discovery,” and starts the “last discovery timer S” for the Bluetooth tag ID in the multicast forwarding table. Other unit locks, upon receiving the “Bluetooth tag discovery” multicast messages from these locks, save the Bluetooth tag ID, lock ID, and timestamp carried in the message to their local “discovered Bluetooth tag list,” forming the discovery lock sequence for Bluetooth tag A.

[0035] 3: Bluetooth tag loopback detection, actively notifying the corresponding door lock to send a new "Bluetooth tag discovery" message.

[0036] (1) When Bluetooth tag A receives a new "lock identifier write" message and stores the lock ID and receiving timestamp carried in the message, it will compare it with the locally stored "historical lock ID list". If a match is found in a historical ID (such as lock C), it is determined that the vehicle may have circled back or passed near lock C again. At this time, Bluetooth tag A sends a "rediscovery notification" message to lock C. This notification message contains at least the Bluetooth tag A ID, lock C ID, and the rediscovery tag set to 1. As explained in paragraph 2 of the solution steps, in order to save the unit lock computing resources and avoid frequent interference with other locks, lock A sends only one "Bluetooth tag discovery" message about Bluetooth tag A by default. However, it should be emphasized that after lock A has sent a "lock identifier write" message, if it detects Bluetooth tag A again after time t has expired, it will still connect to Bluetooth tag A and send a "lock identifier write" message containing lock A.

[0037] (2) After receiving a "Rediscovery Notification" message carrying the C ID and the rediscovery tag set to 1, door lock C confirms that it needs to be processed. Door lock C immediately generates and sends a new "Bluetooth Tag Discovery" multicast message, which carries the Bluetooth tag A ID, the building tag set to 1, and its own door lock ID. It then records the Bluetooth tag A ID, its own door lock ID, and the new timestamp into the local "Discovered Bluetooth Tag List" to refresh the information. After receiving the "Bluetooth Tag Discovery" multicast message from G0 / 3, router A recognizes that the message carries the building tag set to 1, and that there are no other door lock IDs in the message except for the door lock ID (door lock C) recorded on this interface. The router then forwards the message to the outgoing interface (i.e., all connected unit door lock interfaces or PIM neighbor interfaces in this direction) that has the building tag recorded in the multicast forwarding table of (*, 228.14.14.1). The owner's door lock does not receive this type of discovery message. Meanwhile, router A records the Bluetooth tag A ID and timestamp on the outgoing interface G0 / 3 of the multicast forwarding table (*, 228.14.14.1), adds the associated attribute as "tag discovery", and starts the "last discovery timer S". After receiving the "Bluetooth tag discovery" multicast message sent by door lock C, other unit door locks will save the Bluetooth tag ID and door lock ID carried in the message.

[0038] (3) This mechanism ensures the activity and accuracy of the location tracking link when the vehicle detours.

[0039] 4: Bluetooth tag parking determination and final location notification, and owner door lock reception.

[0040] (1) In the second subsection, “The door lock discovers the Bluetooth tag, the router records the tag information on the interface that receives the discovery message, and the door lock writes its own identifier into the Bluetooth tag for storage,” it is explained that after the router receives the “Bluetooth tag discovery” message, it records the Bluetooth tag ID and timestamp on the corresponding interface of the multicast forwarding table (*, 228.14.14.1) (i.e. the physical interface that receives the “Bluetooth tag discovery” message), adds the associated attribute as “tag discovery” (the value is 0 or 1, 1 means “last discovered door lock”, 0 means “not last discovered door lock”, the value is 1 in the latest record, and the value is 0 in other records.), and starts the “last discovery timer S” for the Bluetooth tag ID in the multicast forwarding table. If the router receives another "Bluetooth Tag Discovery" message for the Bluetooth tag within time S (configurable, e.g., 180 seconds), it records the Bluetooth tag ID and timestamp on the interface that received the new "Bluetooth Tag Discovery" message in the multicast forwarding table (*, 228.14.14.1), and resets the "Last Discovery Timer S". If no "Bluetooth Tag Discovery" message for the Bluetooth tag is received after time S expires, the router sends a "Location Query Trigger" command from the IGMP member interface (i.e., the interface connected to the unit door lock) that records the Bluetooth tag and its associated attribute "Tag Discovery" set to 1 in the multicast forwarding table (*, 228.14.14.1). For example, if the unit door lock connected to the IGMP member interface with the associated attribute "Tag Discovery" set to 1 for Bluetooth tag A in router A's "Bluetooth Tag Discovery List" is door lock D, and router A does not receive any other "Bluetooth Tag Discovery" messages for Bluetooth tag A from other door locks after time S expires, the router sends a "Location Query Trigger" command to door lock D.

[0041] (2) After receiving the instruction, door lock D immediately detects whether Bluetooth tag A is nearby. If detected, it initiates a connection and unicasts a "movement status query" request to Bluetooth tag A, without sending a "door lock identifier write" message containing door lock D (to avoid triggering the loopback detection process by Bluetooth tag A). After receiving the query request, Bluetooth tag A starts a monitoring process that lasts for three detection cycles, each cycle being a U-time (U-time is configurable, such as 30 seconds): In each U-time, tag A scans and records the IDs of all detectable unit door locks in the vicinity, forming a "set of surrounding door lock IDs". The "set of door lock IDs" collected in the three U-cycles are compared continuously. If the sets are completely consistent, it is determined that it has stopped moving. Bluetooth tag A replies to door lock D with a "stop moving" confirmation message, which carries the Bluetooth tag A ID, the "set of surrounding door lock IDs" (usually mainly including door lock D and its immediate neighbor door locks), and the "stop moving" tag set to 1. If the "set of surrounding door lock IDs" collected in the three U-cycles are inconsistent, Bluetooth tag A determines that it is still moving. Bluetooth tag A replies with a "Still Moving" message, carrying the Bluetooth tag A ID and the "Still Moving" tag set to 1. Door lock D receives this message but doesn't perform any additional processing. This is because, from door lock D's perspective, Bluetooth tag A's movement direction is either along its original path, proceeding according to the second subsection of the solution – "Door lock discovers Bluetooth tag, router records tag information on the interface receiving the discovery message, door lock writes its own identifier into the Bluetooth tag for storage"; or along the opposite path, proceeding according to the third subsection of the solution – "Bluetooth tag loopback detection, actively notifying the corresponding door lock to send a new Bluetooth tag discovery message".

[0042] (3) After receiving the "Stop Moving" confirmation message from Bluetooth tag A, door lock D generates a "Bluetooth Tag Official Announcement" multicast message with a destination address of 228.14.14.1. This message clears the "Building Tag" identifier and carries the Bluetooth tag AID, door lock D ID, timestamp, and "Set of Surrounding Door Lock IDs" as a location reference. At the same time, it generates another "Status Reset Announcement" multicast message with a destination address of 228.14.14.1. This message carries the "Building Tag" set to 1, the Bluetooth tag A ID, door lock D ID, timestamp, and "Reset" tag set to 1 (this message is used to notify all building unit door locks to restore the data records related to Bluetooth tag A to the initial state). After sending the two multicast messages, door lock D restores the Bluetooth tag A related data records stored in this door lock to the initial state.

[0043] (4) When the router receives the "Bluetooth Tag Official Announcement" message and recognizes that it does not have a "Building Tag", it queries the multicast forwarding table (*, 228.14.14.1) and forwards the message only from the homeowner's door lock interface that records the Bluetooth tag A ID. After receiving the official announcement message, the homeowner's door lock parses the building ID of the door lock D and other surrounding door lock IDs, saves it as the current location of Bluetooth tag A, and pushes the final location information (such as "the vehicle is located near Unit 2 of Building 3 and is close to Unit 1 of Building 2") to the car owner's mobile APP to guide the car owner to find the car quickly.

[0044] (5) If lock D receives the "Location Query Trigger" command from the router but does not detect Bluetooth tag A in its vicinity, and after a period of time (configurable, such as 5 minutes), lock D also does not receive a "Bluetooth Tag Discovery" message from other locks regarding Bluetooth tag A, then lock D determines that the location information of Bluetooth tag A has been lost in its vicinity, and it is highly likely that it is still in its vicinity but the signal is too weak to be discovered. Therefore, lock D generates a "Bluetooth Tag Official Announcement" multicast message with a destination address of 228.14.14.1. This message clears the "Building Tag" identifier and carries the Bluetooth tag A ID, lock D ID, and timestamp. At the same time, another "Status Reset Announcement" multicast message with a destination address of 228.14.14.1 is generated. This message carries the "Building Tag" set to 1, the Bluetooth tag A ID, lock D ID, timestamp, and "Reset" tag set to 1. After sending two multicast messages, door lock D restores the data records related to Bluetooth tag A stored in its lock to the initial state. The router receives the "Bluetooth Tag Official Announcement" message, identifies that it lacks a "Building Tag," and queries the multicast forwarding table (*, 228.14.14.1), forwarding the message only from the homeowner's door lock interface that records the Bluetooth tag A ID. Upon receiving the official announcement message, the homeowner's door lock parses the building IDs of door lock D and other surrounding door locks, saves them as the current location of Bluetooth tag A, and pushes the final location information (e.g., "Vehicle is located near Unit 2 of Building 3, and is approaching Unit 1 of Building 2") to the car owner's mobile app to guide the owner in quickly finding their car.

[0045] Beneficial effects: 1. The unit door lock adopts the "single transmission" principle for the discovery message of the same vehicle. The vehicle-side tag only triggers the door lock to retransmit when necessary (such as when looping back). This greatly reduces the number of radio frequency communication and network packets from the source, extends the equipment's battery life, and alleviates network congestion.

[0046] 2. Abandoning simple timeout or signal strength threshold methods, a mechanism for periodic active scanning and aggregation comparison of the surrounding environment by vehicle-side tags is introduced, which can effectively distinguish between pauses during driving and final parking, greatly improving the accuracy of location reporting and reducing false alarms.

[0047] 3. The vehicle-mounted tag has the ability to remember the path and identify loops. It can actively refresh the system status when the vehicle turns around or drives in a loop, avoiding the interruption of the tracking link or the misjudgment of the location, and adapting to various driving modes in the community.

[0048] 4. Through the collaborative work of vehicle-side tags (perception and judgment), unit door locks (area detection and reporting), routers (global coordination), and owner door locks (information reception), the system can complete the entire process from vehicle entry, movement, parking, and location reporting without the need for vehicle owner intervention, providing a seamless and efficient user experience.

[0049] Innovation points: 1. Upon first detecting a Bluetooth tag, the unit door lock immediately sends a "Bluetooth Tag Discovery" multicast message and records the tag ID in its local "Discovered Bluetooth Tag List." Subsequently, within the same tracking session, even if the tag signal is continuously detected, the door lock will by default refrain from sending discovery messages again, until one of the following occurs: ① It receives a "Rediscovery Notification" from the tag; ② It receives a "Location Query Trigger" command from the router and completes parking determination and final reporting; ③ The local record is cleared due to a system reset. This mechanism effectively reduces redundant messages and door lock power consumption.

[0050] 2. The vehicle-side Bluetooth tag has a circular storage space for storing a limited number (N) of the most recently received unit lock IDs and their timestamps in sequence. When the tag receives a new "lock identifier write" message, it compares the lock ID carried in the message with the local historical records. If a match is found, it is determined that the vehicle path has circled back, and a "rediscovery notification" message is immediately unicast to the historical lock. This notification triggers the target lock to regenerate and multicast a "Bluetooth tag discovery" message, thereby realizing dynamic refreshing of the tracking link and maintenance of accuracy.

[0051] 3. The router maintains a "Last Discovery Timer S" for each active Bluetooth tag in the multicast forwarding table. If no new discovery message for the tag is received within a set time (e.g., 180 seconds), a "Location Query Trigger" command is sent to the last recorded door lock. After receiving the command, the door lock initiates a "Movement Status Query" to the tag. The tag starts scanning the surrounding door lock IDs for multiple cycles (e.g., 3 U cycles) and compares them with the "Surrounding Door Lock ID Set" collected in each cycle. If the sets are completely consistent, the tag autonomously determines that the vehicle has stopped and replies with a "Stop Moving" confirmation message to the door lock, triggering the final location report.

[0052] 4. The system divides the positioning process into a motion tracking phase and a stabilization determination phase. During the motion tracking phase, only the unit door lock sends a multicast discovery message upon discovering the tag or receiving a re-notification. This message is only propagated between unit door locks; resident door locks do not receive it, forming a limited coordination network. During the stabilization determination phase, confirmation is jointly achieved through router timeout triggering, door lock queries, and tag self-determination. Only then does the final door lock generate and send a one-time "Bluetooth Tag Official Announcement" multicast message. This message is only forwarded to resident door locks that have subscribed to the tag, enabling on-demand allocation of network traffic and precise user notification.

[0053] Another embodiment of the present invention provides a system for door lock cooperative vehicle positioning, see [link to relevant documentation]. Figure 4 The system may include: Module 401 is used for collaborative network construction: based on the unit door locks and homeowner door locks in the community, a join message carrying identification information is sent to the preset multicast address, and a collaborative forwarding path for vehicle positioning is constructed in the router; The recording module 402 is used for motion tracking and path recording: based on the event that the vehicle Bluetooth tag is first discovered by the unit door lock, the door lock is triggered to send a discovery message and notify the tag to record the path. At the same time, the router forwards the message between unit door locks based on the building identifier in the message, forming a record of the vehicle's direction of movement. The refresh module 403 is used for loopback detection and link refresh: based on the historical comparison results of the received door lock identifiers by the vehicle-side Bluetooth tag, when a loopback is detected, the tag actively notifies the relevant door lock to resend the discovery message to refresh the tracking link; The positioning module 404 is used for parking determination and final positioning: based on the timer timeout event maintained by the router for each active tag, it triggers the last-discovery door lock to query the movement status of the vehicle-side Bluetooth tag, and based on the autonomous environment scanning and comparison results of the vehicle-side tag, it determines that the vehicle has come to a complete stop and generates a final location notification to report to the owner.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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 method for locating a vehicle in coordination with door locks, characterized in that, The method includes: Collaborative network construction: Based on the unit door locks and resident door locks within the community, join messages carrying identification information are sent to a preset multicast address, and a collaborative forwarding path for vehicle positioning is constructed in the router; Motion tracking and path recording: Based on the event that the vehicle Bluetooth tag is first discovered by the unit door lock, the door lock is triggered to send a discovery message and notify the tag to record the path. At the same time, the router forwards the message between unit door locks based on the building identifier in the message, forming a record of the vehicle's direction of movement. Wreakaround detection and link refresh: Based on the historical comparison results of the received door lock identifiers by the vehicle-side Bluetooth tag, when a path loopback is detected, the tag actively notifies the relevant door lock to resend the discovery message to refresh the tracking link; Parking determination and final location: Based on the timer timeout event maintained by the router for each active tag, the final discovery door lock is triggered to query the movement status of the vehicle's Bluetooth tag. Based on the autonomous environment scan and comparison results of the vehicle tag, the final location notification is generated and reported to the owner after the vehicle is determined to be parked.

2. The method according to claim 1, characterized in that, The construction of the collaborative network includes: Unit door lock multicast registration: Based on the activation of unit door locks in each building within the community, generate an IGMP join message carrying its own door lock ID and building identifier, and send it to the preset multicast address; Owner door lock interest registration: Based on the pre-pairing relationship between the owner's door lock and the vehicle's Bluetooth tag, generate an IGMP join message carrying the ID of the tag of interest, and send it to the same preset multicast address; Router forwarding table construction: Based on the two types of join messages received by the router, the router records the door lock ID and building identifier for the outgoing interface connecting to the unit door lock, and records the Bluetooth tag ID that the owner is interested in for the outgoing interface connecting to the owner's door lock, thus completing the construction of the cooperative forwarding path.

3. The method according to claim 2, characterized in that, The motion tracking and path recording include: Initial discovery and message transmission: When the unit door lock first detects a vehicle-side Bluetooth tag within its signal range, it immediately generates and sends a Bluetooth tag discovery multicast message carrying the building identifier, tag ID, its own door lock ID, and timestamp, and records the tag ID in the local list, and will not send it again by default; Path information is written to the tag: Based on the event of sending a discovery message, the unit door lock connects to the Bluetooth tag, unicasts a door lock identifier write message containing its own door lock ID, and disconnects after completion; Tag path recording: Write the door lock identifier received by the Bluetooth tag into a message, and store the door lock ID and its receiving timestamp carried in the message into the local circular storage space in sequence; Router forwarding: Based on the Bluetooth tag discovery message carrying the building identifier received by the router, identify the door lock ID recorded on its source interface, and forward the message only to all outgoing interfaces marked with the building identifier in the multicast forwarding table. At the same time, record the tag ID on the source interface and start its dedicated last discovery timer.

4. The method according to claim 3, characterized in that, The loopback detection and link refresh include: Wrapback comparison and judgment: Based on the operation of storing the newly received door lock ID into the loop storage space each time the vehicle Bluetooth tag is used, the new ID is matched and compared with the existing historical door lock ID list in the storage space; Active notification trigger: Based on the comparison result of the new ID matching a certain historical ID, the Bluetooth tag determines that the vehicle has retraced its route, and then sends a rediscovery notification message to the door lock corresponding to the historical ID via unicast. Tracking link refresh: Based on the rediscovery notification message received by the target unit door lock, immediately regenerate and send a Bluetooth tag discovery multicast message for the tag, and update the tag information in the local list to achieve dynamic refresh of the tracking link.

5. The method according to claim 4, characterized in that, The parking determination and final location include: Timer Expiration Triggered Query: Based on the event that the last discovery timer maintained by the router for a certain Bluetooth tag expires and no new discovery message is received, a location query trigger command is sent to the door lock interface associated with the tag and marked as the last discovered in the multicast forwarding table; Door lock initiates status query: Based on the last location query trigger command received by the door lock, attempt to connect to the vehicle's Bluetooth tag and unicast a motion status query request; Vehicle-side autonomous parking determination: Based on the movement status query request received by the Bluetooth tag, a monitoring process with multiple continuous detection cycles is initiated: in each cycle, the surrounding door lock IDs are scanned and recorded to form a set, and the set of multiple consecutive cycles is compared. Judgment result reporting: Based on the comparison results of the surrounding door lock ID sets that are completely consistent collected over multiple consecutive periods, the Bluetooth tag autonomously determines that the vehicle has come to a complete stop and replies to the query door lock with a stop moving confirmation message; if the sets are inconsistent, it replies with a still moving message; if the door lock does not detect the Bluetooth tag for a period of time and does not receive a detection message about the Bluetooth tag from other door locks, it still determines that the vehicle has come to a complete stop near this door lock.

6. The method according to claim 5, characterized in that, The method also includes final location and state reset: Generate final location notification: Based on the last discovered door lock receiving a stop movement confirmation message from the Bluetooth tag, or based on the fact that no discovery message about the tag has been received for a period of time after the query is triggered, generate and send a Bluetooth tag official notification multicast message that clears the building identifier and carries the tag ID and its own door lock ID; Collaborative network state reset: Based on the sending of the final location notification, the door lock simultaneously generates and sends a state reset notification multicast message carrying the building identifier and reset identifier to notify all unit door locks to restore the tag-related records to the initial state; Owner location reception and push: When the router receives a formal announcement message without a building identifier, it only forwards it to the door lock of the owner's home that is interested in the tag ID in the multicast forwarding table; the owner's door lock parses the message to obtain the vehicle's final location information, and if no new announcement is received within a preset time, it pushes the location information to the owner's mobile terminal.

7. A system for coordinating door lock positioning of a vehicle, characterized in that, The system includes: The construction module is used for collaborative network construction: based on the unit door locks and homeowner door locks in the community, a join message carrying identification information is sent to the preset multicast address, and a collaborative forwarding path for vehicle positioning is constructed in the router; The recording module is used for motion tracking and path recording: based on the event that the vehicle Bluetooth tag is first discovered by the unit door lock, the door lock is triggered to send a discovery message and notify the tag to record the path. At the same time, the router forwards the message between unit door locks based on the building identifier in the message, forming a record of the vehicle's direction of movement. The refresh module is used for loopback detection and link refresh: based on the historical comparison results of the received door lock identifiers by the vehicle-side Bluetooth tag, when a loopback is detected, the tag actively notifies the relevant door lock to resend the discovery message to refresh the tracking link; The positioning module is used for parking determination and final location: based on the timer timeout event maintained by the router for each active tag, the last-discovery door lock is triggered to query the movement status of the vehicle's Bluetooth tag, and based on the autonomous environment scan and comparison results of the vehicle tag, after determining that the vehicle has come to a complete stop, a final location notification is generated and reported to the owner.

8. The system according to claim 7, characterized in that, The building module is specifically used for: Unit door lock multicast registration: Based on the activation of unit door locks in each building within the community, generate an IGMP join message carrying its own door lock ID and building identifier, and send it to the preset multicast address; Owner door lock interest registration: Based on the pre-pairing relationship between the owner's door lock and the vehicle's Bluetooth tag, generate an IGMP join message carrying the ID of the tag of interest, and send it to the same preset multicast address; Router forwarding table construction: Based on the two types of join messages received by the router, the router records the door lock ID and building identifier for the outgoing interface connecting to the unit door lock, and records the Bluetooth tag ID that the owner is interested in for the outgoing interface connecting to the owner's door lock, thus completing the construction of the cooperative forwarding path.

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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