A method and system for collaborative vehicle positioning using tag-lock doors

Abstract

This invention discloses a method and system for collaborative vehicle location using tag-based door locks. The method includes: constructing a set of vehicle Bluetooth tags based on vehicle registration messages sent by resident door locks to a multicast address; determining an event of a vehicle carrying a super tag entering the community based on a gate's detection, sending the information to the super tag via Bluetooth connection, and simultaneously notifying other gates via multicast to delete the super tag record; actively scanning surrounding Bluetooth devices and comparing them with the subset of ordinary tags after the super tag determines it has come to a complete stop by scanning surrounding unit door lock signals, forming a list of surrounding ordinary tags; generating a multicast notification message based on the target unit door lock receiving the list of surrounding ordinary tags, and finally pushing the vehicle location information to the corresponding resident. Using this invention, high-precision location confirmation after a vehicle has come to a complete stop can be achieved, reducing system construction costs and improving the intelligence level of community vehicle management.

Description

Technical Field

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

[0002] With the acceleration of urbanization, vehicle management in residential communities is becoming increasingly complex, making accurate vehicle location a key requirement for improving the level of intelligent community services. Existing vehicle positioning technologies mainly rely on methods such as geomagnetic induction, video recognition, or Bluetooth beacons. Geomagnetic and video solutions are greatly affected by the environment, have blind spots, and cannot distinguish specific vehicle owners; Bluetooth beacon solutions require the deployment of numerous beacons within the community, which is costly and difficult to maintain. More importantly, traditional methods can only determine whether a vehicle "entered" or "passed through a certain area," failing to achieve precise positioning after the vehicle has come to a complete stop. Furthermore, it is difficult to link vehicle location information with fixed facilities such as resident unit door locks, making it inconvenient for residents to know the final parking location of visitors' or family members' vehicles. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for collaborative vehicle positioning using tag-locks, in order to overcome the shortcomings of the prior art, achieve high-precision location confirmation after the vehicle has come to a complete stop, reduce system construction costs, and improve the level of intelligence in community vehicle management.

[0004] One embodiment of this application provides a method for collaborative vehicle positioning using a tag-lock system, the method comprising: Tag type registration and collection construction: Based on the vehicle attention registration message sent by the owner's door lock to the multicast address, the vehicle gate receives and records the Bluetooth tag ID and its type identifier, and constructs a vehicle Bluetooth tag collection containing ordinary tags and super tags; Vehicle entry processing and list distribution: Based on the gate's determination of the event of a vehicle carrying a super tag entering the community, the gate extracts a subset of ordinary tags from the vehicle's Bluetooth tag set and sends it to the super tag via Bluetooth connection. At the same time, it notifies other gates to delete the super tag record via multicast. Stopping determination and surrounding tag reporting: After determining that it has stopped based on the super tag by scanning the surrounding unit door lock signals, it actively scans the surrounding Bluetooth devices and compares them with the subset of ordinary tags to form a list of surrounding ordinary tags, and reports it to the target unit door lock with the strongest signal. Collaborative notification and location confirmation: Based on the list of surrounding ordinary tags received by the target unit door lock, multicast notification messages are generated for the owner's door lock and all unit door locks in the network, and the accuracy of the tag location is verified through the reconfirmation mechanism between door locks. Finally, the vehicle location information is pushed to the corresponding owner.

[0005] Optionally, the tag type registration and collection construction includes: Multicast registration and identification: Based on the gate, unit door lock, and owner door lock, respectively send IGMP join messages carrying identification to the preset multicast address. The router records the gate ID and gate identifier, unit door lock ID and building identifier, and owner door lock ID and official announcement identifier in the corresponding interface of the multicast forwarding table, and sends an improved PIM message carrying the same information to the RP direction. Vehicle Attention Registration Message Generation: Generate a vehicle attention registration message with the multicast address as the destination address based on the owner's door lock. The message carries the gate identifier, owner's door lock ID, license plate number, Bluetooth tag ID, and tag type field, where tag type 0 represents a normal tag and 1 represents a super tag. Vehicle Bluetooth tag set construction: Based on the vehicle attention registration message received by the gate, record the Bluetooth tag ID, license plate number, associated owner door lock ID, and tag type in the local vehicle Bluetooth tag set, and mark the initial state of the tag as NULL; Pre-stored list of unit door locks: When the super tag is paired with the owner's door lock for the first time, it obtains the list of unit door lock IDs of the entire community from the owner's door lock via Bluetooth and stores it locally. Ordinary tags do not perform this step.

[0006] Optionally, the vehicle entry processing and list distribution includes: Vehicle entry recognition and type determination: Based on the entrance gate, the camera recognizes the license plate and determines the direction of vehicle entry. At the same time, it detects the super tag carried in the Bluetooth broadcast and queries the vehicle's Bluetooth tag set to confirm that the tag type is a super tag. Extraction and distribution of ordinary tag subset: Based on the vehicle gate, extract all ordinary tag entries from the vehicle Bluetooth tag set to form an ordinary Bluetooth tag subset. Send the start cooperative positioning command and the ordinary Bluetooth tag subset to the super tag via Bluetooth unicast. After receiving the command, the super tag switches to working mode and stores the data locally. Super tag record deletion announcement: Generate a vehicle entry and list update announcement message with the multicast address as the destination address based on the gate. The message carries the gate identifier, list deletion operation identifier, super tag ID and entry event identifier. The router queries the multicast forwarding table and forwards it to other gates. Other gates synchronously delete: Based on the vehicle entry and list update notification message received by other gates, delete the super tag record in the local vehicle Bluetooth tag set; Ordinary tag entry processing: When a vehicle carrying an ordinary tag enters the community based on the gate's determination, only its status in the vehicle Bluetooth tag set is updated to "entering". The list deletion operation is not performed, and no collaborative positioning command or ordinary Bluetooth tag subset is sent to it.

[0007] Optionally, the stabilization determination and surrounding tag reporting include: Periodic scanning of unit door locks: Based on the super tag and the pre-stored list of unit door lock IDs, scan the Bluetooth IDs and signal strengths of surrounding unit door locks in the first cycle to form and record a real-time door lock set; Stabilization determination: Based on the complete consistency of the real-time door lock set across multiple consecutive scanning cycles, the super tag determines that it is in a stable state; Surrounding Common Tag Scan: Active scanning is initiated based on the super tag in a stationary state. According to the subset of common Bluetooth tags, the surrounding Bluetooth device IDs and signal strengths are scanned in multiple consecutive scanning cycles. A full environmental Bluetooth list is formed for Bluetooth devices whose signal strength fluctuations do not exceed the threshold. Generation of surrounding common tag list: When there is an ID in the full environmental Bluetooth list that matches a subset of common Bluetooth tags, record the ID and its signal strength to form a surrounding common tag list; Target lock selection and reporting: Select the target unit lock with the strongest signal from the current real-time lock set based on the super tag, and send a stop and environment reporting message to it via unicast. The message carries the super tag ID, the stop timestamp, and a list of surrounding ordinary tags.

[0008] Optionally, the collaborative notification and location confirmation include: Formal Announcement Message Generation and Distribution: Based on the stop and environmental reporting messages received by the target unit door lock, an independent Bluetooth tag formal announcement message is generated for each ordinary tag in the super tag and the surrounding ordinary tag list. The message carries the formal announcement identifier, tag ID and target unit door lock ID. After being sent through the multicast address, the router forwards it to the corresponding owner door lock according to the interface with the same tag ID and formal announcement identifier recorded in the multicast forwarding table. Surrounding tag collaborative notification and caching: A surrounding tag collaborative notification message is generated based on the target unit door lock. The message carries the building identifier, the target unit door lock ID and the list of surrounding ordinary tags. It is sent to all unit door locks in the network via multicast address. After receiving the message, each unit door lock records the ordinary tag ID and its notification door lock ID in the local neighboring cell tag cache table. Tag location reconfirmation request: After receiving the surrounding tag collaboration notification from other unit door locks, extract the common tag IDs that overlap with the surrounding ordinary tag list generated by itself and the neighboring cell tag cache table, generate a tag location reconfirmation request multicast message and send it to the target unit door lock; Re-probe execution and result feedback: After the target unit door lock receives the reconfirmation request, it generates a lightweight query command and sends it to the super tag via Bluetooth unicast. The super tag immediately re-probes the existence of the ordinary tag to be confirmed and replies the result to the target unit door lock. Confirmation or cancellation processing: If all the re-detection results are present, the target unit door lock unicasts a confirmation message to the requesting door lock, and the requesting door lock updates the cache table to mark it as confirmed; if some or all of them are not present, the target unit door lock generates a tag location cancellation notification multicast message, carrying the building identifier, a list of non-existent ordinary tag IDs and a location cancellation identifier, and notifies all unit door locks to remove the corresponding record from the neighboring cell tag cache table; New Location Active Notification: After receiving the tag location cancellation notification upon request, the door lock checks the locally stored list of surrounding ordinary tags. If the cancelled tag is found in the local reporting list, a formal Bluetooth tag notification message for that tag is generated to refresh the owner's door lock location information, and a surrounding tag collaborative notification message containing the tag ID is generated to update the cache of all unit door locks in the network.

[0009] Optionally, the method further includes: Entering Light Monitoring State: After completing the stabilization and environmental reporting based on the super tag, the system enters light monitoring state and scans the unit door locks in the real-time door lock set in a second cycle that is lower than the active positioning stage. Movement event detection and state recovery: If a new real-time door lock set is detected under light monitoring and it is inconsistent with the set reported last time the device stopped, the super tag determines that it has moved again, clears the stored list of surrounding ordinary tags, re-enters high power mode and performs periodic scanning in the first cycle. Vehicle departure detection and list restoration: Based on the exit gate, determine if a vehicle carrying a super tag has left the community, re-add the super tag record to the local vehicle Bluetooth tag set, mark the status as NULL, and generate a tag departure and synchronization announcement multicast message, carrying the gate identifier, building identifier, list deletion operation identifier, tag ID, tag type, and departure event identifier; Network-wide status synchronization and data cleanup: After receiving tag departure and synchronization notifications from other vehicle gates, add a record of the tag with a status of NULL to the local vehicle Bluetooth tag set; after receiving the notification from all unit door locks, delete all records related to the tag ID from the local neighboring tag cache table. If the tag is a super tag, clean up its maintained temporary status and associated data as well.

[0010] Another embodiment of this application provides a system for cooperative vehicle positioning using a tag-lock system, the system comprising: The registration module is used for tag type registration and set construction: based on the vehicle attention registration message sent by the owner's door lock to the multicast address, the gate receives and records the Bluetooth tag ID and its type identifier, and constructs a vehicle Bluetooth tag set containing ordinary tags and super tags; The processing module is used for vehicle entry processing and list distribution: based on the gate's determination of the event of a vehicle carrying a super tag entering the community, the gate extracts a subset of ordinary tags from the vehicle's Bluetooth tag set and sends them to the super tag via Bluetooth connection, while simultaneously notifying other gates to delete the super tag record via multicast; The determination module is used for stopping stability determination and surrounding tag reporting: after determining that it has stopped by scanning the surrounding unit door lock signals based on the super tag, it actively scans the surrounding Bluetooth devices and compares them with the subset of ordinary tags to form a list of surrounding ordinary tags, and reports it to the target unit door lock with the strongest signal. The confirmation module is used for coordinated notification and location confirmation: based on the list of surrounding ordinary tags received by the target unit door lock, it generates multicast notification messages for the owner's door lock and the door locks of the entire network, and verifies the accuracy of the tag location through the reconfirmation mechanism between door locks, and finally pushes the vehicle location information to the corresponding 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 collaborative vehicle positioning using tag-locks, which can achieve high-precision location confirmation after the vehicle has come to a complete stop, reduce system construction costs, and improve the level of intelligence in community vehicle management. Attached Figure Description

[0014] Figure 1 Hardware structure block diagram of a computer terminal for a method of collaborative vehicle positioning using a tag door lock, provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for collaborative vehicle positioning using a tag-lock system, as provided in an embodiment of the present invention. Figure 3 This is a network topology diagram of a method for collaborative vehicle positioning using tag-locks, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of a system for collaboratively locating vehicles using a tag-lock system, as 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 existing vehicle cooperative positioning systems in residential communities, the homogeneity of functions among all vehicle-side Bluetooth tags leads to bottlenecks in system efficiency and resource utilization: 1) All tags need to perform environmental scanning and stationary determination logic, resulting in high power consumption and computational resource consumption, which is detrimental to tag battery life and cost control; 2) The system cannot distinguish tag capability levels and cannot allocate high-load cooperative sensing tasks (such as surrounding tag discovery and verification) to tags with corresponding capabilities; 3) As the core of the cooperative system, the vehicle gate needs to persistently maintain a full list of Bluetooth tag IDs for all vehicles in the community. As the number of vehicles increases, storage and query overhead increases linearly, affecting processing efficiency; 4) There is a lack of a mechanism for high-capability tags to act as proxies for low-capability tags to collect and report information, which limits the improvement of the overall system's sensing accuracy and real-time performance.

[0017] This invention first provides a method for collaboratively locating vehicles using tag-lock systems. 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 collaborative vehicle positioning using a tag-lock system, as 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 and Figure 3 The present invention provides a method for locating a vehicle in collaboration with a tag-lock system, which may include the following steps: S201, Tag Type Registration and Set Construction: Based on the vehicle registration message sent by the owner's door lock to the multicast address, the vehicle gate receives and records the Bluetooth tag ID and its type identifier, constructing a vehicle Bluetooth tag set containing ordinary tags and super tags; specifically, the tag type registration and set construction includes: Multicast registration and identification: Based on the gate, unit door lock, and owner door lock, respectively send IGMP join messages carrying identification to the preset multicast address. The router records the gate ID and gate identifier, unit door lock ID and building identifier, and owner door lock ID and official announcement identifier in the corresponding interface of the multicast forwarding table, and sends an improved PIM message carrying the same information to the RP direction. Vehicle Attention Registration Message Generation: Generate a vehicle attention registration message with the multicast address as the destination address based on the owner's door lock. The message carries the gate identifier, owner's door lock ID, license plate number, Bluetooth tag ID, and tag type field, where tag type 0 represents a normal tag and 1 represents a super tag. Vehicle Bluetooth tag set construction: Based on the vehicle attention registration message received by the gate, record the Bluetooth tag ID, license plate number, associated owner door lock ID, and tag type in the local vehicle Bluetooth tag set, and mark the initial state of the tag as NULL; Pre-stored list of unit door locks: When the super tag is paired with the owner's door lock for the first time, it obtains the list of unit door lock IDs of the entire community from the owner's door lock via Bluetooth and stores it locally. Ordinary tags do not perform this step.

[0020] S202, Vehicle Entry Processing and List Distribution: Based on the gate's determination of an event where a vehicle carrying a super tag enters the community, the gate extracts a subset of ordinary tags from the vehicle's Bluetooth tag set and sends it to the super tag via Bluetooth connection. Simultaneously, it notifies other gates via multicast to delete the super tag record. Specifically, the vehicle entry processing and list distribution includes: Vehicle entry recognition and type determination: Based on the entrance gate, the camera recognizes the license plate and determines the direction of vehicle entry. At the same time, it detects the super tag carried in the Bluetooth broadcast and queries the vehicle's Bluetooth tag set to confirm that the tag type is a super tag. Extraction and distribution of ordinary tag subset: Based on the vehicle gate, extract all ordinary tag entries from the vehicle Bluetooth tag set to form an ordinary Bluetooth tag subset. Send the start cooperative positioning command and the ordinary Bluetooth tag subset to the super tag via Bluetooth unicast. After receiving the command, the super tag switches to working mode and stores the data locally. Super tag record deletion announcement: Generate a vehicle entry and list update announcement message with the multicast address as the destination address based on the gate. The message carries the gate identifier, list deletion operation identifier, super tag ID and entry event identifier. The router queries the multicast forwarding table and forwards it to other gates. Other gates synchronously delete: Based on the vehicle entry and list update notification message received by other gates, delete the super tag record in the local vehicle Bluetooth tag set; Ordinary tag entry processing: When a vehicle carrying an ordinary tag enters the community based on the gate's determination, only its status in the vehicle Bluetooth tag set is updated to "entering". The list deletion operation is not performed, and no collaborative positioning command or ordinary Bluetooth tag subset is sent to it.

[0021] S203, Stabilization Determination and Surrounding Tag Reporting: After determining that it has stabilized by scanning the surrounding unit door lock signals based on the super tag, it actively scans the surrounding Bluetooth devices and compares them with the subset of ordinary tags to form a list of surrounding ordinary tags, and reports it to the target unit door lock with the strongest signal; specifically, the stabilization determination and surrounding tag reporting includes: Periodic scanning of unit door locks: Based on the super tag and the pre-stored list of unit door lock IDs, scan the Bluetooth IDs and signal strengths of surrounding unit door locks in the first cycle to form and record a real-time door lock set; Stabilization determination: Based on the complete consistency of the real-time door lock set across multiple consecutive scanning cycles, the super tag determines that it is in a stable state; Surrounding Common Tag Scan: Active scanning is initiated based on the super tag in a stationary state. According to the subset of common Bluetooth tags, the surrounding Bluetooth device IDs and signal strengths are scanned in multiple consecutive scanning cycles. A full environmental Bluetooth list is formed for Bluetooth devices whose signal strength fluctuations do not exceed the threshold. Generation of surrounding common tag list: When there is an ID in the full environmental Bluetooth list that matches a subset of common Bluetooth tags, record the ID and its signal strength to form a surrounding common tag list; Target lock selection and reporting: Select the target unit lock with the strongest signal from the current real-time lock set based on the super tag, and send a stop and environment reporting message to it via unicast. The message carries the super tag ID, the stop timestamp, and a list of surrounding ordinary tags.

[0022] S204, Collaborative Notification and Location Confirmation: Based on the target unit lock receiving the surrounding list of ordinary tags, multicast notification messages are generated for the owner's lock and all unit locks in the network, respectively. The accuracy of the tag location is verified through a reconfirmation mechanism between locks, and finally, the vehicle location information is pushed to the corresponding owner. Specifically, the collaborative notification and location confirmation includes: Formal Announcement Message Generation and Distribution: Based on the stop and environmental reporting messages received by the target unit door lock, an independent Bluetooth tag formal announcement message is generated for each ordinary tag in the super tag and the surrounding ordinary tag list. The message carries the formal announcement identifier, tag ID and target unit door lock ID. After being sent through the multicast address, the router forwards it to the corresponding owner door lock according to the interface with the same tag ID and formal announcement identifier recorded in the multicast forwarding table. Surrounding tag collaborative notification and caching: A surrounding tag collaborative notification message is generated based on the target unit door lock. The message carries the building identifier, the target unit door lock ID and the list of surrounding ordinary tags. It is sent to all unit door locks in the network via multicast address. After receiving the message, each unit door lock records the ordinary tag ID and its notification door lock ID in the local neighboring cell tag cache table. Tag location reconfirmation request: After receiving the surrounding tag collaboration notification from other unit door locks, extract the common tag IDs that overlap with the surrounding ordinary tag list generated by itself and the neighboring cell tag cache table, generate a tag location reconfirmation request multicast message and send it to the target unit door lock; Re-probe execution and result feedback: After the target unit door lock receives the reconfirmation request, it generates a lightweight query command and sends it to the super tag via Bluetooth unicast. The super tag immediately re-probes the existence of the ordinary tag to be confirmed and replies the result to the target unit door lock. Confirmation or cancellation processing: If all the re-detection results are present, the target unit door lock unicasts a confirmation message to the requesting door lock, and the requesting door lock updates the cache table to mark it as confirmed; if some or all of them are not present, the target unit door lock generates a tag location cancellation notification multicast message, carrying the building identifier, a list of non-existent ordinary tag IDs and a location cancellation identifier, and notifies all unit door locks to remove the corresponding record from the neighboring cell tag cache table; New Location Active Notification: After receiving the tag location cancellation notification upon request, the door lock checks the locally stored list of surrounding ordinary tags. If the cancelled tag is found in the local reporting list, a formal Bluetooth tag notification message for that tag is generated to refresh the owner's door lock location information, and a surrounding tag collaborative notification message containing the tag ID is generated to update the cache of all unit door locks in the network.

[0023] Furthermore, the method also includes: Entering Light Monitoring State: After completing the stabilization and environmental reporting based on the super tag, the system enters light monitoring state and scans the unit door locks in the real-time door lock set in a second cycle that is lower than the active positioning stage. Movement event detection and state recovery: If a new real-time door lock set is detected under light monitoring and it is inconsistent with the set reported last time the device stopped, the super tag determines that it has moved again, clears the stored list of surrounding ordinary tags, re-enters high power mode and performs periodic scanning in the first cycle. Vehicle departure detection and list restoration: Based on the exit gate, determine if a vehicle carrying a super tag has left the community, re-add the super tag record to the local vehicle Bluetooth tag set, mark the status as NULL, and generate a tag departure and synchronization announcement multicast message, carrying the gate identifier, building identifier, list deletion operation identifier, tag ID, tag type, and departure event identifier; Network-wide status synchronization and data cleanup: After receiving tag departure and synchronization notifications from other vehicle gates, add a record of the tag with a status of NULL to the local vehicle Bluetooth tag set; after receiving the notification from all unit door locks, delete all records related to the tag ID from the local neighboring tag cache table. If the tag is a super tag, clean up its maintained temporary status and associated data as well.

[0024] This invention provides a community vehicle positioning system and method that introduces a two-tier architecture of ordinary tags and super tags, supporting dynamic list management and cross-lock collaborative verification. By having resident locks declare tag types during registration, the gate constructs a "vehicle Bluetooth tag set" containing capability attributes. The gate only synchronizes the current list of ordinary tags for the entire community with super tags entering the community, and dynamically removes super tags that have already entered from this set, continuously streamlining the gate's storage list. After a super tag comes to a stop, it actively scans and reports surrounding ordinary tag information based on the obtained list of ordinary tags. A cross-lock tag location mutual recognition and reconfirmation mechanism based on super tag detection results is established between unit locks to ensure the accuracy and real-time nature of positioning information. This achieves intelligent vehicle positioning through hierarchical utilization of tag capabilities, dynamic optimization of gate storage, and enhanced system perception and collaboration.

[0025] Solution: I. Prerequisites: Smart gates are deployed at each entrance and exit of the residential community, equipped with built-in camera modules (preset direction), Bluetooth communication modules, and list management modules. Smart unit door locks are deployed at the entrances of each building unit, possessing Bluetooth broadcasting, detection, multicast communication, and list management capabilities. Vehicle-mounted Bluetooth tags are divided into two categories: ordinary Bluetooth tags, with basic Bluetooth communication, storage, and passive response capabilities; and super Bluetooth tags, which, in addition to ordinary tag functions, also possess active scanning, list management, logical judgment, and collaborative verification capabilities. Super Bluetooth tags carry their own super identifier (identity authentication) when sending Bluetooth broadcasts. Residential door locks are pre-loaded with the vehicle's license plate number, Bluetooth tag ID, and tag type identifier (ordinary or super). The property management system pre-stores a list of all unit door lock IDs in the community and allows each resident's door lock to retrieve this list via a reliable network upon startup. All gates, unit door locks, and resident door locks are connected to the community's IoT network, supporting multicast communication (multicast address example: 226.10.10.1).

[0026] II. Solution Steps: 1: The community's vehicle gate, unit door lock, and resident door lock are added to a specific multicast group. The resident door lock sends a "Vehicle Attention Registration" multicast message, and the vehicle gate performs vehicle Bluetooth tag type registration and vehicle Bluetooth list construction.

[0027] (1) Each gate in the community sends an IGMP join message to the directly connected router with a destination address of 226.10.10.1. The message carries the gate ID of the gate and a "gate tag" set to 1 (indicating that the gate is a gate). After receiving the IGMP join message, the router records the gate ID and the "gate tag" set to 1 on the interface corresponding to the multicast forwarding table of (*, 226.10.10.1), and marks the interface as an IGMP member interface. The router sends an improved PIM message to the RP direction, which also additionally carries the gate ID and the "gate tag" set to 1.

[0028] (2) 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 226.10.10.1 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 (*, 226.10.10.1), 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.

[0029] (3) Each owner's door lock sends an IGMP join message to the same destination address, but without the building tag. Instead, it carries a "Formal Announcement Tag" set to 1 (for receiving subsequent formal announcement messages) and 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 the tag and has registered it with the router. 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 (*, 226.10.10.1) multicast forwarding table, and marks the interface as an IGMP member interface. The router sends an improved PIM message to the RP direction, which additionally carries a formal announcement tag set to 1 and the Bluetooth tag A ID.

[0030] (4) Each owner's door lock generates a "Vehicle Attention Registration" multicast message with a destination address of 226.10.10.1. This message carries a "Gate Tag" set to 1, the owner's door lock ID, its paired license plate number, the vehicle's Bluetooth tag ID (e.g., tag A), and a newly added "Tag Type" field (0 for ordinary tag, 1 for super tag). After receiving this message, all gates record the following entries in their local "Vehicle Bluetooth Tag Set": Bluetooth tag ID, license plate number, associated owner's door lock ID, tag type (ordinary / super), associated unit door lock ID (only super tags are filled in), and mark the initial status of the tag as "NULL" (indicating not in the community or unknown status).

[0031] (5) After the super tag (such as tag A) is paired with the owner's door lock for the first time, it obtains the list of unit door lock IDs for the entire community from the owner's door lock via Bluetooth and stores it locally. Ordinary tags do not require this step.

[0032] 2: The community gate detects vehicles entering the community and notifies the unit door lock of the Bluetooth tag ID. The Bluetooth tag periodically detects the signals of surrounding unit door locks.

[0033] (1) Owner A's vehicle, carrying Super Tag A, approaches the community entrance. The entrance gate camera captures the license plate number and identifies the direction as "entering". The gate detects that the Bluetooth broadcast message of Tag A carries the Super Tag identifier and confirms that Tag A is a "Super Tag" by querying the "Vehicle Bluetooth Tag Set". The gate updates the status of Tag A in the set to "entering", and then extracts all entries of type "ordinary tag" in the current "Vehicle Bluetooth Tag Set" to form a "ordinary Bluetooth tag subset". The gate connects to Super Tag A via Bluetooth unicast and sends a "start cooperative positioning" command and the aforementioned "ordinary Bluetooth tag subset" to Tag A. After receiving the command, Tag A switches from low power mode to working mode and stores the subset.

[0034] (2) The same gate generates a "Vehicle Entry and List Update Announcement" multicast message with a destination address of 226.10.10.1. This message carries the "Gate Tag" (set to 1), the "List Operation Tag" (set to 1, indicating a deletion operation), the tag A ID, and the "Entry" event identifier. The router queries the multicast forwarding table at (*, 226.10.10.1) and forwards the "Vehicle Entry and List Update Announcement" message from the outgoing interface that records the "Gate Tag" (set to 1). After receiving this message, other gates perform a deletion operation in their local "Vehicle Bluetooth Tag Set" and remove the record of tag A.

[0035] (3) When a regular tag enters the community, the vehicle gate queries the “Vehicle Bluetooth Tag Set” and confirms that the tag type is “regular tag”. The vehicle gate only updates its status in the set to “entering”, without deleting it from the list or sending “Vehicle entry and list update notification”, and does not send “start collaborative positioning” command or “regular Bluetooth tag subset” to it.

[0036] 3: Super tag stabilization determination and collection and reporting of surrounding ordinary tags.

[0037] (1) Super tag A periodically scans the Bluetooth IDs and signal strengths of surrounding unit door locks according to the pre-stored unit door lock ID list (period T=10 seconds) to form and record the "real-time door lock set". If the "real-time door lock set" is completely consistent for 3 consecutive periods, tag A determines that it has reached a stable state.

[0038] (2) After the device is stationary, tag A initiates a targeted active scan. Based on the "subset of ordinary Bluetooth tags" issued by the gate at the community entrance, it scans the IDs and signal strengths of surrounding Bluetooth devices for several consecutive cycles (configurable, such as 3 cycles, with each cycle S=30 seconds). For Bluetooth device IDs whose signal strength remains basically unchanged (signal strength fluctuation range does not exceed 10%) over several cycles, a "full environmental Bluetooth list" is formed. When a Bluetooth ID is found to exist in the "subset of ordinary Bluetooth tags", the ID and its signal strength are recorded to form a "list of surrounding ordinary tags".

[0039] (3) Tag A selects the unit lock with the strongest signal (denoted as lock C) from the current "real-time lock set" and sends a "stop and environment report" message to it via unicast. In addition to its own ID (tag A ID) and stop timestamp, the message also carries a "list of surrounding ordinary tags".

[0040] 4: Mechanism for coordinated notification and location reconfirmation between unit door locks.

[0041] (1) After receiving the "Stop and Environment Report" message from the super tag A, door lock C generates two types of multicast messages: a) "Bluetooth Tag Official Announcement": Door lock C needs to generate an independent "Bluetooth Tag Official Announcement" message for super tag A and each ordinary tag ID in its reported "List of Surrounding Ordinary Tags". The destination address of the message is 226.10.10.1, carrying the "Official Announcement Tag" (set to 1), tag ID (super tag or ordinary tag, such as tag A or tag C), and door lock ID (door lock C), to notify the owner of the tag of the location of the vehicle. The router queries the (*, 226.10.10.1) forwarding table and sends it out from the interface that records the same Bluetooth tag ID and "Official Announcement Tag" set to 1. After receiving the "Bluetooth Tag Official Announcement" forwarded by the router, the resident's door lock parses the "Tag ID" in the message. If it matches the pre-paired tag ID (e.g., both are tag A), it extracts the door lock ID (door lock C) from the message, converts it into readable location information (e.g., "vehicle parked near Unit 2, Building 2"), saves it as the vehicle's current location, and can push this information to the car owner's mobile app to guide the owner to quickly find their car. b) "Nearby Tag Collaborative Announcement": The message destination address is 226.10.10.1, carrying the "Building Tag" (set to 1), the door lock ID (door lock C), and the "List of Surrounding Ordinary Tags," used to inform all unit door locks in the network that ordinary tags in the "List of Surrounding Ordinary Tags" are currently near door lock C. After receiving the "Nearby Tag Collaborative Announcement," the unit door lock maintains a "Neighboring Tag Cache Table" locally, recording ordinary tags announced by other door locks and their announcing door lock IDs.

[0042] (2) Assume that another unit door lock F also received a “Surrounding Tag Collaboration Announcement” message reported by its nearby super tag B, carrying the “Building Tag” (set to 1), door lock F ID and “Surrounding Ordinary Tag List” (generated by tag B). Since door lock F previously received a “Surrounding Tag Collaboration Announcement” message from door lock C, it recorded the ordinary tags in the message in its own cache table. At this time, door lock F extracts the ordinary tag IDs that overlap with the announcement list of door lock C in its own generated “Surrounding Ordinary Tag List” and generates a “Tag Location Reconfirmation Request” multicast message, which is sent to door lock C (by carrying door lock C ID in the message). This message also carries the set of ordinary tag IDs to be confirmed and door lock F ID.

[0043] (3) After receiving the request, door lock C does not respond immediately. Instead, it matches the sending tag ID (tag A) in the local "surrounding ordinary tag list" based on the set of ordinary tag IDs to be confirmed in the message. It generates a lightweight query command and sends it to super tag A via Bluetooth unicast, instructing it to immediately re-probe whether the ordinary tag to be confirmed in the request message exists.

[0044] (4) After performing a fast probe, super tag A replies with the result (existence or non-existence) to lock C. If all tags exist, lock C unicasts a "confirm existence" message to lock F. The system maintains the state that these tags are located near lock C. Lock F updates its cache table and marks these tags as "confirmed". If some or all tags do not exist, or if reprobing cannot be performed due to super tag A being moved (considered as not existing at all), lock C generates a "tag location removal notice" multicast message with a destination address of 226.10.10.1, carrying the "building tag" (set to 1), a list of non-existent ordinary tag IDs, and the "location removal tag" (set to 1), notifying all unit locks to remove these tags from their "neighbor tag cache table".

[0045] (5) If lock F receives a "tag location cancellation notice" from lock C, it should immediately check the "list of surrounding ordinary tags" reported by super tag B in its local storage. If the cancelled tag ID is found in the local reporting list, it means that the tag has likely moved to the vicinity of lock F. At this time, lock F should assume the responsibility of reporting the new location of the tag and perform the following operations: a) Generate a "Bluetooth tag official announcement" message for the tag, carrying the "official announcement tag" (set to 1), the ordinary tag ID, and lock F ID, and send it to multicast address 226.10.10.1 to refresh the owner lock location information of the tag. b) Generate a "surrounding tag collaborative announcement" message containing the tag ID, update the cache data of all unit locks in the network, and associate the new location of the tag with lock F.

[0046] 5: After the Super Bluetooth tag comes to a stop, it enters a light monitoring state. When the tag senses another movement event, it restarts the high power mode and begins a periodic scan of the unit door lock again.

[0047] (1) After Super Tag A completes the “Stop and Report Environment” message in step 3, it enters “Light Monitoring State”. In this state, it continues to scan the door locks in the “Real-time Door Lock Set” at a lower frequency (configurable, such as period T’=60 seconds), and the power consumption is significantly lower than in the active positioning stage.

[0048] (2) In the “light monitoring state”, if tag A detects a new “real-time door lock set” that is inconsistent with the set reported last time it stopped, it immediately determines that it has “moved again” and clears the previously stored “list of surrounding ordinary tags” because the environmental information has expired. Tag A re-enters the high power mode and periodically scans and detects the surrounding unit door locks at time T.

[0049] 6: Super tags leaving the community and global list restoration.

[0050] (1) When a vehicle carrying the super Bluetooth tag A leaves the community, the exit gate determines that tag A is in a departing state using the aforementioned direction determination method. The exit gate detects that the Bluetooth broadcast message of tag A carries the super identifier, so it re-adds the record of tag A to its local "vehicle Bluetooth tag set", with the tag type being "super" and the status being "NULL" (when a normal tag leaves, the gate only updates its status in the set to "departing" and does not trigger the record addition and restoration operation). The exit gate generates a "tag departure and synchronization announcement" multicast message with a destination address of 226.10.10.1 (this message is generated regardless of whether a super tag or a normal tag is detected), carrying the "gate tag" (set to 1), "building tag" (set to 1), "list operation tag" (set to 2, indicating an addition operation), tag A ID, tag type (super), and "departure" event identifier.

[0051] (2) Upon receiving this message, other gates will synchronously add a record for tag A to their local "Vehicle Bluetooth Tag Set" with the status marked as "NULL". When a regular tag leaves, the gate will only update its status in the set to "NULL". Upon receiving the "Tag Leave and Synchronization Notification" message, all unit locks will immediately delete all records related to the tag ID from their local "Neighboring Zone Tag Cache Table" (i.e., the tag is a neighboring tag notified by other locks). If the tag is a super tag and this lock has maintained any temporary status or associated data for it, it will also be cleared.

[0052] Beneficial effects: 1. By distinguishing between ordinary tags and super tags with active scanning and collaborative verification capabilities, high-power tasks are concentrated on a few super tags, allowing most ordinary tags to maintain a low-power design, and the overall power consumption and hardware cost of the system are significantly reduced.

[0053] 2. The gate only synchronizes the current "ordinary tag subset" with the super tag that enters, and can dynamically manage its records, so that the amount of data processed in real time is much smaller than the total number of vehicles, greatly reducing the storage and query pressure and improving processing efficiency.

[0054] 3. Super tags can proactively discover and report the locations of surrounding ordinary tags, enabling the system to effectively cover all vehicles (including tags without proactive reporting capabilities), significantly improving the success rate and accuracy of positioning.

[0055] 4. Through the collaborative verification and reconfirmation mechanism of overlapping tags between door locks, vehicle movement can be detected in a timely manner and the location cancellation and refresh process can be triggered to avoid information delays and ensure that car owners obtain accurate and real-time vehicle location.

[0056] 5. Based on the authoritative judgment of the vehicle gate, the entry and exit events are synchronized with the entire network via multicast; after the vehicle leaves, all unit door locks are automatically triggered to clear relevant data to avoid residue and ensure the continuous and efficient operation of the system.

[0057] Protection Points: 1. Differentiate vehicle-side Bluetooth tags into ordinary tags and super tags. Super tags carry a super identifier in broadcasts and have active scanning, list management, and collaborative verification capabilities. The gate system, based on tag type, only sends the current list of ordinary tags to entering super tags and dynamically manages the storage records of super tags (deleting them upon entering the cell and adding them upon leaving), saving storage space.

[0058] 2. After the super tag comes to a stop, it actively scans the acquired list of ordinary tags to form a "list of surrounding ordinary tags," and reports its own location along with this list to the nearest unit door lock. This door lock generates an independent location notification message for the super tag and each ordinary tag in the list, enabling proxy positioning and precise information distribution.

[0059] 3. Unit door locks maintain a cache of ordinary tags in neighboring areas through a shared "surrounding tag collaborative announcement". When different door locks have overlapping location information for the same tag, they can initiate a reconfirmation request through inter-lock writing. Confirmation or location cancellation is triggered based on the re-probing result of the super tag that first announced the tag. If a tag location is cancelled, the door locks in the newly discovered area will proactively initiate a new location announcement to complete the location refresh.

[0060] 4. After the gate detects that a vehicle has left, it sends a multicast notification with a clearing instruction. Upon receiving this notification, all unit door locks automatically delete all relevant records of the vehicle tag from their local data structures such as the "List of Vehicles to be Located" and the "Neighboring Cell Tag Cache Table," thereby achieving state synchronization and resource release.

[0061] Another embodiment of the present invention provides a system for coordinated vehicle positioning using a tag-lock system, see [link to relevant documentation]. Figure 4 The system may include: Registration module 401 is used for tag type registration and set construction: based on the vehicle attention registration message sent by the owner's door lock to the multicast address, the gate receives and records the Bluetooth tag ID and its type identifier, and constructs a vehicle Bluetooth tag set containing ordinary tags and super tags; Processing module 402 is used for vehicle entry processing and list distribution: based on the gate's determination of the event of a vehicle carrying a super tag entering the community, the gate extracts a subset of ordinary tags from the vehicle's Bluetooth tag set and sends them to the super tag via Bluetooth connection, while simultaneously notifying other gates to delete the super tag record via multicast. The determination module 403 is used for stopping determination and surrounding tag reporting: after determining that it has stopped by scanning the surrounding unit door lock signals based on the super tag, it actively scans the surrounding Bluetooth devices and compares them with the subset of ordinary tags to form a list of surrounding ordinary tags, and reports it to the target unit door lock with the strongest signal. The confirmation module 404 is used for collaborative notification and location confirmation: based on the target unit door lock receiving the list of surrounding ordinary tags, it generates multicast notification messages for the owner's door lock and the entire network of unit door locks respectively, and verifies the accuracy of the tag location through the reconfirmation mechanism between door locks, and finally pushes the vehicle location information to the corresponding owner.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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 collaborative vehicle positioning using tag-lock systems, characterized in that, The method includes: Tag type registration and collection construction: Based on the vehicle attention registration message sent by the owner's door lock to the multicast address, the vehicle gate receives and records the Bluetooth tag ID and its type identifier, and constructs a vehicle Bluetooth tag collection containing ordinary tags and super tags; Vehicle entry processing and list distribution: Based on the gate's determination of the event of a vehicle carrying a super tag entering the community, the gate extracts a subset of ordinary tags from the vehicle's Bluetooth tag set and sends it to the super tag via Bluetooth connection. At the same time, it notifies other gates to delete the super tag record via multicast. Stopping determination and surrounding tag reporting: After determining that it has stopped based on the super tag by scanning the surrounding unit door lock signals, it actively scans the surrounding Bluetooth devices and compares them with the subset of ordinary tags to form a list of surrounding ordinary tags, and reports it to the target unit door lock with the strongest signal. Collaborative notification and location confirmation: Based on the list of surrounding ordinary tags received by the target unit door lock, multicast notification messages are generated for the owner's door lock and all unit door locks in the network, and the accuracy of the tag location is verified through the reconfirmation mechanism between door locks. Finally, the vehicle location information is pushed to the corresponding owner.

2. The method according to claim 1, characterized in that, The tag type registration and collection construction include: Multicast registration and identification: Based on the gate, unit door lock, and owner door lock, respectively send IGMP join messages carrying identification to the preset multicast address. The router records the gate ID and gate identifier, unit door lock ID and building identifier, and owner door lock ID and official announcement identifier in the corresponding interface of the multicast forwarding table, and sends an improved PIM message carrying the same information to the RP direction. Vehicle Attention Registration Message Generation: Generate a vehicle attention registration message with the multicast address as the destination address based on the owner's door lock. The message carries the gate identifier, owner's door lock ID, license plate number, Bluetooth tag ID, and tag type field, where tag type 0 represents a normal tag and 1 represents a super tag. Vehicle Bluetooth tag set construction: Based on the vehicle attention registration message received by the gate, record the Bluetooth tag ID, license plate number, associated owner door lock ID, and tag type in the local vehicle Bluetooth tag set, and mark the initial state of the tag as NULL; Pre-stored list of unit door locks: When the super tag is paired with the owner's door lock for the first time, it obtains the list of unit door lock IDs of the entire community from the owner's door lock via Bluetooth and stores it locally. Ordinary tags do not perform this step.

3. The method according to claim 2, characterized in that, The vehicle entry processing and list distribution include: Vehicle entry recognition and type determination: Based on the entrance gate, the camera recognizes the license plate and determines the direction of vehicle entry. At the same time, it detects the super tag carried in the Bluetooth broadcast and queries the vehicle's Bluetooth tag set to confirm that the tag type is a super tag. Extraction and distribution of ordinary tag subset: Based on the vehicle gate, extract all ordinary tag entries from the vehicle Bluetooth tag set to form an ordinary Bluetooth tag subset. Send the start cooperative positioning command and the ordinary Bluetooth tag subset to the super tag via Bluetooth unicast. After receiving the command, the super tag switches to working mode and stores the data locally. Super tag record deletion announcement: Generate a vehicle entry and list update announcement message with the multicast address as the destination address based on the gate. The message carries the gate identifier, list deletion operation identifier, super tag ID and entry event identifier. The router queries the multicast forwarding table and forwards it to other gates. Other gates synchronously delete: Based on the vehicle entry and list update notification message received by other gates, delete the super tag record in the local vehicle Bluetooth tag set; Ordinary tag entry processing: When a vehicle carrying an ordinary tag enters the community based on the gate's determination, only its status in the vehicle Bluetooth tag set is updated to "entering". The list deletion operation is not performed, and no collaborative positioning command or ordinary Bluetooth tag subset is sent to it.

4. The method according to claim 3, characterized in that, The stabilization determination and surrounding tag reporting include: Periodic scanning of unit door locks: Based on the super tag and the pre-stored list of unit door lock IDs, scan the Bluetooth IDs and signal strengths of surrounding unit door locks in the first cycle to form and record a real-time door lock set; Stabilization determination: Based on the complete consistency of the real-time door lock set across multiple consecutive scanning cycles, the super tag determines that it is in a stable state; Surrounding Common Tag Scan: Active scanning is initiated based on the super tag in a stationary state. According to the subset of common Bluetooth tags, the surrounding Bluetooth device IDs and signal strengths are scanned in multiple consecutive scanning cycles. A full environmental Bluetooth list is formed for Bluetooth devices whose signal strength fluctuations do not exceed the threshold. Generation of surrounding common tag list: When there is an ID in the full environmental Bluetooth list that matches a subset of common Bluetooth tags, record the ID and its signal strength to form a surrounding common tag list; Target lock selection and reporting: Select the target unit lock with the strongest signal from the current real-time lock set based on the super tag, and send a stop and environment reporting message to it via unicast. The message carries the super tag ID, the stop timestamp, and a list of surrounding ordinary tags.

5. The method according to claim 4, characterized in that, The coordinated notification and location confirmation include: Formal Announcement Message Generation and Distribution: Based on the stop and environmental reporting messages received by the target unit door lock, an independent Bluetooth tag formal announcement message is generated for each ordinary tag in the super tag and the surrounding ordinary tag list. The message carries the formal announcement identifier, tag ID and target unit door lock ID. After being sent through the multicast address, the router forwards it to the corresponding owner door lock according to the interface with the same tag ID and formal announcement identifier recorded in the multicast forwarding table. Surrounding tag collaborative notification and caching: A surrounding tag collaborative notification message is generated based on the target unit door lock. The message carries the building identifier, the target unit door lock ID and the list of surrounding ordinary tags. It is sent to all unit door locks in the network via multicast address. After receiving the message, each unit door lock records the ordinary tag ID and its notification door lock ID in the local neighboring cell tag cache table. Tag location reconfirmation request: After receiving the surrounding tag collaboration notification from other unit door locks, extract the common tag IDs that overlap with the surrounding ordinary tag list generated by itself and the neighboring cell tag cache table, generate a tag location reconfirmation request multicast message and send it to the target unit door lock; Re-probe execution and result feedback: After the target unit door lock receives the reconfirmation request, it generates a lightweight query command and sends it to the super tag via Bluetooth unicast. The super tag immediately re-probes the existence of the ordinary tag to be confirmed and replies the result to the target unit door lock. Confirmation or cancellation processing: If all the re-detection results are present, the target unit door lock unicasts a confirmation message to the requesting door lock, and the requesting door lock updates the cache table to mark it as confirmed; if some or all of them are not present, the target unit door lock generates a tag location cancellation notification multicast message, carrying the building identifier, a list of non-existent ordinary tag IDs and a location cancellation identifier, and notifies all unit door locks to remove the corresponding record from the neighboring cell tag cache table; New Location Active Notification: After receiving the tag location cancellation notification upon request, the door lock checks the locally stored list of surrounding ordinary tags. If the cancelled tag is found in the local reporting list, a formal Bluetooth tag notification message for that tag is generated to refresh the owner's door lock location information, and a surrounding tag collaborative notification message containing the tag ID is generated to update the cache of all unit door locks in the network.

6. The method according to claim 5, characterized in that, The method further includes: Entering Light Monitoring State: After completing the stabilization and environmental reporting based on the super tag, the system enters light monitoring state and scans the unit door locks in the real-time door lock set in a second cycle that is lower than the active positioning stage. Movement event detection and state recovery: If a new real-time door lock set is detected under light monitoring and it is inconsistent with the set reported last time the device stopped, the super tag determines that it has moved again, clears the stored list of surrounding ordinary tags, re-enters high power mode and performs periodic scanning in the first cycle. Vehicle departure detection and list restoration: Based on the exit gate, determine if a vehicle carrying a super tag has left the community, re-add the super tag record to the local vehicle Bluetooth tag set, mark the status as NULL, and generate a tag departure and synchronization announcement multicast message, carrying the gate identifier, building identifier, list deletion operation identifier, tag ID, tag type, and departure event identifier; Network-wide status synchronization and data cleanup: After receiving tag departure and synchronization notifications from other vehicle gates, add a record of the tag with a status of NULL to the local vehicle Bluetooth tag set; after receiving the notification from all unit door locks, delete all records related to the tag ID from the local neighboring tag cache table. If the tag is a super tag, clean up its maintained temporary status and associated data as well.

7. A system for collaborative vehicle positioning using tag-lock doors, characterized in that, The system includes: The registration module is used for tag type registration and set construction: based on the vehicle attention registration message sent by the owner's door lock to the multicast address, the gate receives and records the Bluetooth tag ID and its type identifier, and constructs a vehicle Bluetooth tag set containing ordinary tags and super tags; The processing module is used for vehicle entry processing and list distribution: based on the gate's determination of the event of a vehicle carrying a super tag entering the community, the gate extracts a subset of ordinary tags from the vehicle's Bluetooth tag set and sends them to the super tag via Bluetooth connection, while simultaneously notifying other gates to delete the super tag record via multicast; The determination module is used for stopping stability determination and surrounding tag reporting: after determining that it has stopped by scanning the surrounding unit door lock signals based on the super tag, it actively scans the surrounding Bluetooth devices and compares them with the subset of ordinary tags to form a list of surrounding ordinary tags, and reports it to the target unit door lock with the strongest signal. The confirmation module is used for coordinated notification and location confirmation: based on the list of surrounding ordinary tags received by the target unit door lock, it generates multicast notification messages for the owner's door lock and the door locks of the entire network, and verifies the accuracy of the tag location through the reconfirmation mechanism between door locks, and finally pushes the vehicle location information to the corresponding owner.

8. The system according to claim 7, characterized in that, The registration module is specifically used for: Multicast registration and identification: Based on the gate, unit door lock, and owner door lock, respectively send IGMP join messages carrying identification to the preset multicast address. The router records the gate ID and gate identifier, unit door lock ID and building identifier, and owner door lock ID and official announcement identifier in the corresponding interface of the multicast forwarding table, and sends an improved PIM message carrying the same information to the RP direction. Vehicle Attention Registration Message Generation: Generate a vehicle attention registration message with the multicast address as the destination address based on the owner's door lock. The message carries the gate identifier, owner's door lock ID, license plate number, Bluetooth tag ID, and tag type field, where tag type 0 represents a normal tag and 1 represents a super tag. Vehicle Bluetooth tag set construction: Based on the vehicle attention registration message received by the gate, record the Bluetooth tag ID, license plate number, associated owner door lock ID, and tag type in the local vehicle Bluetooth tag set, and mark the initial state of the tag as NULL; Pre-stored list of unit door locks: When the super tag is paired with the owner's door lock for the first time, it obtains the list of unit door lock IDs of the entire community from the owner's door lock via Bluetooth and stores it locally. Ordinary tags do not perform this step.

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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