CN110992674B

CN110992674B - Supervision method, supervision device, positioning system, management system and storage medium

Info

Publication number: CN110992674B
Application number: CN201811077570.5A
Authority: CN
Inventors: 请求不公布姓名; 张卫东
Original assignee: Beijing Qisheng Technology Co Ltd
Current assignee: Beijing Qisheng Technology Co Ltd
Priority date: 2018-09-15
Filing date: 2018-09-15
Publication date: 2023-01-13
Anticipated expiration: 2038-09-15
Also published as: WO2020052652A1; CN110992674A

Abstract

The invention provides a supervision method, a supervision device, a positioning system, a management system and a storage medium, wherein the supervision method comprises the following steps: determining relative position information between the vehicle end and a preset fence area according to positioning information for positioning the vehicle end and prestored positioning information of the preset fence area; and generating corresponding parking indication information according to the relative position information. According to the technical scheme, the vehicle end is accurately positioned according to the interaction between the ultra-wideband pulse signals, the detection accuracy of the relative position relation between the vehicle end and the designated fence area is improved, the reasonable parking indication information is combined, a user is guided to park the vehicle end in the designated fence area, and the vehicle end monitoring efficiency is improved while the standard parking can be realized.

Description

Supervision method, supervision device, positioning system, management system and storage medium

Technical Field

The invention relates to the field of vehicle supervision, in particular to a vehicle side supervision method, a vehicle side supervision device, a vehicle positioning system, a vehicle parking management system and a computer readable storage medium.

Background

The existing solution mainly includes positioning modes such as GNSS (Global Navigation Satellite System), bluetooth/Wi-Fi near field positioning, and RFID (Radio Frequency Identification) positioning.

(1) For the common GNSS single-point positioning, the positioning precision is usually about 10m, the precise positioning cannot be realized, for the preset fence area, the boundary width of the fence is usually only about 2m, so that the equipment to be positioned cannot be accurately detected to be positioned in the preset fence area or outside the preset fence area by adopting a GNSS single-point positioning mode, for the high-precision GNSS positioning mode, although the RTD and RTK differential positioning contained in the GNSS single-point positioning mode can realize sub-meter and centimeter-meter positioning in an open area with better environment, the actual positioning deviation in places with dense buildings is about tens of meters because the RTD and RTK differential positioning cannot eliminate the multi-mirror effect in front of urban high buildings, and the time required by the RTD and RTK differential positioning is longer under the ideal condition, the power consumption is larger, and the influence on the power consumption service life of an intelligent terminal on a vehicle is larger;

(2) In addition, the error accuracy of the bluetooth/Wi-Fi near field positioning is 3-5m and 5-10m, on one hand, the positioning accuracy cannot meet the requirement, and on the other hand, the positioning of the bluetooth/Wi-Fi depends on the Signal Strength RSSI (Received Signal Strength Indication), is easily interfered and is unstable in positioning, while the positioning accuracy of the RFID can meet the requirement, but an antenna detection array needs to be laid on the road surface, so that the implementation difficulty is high.

Therefore, the positioning method is not beneficial to monitoring the vehicle end due to poor positioning precision.

Disclosure of Invention

The present invention has been made to solve at least one of the problems occurring in the prior art or the related art.

To this end, it is an object of the present invention to provide a vehicle-end supervision method.

Another object of the present invention is to provide a vehicle-end supervision apparatus.

It is a further object of the present invention to provide a vehicle locating system.

It is yet another object of the present invention to provide a vehicle parking management system.

It is yet another object of the present invention to provide a server.

It is yet another object of the present invention to provide a computer-readable storage medium.

In view of this, a first aspect of the present invention provides a vehicle-side monitoring method, including: and positioning the vehicle end based on the interaction of the ultra-wideband pulse signals with the vehicle end.

The vehicle end can be a shared bicycle, an electric vehicle and an automobile.

A second aspect of the present invention provides a vehicle-side supervision method, including: receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to one-way timestamp information carried by the ultra-wideband pulse signal; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

A third aspect of the present invention provides a vehicle-side supervision method, including: after receiving the ultra-wideband pulse signal sent by the vehicle end, sending a feedback signal to the vehicle end so as to determine a transmission distance according to the two-way timestamp information of the signal received by the vehicle end; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

A fourth aspect of the present invention provides a vehicle-side supervision method, including: sending broadcast information carrying ultra-bandwidth pulse signals and used for searching a vehicle end; when a feedback signal of the ultra-wideband pulse signal is received, determining a transmission distance according to a time stamp of the feedback signal; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end searched in the preset time period.

A fifth aspect of the present invention provides a vehicle-side supervision method, including: receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to timestamp information carried by the ultra-wideband pulse signal; within a preset time period of receiving any ultra-wideband pulse signal, feeding back transmission distance information to the vehicle end so that the vehicle end can determine relative position information between the vehicle end and a plurality of preset communication nodes; and receiving relative position information between the vehicle end and a plurality of preset communication nodes, and positioning the vehicle end according to the relative position information between the vehicle end and the plurality of preset communication nodes and a preset tolerance distance.

In the above technical solution, preferably, the method further includes: determining relative position information between the vehicle end and a preset fence area according to positioning information for positioning the vehicle end and prestored positioning information of the preset fence area; and generating corresponding parking indication information according to the relative position information.

In any of the above technical solutions, preferably, the positioning information and the pre-stored positioning information of the preset fence area belong to positioning information in the same coordinate system.

In any one of the above technical solutions, preferably, the generating the corresponding parking instruction information according to the relative position information specifically includes: if the relative position information indicates that the vehicle end is not in the preset fence area, generating a parking forbidding instruction; and if the relative position information is that the vehicle end is within the range of the preset fence, generating a parking permission instruction.

In any one of the above technical solutions, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is not in the preset fence area, pushing the positioning information and/or navigation information of the fence area meeting the preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is within the preset fence range, pushing parking reward information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information indicates that the vehicle end is not in the preset fence area and the parking instruction is obtained, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the method further includes: and after obtaining the information that the user confirms to receive the punishment, generating a vehicle locking permission instruction.

In any one of the above technical solutions, preferably, the parking instruction includes: a locking instruction is generated when the time length that the vehicle is detected to be in the static state reaches a preset time length; and the vehicle locking operation is any one of a parking instruction sent by the user terminal and a vehicle locking operation received by the vehicle.

In any one of the above technical solutions, preferably, the method further includes: determining relative position information between the vehicle end and a preset driving and stopping area according to positioning information for positioning the vehicle end and prestored positioning information of the preset driving and stopping area; and if the relative position information is that the vehicle end is not in the preset running and stopping area, generating vehicle loss prompt information.

In any one of the above technical solutions, preferably, the method further includes: when the vehicle end is detected to be in a running state, generating a running track of the vehicle end according to positioning information for positioning the vehicle end; and generating corresponding driving indication information according to the driving track.

In any one of the above technical solutions, preferably, the generating corresponding driving instruction information according to the driving trajectory specifically includes: and if the current driving direction is determined to be inconsistent with the driving direction of the driving path where the driving track is located according to the driving track, sending punishment information to a prompting device on the currently associated user terminal and/or vehicle terminal.

In any one of the above technical solutions, preferably, the method further includes: according to positioning information for positioning the vehicle end and prestored positioning information of a preset illegal parking area, when a parking instruction is obtained, determining relative position information between the vehicle end and the preset illegal parking area; and generating corresponding parking indication information according to the relative position information.

In any one of the above technical solutions, preferably, the generating the corresponding parking instruction information according to the relative position information specifically includes: and if the relative position information is that the vehicle end is in the preset illegal parking area, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the generating the corresponding parking instruction information according to the relative position information specifically includes: and if the relative position information is that the vehicle end is in the preset illegal parking area, reporting the identity information of the vehicle end and/or the user terminal to a supervision department.

In any one of the above technical solutions, preferably, the method further includes: determining relative position information between the vehicle end and at least one preset driving route according to positioning information for positioning the vehicle end and prestored positioning information of at least one preset driving route; determining whether the vehicle end is on at least one preset driving route or not according to the relative position information in a travel according to at least one preset driving route; if the vehicle end is not positioned on at least one preset driving route, sending route deviation prompt information to a currently associated user terminal and/or a prompt device on the vehicle end; and/or reporting abnormal driving information to a supervision department when the vehicle end executes network appointment operation.

A sixth aspect of the present invention provides a vehicle-side supervision apparatus, including: a memory and a processor; a memory for storing program code; a processor for invoking program code execution: and positioning the vehicle end based on the interaction of the ultra-wideband pulse signals with the vehicle end.

A seventh aspect of the present invention provides a vehicle-side supervision apparatus, including: a memory and a processor; a memory for storing program code; a processor for invoking program code execution: receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to one-way timestamp information carried by the ultra-wideband pulse signal; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

An eighth aspect of the present invention provides a vehicle-side supervision apparatus, including: a memory and a processor; a memory for storing program code; a processor for invoking program code execution: after receiving the ultra-wideband pulse signal sent by the vehicle end, sending a feedback signal to the vehicle end so as to determine a transmission distance according to the bidirectional timestamp information of the signal received by the vehicle end; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

A ninth aspect of the present invention provides a vehicle-side supervision apparatus, including: a memory and a processor; a memory for storing program code; a processor for invoking program code execution: sending broadcast information carrying ultra-bandwidth pulse signals and used for searching a vehicle end; when a feedback signal of the ultra-wideband pulse signal is received, determining a transmission distance according to a time stamp of the feedback signal; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end searched in the preset time period.

A tenth aspect of the present invention provides a vehicle-side supervision apparatus, including: a memory and a processor; a memory for storing program code; a processor for invoking program code execution: receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to timestamp information carried by the ultra-wideband pulse signal; within a preset time period of receiving any ultra-wideband pulse signal, feeding back transmission distance information to the vehicle end so that the vehicle end can determine relative position information between the vehicle end and a plurality of preset communication nodes; and receiving relative position information between the vehicle end and a plurality of preset communication nodes, and positioning the vehicle end according to the relative position information between the vehicle end and the plurality of preset communication nodes and a preset tolerance distance.

In the above technical solution, preferably, the positioning information and the pre-stored positioning information of the preset fence area belong to positioning information in the same coordinate system.

In any of the above technical solutions, preferably, the processor is specifically configured to: if the relative position information indicates that the vehicle end is not in the preset fence area, generating a parking forbidding instruction; and if the relative position information is that the vehicle end is within the range of the preset fence, generating a parking permission instruction.

In any of the above technical solutions, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is not in the preset fence area, pushing the positioning information and/or navigation information of the fence area meeting the preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

In any of the above technical solutions, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is within the preset fence range, pushing parking reward information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any of the above technical solutions, preferably, the processor is specifically configured to: and if the relative position information indicates that the vehicle end is not in the preset fence area and the parking instruction is obtained, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any of the above technical solutions, preferably, the processor is specifically configured to: and after obtaining the information that the user confirms to receive the punishment, generating a vehicle locking permission instruction.

In any one of the above technical solutions, preferably, the processor, the parking instruction includes: a locking instruction is generated when the time length that the vehicle is detected to be in the static state reaches a preset time length; and the vehicle locking operation is any one of a parking instruction sent by the user terminal and a vehicle locking operation received by the vehicle.

In any of the above technical solutions, preferably, the processor is specifically configured to: determining relative position information between the vehicle end and a preset driving and stopping area according to positioning information for positioning the vehicle end and prestored positioning information of the preset driving and stopping area; and if the relative position information is that the vehicle end is not in the preset parking area, generating vehicle loss prompt information.

In any of the above technical solutions, preferably, the processor is specifically configured to: when the vehicle end is detected to be in a running state, generating a running track of the vehicle end according to positioning information for positioning the vehicle end; and generating corresponding driving indication information according to the driving track.

In any of the above technical solutions, preferably, the processor is specifically configured to: and if the current driving direction is determined to be inconsistent with the driving direction of the driving path where the driving track is located according to the driving track, sending punishment information to a prompting device on the currently associated user terminal and/or vehicle terminal.

In any of the above technical solutions, preferably, the processor is specifically configured to: according to positioning information for positioning the vehicle end and prestored positioning information of a preset illegal parking area, when a parking instruction is obtained, determining relative position information between the vehicle end and the preset illegal parking area; and generating corresponding parking indication information according to the relative position information.

In any of the above technical solutions, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is in the preset illegal parking area, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any of the above technical solutions, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is in the preset illegal parking area, reporting the identity information of the vehicle end and/or the user terminal to a supervision department.

In any of the above technical solutions, preferably, the processor is specifically configured to: determining relative position information between the vehicle end and at least one preset driving route according to positioning information for positioning the vehicle end and prestored positioning information of at least one preset driving route; determining whether the vehicle end is positioned on at least one preset driving route or not according to the relative position information in a travel process carried out according to at least one preset driving route; if the vehicle end is not positioned on at least one preset driving route, sending route deviation prompt information to a currently associated user terminal and/or a prompt device on the vehicle end; and/or reporting abnormal driving information to a supervision department when the vehicle end executes network appointment operation.

An eleventh aspect of the present invention proposes a vehicle positioning system comprising: the system comprises a plurality of communication nodes, a plurality of communication nodes and a plurality of communication modules, wherein the communication nodes are provided with ultra-wideband positioning modules; the vehicle end is provided with an ultra wide band communication chip, the ultra wide band communication chip can interact with an ultra wide band positioning module through ultra wide band pulse signals, and the server determines the position of the vehicle end relative to the plurality of communication nodes according to the ultra wide band pulse signals.

A twelfth aspect of the present invention provides a vehicle parking management system, including: a server; the system comprises a plurality of communication nodes, a plurality of wireless communication units and a plurality of wireless communication units, wherein the communication nodes are provided with ultra-wideband positioning modules which can receive and transmit ultra-wideband pulse signals covering a preset fence range; the ultra-wideband communication device is arranged on the vehicle end and can perform pulse signal interaction with the ultra-wideband positioning module, wherein the relative position information between the vehicle end and the preset fence area is determined according to the pulse signal interaction; the server is used for producing corresponding parking indication information according to the relative position information between the vehicle end and the preset fence area.

In the above technical solution, preferably, the communication node is further configured to: the distance between the vehicle end and the plurality of communication nodes is calculated according to timestamp information carried by ultra-wideband pulse signals transmitted and received between the ultra-wideband communication device and the ultra-wideband positioning module, the positions of the vehicle end relative to the plurality of communication nodes are determined according to the distance and the position information carried by the plurality of communication nodes, and the relative position information between the vehicle end and a preset fence area is determined according to the positions relative to the plurality of communication nodes.

In the above technical solution, preferably, the communication node is further configured to: calculating the distances between the vehicle end and the plurality of communication nodes according to timestamp information carried by ultra-wideband pulse signals transmitted and received between the ultra-wideband communication device and the ultra-wideband positioning module, and transmitting the distances to the vehicle end; the vehicle end is also configured to: determining the positions of the vehicle end relative to the plurality of communication nodes according to the distances and the position information carried by the plurality of communication nodes, and reporting the positions relative to the plurality of communication nodes to a server; the server is further configured to: and determining relative position information between the vehicle end and the preset fence area according to the positions of the relative communication nodes.

In the above technical solution, preferably, the server is further configured to: the distance between the vehicle end and the plurality of communication nodes is calculated according to timestamp information carried by ultra-wideband pulse signals transmitted and received between the ultra-wideband communication device and the ultra-wideband positioning module, the positions of the vehicle end relative to the plurality of communication nodes are determined according to the distance and the position information carried by the plurality of communication nodes, and the relative position information between the vehicle end and a preset fence area is determined according to the positions relative to the plurality of communication nodes.

In the above technical solution, preferably, after the vehicle end sends the ultra-wideband pulse signal, the vehicle end receives feedback information of the communication node on the ultra-wideband pulse signal, so as to obtain the timestamp information.

In the above technical solution, preferably, after the communication node sends the ultra-wideband pulse signal, the communication node receives feedback information of the vehicle end to the ultra-wideband pulse signal to obtain the timestamp information.

In the above technical solution, preferably, the vehicle end further includes: a controller connected to the ultra-wideband communication chip; and the parking device is connected to the controller and used for executing parking operation, wherein when the relative position information is detected that the vehicle end is not in the designated fence area, the controller controls the parking device not to execute a parking instruction, and when the relative position information is detected that the vehicle end is in the designated fence area, the controller controls the parking device to execute the parking instruction.

In any one of the above technical solutions, preferably, the vehicle end further includes: the voice device is connected to the controller and is used for broadcasting any one of navigation voice for guiding the vehicle end to drive into the designated fence area, reward information for specifying parking and punishment information for not specifying parking; and the display device is connected to the controller and is used for displaying and pushing any one of the designated fence area in the preset range, the reward information of the standard parking and the punishment information of the unnormalized parking.

In any one of the above technical solutions, preferably, the plurality of communication nodes are arranged along the circumferential direction of the preset fence area; and a plurality of communication nodes are disposed outside and/or inside the boundary line of the preset fence area.

In any one of the above technical solutions, preferably, the plurality of communication nodes are disposed at a central position of the preset fence area.

A thirteenth aspect of the present invention provides a server, including the monitoring apparatus in any of the above second aspects.

A fourteenth aspect of the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the supervision method according to any of the above-mentioned aspects of the first aspect.

Advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 shows a schematic flow diagram of a vehicle-end supervision method according to an embodiment of the invention;

FIG. 2 shows a schematic flow diagram of a vehicle-end supervision method according to another embodiment of the invention;

FIG. 3 shows a schematic flow diagram of a vehicle-end supervision method according to yet another embodiment of the invention;

FIG. 4 shows a schematic flow diagram of a vehicle-end supervision method according to yet another embodiment of the invention;

FIG. 5 shows a schematic flow diagram of a vehicle end surveillance method according to yet another embodiment of the invention;

FIG. 6 shows a schematic flow diagram of a vehicle-end supervision method according to yet another embodiment of the invention;

FIG. 7 shows a schematic block diagram of a vehicle-end surveillance arrangement according to an embodiment of the invention;

FIG. 8 shows a schematic block diagram of a vehicle-end surveillance arrangement according to another embodiment of the invention;

FIG. 9 shows a schematic block diagram of a vehicle-end surveillance arrangement according to yet another embodiment of the invention;

FIG. 10 shows a schematic block diagram of a vehicle-end surveillance arrangement according to yet another embodiment of the invention;

FIG. 11 shows a schematic block diagram of a vehicle-end surveillance arrangement according to yet another embodiment of the invention;

FIG. 12 shows a schematic diagram of positioning base station deployment, according to an embodiment of the present invention;

FIG. 13 shows a schematic diagram of positioning base station deployment according to another embodiment of the present invention;

fig. 14 shows a schematic diagram of positioning base station deployment according to yet another embodiment of the invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced using third parties different from those described herein, and thus, the scope of the present invention is not limited by the specific embodiments disclosed below.

Fig. 1 shows a schematic flow diagram of a vehicle-end supervision method according to an embodiment of the invention.

As shown in fig. 1, a vehicle-end supervision method according to an embodiment of the present invention includes: and 102, positioning the vehicle end based on the interaction of the ultra-wideband pulse signals with the vehicle end.

The vehicle end can be a positioning device or a navigation device arranged on a shared bicycle, an electric vehicle and an automobile.

In this embodiment, by arranging the Ultra wide band positioning module on the vehicle end, combining with a plurality of communication nodes (base stations) provided with the Ultra wide band positioning module, positioning of the vehicle end is realized through interaction between Ultra wide band pulse signals, because Ultra Wide Band (UWB) does not need to use carrier waves in a traditional communication system, but transmits data by sending and receiving extremely narrow pulses with nanosecond or nanosecond levels or below, and thus has a bandwidth with GHz level, compared with a traditional narrow bandwidth system, the Ultra wide band system has strong penetrating power, low power consumption, good multipath resistance effect, high safety and low system complexity, and above all, accurate positioning accuracy can be provided, so as to solve the problem that accurate positioning cannot be realized in the manners of GNSS positioning, bluetooth/Wi-near field positioning, RFID positioning and the like in the prior art, and further, by accurately positioning the vehicle end, in the vehicle parking process, the monitoring efficiency of the vehicle end is favorably improved.

Example 1.1:

as shown in fig. 2, a vehicle-end supervision method according to another embodiment of the present invention includes: 202, receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to one-way timestamp information carried by the ultra-wideband pulse signal; and 204, positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

In this embodiment, one of the plurality of communication nodes is used as a processing subject of a positioning process, when ultra-wideband pulse signal interaction is performed, the vehicle end and the plurality of communication nodes all carry timestamp information during respective interaction, and the timestamp information is reported to one of the plurality of communication nodes, so that a transmission distance is determined on the communication node according to the timestamp information.

When a vehicle end receives a parking instruction, a transmitter of an ultra-wideband positioning chip on the vehicle end transmits ultra-wideband pulse signals at the TA moment of a timestamp of the vehicle end, one A of a plurality of specified communication nodes receives the ultra-wideband pulse signals at the TB moment, the other B receives the ultra-wideband pulse signals at the TC moment, the third C receives the ultra-wideband pulse signals at the TD moment, the timestamp information is reported to the A position, the A determines the transmission distance, and the vehicle end is positioned by determining the position information of the A, the B and the C relative to the A, the B and the C because the position information of the A, the B and the C is known.

Example 1.2:

as shown in fig. 3, a vehicle-end supervision method according to still another embodiment of the present invention includes: step 302, after receiving the ultra-wideband pulse signal sent by the vehicle end, sending a feedback signal to the vehicle end so as to determine a transmission distance according to the two-way timestamp information of the signal received by the vehicle end; and step 304, positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

In the embodiment, the distance between the vehicle end and the communication node is obtained by obtaining the transmission distance of the ultra-wideband super-pulse signal according to the two-way timestamp information, and the position of the vehicle end relative to the communication node is determined according to the polygon principle, so as to complete the positioning of the vehicle end.

The method specifically comprises the following steps: when a vehicle end receives a parking instruction, a transmitter of an ultra-wideband positioning chip on the vehicle end transmits an ultra-wideband pulse signal at the time TA1 of a timestamp, an ultra-wideband positioning module on a communication node transmits a response signal of the ultra-wideband pulse signal at the time TB2 after receiving the ultra-wideband pulse signal at the time TB1, the ultra-wideband positioning module is received by the ultra-wideband positioning chip at the time TA2 of the ultra-wideband positioning chip, the time stamp information is transmitted to a designated communication node, the flight time of the pulse signal between the two modules is calculated, the flight distance S = Cx [ (TA 2-TA 1) - (TB 2-TB 1) ], the distance S is the distance between the vehicle end and one of the communication nodes, the distance between each communication node and the vehicle end is further calculated, the longitude and latitude and longitude information with small errors of the vehicle end is obtained by combining the known longitude and longitude information of the communication node, the relative distance is obtained by obtaining the flight time of the ultra-wideband pulse signal, and the vehicle end can be more accurately determined in, out of or on the boundary of a preset fence area.

Example 1.3:

as shown in fig. 4, a vehicle-end supervision method according to still another embodiment of the present invention includes: step 402, sending broadcast information carrying ultra-bandwidth pulse signals and used for searching a vehicle end; step 404, when receiving a feedback signal of the ultra-wideband pulse signal, determining a transmission distance according to a timestamp of the feedback signal; and step 406, positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end searched in the preset time period.

In the embodiment, the communication node can also be used as a transmission source of the ultra-wideband pulse signal, the vehicle end in the pulse signal coverage range is obtained by transmitting the broadcast information carrying the ultra-wideband pulse signal and combining with other transmission sources, and the method is more favorable for realizing the tracking and searching of the vehicle end compared with other positioning modes.

Example 1.4:

as shown in fig. 5, a vehicle-end supervision method according to still another embodiment of the present invention includes: step 502, receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to timestamp information carried by the ultra-wideband pulse signal; step 504, feeding back transmission distance information to the vehicle end within a preset time period of receiving any ultra-bandwidth pulse signal, so that the vehicle end can determine relative position information between the vehicle end and a plurality of preset communication nodes; step 506, receiving the relative position information between the vehicle end and the preset plurality of communication nodes, and positioning the vehicle end according to the relative position information between the vehicle end and the preset plurality of communication nodes and the preset tolerance distance.

The communication node may specifically be a serving base station with an ultra wideband positioning module.

In this embodiment, after receiving the calculated transmission distance information between the vehicle and the plurality of communication nodes, the vehicle may determine a relative position relationship between the vehicle and the designated communication node, and then upload the position relationship to the server (one of the communication nodes) to further determine a relative position with respect to the preset fence area.

The ultra-wideband positioning module can be arranged on a bicycle and an electric vehicle, so that a user is guided to park according to the standard through the accurate positioning of the bicycle and the electric vehicle, and the disordered phenomenon of parking of the bicycle and the electric vehicle is reduced.

The ultra-bandwidth positioning module can also be arranged on the automobile, so that the detection precision of the automobile illegal parking is improved through the accurate positioning of the automobile, and the phenomenon of illegal parking is reduced.

Example 2:

as shown in fig. 6, in the above embodiment, it is preferable that: step 602, determining relative position information between the vehicle end and a preset fence area according to positioning information for positioning the vehicle end and prestored positioning information of the preset fence area; and step 604, generating corresponding parking instruction information according to the relative position information.

In the embodiment, after the vehicle end is positioned through the ultra-wideband pulse signal, a designated fence area can be preset, the fence area can be a specified parking area, corresponding parking indication information is generated by detecting the relative position relationship between the vehicle end and the designated fence area, a driving user is indicated to drive into the designated fence area through different indication information, and further standard parking is realized.

In any of the above embodiments, preferably, the positioning information and the pre-stored positioning information of the preset fence area belong to positioning information in the same coordinate system.

Example 2.1:

in any one of the foregoing embodiments, preferably, the generating corresponding parking indication information according to the relative position information specifically includes: if the relative position information indicates that the vehicle end is not in the preset fence area, generating a parking forbidding instruction; and if the relative position information is that the vehicle end is within the preset fence range, generating a parking permission instruction.

In this embodiment, different parking instructions are generated according to whether the vehicle end is in the designated fence area, specifically, when it is determined that the vehicle end is not in the designated fence area, a parking prohibition instruction is generated, that is, the current position of the vehicle end is the parking prohibition area, and when it is determined that the vehicle end is in the designated fence area, the generated prompt information is a parking permission instruction, so that the parking behavior of the user is regulated according to different parking prompt information, and the monitoring efficiency of the vehicle end is improved while the regulated parking is realized.

Example 2.2:

in any one of the foregoing embodiments, preferably, the generating corresponding parking instruction information according to the relative position information specifically further includes: and if the relative position information is that the vehicle end is not in the preset fence area, pushing the positioning information and/or navigation information of the fence area meeting the preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

In this embodiment, when it is determined that the vehicle end is not in the designated fence area, the parking prohibition prompting information is generated, that is, the current position of the vehicle end is the parking prohibition area, and meanwhile, the positioning information and/or the navigation information of the fence area meeting the parking condition can be further pushed to the associated user terminal and/or the prompting device on the vehicle end, so as to provide an accurate parking area for the user.

The fence area satisfying the parking condition may be the designated fence area, or may be another nearby fence area.

Specifically, voice navigation information is generated on a user terminal and/or a voice device so as to guide the vehicle to drive into the fence area through the voice navigation information; and/or

And displaying the navigation route on the user terminal and/or the display device so as to guide the vehicle to enter the fence area through the navigation route.

Example 2.3:

in any one of the above embodiments, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is within the range of the preset fence, pushing parking reward information to a currently associated user terminal and/or a prompting device on the vehicle end.

Example 2.4:

in any one of the above embodiments, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is not in the preset fence area and the parking instruction is obtained, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In this embodiment, further, after the parking prohibition prompting information is generated, if a parking instruction fed back by the vehicle end is still received, penalty information is sent to the currently associated user terminal and/or a prompting device of the vehicle end, and the penalty mode in the penalty information is different according to the difference of the vehicle end, for example, for a single vehicle or an electric vehicle, the penalty information may include penalty information or a vehicle credit rating of a user that is turned down, and for an automobile, if the automobile is a shared automobile, the penalty information may further include violation penalty information on the basis of the penalty information or the vehicle credit rating of the user that is turned down.

In any one of the above embodiments, preferably, the method further includes: and after obtaining the information that the user confirms to receive the punishment, generating a vehicle locking permission instruction.

In this embodiment, in order to ensure that the user can lock the car smoothly, after confirming that the user receives the punishment information, a car locking permission instruction is generated to ensure that the car is locked smoothly, thereby ensuring the safety of parking.

In any one of the above embodiments, preferably, the parking instruction includes: a locking instruction is generated when the time length that the vehicle is detected to be in the static state reaches a preset time length; and any one of a parking instruction sent by the user terminal and a vehicle locking operation received by the vehicle.

Example 3:

in any one of the above embodiments, preferably, the method further includes: determining relative position information between the vehicle end and a preset driving and stopping area according to positioning information for positioning the vehicle end and prestored positioning information of the preset driving and stopping area; and if the relative position information is that the vehicle end is not in the preset running and stopping area, generating vehicle loss prompt information.

In the embodiment, after positioning is carried out to obtain the positioning information, the positioning information can be combined with a preset parking area, the preset parking area is an area where a preset vehicle end can move, if the vehicle end leaves the area, abnormal driving of the vehicle end is indicated, vehicle loss prompting information is generated and sent to a user terminal to prompt that the vehicle is possibly lost, the vehicle loss prompting information is generated, high-precision positioning of ultra-wideband pulse signals is combined, positioning precision of the vehicle end is guaranteed, and safety of the vehicle is improved.

Example 4:

in any one of the above embodiments, preferably, the method further includes: when the vehicle end is detected to be in a running state, generating a running track of the vehicle end according to positioning information for positioning the vehicle end; and generating corresponding driving indication information according to the driving track.

In the embodiment, the driving track is generated by capturing the positioning information of the vehicle end at different positions so as to detect whether the user regulates driving according to the driving track, and further, the corresponding driving indication information is generated so as to obtain the indication of the regulated driving so as to regulate the driving behavior of the vehicle end.

In any one of the above embodiments, preferably, generating corresponding driving instruction information according to the driving trajectory specifically includes: and if the current driving direction is determined to be inconsistent with the driving direction of the driving path where the driving track is located according to the driving track, sending punishment information to a prompting device on the currently associated user terminal and/or vehicle terminal.

In this embodiment, since the accuracy of the positioning information based on the ultra-wideband pulse signal may reach 30cm, when the driving direction of the driving track obtained based on the positioning information of the vehicle end and the driving direction specified by the current corresponding driving path are not consistent, it indicates that the current vehicle end is in a reverse driving state, and the behavior of the user is normalized by sending penalty information, which may be a monetary penalty or a reputation penalty of the user.

Example 5:

in any one of the above embodiments, preferably, the method further includes: according to positioning information for positioning the vehicle end and prestored positioning information of a preset illegal parking area, when a parking instruction is obtained, determining relative position information between the vehicle end and the preset illegal parking area; and generating corresponding parking indication information according to the relative position information.

In this embodiment, to the car that is provided with the vehicle end, can also detect whether there is the phenomenon of parking violating the regulations when parking the car end through the locating information, and then be favorable to reducing the manpower and patrol, promote the standard and park.

Example 5.1:

in any one of the above embodiments, preferably, generating corresponding parking instruction information according to the relative position information specifically includes: and if the relative position information is that the vehicle end is in the preset illegal parking area, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In this embodiment, the user is prompted by sending penalty information to the prompting device on the currently associated user terminal and/or vehicle end upon detection of a violation.

Example 5.2:

in any one of the above embodiments, preferably, generating corresponding parking instruction information according to the relative position information specifically includes: and if the relative position information is that the vehicle end is in the preset illegal parking area, reporting the identity information of the vehicle end and/or the user terminal to a supervision department.

In the embodiment, when the violation phenomenon is detected, the identity information of the user can be automatically acquired by reporting the identity information of the vehicle terminal and/or the user terminal to a supervision department.

Example 6:

in any one of the above embodiments, preferably, the method further includes: determining relative position information between the vehicle end and at least one preset driving route according to positioning information for positioning the vehicle end and prestored positioning information of at least one preset driving route; determining whether the vehicle end is on at least one preset driving route or not according to the relative position information in a travel according to at least one preset driving route; if the vehicle end is not positioned on at least one preset driving route, sending route deviation prompt information to a currently associated user terminal and/or a prompt device on the vehicle end; and/or reporting abnormal driving information to a supervision department when the vehicle end executes network appointment operation.

In the embodiment, for the network car booking service, the position of the network car booking can be positioned based on the ultra-wideband pulse signal, when the network car booking travels according to an order, the order can generate at least one driving route according to a starting point and a finishing point, if the vehicle end is not positioned on at least one preset driving route, the deviation of the vehicle end from the driving route is indicated, a taxi taking user has a risk, and route deviation prompt information is sent to a currently associated user terminal and/or a prompt device on the vehicle end; and/or when the vehicle end executes network appointment operation, reporting abnormal driving information to a supervision department, and reducing the risk occurrence probability.

Example 8.1:

as shown in fig. 7, a vehicle-end supervision apparatus 70 according to an embodiment of the present invention includes: a memory 702 and a processor 704; a memory 702 for storing the memory 702 for storing program code; a processor 704 for invoking program code to perform: and positioning the vehicle end based on the interaction of the ultra-wideband pulse signals with the vehicle end.

In the embodiment, the vehicle end is provided with the Ultra-Wideband positioning module, and the Ultra-Wideband positioning module is combined with a plurality of communication nodes (base stations) provided with the Ultra-Wideband positioning module, so that the vehicle end is positioned through interaction between Ultra-Wideband pulse signals, and because Ultra-Wideband (UWB) does not need to use carrier waves in a traditional communication system, but transmits data by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below, the Ultra-Wideband communication system has a bandwidth with GHz level.

Example 8.2:

as shown in fig. 8, a vehicle-end supervision apparatus according to another embodiment of the present invention includes: the method comprises the following steps: a memory 802 and a processor 804; a memory 802 for storing the memory 802 for storing program code; a processor 804 for invoking program code to perform: receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to one-way timestamp information carried by the ultra-wideband pulse signal; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

Example 8.3:

as shown in fig. 9, a vehicle-end supervision apparatus according to still another embodiment of the present invention includes: the method comprises the following steps: a memory 902 and a processor 904; a memory 902 for storing the memory 902 for storing program code; a processor 904 for invoking program code to perform: after receiving the ultra-wideband pulse signal sent by the vehicle end, sending a feedback signal to the vehicle end so as to determine a transmission distance according to the two-way timestamp information of the signal received by the vehicle end; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end determined in the preset time period.

The method specifically comprises the following steps: when a vehicle end receives a parking instruction, a transmitter of an ultra-wideband positioning chip on the vehicle end transmits an ultra-wideband pulse signal at the time TA1 of a timestamp, an ultra-wideband positioning module on a communication node transmits a response signal of the ultra-wideband pulse signal at the time TB2 after receiving the ultra-wideband pulse signal at the time TB1, the response signal is received by the ultra-wideband positioning chip at the time TA2 of the ultra-wideband positioning chip, the time stamp information is transmitted to a specified communication node, the flight time of the pulse signal between the two modules is calculated, the flight distance S = Cx [ (TA 2-TA 1) - (TB 2-TB 1) ], the distance S is the distance between the vehicle end and one of the communication nodes, the distance between each communication node and the vehicle end is further calculated, the longitude and latitude information with smaller vehicle end errors is obtained by combining the known longitude and latitude information of the communication nodes, the relative distance is obtained by obtaining the flight time of the ultra-wideband pulse signal, and the vehicle end can be more accurately determined in, out of a preset fence area or on the boundary of the preset fence area.

Example 8.4:

as shown in fig. 10, a vehicle-end supervision apparatus according to still another embodiment of the present invention includes: the method comprises the following steps: a memory 1002 and a processor 1004; a memory 1002 for storing the memory 1002 for storing program codes; a processor 1004 for invoking program code to perform: sending broadcast information carrying ultra-bandwidth pulse signals and used for searching a vehicle end; when a feedback signal of the ultra-wideband pulse signal is received, determining a transmission distance according to a time stamp of the feedback signal; and positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end searched in the preset time period.

Example 8.5:

as shown in fig. 11, a vehicle-end supervision apparatus according to still another embodiment of the present invention includes: the method comprises the following steps: a memory 1102 and a processor 1104; a memory 1102 for storing program code in memory 1102; a processor 1104 for invoking program code to perform: receiving an ultra-wideband pulse signal sent by a vehicle end, and determining transmission distance information according to timestamp information carried by the ultra-wideband pulse signal; within a preset time period of receiving any ultra-wideband pulse signal, feeding back transmission distance information to the vehicle end so that the vehicle end can determine relative position information between the vehicle end and a plurality of preset communication nodes; and receiving relative position information between the vehicle end and a plurality of preset communication nodes, and positioning the vehicle end according to the relative position information between the vehicle end and the plurality of preset communication nodes and a preset tolerance distance.

The ultra-wideband positioning module can be arranged on a bicycle and an electric vehicle to guide a user to park according to the specification through the accurate positioning of the bicycle and the electric vehicle, so that the disordered phenomenon of parking of the bicycle and the electric vehicle is reduced.

In the foregoing embodiment, preferably, the processor is specifically configured to: determining relative position information between the vehicle end and a preset fence area according to positioning information for positioning the vehicle end and prestored positioning information of the preset fence area; and generating corresponding parking indication information according to the relative position information.

In the embodiment, after the vehicle end is positioned through the ultra-wideband pulse signal, a designated fence area can be preset, the fence area can be a specified parking area, corresponding parking indication information is generated by detecting the relative position relation between the vehicle end and the designated fence area, a driving user is indicated to drive into the designated fence area through different indication information, and further standard parking is achieved.

In the above embodiment, preferably, the positioning information and the pre-stored positioning information of the preset fence area belong to positioning information in the same coordinate system.

In the foregoing embodiment, preferably, the processor is specifically configured to: generating a parking forbidding instruction when the relative position information is that the vehicle end is not in the preset fence area; and if the relative position information is that the vehicle end is within the preset fence range, generating a parking permission instruction.

In this embodiment, different parking instructions are generated according to whether the vehicle end is in the designated fence area, specifically, when it is determined that the vehicle end is not in the designated fence area, a parking prohibition instruction is generated, that is, the current location of the vehicle end is the parking prohibition area, and when it is determined that the vehicle end is in the designated fence area, the generated prompt information is a parking permission instruction, so that the parking behavior of the user is regulated according to different parking prompt information, and the monitoring efficiency of the vehicle end is improved while the regulated parking is realized.

In the foregoing embodiment, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is not in the preset fence area, pushing positioning information and/or navigation information of the fence area meeting the preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

In this embodiment, when it is determined that the vehicle end is not in the designated fence area, the parking prohibition prompt information is generated, that is, the current position of the vehicle end is the parking prohibition area, and meanwhile, the positioning information and/or the navigation information of the fence area meeting the parking condition can be further pushed to the associated user terminal and/or the prompt device on the vehicle end, so as to provide an accurate parking area for the user.

In the foregoing embodiment, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is within the range of the preset fence, pushing parking reward information to a currently associated user terminal and/or a prompting device on the vehicle end.

In the foregoing embodiment, preferably, the processor is specifically configured to: if the relative position information is that the vehicle end is not in the preset fence area and a parking instruction is obtained, sending punishment information to the currently associated user terminal and the prompting device of the vehicle end in the embodiment, further, after the prompting information for prohibiting parking is generated, if the parking instruction fed back by the vehicle end is still received, sending punishment information to the currently associated user terminal and/or the prompting device of the vehicle end, wherein the punishment mode in the punishment information is different according to the difference of the vehicle ends, for example, for a single vehicle or an electric vehicle, the punishment information may include punishment information or a vehicle using credit value of a user is reduced, and for the vehicle, if the vehicle is a shared vehicle, the punishment information may also include violation punishment information on the basis of the punishment information or the vehicle using credit value of the user is reduced. And/or a prompt device on the vehicle end sends penalty information.

In the foregoing embodiment, preferably, the processor is specifically configured to: and after obtaining the information that the user confirms to receive the punishment, generating a vehicle locking permission instruction.

In the above-described embodiment, preferably, the parking instruction includes: a locking instruction is generated when the time length that the vehicle is detected to be in the static state reaches a preset time length; and any one of a parking instruction sent by the user terminal and a vehicle locking operation received by the vehicle.

In the foregoing embodiment, preferably, the processor is specifically configured to: determining relative position information between the vehicle end and a preset driving and stopping area according to positioning information for positioning the vehicle end and prestored positioning information of the preset driving and stopping area; and if the relative position information is that the vehicle end is not in the preset running and stopping area, generating vehicle loss prompt information.

In the embodiment, after positioning is carried out to obtain the positioning information, the positioning information can be combined with a preset parking area, the preset parking area is an area where a preset vehicle end can move, if the preset parking area leaves the area, the abnormal driving of the vehicle end is indicated, the vehicle loss prompting information is generated and sent to the user terminal to prompt the user that the vehicle is likely to be lost, the vehicle loss prompting information is generated, and the high-precision positioning of the ultra-wideband pulse signal is combined, so that the positioning precision of the vehicle end is ensured, and the safety of the vehicle is improved.

In the foregoing embodiment, preferably, the processor is specifically configured to: when the vehicle end is detected to be in a running state, generating a running track of the vehicle end according to positioning information for positioning the vehicle end; and generating corresponding driving indication information according to the driving track.

In the embodiment, the driving track is generated by capturing the positioning information of the vehicle end at different positions to detect whether the user regulates driving according to the driving track, and further, the corresponding driving indication information is generated to obtain the indication of the regulated driving to regulate the driving behavior of the vehicle end.

In the foregoing embodiment, preferably, the processor is specifically configured to: and if the current driving direction is determined to be inconsistent with the driving direction of the driving path where the driving track is located according to the driving track, sending punishment information to a prompting device on the currently associated user terminal and/or vehicle terminal.

In this embodiment, since the accuracy of the positioning information based on the ultra-wideband pulse signal may reach 30cm, when the driving direction of the driving track obtained based on the positioning information of the vehicle end and the driving direction specified by the current corresponding driving path are not consistent, it indicates that the current vehicle end is in a reverse driving state, and the behavior of the user is normalized by sending penalty information, where the penalty information may be a monetary penalty or a reputation penalty of the user.

In the foregoing embodiment, preferably, the processor is specifically configured to: according to positioning information for positioning the vehicle end and prestored positioning information of a preset illegal parking area, when a parking instruction is obtained, determining relative position information between the vehicle end and the preset illegal parking area; and generating corresponding parking indication information according to the relative position information.

In the foregoing embodiment, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is in the preset illegal parking area, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In the above embodiment, preferably, the processor is specifically configured to: and if the relative position information is that the vehicle end is in the preset illegal parking area, reporting the identity information of the vehicle end and/or the user terminal to a supervision department.

In the foregoing embodiment, preferably, the processor is specifically configured to: determining relative position information between the vehicle end and at least one preset driving route according to positioning information for positioning the vehicle end and prestored positioning information of at least one preset driving route; determining whether the vehicle end is on at least one preset driving route or not according to the relative position information in a travel according to at least one preset driving route; if the vehicle end is not positioned on at least one preset driving route, sending route deviation prompt information to a currently associated user terminal and/or a prompt device on the vehicle end; and/or reporting abnormal driving information to a supervision department when the vehicle end executes network appointment operation.

Example 9:

a vehicle positioning system according to an embodiment of the present invention includes: the system comprises a plurality of communication nodes, a plurality of communication nodes and a plurality of communication modules, wherein the communication nodes are provided with ultra-wideband positioning modules; the vehicle end is provided with an ultra wide band communication chip, the ultra wide band communication chip can interact with an ultra wide band positioning module through ultra wide band pulse signals, and the server determines the position of the vehicle end relative to the plurality of communication nodes according to the ultra wide band pulse signals.

Example 10:

the vehicle parking management system according to an embodiment of the present invention includes: a server; the system comprises a plurality of communication nodes, a plurality of wireless communication units and a plurality of wireless communication units, wherein the communication nodes are provided with ultra-wideband positioning modules which can receive and transmit ultra-wideband pulse signals covering a preset fence range; the ultra-wideband communication device is arranged on the vehicle end and can perform pulse signal interaction with the ultra-wideband positioning module, wherein the relative position information between the vehicle end and the preset fence area is determined according to the pulse signal interaction; the server is used for producing corresponding parking indication information according to the relative position information between the vehicle end and the preset fence area.

In the above technical solution, preferably, the communication node is further configured to: the distance between the vehicle end and the plurality of communication nodes is calculated according to timestamp information carried by ultra-wideband pulse signals transmitted and received between the ultra-wideband communication device and the ultra-wideband positioning module, the position of the vehicle end relative to the plurality of communication nodes is determined according to the distance and the position information carried by the plurality of communication nodes, and the relative position information between the vehicle end and a preset fence area is determined according to the position relative to the plurality of communication nodes.

In the above technical solution, preferably, after the vehicle end sends the ultra-wideband pulse signal, the vehicle end receives feedback information of the communication node on the ultra-wideband pulse signal to obtain the timestamp information.

In the above technical solution, preferably, after the communication node sends the ultra-wideband pulse signal, the communication node receives feedback information of the vehicle end on the ultra-wideband pulse signal to obtain the timestamp information.

Example 10.1:

as shown in fig. 12 and 13, in any of the above embodiments, preferably, a plurality of communication nodes (base stations) are arranged along the circumferential direction of the preset fence area; and a plurality of communication nodes are disposed outside and/or inside the boundary line of the preset fence area.

In the embodiment, the UWB positioning base stations are arranged in the preset fence area along the circumferential direction of the preset fence area to realize signal radiation of 360 degrees, and the coverage area is large, so that the method can be applied to occasions where the preset fence area is large.

Example 10.2:

as shown in fig. 14, in any of the above embodiments, preferably, a plurality of communication nodes (base stations) are disposed at a central position of the preset fence area.

In this embodiment, the plurality of positioning base stations may also be uniformly disposed in the central area of the preset fence area, and the arrangement manner of the positioning base stations in the central area of the preset fence area is favorable for further improving the positioning accuracy of positioning by using the ultra-wideband module.

The server according to the embodiment of the invention comprises the supervision device in any one of the above embodiments.

A computer-readable storage medium according to an embodiment of the invention, having stored thereon a computer program which, when executed by a processor, implements:

and positioning the vehicle end based on the interaction of the ultra-wideband pulse signals with the vehicle end.

The vehicle end can be a shared bicycle, an electric vehicle and an automobile.

In any one of the above technical solutions, preferably, the positioning information and the pre-stored positioning information of the preset fence area belong to positioning information in the same coordinate system.

In any one of the above technical solutions, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is not in the preset fence area, pushing positioning information and/or navigation information of the fence area meeting the preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is within the range of the preset fence, pushing parking reward information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the generating corresponding parking instruction information according to the relative position information further includes: and if the relative position information is that the vehicle end is not in the preset fence area and the parking instruction is obtained, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

In any one of the above technical solutions, preferably, the parking instruction includes: a locking instruction is generated when the time length that the vehicle is detected to be in the static state reaches a preset time length; and any one of a parking instruction sent by the user terminal and a vehicle locking operation received by the vehicle.

In any one of the above technical solutions, preferably, the generating corresponding driving instruction information according to the driving trajectory specifically includes: and if the current driving direction is determined to be inconsistent with the form direction of the driving path where the driving track is located according to the driving track, sending punishment information to a prompting device on the currently associated user terminal and/or vehicle terminal.

The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.

The unit modules of the anti-theft brake supervision device provided by the embodiment of the invention can be combined, divided and deleted according to actual needs.

Further, it will be understood that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description of the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and specific meanings of the above terms in embodiments of the present invention may be understood according to specific situations by those of ordinary skill in the art.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle-end surveillance method, comprising:

sending broadcast information carrying ultra-wideband pulse signals and used for searching a vehicle end;

when a feedback signal of the ultra-wideband pulse signal is received, determining a transmission distance according to a timestamp of the feedback signal;

positioning the vehicle end according to the transmission distance information corresponding to the same vehicle end searched in a preset time period;

determining relative position information between the vehicle end and at least one preset driving route according to positioning information for positioning the vehicle end and prestored positioning information of at least one preset driving route;

determining whether the vehicle end is positioned on the at least one preset driving route or not according to the relative position information in a travel process carried out according to the at least one preset driving route;

if the vehicle end is not positioned on the at least one preset driving route, sending route deviation prompt information to a currently associated user terminal and/or a prompt device on the vehicle end; and/or

When the vehicle end executes network appointment operation, reporting abnormal driving information to a supervision department;

wherein the method further comprises:

when the vehicle end is detected to be in a running state, generating a running track of the vehicle end according to positioning information for positioning the vehicle end;

generating corresponding driving indication information according to the driving track, wherein the driving indication information comprises a prompt for standard driving;

the method further comprises the following steps:

determining relative position information between the vehicle end and a preset stop area according to positioning information for positioning the vehicle end and prestored positioning information of the preset stop area;

and if the relative position information is that the vehicle end is not in the preset running and stopping area, generating vehicle loss prompt information.

2. The vehicle end surveillance method of claim 1, further comprising:

determining relative position information between the vehicle end and a preset fence area according to positioning information for positioning the vehicle end and prestored positioning information of the preset fence area;

and generating corresponding parking indication information according to the relative position information.

3. The vehicle-side supervision method according to claim 2, wherein the positioning information and the pre-stored positioning information of the pre-set fence area belong to positioning information in the same coordinate system.

4. The vehicle-side supervision method according to claim 2, wherein generating corresponding parking indication information according to the relative position information specifically includes:

if the relative position information indicates that the vehicle end is not in the preset fence area, generating a parking forbidding instruction;

and if the relative position information is that the vehicle end is within the preset fence range, generating a parking permission instruction.

5. The vehicle-side supervision method according to claim 2, wherein generating corresponding parking indication information according to the relative position information specifically includes:

and if the relative position information is that the vehicle end is not in the preset fence area, pushing positioning information and/or navigation information of the fence area meeting a preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

6. The vehicle-side supervision method according to claim 2, wherein generating corresponding parking indication information according to the relative position information specifically includes:

and if the relative position information is that the vehicle end is within the preset fence range, pushing parking reward information to a currently associated user terminal and/or a prompting device on the vehicle end.

7. The vehicle-side supervision method according to claim 2, wherein generating corresponding parking indication information according to the relative position information specifically includes:

and if the relative position information indicates that the vehicle end is not in the preset fence area and a parking instruction is obtained, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

8. The vehicle end surveillance method of claim 7, further comprising:

and after the user confirms that the punishment information is received, generating a vehicle locking permission instruction.

9. The vehicle end surveillance method according to claim 7,

the parking instruction includes: a locking instruction is generated when the time length that the vehicle is detected to be in the static state reaches a preset time length; and any one of a parking instruction sent by the user terminal and a vehicle locking operation received by the vehicle.

10. The vehicle-side supervision method according to claim 1, wherein the generating of the corresponding driving instruction information according to the driving trajectory specifically includes:

and if the current driving direction is determined to be inconsistent with the driving direction of the driving path where the driving track is located according to the driving track, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle terminal.

11. The vehicle end surveillance method of claim 1, further comprising:

according to positioning information for positioning the vehicle end and prestored positioning information of a preset illegal parking area, when a parking instruction is obtained, determining relative position information between the vehicle end and the preset illegal parking area;

12. The vehicle-side supervision method according to claim 11, wherein generating corresponding parking indication information according to the relative position information specifically includes:

and if the relative position information is that the vehicle end is in the preset illegal parking area, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

13. The vehicle-side supervision method according to claim 11, wherein generating corresponding parking indication information according to the relative position information specifically includes:

and if the relative position information is that the vehicle end is in the preset illegal parking area, reporting the identity information of the vehicle end and/or the user terminal to a supervision department.

14. A vehicle-end surveillance apparatus, comprising: a memory and a processor;

the memory for storing program code;

the processor is used for calling the program codes to execute the following steps:

if the vehicle end is not positioned on the at least one preset driving route, sending route deviation prompting information to a currently associated user terminal and/or a prompting device on the vehicle end; and/or

wherein the processor is further configured to perform:

the processor is further configured to perform:

determining relative position information between the vehicle end and the preset parking area according to positioning information for positioning the vehicle end and prestored positioning information of the preset parking area;

15. The vehicle end surveillance apparatus of claim 14, wherein the processor is specifically configured to:

16. The vehicle-side supervision device according to claim 15, wherein the positioning information and the pre-stored positioning information of the pre-set fence area belong to positioning information in the same coordinate system.

17. The vehicle end surveillance apparatus of claim 15, wherein the processor is specifically configured to:

18. The vehicle end surveillance apparatus of claim 15, wherein the processor is specifically configured to:

and if the relative position information is that the vehicle end is not in the preset fence area, pushing the positioning information and/or the navigation information of the fence area meeting the preset distance condition to a currently associated user terminal and/or a prompting device on the vehicle end.

19. The vehicle end surveillance apparatus of claim 15, wherein the processor is specifically configured to:

20. The vehicle end surveillance apparatus of claim 15, wherein the processor is specifically configured to:

21. The vehicle end surveillance apparatus of claim 20, wherein the processor is specifically configured to:

and generating a vehicle locking permission instruction after the user confirms to receive the punishment information.

22. The vehicle end surveillance apparatus of claim 20,

23. The vehicle-side supervision apparatus according to claim 14, wherein the generating of the corresponding driving instruction information according to the driving track specifically includes:

and if the current driving direction is determined to be inconsistent with the driving direction of the driving path where the driving track is located according to the driving track, sending punishment information to a currently associated user terminal and/or a prompting device on the vehicle end.

24. The vehicle end surveillance apparatus of claim 14, further comprising:

25. The vehicle-side supervision apparatus according to claim 24, wherein generating corresponding parking indication information according to the relative position information specifically includes:

26. The vehicle-side supervision apparatus according to claim 24, wherein generating corresponding parking indication information according to the relative position information specifically includes:

27. A vehicle positioning system, comprising:

the system comprises a plurality of communication nodes, a plurality of communication nodes and a plurality of communication modules, wherein the communication nodes are provided with ultra-wideband positioning modules;

the ultra-wideband communication device is arranged on the vehicle and can perform ultra-wideband pulse signal interaction with the ultra-wideband positioning module so as to determine the position of the vehicle relative to the plurality of communication nodes according to the ultra-wideband pulse signals by a server;

a server configured to:

wherein the server is further configured to:

the server is further configured to:

determining relative position information between the vehicle end and a preset driving and stopping area according to positioning information for positioning the vehicle end and prestored positioning information of the preset driving and stopping area;

28. A vehicle end parking management system, comprising:

a server;

the system comprises a plurality of communication nodes, a plurality of wireless communication units and a plurality of wireless communication units, wherein the communication nodes are provided with ultra-wideband positioning modules which can receive and transmit ultra-wideband pulse signals covering a preset fence range;

an ultra-wideband communication device disposed on the vehicle side, the ultra-wideband communication device being capable of pulse signal interaction with the ultra-wideband positioning module,

the method comprises the steps that relative position information between a vehicle end and a preset fence area is interactively determined according to pulse signals; the server is used for producing corresponding parking indication information according to the relative position information between the vehicle end and the preset fence area;

the server is further configured to:

wherein the server is further configured to:

the server is further configured to:

29. The vehicle-end parking management system of claim 28, wherein the communication node is further configured to:

the distance between the vehicle end and the plurality of communication nodes is calculated according to timestamp information carried by ultra-wideband pulse signals transmitted and received between the ultra-wideband communication device and the ultra-wideband positioning module, the position of the vehicle end relative to the plurality of communication nodes is determined according to the distance and the position information carried by the plurality of communication nodes, and the relative position information between the vehicle end and the preset fence area is determined according to the position relative to the plurality of communication nodes.

30. The vehicle-end parking management system of claim 29,

the communication node is further configured to: calculating the distances between the vehicle end and the plurality of communication nodes according to timestamp information carried by ultra-wideband pulse signals transmitted and received between the ultra-wideband communication device and the ultra-wideband positioning module, and transmitting the distances to the vehicle end;

the vehicle end is further configured to: determining the positions of the vehicle end relative to the plurality of communication nodes according to the distances and the position information carried by the plurality of communication nodes, and reporting the positions relative to the plurality of communication nodes to a server;

the server is further configured to: and determining relative position information between the vehicle end and the preset fence area according to the positions relative to the plurality of communication nodes.

31. The vehicle-end parking management system of claim 28, wherein the server is further configured to:

32. The vehicle-side parking management system according to any one of claims 29 to 31, wherein the vehicle side receives feedback information of the communication node on the ultra-wideband pulse signal after transmitting the ultra-wideband pulse signal, so as to obtain the timestamp information.

33. The vehicle-side parking management system according to any one of claims 29 to 31, wherein the communication node receives feedback information of the vehicle-side to the ultra-wideband pulse signal after transmitting the ultra-wideband pulse signal, so as to obtain the timestamp information.

34. The vehicle-end parking management system of claim 28, wherein the vehicle-end further comprises:

a controller connected to the ultra-wideband communication chip;

a parking device connected to the controller for performing a parking operation,

when the relative position information is detected that the vehicle end is not in the preset fence range, the controller controls the parking device not to execute a parking instruction, and when the relative position information is detected that the vehicle end is in the preset fence range, the controller controls the parking device to execute the parking instruction.

35. The vehicle-end parking management system of claim 34, wherein the vehicle-end further comprises:

the voice device is connected to the controller and is used for broadcasting any one of navigation voice for guiding the vehicle end to drive into the range of the preset fence, reward information for standardizing parking and punishment information for not standardizing parking;

and the display device is connected to the controller and is used for displaying any one of the preset fence range, the reward information of the standard parking and the punishment information of the unnormalized parking in the pushing preset range.

36. The vehicle-end parking management system according to any one of claims 29 to 31,

the plurality of communication nodes are distributed along the circumferential direction of the preset fence area; and is

The plurality of communication nodes are arranged on the outer side and/or the inner side of the boundary line of the preset fence area.

37. The vehicle-end parking management system according to any one of claims 29 to 31,

the plurality of communication nodes are arranged at the central position of the preset fence area.

38. A server, comprising:

the vehicle end surveillance arrangement according to any one of claims 14 to 26.

39. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the vehicle-end supervision method according to any one of claims 1 to 13.