CN106504560A - A kind of multi-source vehicle positioning stop detecting system and method - Google Patents
A kind of multi-source vehicle positioning stop detecting system and method Download PDFInfo
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- CN106504560A CN106504560A CN201510555369.3A CN201510555369A CN106504560A CN 106504560 A CN106504560 A CN 106504560A CN 201510555369 A CN201510555369 A CN 201510555369A CN 106504560 A CN106504560 A CN 106504560A
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Abstract
The present invention relates to a kind of multi-source vehicle positioning stop detecting system, including：Server, car-mounted device；The car-mounted device includes：Controller, radio communication device, vehicle carried pick device.The car-mounted device is on vehicle；The controller is connected with radio communication device and vehicle carried pick device respectively；The radio communication device is in order to mutual data information between server and car-mounted device；The vehicle carried pick device sends controller to vehicle location information.The multi-source vehicle positioning stop detecting system and its multi-source vehicle positioning stop detection method, by high-precision satellite fix, inertial positioning, architecture integrated positioning, realize being accurately positioned in various regions, can real-time detection go out the generation of Parking in setting regions, and in time to equipment dispatch order message set in advance, the related data of setting regions in Parking is preserved in time, it is achieved that the automated management stopped in setting regions.
Description
Technical field
The present invention relates to field of traffic control, more particularly, to a kind of multi-source vehicle positioning stop detecting system and multi-source
Vehicle positioning stop detection method.
Background technology
In existing traffic administration, although in the region such as regulation clear stipulaties zebra crossing, No Parking, but real
On border, still there are motor vehicles to stop in the region that no parking, cause road passage capability to decline；Occur
The reason for such case is many, and difficulty of enforcing the law is big, executive cost is high, the management of shortage automatization sets
The reason for standby, management technique is also one side.
The positioning precision of existing differential satellite alignment system can reach a millimeter rank, and receive terrain and its features
Impact little；Further, the post processings such as error correction are carried out by the data to single-point satellite fix, is obtained high
The technology of precision location data；High-precision satellite positioning tech can be used to carry out traffic administration.
Chinese patent 2015202527052,《A kind of parking detecting system》Propose a kind of based on high-precision
The parking detecting system of satellite positioning tech；High-precision position of the system by acquisition vehicle in real time, according to
According to the geographical coordinate in the region for setting, under the support of geographic information system technology, it is capable of the monitoring of automatization
Parking behavior of the motor vehicles in setting regions.But the satellite positioning device that the system is adopted, affected by environment compared with
Greatly, where the inferior satellite-signal of tunnel, viaduct is blocked, it is impossible to obtain satellite location data, so as to
Cannot detect that these do not have the parking behavior in the region of satellite-signal.
If the positioner that installs on motor vehicles is the satellite fix dress with high accuracy satellite positioning capability
Put the integrated positioning device with inertial positioning device, it is possible to achieve in being accurately positioned for various regions, so as to reality
The parking detection in currently all region.
Content of the invention
Technical problem：
For the defect that prior art is present, the present invention proposes a kind of multi-source vehicle positioning stop detecting system and its many
Source vehicle positioning stop detection method；By obtaining high-precision two source location data in real time, can be in various regions
Positioning, obtains current vehicle speed, vehicle location, direction, and whether automatic decision vehicle is parked in setting regions,
Whether parking tickets setting regions in are formed.
Technical scheme：
For achieving the above object, the present invention proposes a kind of multi-source vehicle positioning stop detecting system, including server,
Car-mounted device；The server is connected by radio communication device with car-mounted device；The car-mounted device includes
Controller, radio communication device, vehicle carried pick device；The vehicle carried pick device is high-precision positioner；
The car-mounted device is on vehicle；The controller respectively with radio communication device and vehicle carried pick device
Connection；The radio communication device is in order to mutual data information between server and car-mounted device；Described
Vehicle carried pick device sends controller to the location information of vehicle.
The vehicle carried pick device is satellite positioning device, inertial positioning device, the combination of architecture device.
The vehicle carried pick device, is high-precision positioner, and its positioning precision can be vehicle location in car
On road.
The vehicle carried pick device, can be according to advance setting, in satellite signal quality difference, automatically
Inertial positioning is switched to, when satellite signal quality is good, satellite fix is automatically switched to.
The car-mounted device, the unique identifier of registration of vehicle.
The car-mounted device, also includes data storage device, with data storage function；When breaking in the communications,
Data waiting for transmission can be stored.
The multi-source vehicle positioning stop detecting system, also includes mobile unit safety device, to avoid driver master
The normal work of dynamic interference mobile unit.
The car-mounted device, also includes drive recorder；The drive recorder is run over for registration of vehicle
Cheng Zhong, vehicle interior, the image of vehicle periphery, acoustic information.
The multi-source vehicle positioning stop detecting system, also includes the management terminal that driver and its related personnel use.
The multi-source vehicle positioning stop detecting system, also includes the fortune of the system that system operation management personnel use
Row management terminal；The operation management terminal of the multi-source vehicle positioning stop detecting system is the computer equipment of networking,
Including embedded computer, mobile terminal.
The car-mounted device, also includes the wired communication interface between external equipment.
The car-mounted device, also includes the near field communication interface between external equipment.
The multi-source vehicle positioning stop detecting system, also includes prompting message equipment, the prompting message equipment,
It is the combination of several equipment as follows：Server, car-mounted device, fix information terminal unit, mobile message end
End equipment.
A kind of multi-source vehicle positioning stop detection method, the running software including the method are positioned in a kind of multi-source
On the hardware of parking detecting system, including following process step：
1) location data of the real-time high-precision of vehicle is obtained；
2) detection vehicle whether stop in setting regions, whether parking tickets in setting regions；
Optionally include following process step：
3) detect vehicle stop in the setting regions, in setting regions parking tickets post processing.
The step 1), including following process step：
A) by vehicle carried pick device, car-mounted device continuously obtains the positioning of the real-time high-precision of vehicle
Data；
If b) detected in server end, car-mounted device passes location data according to frequency set in advance
It is defeated by server.
The step 2), may operate on car-mounted device and/or server, comprise the steps：
A) whether the speed successively in detection location information be less than threshold value set in advance, less than when, it is believed that be
Dead ship condition；
B) if dead ship condition, all one or more setting regions set in advance are traveled through,
Whether being located in any one setting regions for vehicle detected；If located in certain setting regions, then recognize
Stop in the setting regions for detecting the car；If not in the setting regions, this inspection
Survey terminates；
If c) detecting the car to stop in setting regions, company of the car in the setting regions is calculated
After continuous down time, judge whether continuous down time exceedes in one or more threshold values set in advance
Any one；If it exceeds, then it is assumed that car parking tickets in the setting regions.
The step 2), optionally also include following process step：
If d) finding not or lacking the setting regions number near the current location of part on car-mounted device
According to then car-mounted device and server cooperating, server send the data to car-mounted device.
The step 2) the step of d), on car-mounted device detection stop when use.
The step 3), including the combination of following process step：
A) server is coordinated parking relevant information in this setting regions to be transferred to server guarantor with car-mounted device
Deposit；
B) server or/and car-mounted device are automatically according to priority set in advance, prompting set in advance
Mode, sends event prompting message to one or more prompting message equipment set in advance；
C) car-mounted device constantly sends current location information to server and/or stops according to advance setting
Car relevant information.
The step 3) process step a) process step as follows：
. if server or car-mounted device detect and stop in setting regions or stop in setting regions
Car is broken rules and regulations, then detect that parking or of parking tickets send the notification message to another；
. car-mounted device is detected and is stopped in the setting regions or parking tickets in the setting regions, or
After receiving the notification message that server sends to car-mounted device, car-mounted device is related for this parking letter
Breath is sent to server；
. after server receives this parking relevant information, recorded in data base.
Described alerting pattern, including the combination of following several ways：
A) on the screen of the device, display screen prompting message；
B) play and remind voice；
C) SMS is reminded；
D) instant communication information；
E) phone, mobile phone are reminded.
Described parking relevant information, including the combination of following information：Parking information, vehicle in setting regions
Driving condition information；
Parking information in the setting regions, including the combination of following information：Vehicle unique identifier, setting
The exclusive identification code in region, initial down time, end down time, lasting down time；
The vehicle driving state information includes the combination of following information：Driver's unique identifier, vehicle are more
The vehicle for extending setting time before and after media information, docking process vehicle driving trace or docking process is travelled
Track；
The vehicle multimedia information is the combination of following information：Photo, video, recording；
The vehicle for extending setting time before and after the docking process vehicle driving trace or docking process travels rail
Mark, including a series of location informations and/or vehicle multimedia information.
The system, by obtaining high-precision location data in real time, judges whether dead ship condition, further examines
Survey and whether stop in setting regions, judge whether to form parking tickets in setting regions, it is achieved that automatization
Real-time detection goes out the generation of Parking, parking tickets event in the setting regions, it is achieved that in setting regions
The automated management of parking；High-precision satellite positioning device and the integrated positioning of inertial positioning device, realize
In being accurately positioned for various regions, so as to the parking detection in real currently all region.
Description of the drawings
Fig. 1 is the principle schematic of multi-source vehicle positioning stop detecting system of the present invention.
Fig. 2 is the principle schematic of car-mounted device of the present invention.
Fig. 3 is the principle schematic of vehicle carried pick device of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and reality
Example is applied, the present invention is described in further detail.It should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
As shown in figure 1, the present invention proposes a kind of multi-source vehicle positioning stop detecting system, the system includes：Service
Device, car-mounted device, mobile management terminal, operation management terminal；The server passes through nothing with car-mounted device
Line communicator connects, the preferred communication connection using safety.
As shown in Fig. 2 the car-mounted device includes：Controller, radio communication device, vehicle carried pick device,
Drive recorder, mobile unit safety device；The vehicle carried pick device is high-precision positioner；Described
Car-mounted device is on vehicle；The controller is connected with radio communication device and vehicle carried pick device respectively；
The radio communication device is in order to mutual data information between server and car-mounted device；Described vehicle-mounted fixed
Position device sends controller to the location information of vehicle.The server is prior art；The controller
It is prior art；The radio communication device is prior art.
As shown in figure 3, the vehicle carried pick device includes：Satellite positioning device, inertial positioning device, base
Stand positioner.The vehicle carried pick device is satellite positioning device, inertial positioning device, architecture dress
The combination that puts；By logical between satellite positioning device, inertial positioning device, architecture device and controller
Letter connection, is prior art；Satellite positioning device, inertial positioning device, the combination of architecture device are answered
With being prior art.
The satellite positioning device；From differential satellite positioner, or other high accuracy satellite fixes
Device, the positioning precision of selected satellite positioning device are better than 0.5 meter, preferred fixed using differential satellite
Position device, its positioning precision are better than 0.1 meter.
The vehicle carried pick device, can be according to advance setting, in satellite signal quality difference, automatically
Inertial positioning is switched to, when satellite signal quality is good, satellite fix is automatically switched to.
The vehicle carried pick device, when comprising architecture device, according to advance setting, using base station
Location data detection satellite fix, the location data of inertial positioning error whether reasonable；Its determination methods is,
Whether detection satellite fix, the difference between the location data of inertial positioning and the location data of architecture exist
Set in advance rational within the scope of；If difference is excessive, then one of 3 kinds of positioners may work
Abnormal.It was found that when vehicle carried pick device work is abnormal, overhauling in time.
The architecture device, its position error are larger, and lower ground square positioning precision is lower for base station density；
When satellite positioning device, the work of inertial positioning device are all abnormal, using determining that architecture device is provided
Position data.
The default architecture precision that regional is set；Pre-set the positioning of satellite fix, inertial positioning
Reasonable difference threshold value between data and the location data of architecture.
The car-mounted device, the unique identifier of registration of vehicle is prior art.
The car-mounted device, also includes data storage device, with data storage function, when breaking in the communications,
Data waiting for transmission can be stored, is prior art.
The multi-source vehicle positioning stop detecting system, also includes mobile unit safety device, to avoid driver master
The normal work of dynamic interference mobile unit；Integrated application, Chinese patent 2015202687899 are proposed《Base
Locomotive electronic ID security protection system in double source positioning》, Chinese patent 2015202701773 proposes
's《A kind of locomotive electronic ID security protection system》, it is prior art.
The car-mounted device, also includes drive recorder；The drive recorder is run over for registration of vehicle
Cheng Zhong, vehicle interior, the image of vehicle periphery, acoustic information, are prior arts.
The multi-source vehicle positioning stop detecting system, also includes the management terminal that driver and its related personnel use,
The management terminal includes：Mobile management terminal, fixed management terminal；The mobile management terminal passes through nothing
Gauze network is connected with server；The fixed management terminal is connected with server by wired or wireless communication system
Connect；The management terminal is prior art.
The multi-source vehicle positioning stop detecting system, also include system operation management personnel using multi-source positioning stop
The operation management terminal of car test examining system；The operation management terminal of the multi-source vehicle positioning stop detecting system is connection
The computer equipment of net, is connected with server by communication system, including embedded computer, mobile message
Terminal unit, fix information terminal unit, are prior arts.
The car-mounted device, also includes the wired communication interface between external equipment, is prior art.
The car-mounted device, also includes the near field communication interface between external equipment, is existing skill
Art.
The multi-source vehicle positioning stop detecting system, also includes prompting message equipment, the prompting message equipment,
It is the combination of several equipment as follows：Server, car-mounted device, fix information terminal unit, mobile message end
End equipment.
The car-mounted device is powered by onboard power system on vehicle, and which is installed, power supply technique is
Prior art.
A kind of multi-source vehicle positioning stop detection method, the running software including the method are positioned in a kind of multi-source
On the hardware of parking detecting system.
The multi-source vehicle positioning stop detection method, it is adaptable to which various regions, the processing mode in various regions are the same.
Specifically, setting regions includes zebra crossing region, fast traffic lane region, cycle track region, footpath area
Domain, left-hand rotation Accreditation Waiting Area, right-hand rotation Accreditation Waiting Area, Through Lane region, campus inside lane region, cell inside lane
The region of the number of different types such as region, parking stall region.
So that setting regions is zebra crossing region as an example, the multi-source vehicle positioning stop detection method, including following place
Reason step：
1) location data of the real-time high-precision of vehicle is obtained；
2) detection vehicle whether stop in setting regions, whether parking tickets in setting regions；
Optionally include following process step：
3) detect vehicle stop in the setting regions, in setting regions parking tickets post processing.
The step 1), including following process：
A) by vehicle carried pick device, car-mounted device continuously obtains the positioning of the real-time high-precision of vehicle
Data；Controller carries out relevant treatment using the data；Process content is comprised determining whether in zebra crossing
Stop in region, meanwhile, current position determination data, location data can be shown on the screen of controller
Including data such as time, position, speed, course over ground；Driving trace can also be shown；
If b) detected in server end, car-mounted device passes location data according to frequency set in advance
It is defeated by server；Car-mounted device can in real time or timing translator unit or whole location datas；Preferably
The frequency set in advance is 5Hz；When car-mounted device is to server transmission data, already logged into clothes
Business device.
The step 2), may operate on car-mounted device and/or server, preferably run on the controller,
Comprise the steps：
A) whether the speed successively in detection location information be less than threshold value set in advance, less than when, it is believed that be
Dead ship condition；The threshold value set in advance, sets according to the regulation of traffic administration；Different types
Management region, the threshold value set in advance can be with difference；
B) if dead ship condition, all one or more setting regions set in advance are traveled through,
Whether being located in any one setting regions for vehicle detected；If located in certain setting regions, then recognize
Stop in the setting regions for detecting the car；If not in the setting regions, this inspection
Survey terminates；
If c), detecting the car to stop in zebra crossing region, then the car is calculated in the zebra crossing region
After interior continuous down time, judge whether continuous down time exceedes set in advance one or more
Any one in threshold value；If it exceeds, then it is assumed that car parking tickets in the zebra crossing region.
The detection vehicle is located in setting regions, is to detect that a point is located at the technology of geographic area, is ground
The prior art of reason information system.
The step 2), optionally also include following process step：
If d) on car-mounted device, finding not or lacking the zebra crossing number of regions near the current location of part
According to then car-mounted device and server cooperating, server send the data to car-mounted device.
The step 2) the step of d), on car-mounted device detection stop when use.
The step 3), including the combination of following process step：
A) server is coordinated parking relevant information in this zebra crossing region to be transferred to server with car-mounted device
Preserve；For preserving the information for a long time, it is easy to the applications such as follow-up verification.
B) server or/and car-mounted device are automatically according to priority set in advance, prompting set in advance
Mode, sends event prompting message to one or more prompting message equipment set in advance.So as to
Related personnel is processed in time；
C) car-mounted device constantly sends current location information to server and/or stops according to advance setting
Car relevant information.
The step 3) process step a) process step as follows：
If. server or car-mounted device detect stop in the setting regions or setting regions in stop
Car is broken rules and regulations, then detect that parking or one end of parking tickets send the notification message to the other end.Clothes
Business device can be that one of them is used for detecting parking or setting regions in setting regions with car-mounted device
Interior parking tickets, another are not used in detection；One of them will after detecting parking or parking tickets
This information is notified or is not notified to another.Server can also be carried out simultaneously with car-mounted device
Parking tickets in the interior parking of detection setting regions or setting regions；One of them detect parking or
This information is notified after parking tickets or do not notified to another.
. car-mounted device detect stop in the zebra crossing region or zebra crossing region in parking tickets,
Or after receiving the notification message that server sends to car-mounted device, this parking relevant information
It is sent to server；
. after server receives this parking relevant information, recorded in data base.
The multi-source vehicle positioning stop detection method, also includes pretreatment；The pretreatment, including following process：
A). record the geography information of each control area；
B). record the relevant information of each management vehicle；
Optionally, also include：
C). the precision information of the architecture of record regional.
The process B) in, the relevant information of each vehicle includes：The unique identifier of vehicle, vehicle are defended
The two-dimentional or three-dimensional installation site of the relative vehicle of star positioning antenna, direction, the length of vehicle, width can
The information such as the height including vehicle of choosing.
The alerting pattern, including the combination of following several ways：
A) on the screen of the device, display screen prompting message；
B) play and remind voice；
C) SMS is reminded；
D) instant communication information includes QQ, wechat etc.；
E) phone, mobile phone are reminded；
Preferred alerting pattern is：On the screen of the device, display screen prompting message, play remind voice,
SMS is reminded.
Described parking relevant information, including the combination of following information：Parking information, vehicle in setting regions
Driving condition information；
Parking information in the setting regions, including the combination of following information：Vehicle unique identifier, setting
The exclusive identification code in region, initial down time, end down time, lasting down time, driver are only
Extend before and after one identification code, vehicle multimedia information, docking process vehicle driving trace or docking process and set
The vehicle driving trace that fixes time；
The vehicle multimedia information is the combination of following information：Photo, video, recording；
The vehicle for extending setting time before and after the docking process vehicle driving trace or docking process travels rail
Mark, is combined into by a series of group of location informations, vehicle multimedia information.
If setting regions is to be not related to the region of parking tickets in cell, the present invention only stop by detection, no longer enters
The step of row detection parking tickets.
In the region of detection zebra crossing parking tickets, the threshold value of multiple continuous down times can be set, reached
Or processed after exceeding corresponding threshold value accordingly.5 seconds, 60 seconds, 180 seconds three threshold values are such as set,
When detecting that vehicle meets or exceeds above-mentioned different threshold value, different process are carried out；Meet or exceed 5 seconds
During less than 60 seconds, it is believed that constitute parking tickets, show corresponding information on car-mounted device and remember in server end
Record the information；The information includes parking information in setting regions；When meeting or exceeding 60 seconds less than 180 seconds,
Think to constitute more serious parking tickets, notify automatically the related management personnel belonging to the region to be processed,
Advice method can be management personnel mobile terminal on point out relevant information, prompting mode can be the tinkle of bells,
Map, literary combinatorics on words；When meeting or exceeding 180 seconds, it is believed that constitute serious parking tickets, automatically logical
Know that the higher level personnel of the related management personnel belonging to the region are processed.
The detection vehicle is located in setting regions, is to detect that a point is located at the technology of geographic area, is ground
The prior art of reason information system；Optionally, the combination of following process can also be done：
A) then according to the length of the geographical coordinate in location information, course over ground, and vehicle set in advance,
Width, the installation site of satellite positioning antennas, installation direction, calculate the ground on four summits of vehicle
Reason coordinate；Its computational methods is prior art, and a kind of its main points of computational methods is：According to positioning letter
The installation direction of course over ground, satellite positioning antennas in breath, calculates the current direction of vehicle；Point
The conversion coefficient of longitude, latitude and the length of the geographical coordinate is not calculated, each summit is calculated and is arrived
The distance of center of antenna further calculates each in North and South direction, the length of the projection of east-west direction
The longitude on summit, dimension；
B) all one or more zebra crossing regions set in advance are traveled through, detect vehicle four
Whether the geographical coordinate on summit is located in any one zebra crossing region；If arbitrary summit is located at zebra
Line region, then it is assumed that detect the car and stop in zebra crossing region；If four summits do not exist
Terminate in zebra crossing region, this detection；Whether the presetting of the zebra crossing region, geographical coordinate
It is located at the technology that zebra crossing region is existing GIS-Geographic Information System；The zebra crossing region, it should
It is convex domain, if being concave region, then after being converted to multiple convex domains, then is processed；Recessed area
It is prior art that domain is converted to multiple convex domains, and a kind of its main points of method is：By concave point and other
The line on non-adjacent summit is divided into multiple regions concave region, to division after region equally process,
Region after division is all convex domain；The concave region is converted to multiple convex domains, can set
The stage for determining region is processed, to accelerate the processing speed of this step.
The multi-source vehicle positioning stop detecting system and multi-source vehicle positioning stop detection method, by high-precision satellite
Positioner, inertial positioning device, the integrated positioning of architecture device, realize in the accurate of various regions
Positioning, can real-time detection go out the generation of Parking in setting regions, and in time to equipment set in advance
Send a notification message, preserve the related data of Parking in setting regions in time, it is achieved that in setting regions
The automated management of parking.
Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all at this
Any modification, equivalent and improvement for being made within bright spirit and principle etc., should be included in the present invention
Protection domain within.
Claims (10)
1. a kind of car-mounted device, it is characterised in that：The car-mounted device is used for multi-source vehicle positioning stop detecting system,
Including：Controller, vehicle carried pick device, radio communication device；The vehicle carried pick device, is high accuracy
Positioner, its positioning precision can be vehicle locations on track.
2. a kind of multi-source vehicle positioning stop detecting system, it is characterised in that：Including：Car-mounted device, server；
The car-mounted device is claim 1 and its car-mounted device described in dependent claims；The car-mounted device
By communicating between radio communication device and server.
3. car-mounted device according to claim 1, it is characterised in that：The vehicle carried pick device is to defend
Star positioner, inertial positioning device, the combination of architecture device.
4. car-mounted device according to claim 1, it is characterised in that：The vehicle carried pick device, energy
Enough according to advance setting, in satellite signal quality difference, inertial positioning is automatically switched to, is believed in satellite
When number quality is good, satellite fix is automatically switched to.
5. car-mounted device according to claim 1, it is characterised in that：The car-mounted device, records car
Unique identifier.
6. car-mounted device according to claim 1, it is characterised in that：The car-mounted device, also includes
Drive recorder；During the drive recorder is used for registration of vehicle traveling, vehicle interior, vehicle periphery
Image, acoustic information.
7. the automatic monitoring system that vehicle region according to claim 2 changes, it is characterised in that：
The automatic monitoring system that the vehicle region changes, also includes mobile unit safety device.
8. multi-source vehicle positioning stop detecting system according to claim 2, it is characterised in that：Also include carrying
Awake information equipment, the prompting message equipment is the combination of several equipment as follows：Server, vehicle-mounted control
Device, fix information terminal unit, mobile information terminal apparatus.
9. a kind of multi-source vehicle positioning stop detection method, it is characterised in that：Running software including the method is in institute
State on a kind of hardware of multi-source vehicle positioning stop detecting system, including following process step：
1) location data of the real-time high-precision of vehicle is obtained；
2) detection vehicle whether stop in setting regions, whether parking tickets in setting regions；
Optionally include following process step：
3) detect vehicle stop in the setting regions, in setting regions parking tickets post processing.
10. multi-source vehicle positioning stop detection method according to claim 9, it is characterised in that：The prompting
Mode includes the combination of following several ways：
A) on the screen of the device, display screen prompting message；
B) play and remind voice；
C) SMS is reminded；
D) instant communication information；
E) phone, mobile phone are reminded.
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| CN108877285A (en) * | 2018-07-05 | 2018-11-23 | 北京易路行技术有限公司 | The parking data detection system and method for multipoint positioning |
| CN108898844A (en) * | 2018-07-18 | 2018-11-27 | 希社（上海）智能交通科技有限公司 | Suspicion evidence taking system for illegal parking and method |
| CN109211228A (en) * | 2018-06-30 | 2019-01-15 | 华安鑫创控股（北京）股份有限公司 | A kind of intelligent Web inertial navigation method and Related product |
| CN110021185A (en) * | 2019-04-04 | 2019-07-16 | 邵沈齐 | A kind of wisdom traffic management system |
| CN110708667A (en) * | 2018-07-09 | 2020-01-17 | 陕西国广数码科技有限公司 | On-vehicle OBU equipment |
| CN111063214A (en) * | 2019-12-16 | 2020-04-24 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN113763050A (en) * | 2021-09-08 | 2021-12-07 | 中国联合网络通信集团有限公司 | Shared bicycle charging method, operation server and charging policy server |
| CN114613074A (en) * | 2022-04-18 | 2022-06-10 | 宁波小遛共享信息科技有限公司 | Vehicle returning control method and device for shared vehicle and electronic equipment |
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| CN110021185A (en) * | 2019-04-04 | 2019-07-16 | 邵沈齐 | A kind of wisdom traffic management system |
| CN110021185B (en) * | 2019-04-04 | 2021-03-02 | 邵沈齐 | Intelligent traffic management system |
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| CN113763050A (en) * | 2021-09-08 | 2021-12-07 | 中国联合网络通信集团有限公司 | Shared bicycle charging method, operation server and charging policy server |
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| CN114613074A (en) * | 2022-04-18 | 2022-06-10 | 宁波小遛共享信息科技有限公司 | Vehicle returning control method and device for shared vehicle and electronic equipment |
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