CN108306842B - System and method for unmanned accompanying test driving in car selling process - Google Patents
System and method for unmanned accompanying test driving in car selling process Download PDFInfo
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Abstract
A system and a method for unmanned accompanying test driving in a car selling process comprise: the test driver terminal APP is used for positioning the vehicle, requesting the control right of the vehicle and positioning the vehicle of the user by using one-key vehicle searching; the salesman terminal APP is used for sharing the vehicle control right to the test driving person terminal APP and checking the test driving process; the vehicle-mounted equipment is used for storing the control right account number and the information of the control password of the vehicle and verifying the user right; the cloud platform provides vehicle data for the data acquisition modules of the salesman terminal APP and the test driving person terminal APP. The method and the system provide the trial run opportunity for the user with the need, are humanized, facilitate buying and selling more easily, and greatly save the labor expenditure.
Description
Technical Field
The invention belongs to the field of Internet of things, and particularly relates to a system and a method for unmanned accompanying and pilot-driven car selling.
Background
Automobiles are the most common vehicles at present. With the improvement of the physical living standard of people, more and more people hope to buy the automobile. In order to select a psychographic automobile, a user needs to experience various performances of the automobile first, so that the concept of pilot driving is derived.
Today, the level of life of the people is higher and higher, and it is more and more popular to buy vehicles. At present, automobile transactions or entity transactions occupy a dominant position, and network transactions cannot be subjected to trial run due to the fact that the entities cannot be seen, so that consumers are always in an observation attitude for the network transactions. The test driving is a service project which consumes sales labor, and the method saves labor expenditure while not affecting customers and is the way for the marketing industry to live.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the system and the method for unmanned accompanying test driving in the car selling process, which provide the car-selling opportunity for the users in need, are humanized, can facilitate buying and selling more easily, and greatly save the manpower expenditure.
In one aspect, the invention provides a system for unmanned accompanying test driving in a car selling process, which comprises:
the test driver terminal APP is used for positioning the vehicle, requesting the control right of the vehicle and positioning the vehicle of the user by using one-key vehicle searching;
the salesman terminal APP is used for sharing the vehicle control right to the test driving person terminal APP and checking the test driving process;
the vehicle-mounted equipment is used for storing the control right account number and the information of the control password of the vehicle and verifying the user right;
the cloud platform provides vehicle data for the data acquisition modules of the salesman terminal APP and the test driving person terminal APP.
Further, the vehicle-mounted equipment comprises a vehicle-mounted acquisition device for acquiring vehicle data, a vehicle controller for controlling the vehicle, a vehicle self-detection module for checking the current state of the vehicle, and a built-in camera for acquiring driver and driving information.
Furthermore, a key is sought the car, is that person terminal APP and user's vehicle are driven in the examination, and in the effective distance, person terminal APP is driven in the examination can pop out a key button of seeking the car automatically, and after the person who drives in the examination clicked a key button of seeking the car, the sale vehicle can twinkle headlight before the car and sound the alarm.
On the other hand, the invention provides a method for unmanned accompanying test driving in a car selling process, which specifically comprises the following steps:
s1, after the test-driving vehicle is provided with the vehicle-mounted equipment, the vehicle-mounted equipment collects and records vehicle data and uploads the collected vehicle data to the cloud platform;
s2, the cloud platform receives vehicle data acquired by the vehicle-mounted equipment, and records the vehicle data for the sales personnel terminal APP and the test driving personnel terminal APP;
s3, applying for test driving information by a test driver terminal APP, inputting a front photo and a back photo of the identity card, transmitting photo data to a cloud platform, and identifying whether the identity card information is legal or not by the cloud platform;
s4, after the legality is verified, the test driver terminal APP signs a test driver agreement contract; screening out the current parking position of the sales vehicle according to the trial driving information, sending the position to a trial driver terminal APP, and simultaneously informing the relevant sales person terminal APP of a trial driving request;
and S5, after finding the vehicle, the test driver checks the current state of the vehicle by using a vehicle self-detection module on the vehicle-mounted equipment, and confirms that the vehicle is intact and can drive by the test driver.
Specifically, the method further comprises:
s6, sending a driving request instruction to the cloud platform by the driver test terminal APP, starting to acquire the facial features of the driver test by a built-in camera on the vehicle-mounted equipment, verifying the facial features of the driver test terminal with the identity of the cloud platform, and verifying the facial features and the identity of the cloud platform after the driver test terminal APP passes the safety verification;
s7, the use right of the vehicle is authorized to the trial driver through the salesman terminal APP, the whole process of the trial driver driving is collected by a built-in camera on the vehicle-mounted equipment, the trial driver driving is uploaded to the cloud platform, and the sales cler terminal APP can check the driving video in real time through the synchronization of the cloud platform.
Specifically, the method further comprises:
and S8, in the driving process, if illegal car removal, exceeding driving range, overspeed warning, collision warning, overtime driving and the like occur, timely notifying a public security department and a salesperson.
S9, when the vehicle returns after being recognized by the vehicle-mounted equipment, the vehicle-mounted equipment sends a message to the cloud platform, the vehicle self-detection module on the vehicle-mounted equipment is reused, the current state of the vehicle is checked, and vehicle state information is sent to the salesman terminal APP and the test driver terminal APP, and the salesman terminal APP is relieved from the use authorization relation with the test driver terminal APP.
More specifically, the step S4 further includes that the test driver uses the navigation function of the terminal APP to search for the position of the sold vehicle, when the distance from the sold vehicle is within the limited range, a one-key vehicle searching button is automatically popped up, and after the test driver clicks the one-key vehicle searching button, the vehicle of the user flickers the headlamp and sounds an alarm;
more specifically, the test driving information includes: vehicle type, test driving time, test driving route and vehicle parking position.
More specifically, the current state of the vehicle includes a vehicle body state, an oil amount, whether there is a scratch, and the like.
Due to the adoption of the technical method, the invention can obtain the following technical effects: the method provides a trial run opportunity for users in need, is humanized, facilitates buying and selling more easily, and greatly saves labor expenditure; the time of people can be saved, so that people can know information and data of various aspects of the automobile more in detail and comprehensively, and the automobile is convenient to use; the user can easily, freely and conveniently test and drive the new car.
Drawings
The invention has the following figures 2:
FIG. 1 is a block diagram of a system for an unmanned accompanying test drive during a car sale process;
fig. 2 is a radar emission waveform in a short-distance collision avoidance system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes the technical solutions of the embodiments of the present invention clearly and completely with reference to the accompanying drawings in the embodiments of the present invention:
example 1
The embodiment provides a system that nobody accompanied and tried on driving in the car selling process, includes:
the test driver terminal APP is used as a terminal for connecting a test driver to the Internet of vehicles, is used for positioning the vehicle, requests the control right of the vehicle and positions the vehicle of a user by using one-key vehicle searching;
the sales person terminal APP is used as a terminal for the sales person to connect with the vehicle network, is used for sharing the vehicle control right to the test driving person terminal APP, and can check the test driving process;
the vehicle-mounted equipment is used for storing the control right account number and the information of the control password of the vehicle and verifying the user right; the vehicle-mounted equipment further comprises a vehicle-mounted acquisition device for acquiring vehicle data, a vehicle controller for controlling the vehicle, a vehicle self-detection module for checking the current state of the vehicle, and a built-in camera for acquiring driver and driving information.
The cloud platform collects information of the vehicle-mounted acquisition device, and provides vehicle data for data acquisition modules of the salesman terminal APP and the test driving person terminal APP.
Optionally, a key is sought the car, indicates that the personnel terminal APP that drives in the examination drives and sells the vehicle, and in the effective distance, the personnel terminal APP that drives in the examination can pop out a key button of seeking the car automatically, and after the personnel that drive in the examination clicked a key button of seeking the car, the car of selling can twinkle headlight before the vehicle and sound the alarm.
Example 2
The embodiment provides a method for unmanned accompanying test driving in a car selling process, which specifically comprises the following steps:
s1, after the test-driving vehicle is provided with the vehicle-mounted equipment, the vehicle-mounted equipment collects and records vehicle data and uploads the collected vehicle data to the cloud platform;
s2, the cloud platform receives vehicle data acquired by the vehicle-mounted equipment, and records the vehicle data for the sales personnel terminal APP and the test driving personnel terminal APP;
s3, applying for test driving information such as vehicle type, test driving time, test driving route and vehicle parking position by a test driver terminal APP, inputting front and back photos of an identity card, transmitting photo data to a cloud platform, and identifying whether the identity card information is legal or not by the cloud platform;
s4, after the legality is verified, the test driver terminal APP signs a test driver agreement contract; screening out the current parking position of the sales vehicle according to the trial driving information, sending the position to a trial driver terminal APP, and simultaneously informing the relevant sales person terminal APP of a trial driving request; the test driver uses the navigation function of the terminal APP to find the position of the sold vehicle, when the distance between the test driver and the sold vehicle is within a limited range, a one-key vehicle finding button is automatically popped up, and after the test driver clicks the one-key vehicle finding button, the vehicle of a user can twinkle the headlamp and sound an alarm, so that the specific position of the sold vehicle is accurately locked.
And S5, after finding the vehicle, the test driver checks the current state of the vehicle, such as the vehicle body state, the oil quantity, whether scratches exist or not, and the test driver confirms that the vehicle is in good condition and can drive by using a vehicle self-detection module on the vehicle-mounted equipment.
Example 3
As a further addition to embodiment 2, the above method further comprises:
s6, sending a driving request instruction to the cloud platform by the driver test terminal APP, starting to acquire the facial features of the driver test by a built-in camera on the vehicle-mounted equipment, verifying the facial features of the driver test terminal with the identity of the cloud platform, and verifying the facial features and the identity of the cloud platform after the driver test terminal APP passes the safety verification;
s7, the use right of the vehicle is authorized to the trial driver through the salesman terminal APP, the whole process of the trial driver driving is collected by a built-in camera on the vehicle-mounted equipment, the trial driver driving is uploaded to the cloud platform, and the sales cler terminal APP can check the driving video in real time through the synchronization of the cloud platform.
Example 4
In addition to embodiment 2 or 3, the above method further includes:
s8, in the driving process, if illegal car removal, exceeding driving range, overspeed warning, collision warning, overtime driving and the like occur, timely notifying a public security department and a salesperson;
s9, when the vehicle is identified to return, the vehicle-mounted equipment sends a message to the cloud platform, the vehicle self-detection module on the vehicle-mounted equipment is reused to check the current state of the vehicle, such as the state of the vehicle body, the oil quantity, whether scratches exist or not, and the vehicle state information is sent to the sales force terminal APP and the test driving person terminal APP, and the sales force terminal APP is relieved from the use authorization relation with the test driving person terminal APP.
Example 5
The invention utilizes the technology of the Internet of things, a cloud platform, vehicle-mounted equipment, a sales terminal APP and a pilot terminal APP form a network, a cloud server is used as an access gateway and a control verification database, the vehicle-mounted equipment is used as a security verification and wireless network, and the sales terminal is used for sending information of receiving and sending authorization, inquiring the real-time state of a vehicle and controlling the vehicle. The test driving terminal is used for providing effective identity information and vehicle control functions.
Example 6
The embodiment provides a system that nobody accompanied and tried on driving in the car selling process, includes:
the test driver terminal APP is used as a terminal for connecting a test driver to the Internet of vehicles, is used for positioning the vehicle, requests the control right of the vehicle and positions the vehicle of a user by using one-key vehicle searching;
the sales person terminal APP is used as a terminal for the sales person to connect with the vehicle network, is used for sharing the vehicle control right to the test driving person terminal APP, and can check the test driving process;
the vehicle-mounted equipment is used for storing the control right account number and the information of the control password of the vehicle and verifying the user right; the vehicle-mounted equipment also comprises a vehicle-mounted acquisition device for acquiring vehicle data, a vehicle controller for controlling the vehicle, a vehicle self-detection module for checking the current state of the vehicle, and a built-in camera for acquiring driver and driving information;
the cloud platform is used for collecting information of the vehicle-mounted acquisition device and providing vehicle data for data acquisition modules of the salesman terminal APP and the test driver terminal APP;
the short-distance anti-collision system is used for detecting surrounding vehicles and is arranged on the test driving vehicle;
the short-distance anti-collision system comprises a radar, the center frequency f is 24.125GHz, the emission waveform is a combined waveform of sawtooth waves and constant frequency waves, the first section of the waveform is sawtooth waves, the period is 10ms, the working frequency change range is changed from 24.025GHz to 24.225GHz, and the bandwidth is 200 MHz. The second section selects constant frequency wave with a period of 10ms and a working frequency of 24.125 GHz. The transmit waveform is shown in fig. 2.
The short-distance anti-collision system processing method comprises the following steps:
s1, removing direct current from IQ data acquired by A/D (analog to digital) for each section of waveform after removing front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
as a technical scheme: the FFT method of the time frequency in step S1 is: and performing time-frequency 512-point FFT on IQ data acquired by a first sawtooth wave FMCW and a second constant frequency wave CW in the channel 1 and performing time-frequency 512-point FFT on IQ data acquired by a second constant frequency wave CW and an A/D in the channel 2.
The removing of the front part of data points is to remove the front part of data points collected by the AD first in the data collected by the AD, generally at 50-70 points, for example, if 700 points are collected, the first 50 points are removed, and the data from 51 to 700 are subjected to dc conversion and FFT conversion. The partial point to be removed has two reasons, namely, the data is the abnormal partial data caused by the pulse generated by the voltage when the waveform is changed, and the second reason is the distance ambiguity. This part is not the reason for the reduction in range resolution as described above, but rather the linearity of the transmitted waveform, which causes this reduction in resolution.
The dc removal method in step S1 is:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) for each I, Q data, subtracting the mean value of the respective I, Q data obtained by the previous step, and finishing the direct current removing mode;
(3) the IQ data DC calculation formula is as follows:
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
i, Q data after direct current removal are merged into an I + jQ data form, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW and the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2. A Hanning window or a Hamming window and the like can be selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The Hanning window calculation formula is:
s2, performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each data to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the data of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
as a technical solution, the binary accumulation method of step S2 is:
if the data of the distance unit passes the threshold, marking as 1, if the data of the distance unit does not pass the threshold, marking as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, the meaning of K represents the number of accumulation 1, the point of passing the threshold is marked as 1, when the number of accumulation 1 reaches K, outputting the coordinate value of the point, otherwise, not outputting the coordinate value as the target of passing the threshold;
the calculation mode is divided into two steps:
(1) converting the detected output quantity into binary number, wherein the quantization relation is as follows:
|xii denotes the magnitude of the modulus after FFT, γiIndicating a threshold value. That is, the value of the modulus exceeding the threshold is recorded as 1, and the value of the modulus not exceeding the threshold is recorded as 0.
(2) The quantization pulses are accumulated for N1 cycles, and if the quantization pulse accumulation number m is N1 cycles,
the meaning of K represents the number of accumulated 1, the point of passing the threshold is marked as 1, the whole process represents a period, the coordinate of the point of passing the threshold is counted once in each period, the threshold is represented as 1, the value is 0 if not, and N1 periods are continuously counted. One cycle before this is a value, and now N1 cycles must be accumulated before the output of the high value is satisfied.
After binary accumulation, when a large number of points which meet the requirement of threshold crossing are simultaneously met, only selecting a first peak point which outputs the threshold crossing, wherein the first peak point is mainly the object which has the largest danger degree to the plane of the pilot vehicle and is closest to the pilot vehicle, so that the maximum peak points of all the threshold crossing are not found, but the peak value of the first threshold crossing is selected;
in step 2, let the peak coordinate of the first threshold crossing point of the chirped sawtooth FMCW in channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j × b _ p1, and the phase be
Wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents that in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak point of the threshold is p 2.
The peak coordinate of the first threshold point of the constant frequency wave CW is p1_ CW, the peak coordinate of the first threshold point of the chirp frequency modulated sawtooth wave FMCW in the channel 2 is p2_ FMCW, the corresponding FFT-transformed data is a _ p2+1j b _ p2, and the phase is p
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
the method for calculating the difference frequency value of the sawtooth wave band comprises the following steps: in the channel 1, the linear frequency modulation sawtooth wave FMCW has the coordinate p1_ FMCW of the point with the maximum threshold point amplitude, and the corresponding difference frequency value is f according to the following ruleb，
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point is
fsRepresenting the magnitude of the system sampling rate;
if the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding point
The method for calculating the Doppler frequency value of the constant frequency band comprises the following steps: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold point, and the corresponding doppler frequency f is calculated according to the following ruled；
The rules are as follows:
if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
And S3, calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle.
As one technical solution, the method for calculating the relative velocity value is: according to the calculated Doppler frequency value fdCalculating the velocity v of the target by the formula
Where c is the speed of light, and c is 3 × 108F is the center frequency, and f is 24.125 GHz.
The method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbCalculating the distance R of the target according to the formula
Wherein, T is a period, T is 10ms, B is a bandwidth, and B is 200 MHz.
Calculating the phase difference of the phase difference through the phase calculated by the linear frequency modulation sawtooth wave bands in the channel 1 and the channel 2 respectively, and calculating according to a calculation formula
Obtaining a phase difference delta psi;
according to the formula for calculating the angle,
and calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
As a technical scheme, the method further comprises the step S4 of filtering and tracking, and predicting the distance and the speed value at the next measurement moment.
After the collision-prevention millimeter wave radar system in the short-distance collision prevention system completes the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target, a filtering and tracking module is required to be carried out. Because the system output data has a high refresh rate and has small variation of distance, speed and the like in a short time, the system can be approximately regarded as uniform motion to predict the distance, speed value and the like at the next measurement moment. The tracking and predicting method is the premise and the basis of the self-adaptive tracking and tracking filter. The main methods currently include linear autoregressive filtering, wiener filtering, weighted least squares filtering, alpha-beta and alpha-beta-gamma filtering, kalman filtering, simplified kalman filtering, and the like.
The present invention recommends the use of an alpha-beta filter. The alpha-beta filter is suitable for the condition that the change rate of the tracking error is relatively uniform, so the method is basically suitable for the flight scene of the test-driving vehicle.
In the α - β filter, the prediction equation of the constant gain filter is X (K +1/K) ═ Φ X (K/K), and the filter equation is X (K +1/K +1) ═ X (K +1/K) + K [ Z (K +1) -H (K +1/K) ], where X (K/K) is a filtered value at time K, X (K +1/K) is a predicted value at time K to the next time, and Z (K) is an observed value at time K.
When the target motion equation adopts a constant velocity model, the constant gain matrix K is [ alpha, beta/T ]]TIts state transition matrix
The measurement matrix of the model is H ═ 1, 0]. The alpha-beta filter is a constant gain filter satisfying the long gain matrix K, the state transition matrix phi and the measurement matrix H described by the above expressions, i.e. the constant gain filter
The selection of the parameters a and β in the a- β filter is relevant for the response of the tracking, the convergence speed and the tracking stability. Generally, 0 < alpha < 1, 0 < beta < 1 are required. In engineering, the values of alpha and beta can be calculated according to a formula, namely
And
where k is the number of times, and α and β take different values as k changes, in practice, these two parameters tend to be constant.
The target speed and distance of single settlement can be filtered, tracked and predicted through the alpha-beta filter. The target tracking can be better realized, the output data is smoother, the appearance of abnormal values is reduced, and the stability of the system is effectively improved.
The existing signal processing method generally adopts AD-FFT-threshold-calculation, and AD-de-direct current-windowing-FFT-threshold-binary accumulation-calculation-prediction tracking is added in the new processing method. More links are added. Especially de-dc and binary accumulation prediction and tracking.
The advantages of DC removal are: because the direct current data can raise the nearby threshold value, the data of the target nearby the direct current is subjected to direct current
Certain interference exists during threshold detection, so that the detection probability of the target can be effectively improved by adopting a direct current removing mode.
The advantages of windowing: a Hanning window or a Hamming window and the like are selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The use of binary cumulative benefits: the points which pass the threshold can be more stable, the threshold is not jumped back among some points, and the reliability of the system is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (6)
1. A method for unmanned accompanying test driving in a car selling process is characterized by comprising the following steps:
s1, after the test-driving vehicle is provided with the vehicle-mounted equipment, the vehicle-mounted equipment collects and records vehicle data and uploads the collected vehicle data to the cloud platform;
s2, the cloud platform receives vehicle data acquired by the vehicle-mounted equipment, and records the vehicle data for the sales personnel terminal APP and the test driving personnel terminal APP;
s3, applying for test driving information by a test driver terminal APP, inputting identity card information, transmitting the identity card information to a cloud platform, and identifying whether the identity card information is legal by the cloud platform;
s4, after the legality is verified, the test driver terminal APP signs a test driver agreement contract; screening out the current parking position of the sales vehicle according to the trial driving information, sending the position to a trial driver terminal APP, and simultaneously informing the relevant sales person terminal APP of a trial driving request;
s5, after finding the vehicle, the test driver checks the current state of the vehicle by using a vehicle self-detection module on the vehicle-mounted equipment, and confirms that the vehicle is intact and can drive by the test driver;
s6, sending a driving request instruction to the cloud platform by the driver test terminal APP, starting to acquire the facial features of the driver test by a built-in camera on the vehicle-mounted equipment, verifying the facial features with the identity card information of the cloud platform, and verifying the facial features with the safety;
s7, authorizing the use right of the vehicle to a test driver through a salesman terminal APP, starting to acquire the whole driving process of the test driver through a built-in camera on the vehicle-mounted equipment and uploading the driving process to a cloud platform, and checking a driving video in real time through the synchronization of the cloud platform through the salesman terminal APP;
s8, in the driving process, if illegal car removal, exceeding driving range, overspeed warning, collision warning, overtime driving and the like occur, timely notifying a public security department and a salesperson;
s9, when the vehicle-mounted equipment recognizes that the vehicle returns, the vehicle-mounted equipment sends a message to the cloud platform, the vehicle self-detection module on the vehicle-mounted equipment is used again to check the current state of the vehicle and send vehicle state information to the salesman terminal APP and the test driver terminal APP, and the salesman terminal APP releases the use authorization relation with the test driver terminal APP;
the method is implemented in a system for no-person accompanying test driving in the car selling process, and the system comprises the following steps:
the test driver terminal APP requests the control right of the vehicle and locates the vehicle for sale by using one-key vehicle searching;
the salesman terminal APP is used for sharing the vehicle control right to the test driving person terminal APP and checking the test driving process;
the vehicle-mounted equipment is used for storing the control right account number and the information of the control password of the vehicle and verifying the user right;
the cloud platform is used for providing vehicle data for data acquisition modules of the salesman terminal APP and the test driver terminal APP;
the short-distance anti-collision system is used for detecting surrounding vehicles and is arranged on the test driving vehicle;
the short-distance anti-collision system processing method comprises the following steps:
s1, removing direct current from IQ data acquired by A/D (analog to digital) for each section of waveform after removing front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the FFT method of the time frequency in step S1 is: performing time-frequency 512-point FFT on IQ data acquired by a first sawtooth wave FMCW and a second constant frequency wave CW in a channel 1 and performing time-frequency 512-point FFT on IQ data acquired by a second constant frequency wave CW and an A/D in a channel 2;
the dc removal method in step S1 is:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) for each I, Q data, subtracting the mean value of the respective I, Q data obtained by the previous step, and finishing the direct current removing mode;
(3) the IQ data DC calculation formula is as follows:
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
i, Q data after direct current removal are merged into an I + jQ data form, then windowing processing is carried out, and windowing processing is carried out on the data of a first section of sawtooth wave FMCW and a second section of constant frequency wave CW in a channel 1 and the data of a first section of sawtooth wave FMCW in a channel 2;
s2, performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each data to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the data of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
the binary accumulation method of step S2 is:
if the data of the distance unit passes the threshold, marking as 1, if the data of the distance unit does not pass the threshold, marking as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, the meaning of K represents the number of accumulation 1, the point of passing the threshold is marked as 1, when the number of accumulation 1 reaches K, outputting the coordinate value of the point, otherwise, not outputting the coordinate value as the target of passing the threshold;
s3, calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle;
the method for calculating the relative velocity value is as follows: according to the calculated Doppler frequency value fdCalculating the velocity v of the target by the formula
Where c is the speed of light, and c is 3 × 108F is the center frequency, and f is 24.125 GHz;
the method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbCalculating the distance R of the target according to the formula
Wherein, T is a period, T is 10ms, B is a bandwidth, and B is 200 MHz;
according to a calculation formula
Obtaining a phase difference Δ ψ, wherein
a _ p1 shows that in the array formed by a + j × b, the coordinate corresponding to the peak point of the threshold is p1, b _ p1 shows that in the array formed by a + j × b, the coordinate corresponding to the peak point of the threshold is p1, a _ p2 shows that in the array formed by a + j × b, the coordinate corresponding to the peak point of the threshold is p2, b _ p2 shows thatIn the array consisting of a + j and b, the coordinate corresponding to the peak point of the threshold is p 2;
according to the formula for calculating the angle,
calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave;
and S4, filtering and tracking, and predicting the distance and the speed value at the next measurement moment.
2. The method as claimed in claim 1, wherein the vehicle-mounted device comprises a vehicle-mounted acquisition device for acquiring vehicle data, a vehicle controller for controlling the vehicle, a vehicle self-test module for checking the current state of the vehicle, and a built-in camera for acquiring driver and driving information.
3. The method for unmanned accompanying and pilot driving in the car selling process according to claim 1, wherein the one-key car searching means that a pilot driver terminal APP and a sales vehicle are located, a one-key car searching button is automatically popped up from the pilot driver terminal APP within an effective distance, and after the pilot driver clicks the one-key car searching button, the sales vehicle flickers a headlamp and sounds an alarm.
4. The method for unmanned accompanying and pilot-driving in the car selling process of claim 1, wherein the step S4 further comprises that the pilot-driver uses the navigation function of the terminal APP to search the position of the car for sale, when the distance from the car for sale is within a limited range, the one-key car searching button is automatically popped up, and after the pilot-driver clicks the one-key car searching button, the car of the user can flash the headlight of the car and sound an alarm.
5. The method of claim 1, wherein the test driving information comprises: vehicle type, test driving time, test driving route and vehicle parking position.
6. The method of claim 1, wherein the current state of the vehicle includes body state, fuel quantity, and whether there is a scratch.
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