CN111862581A - Vehicle lock control method, vehicle lock control device, vehicle parking system and storage medium - Google Patents
Vehicle lock control method, vehicle lock control device, vehicle parking system and storage medium Download PDFInfo
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- CN111862581A CN111862581A CN202010572799.7A CN202010572799A CN111862581A CN 111862581 A CN111862581 A CN 111862581A CN 202010572799 A CN202010572799 A CN 202010572799A CN 111862581 A CN111862581 A CN 111862581A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
- B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The present application relates to the field of vehicle technologies, and in particular, to a vehicle lock control method, a vehicle lock control device, a vehicle parking system, and a storage medium. The method comprises the following steps: acquiring a broadcast signal sent by target positioning auxiliary equipment, wherein the broadcast signal comprises a stop-and-go azimuth of a vehicle head; acquiring vehicle data, and determining the current azimuth angle of the vehicle head based on the vehicle data; judging the parking state of the vehicle based on the current azimuth angle and the quasi-parking azimuth angle, and generating a vehicle lock control signal corresponding to the parking state; and controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal. By adopting the method, the vehicle can be allowed to be locked after the vehicle is determined to be parked according to the standard.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle lock control method, a vehicle lock control device, a vehicle parking system, and a storage medium.
Background
With the development of internet technology, shared vehicles which are raised in various large and medium-sized cities in China are almost visible everywhere, and the public can go out conveniently.
Although the parking area of the vehicle is set at present, the vehicle can be locked and parked in the designated parking area, the phenomenon of disordered parking and random parking still exists, the parking order is seriously influenced, and the city appearance is influenced.
Therefore, it is an urgent problem to provide a vehicle lock control method that allows the locking of a vehicle only after the regular parking of the vehicle is determined.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle lock control method, apparatus, vehicle parking system and storage medium that allow the vehicle to be locked after the vehicle is determined to be parked according to the specification.
A vehicle lock control method, the method comprising:
acquiring a broadcast signal sent by target positioning auxiliary equipment, wherein the broadcast signal comprises a stop-and-go azimuth of a vehicle head;
acquiring vehicle data, and determining the current azimuth angle of the vehicle head based on the vehicle data;
judging the parking state of the vehicle based on the current azimuth angle and the quasi-parking azimuth angle, and generating a vehicle lock control signal corresponding to the parking state;
and controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
In one embodiment, before acquiring the broadcast signal transmitted by the target positioning assistance device, the method further includes:
When detecting that the vehicle terminal meets the condition of starting broadcast signal scanning, scanning broadcast signals sent by a plurality of positioning auxiliary devices in an adjacent area, and determining the signal intensity of each scanned broadcast signal;
based on the respective signal strengths, a target location assistance device of the corresponding vehicle is determined.
In one embodiment, determining the target location assistance device for the corresponding vehicle based on the respective signal strengths comprises:
judging whether the signal intensity is greater than or equal to a preset threshold value or not;
when the signal intensity is smaller than a preset threshold value, determining that the corresponding positioning auxiliary equipment is non-target positioning auxiliary equipment;
and when the signal intensity is greater than or equal to the preset threshold value, determining that the corresponding positioning auxiliary equipment is the target positioning auxiliary equipment.
In one embodiment, before scanning broadcast signals transmitted by a plurality of positioning assistance devices in a vicinity, the method further comprises:
and sending wireless wake-up signals to a plurality of positioning auxiliary devices in the adjacent area so as to wake up the plurality of positioning auxiliary devices in the dormant state, so that the plurality of positioning auxiliary devices after wake-up send broadcast signals.
In one embodiment, determining a parking state of the vehicle based on the current azimuth and the quasi-parking azimuth, and generating a vehicle lock control signal corresponding to the parking state includes:
Determining a quasi-stop azimuth angle interval of the vehicle according to the quasi-stop azimuth angle;
when the current azimuth angle is judged to be located in the quasi-parking azimuth interval, determining that the vehicle is in a standard parking state, and generating a first vehicle lock control signal allowing the vehicle lock to be closed;
when the current azimuth angle is not determined to be in the quasi-parking azimuth interval, determining that the vehicle is not in a standard parking state, and generating a second vehicle lock control signal for forbidding closing the vehicle lock;
controlling the vehicle lock to be closed or prohibiting the vehicle lock from being closed according to the vehicle lock control signal, including:
controlling the vehicle lock to be closed according to the first vehicle lock control signal;
and controlling to prohibit the vehicle lock from being closed according to the second vehicle lock control signal.
In one embodiment, acquiring vehicle data and determining a current azimuth of a vehicle head based on the vehicle data includes:
acquiring acceleration data, rotational angular velocity data and magnetic field intensity data of a position where a vehicle is located;
and calculating the acceleration data, the rotation angular velocity data and the magnetic field intensity data of the position of the vehicle through a nine-axis fusion algorithm or an inertial navigation algorithm to generate the current azimuth angle of the vehicle head.
A vehicle lock control device comprising:
the system comprises a broadcast signal acquisition module, a target positioning auxiliary device and a target positioning auxiliary device, wherein the broadcast signal acquisition module is used for acquiring a broadcast signal sent by the target positioning auxiliary device, and the broadcast signal comprises a stop-ready azimuth angle of a vehicle head;
the current azimuth angle determining module is used for acquiring vehicle data and determining the current azimuth angle of the vehicle head based on the vehicle data;
the vehicle lock control signal generation module is used for judging the parking state of the vehicle and generating a vehicle lock control signal corresponding to the parking state based on the current azimuth angle and the stop-allowable azimuth angle;
and the control module is used for controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
In one embodiment, the apparatus further includes:
the scanning module is used for scanning broadcast signals sent by a plurality of positioning auxiliary devices in a neighboring area and determining the signal intensity of each scanned broadcast signal when the vehicle terminal is detected to meet the condition of starting broadcast signal scanning before the broadcast signal acquisition module acquires the broadcast signal sent by the target positioning auxiliary device;
and the target positioning auxiliary equipment determining module is used for determining the target positioning auxiliary equipment of the corresponding vehicle based on the signal intensity.
A vehicle parking system comprises a vehicle end and a positioning auxiliary device, wherein the vehicle end comprises a vehicle device and a vehicle lock, the positioning auxiliary device is used for assisting in judging whether a vehicle is located in a parking area, and the vehicle device is used for controlling the vehicle lock to be closed or stopped;
the vehicle device comprises a memory storing a computer program and a processor implementing the steps of any of the above methods when the processor executes the computer program.
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 method of any of the above.
According to the vehicle lock control method, the vehicle lock control device, the vehicle parking system and the storage medium, the broadcast signal sent by the target positioning auxiliary equipment is obtained, the broadcast signal comprises the stop-allowable azimuth of the vehicle head, then the vehicle data is obtained, the current azimuth of the vehicle head is determined based on the vehicle data, the parking state of the vehicle is judged further based on the current azimuth and the stop-allowable azimuth, the vehicle lock control signal corresponding to the parking state is generated, and then the vehicle lock is controlled to be closed or the vehicle lock is forbidden to be closed according to the vehicle lock control signal. Therefore, the parking state of the vehicle can be judged according to the acquired accurate parking azimuth angle of the vehicle head and the current azimuth angle of the vehicle head, and the corresponding vehicle lock control signal is generated to control the vehicle lock to be closed or forbid the vehicle lock to be closed, so that the problem that whether the locking is allowed or forbidden can not be determined according to whether the vehicle is parked in a standard mode in the prior art is solved, and the parking order can be effectively maintained.
Drawings
FIG. 1 is a diagram of an application scenario of a vehicle lock control method in one embodiment;
FIG. 2 is a schematic flow chart of a vehicle lock control method in one embodiment;
FIG. 3 is a schematic illustration of a vehicle parking area in one embodiment;
FIG. 4 is a diagram showing a hardware configuration of a vehicle device in one embodiment;
FIG. 5 is a block diagram showing the construction of a vehicle lock control apparatus in one embodiment;
fig. 6 is an internal structural view of a vehicular apparatus in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle lock control method provided by the application can be applied to the application environment shown in fig. 1. Wherein the vehicle device 102 communicates with the positioning assistance device 104 over a network. In this embodiment, the vehicle device 102 acquires the broadcast signal transmitted by the target positioning assistance device 104, the broadcast signal including the on-stop azimuth of the vehicle head, then acquires the vehicle data, and determines the current azimuth of the vehicle head based on the vehicle data. Further, the vehicle device 102 determines the parking state of the vehicle based on the current azimuth and the parking permission azimuth, and generates a corresponding vehicle lock control signal, and then the vehicle device 102 controls the vehicle lock to be closed or prohibits the vehicle lock from being closed based on the vehicle lock control signal. The vehicle device 102 may be, but is not limited to, various personal computers, laptops, smartphones, tablets, etc., and the positioning assistance device 104 may be a bluetooth spike.
In one embodiment, as shown in fig. 2, there is provided a vehicle lock control method, which is described by taking an example of application of the method to the vehicle apparatus in fig. 1, and includes the steps of:
step S202, broadcast signals sent by the target positioning auxiliary equipment are obtained, and the broadcast signals comprise the stop-and-go azimuth of the vehicle head.
The positioning auxiliary device is a device for determining a parking position of a vehicle, and may be a bluetooth spike or the like, for example.
In the present embodiment, referring to fig. 3, the location areas where the vehicle is allowed to park may be location areas such as A, B, C shown in the drawing, and each location area is provided with a positioning assistance device, respectively, so that the vehicle device determines whether the vehicle is parked in a fixed parking area according to the positioning assistance device.
In this embodiment, the positioning assistance device may transmit a broadcast signal including the true stop azimuth of the vehicle, e.g., with continued reference to fig. 3, for zone a, the true stop azimuth of the vehicle is the west direction, for zone B, the true stop azimuth of the vehicle is the east direction, and for zone C, the true stop azimuth of the vehicle is the north direction. In practical application, the parking areas are located at different positions, and the quasi-parking azimuth angles of the vehicles acquired from the broadcast signals of the vehicles are different.
Further, the broadcast signal transmitted by the positioning assistance device may be a broadcast signal transmitted by bluetooth, for example, a broadcast signal transmitted by using a broadcast extension function specific to the bluetooth 5.0 protocol, or may be another form of wireless signal, which is not limited thereto.
And step S204, acquiring vehicle data, and determining the current azimuth angle of the vehicle head based on the vehicle data.
The vehicle data refers to collected real-time data of the vehicle, and may include geographical position information of the vehicle, a rotational angular velocity, a driving acceleration, a gravitational acceleration of the vehicle, a magnetic field strength of the vehicle, and the like.
In this embodiment, the vehicle device may determine the current azimuth angle of the vehicle by performing a calculation on the collected vehicle data.
And step S206, judging the parking state of the vehicle based on the current azimuth angle and the quasi-parking azimuth angle, and generating a vehicle lock control signal corresponding to the parking state.
The vehicle lock control signal is a signal for controlling the vehicle lock, and specifically includes a control signal for allowing the vehicle lock to be closed and a control signal for prohibiting the vehicle lock from being closed.
In this embodiment, the vehicle device may determine the parking state of the vehicle according to the current azimuth angle and the azimuth angle, and generate the corresponding vehicle lock control signal if the parking state of the vehicle meets the parking requirement.
In one embodiment, after acquiring the broadcast signal and the current azimuth, the vehicle device may send the acquired broadcast signal and the current azimuth calculated based on the acquired vehicle data to the server, so that the server determines the corresponding vehicle lock control signal based on the stop-and-go azimuth and the current azimuth carried in the broadcast signal.
In this embodiment, after the server obtains the stop-permission azimuth and the current azimuth, the server determines the parking state of the vehicle, determines whether the parking state meets the parking requirement, generates a corresponding vehicle lock control signal, and sends the corresponding vehicle lock control signal to the vehicle device.
The parking state of the vehicle is judged through the server, and the corresponding vehicle lock control signal is generated, so that the data calculation amount of the vehicle equipment can be increased, the operation efficiency of the vehicle equipment can be improved, and the service life of the battery capacity of the vehicle equipment can be prolonged.
And step S208, controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
In this embodiment, the vehicle device may perform a corresponding control function, i.e. control the vehicle lock to be closed or prohibit the vehicle lock from being closed, according to the vehicle lock control signal when obtaining the vehicle lock control signal.
In the vehicle lock control method, the broadcast signal sent by the target positioning auxiliary equipment is acquired, the broadcast signal comprises a stop-allowable azimuth of the vehicle head, then vehicle data is acquired, the current azimuth of the vehicle head is determined based on the vehicle data, the parking state of the vehicle is further determined based on the current azimuth and the stop-allowable azimuth, a vehicle lock control signal corresponding to the parking state is generated, and then the vehicle lock is controlled to be closed or the vehicle lock is prohibited to be closed according to the vehicle lock control signal. Therefore, the parking state of the vehicle can be judged according to the acquired accurate parking azimuth and the current azimuth of the vehicle head, and the corresponding vehicle lock control signal is generated to control the vehicle lock to be closed or prohibit the vehicle lock from being closed, so that the problem that whether the locking is allowed or prohibited cannot be determined according to whether the vehicle is parked in a standard mode in the prior art is solved, and the parking order can be effectively maintained.
In one embodiment, determining a parking state of the vehicle based on the current azimuth and the quasi-parking azimuth, and generating a vehicle lock control signal corresponding to the parking state may include: determining a quasi-stop azimuth angle interval of the vehicle according to the quasi-stop azimuth angle; when the current azimuth angle is judged to be located in the quasi-parking azimuth interval, determining that the vehicle is in a standard parking state, and generating a first vehicle lock control signal allowing the vehicle lock to be closed; and when the current azimuth angle is not determined to be positioned in the quasi-parking azimuth interval, determining that the vehicle is not in a standard parking state, and generating a second vehicle lock control signal for forbidding closing of the vehicle lock.
In this embodiment, after the vehicle device obtains the quasi-stop azimuth angle of the vehicle, the vehicle device may determine the quasi-stop azimuth angle interval of the vehicle based on the error angle carried in the obtained broadcast signal, and determine whether the current azimuth angle of the vehicle head is located in the quasi-stop azimuth angle interval based on the quasi-stop azimuth angle interval and the current azimuth angle, so as to determine whether the vehicle is parked regularly. For example, the quasi-stop azimuth angle is positive north direction and is recorded as 0 degree, the error angle is +/-30 degrees, and the quasi-stop azimuth angle interval is not minus 30 degrees to plus 30 degrees.
In this embodiment, when the vehicle device determines the quasi-stop azimuth interval of the vehicle according to the quasi-stop azimuth and determines that the vehicle is in the normative parking state when it is determined that the current azimuth is within the quasi-stop azimuth interval, a first vehicle lock control signal, for example, 25 °, that allows the vehicle lock to be closed is generated. Similarly, when the vehicle device determines the quasi-parking azimuth interval of the vehicle according to the quasi-parking azimuth and determines that the vehicle is not in the normative parking state when the current azimuth is determined not to be in the quasi-parking azimuth interval, a second vehicle lock control signal for prohibiting the vehicle lock from being closed is generated, for example, -50 °.
In one embodiment, when the vehicle lock control signal is generated by the server, the server may determine an accurate parking azimuth interval of the vehicle based on the acquired accurate parking azimuth of the vehicle and an error angle carried in the broadcast signal, and determine whether the current azimuth of the vehicle head is located in the accurate parking azimuth interval based on the accurate parking azimuth interval and the current azimuth, so as to determine whether the vehicle is parked regularly.
Further, the server determines that the vehicle is in a standard parking state when determining that the current azimuth is located in the parking position quasi interval, and generates a first vehicle lock control signal which allows the vehicle lock to be closed.
Further, the server transmits the generated vehicle lock control signal to the terminal device.
In this embodiment, the controlling or prohibiting the closing of the vehicle lock by the vehicle device according to the vehicle lock control signal may include: controlling the vehicle lock to be closed according to the first vehicle lock control signal; and controlling to prohibit the vehicle lock from being closed according to the second vehicle lock control signal.
In the embodiment, the vehicle lock is controlled according to the vehicle lock control signals corresponding to different parking states, so that misjudgment of vehicle lock closing control caused by misjudgment due to signal loss can be avoided, and the vehicle lock is controlled more accurately.
In one embodiment, obtaining vehicle data and determining a current azimuth of a vehicle head based on the vehicle data may include: acquiring acceleration data, rotational angular velocity data and magnetic field intensity data of a position where a vehicle is located; and calculating the acceleration data, the rotation angular velocity data and the magnetic field intensity data of the position of the vehicle through a nine-axis fusion algorithm or an inertial navigation algorithm to generate the current azimuth angle of the vehicle head.
As previously described, the vehicle device may determine the current azimuth of the vehicle by performing a calculation on the collected vehicle data. For example, the rotational angular velocity of the vehicle, the travel acceleration data, the magnetic field intensity data of the position where the vehicle is located, the gravity acceleration data, and the like are calculated.
In the present embodiment, the vehicular apparatus may acquire rotational angular velocity data of the vehicle in the horizontal direction, the vertical direction, and the pitch direction by three-axis gyroscopes (gyros). Similarly, the vehicle device may collect acceleration data of the vehicle in the horizontal direction, the vertical direction, and the pitch direction, such as driving acceleration speed, gravity acceleration data, and the like, by using a three-axis acceleration sensor (gsensor), and collect magnetic field strength data of the vehicle in the horizontal direction, the vertical direction, and the pitch direction by using a geomagnetic sensor (magicsensor).
Further, the vehicle device can calculate the current azimuth angle of the vehicle head through a nine-axis fusion algorithm or an inertial navigation algorithm and the like. Those skilled in the art will appreciate that this is by way of example only, and in other embodiments, other algorithms may be used, and are not limited thereto.
In the above embodiment, the accuracy of azimuth calculation can be improved by acquiring data such as acceleration data, rotational angular velocity data, and magnetic field intensity data of the position of the vehicle, and calculating the azimuth through a nine-axis fusion algorithm or an inertial navigation algorithm.
In one embodiment, before acquiring the broadcast signal transmitted by the target positioning assistance device, the method may further include: when detecting that the vehicle terminal meets the condition of starting broadcast signal scanning, scanning broadcast signals sent by a plurality of positioning auxiliary devices in an adjacent area, and determining the signal intensity of each scanned broadcast signal; based on the respective signal strengths, a target location assistance device of the corresponding vehicle is determined.
The condition for starting the scanning of the broadcast signal refers to a condition for starting the scanning of the broadcast signal by the vehicle device, and may include, but is not limited to, a locking signal of a vehicle lock or a condition that the vehicle is determined to be located in a parking area according to the GPS/electronic fence positioning or a condition that the speed and the acceleration of the vehicle collected by the collecting device are both 0.
In this embodiment, when the vehicle device detects a lock-off signal, or determines that the vehicle is located in a parking area according to GPS positioning, or when the vehicle speed and acceleration acquired by the acquisition device are both 0, the scanning function is turned on, and scanning is started for a broadcast signal transmitted by a positioning assistance device in an adjacent area.
Specifically, the vehicle device may scan for broadcast signals transmitted by a plurality of positioning assistance devices within a vicinity by way of a bluetooth scan.
In this embodiment, when the vehicle device performs broadcast signal scanning, the signal strength of each broadcast signal may be determined according to the scanned broadcast signal transmitted by each positioning assistance device, and the target positioning assistance device may be determined based on the signal strength of each broadcast signal.
In one embodiment, determining the target location assistance device of the corresponding vehicle based on the respective signal strengths may include: judging whether the signal intensity is greater than or equal to a preset threshold value or not; when the signal intensity is smaller than a preset threshold value, determining that the corresponding positioning auxiliary equipment is non-target positioning auxiliary equipment; and when the signal intensity is greater than or equal to the preset threshold value, determining that the corresponding positioning auxiliary equipment is the target positioning auxiliary equipment.
In this embodiment, the vehicle device may screen the scanned multiple positioning auxiliary devices based on a preset threshold value set in advance, and select a corresponding target positioning auxiliary device. Specifically, the vehicle device sequentially compares and determines the signal strength of each positioning auxiliary device with a preset threshold value, and screens out the positioning auxiliary device corresponding to the signal strength of which the signal strength is greater than or equal to the preset threshold value as the target positioning auxiliary device.
In the above embodiment, the signal strengths of the scanned positioning auxiliary devices are screened to determine the target positioning auxiliary device, and then the broadcast signal of the target positioning auxiliary device is obtained, so that the data volume of the broadcast signal required to be obtained is small, the occupation of the content of the vehicle device is reduced, and the operating efficiency of the vehicle device is improved.
In one embodiment, before scanning broadcast signals transmitted by a plurality of positioning assistance devices in a neighboring area, the method may further include: and sending wireless wake-up signals to a plurality of positioning auxiliary devices in the adjacent area so as to wake up the plurality of positioning auxiliary devices in the dormant state, so that the plurality of positioning auxiliary devices after wake-up send broadcast signals.
The wireless wake-up signal refers to a signal for waking up the positioning assistance device in the sleep state, and may be, for example, a small radio frequency signal in a frequency band of 433MHz and the like.
In this embodiment, the positioning assistance device is in the awake mode at ordinary times, i.e., in the sleep state. The positioning auxiliary equipment in the dormant state closes the broadcasting function, opens the wireless awakening function, and periodically monitors the wireless awakening signal sent by the vehicle so as to determine whether the vehicle sends the wireless awakening signal.
In this embodiment, when the positioning assistance device monitors a wireless wake-up signal transmitted by the vehicle, it may switch from the sleep state to the wake-up state and start transmitting a broadcast signal, for example, a high-frequency word.
Further, the positioning auxiliary device may also set a total transmission duration of the broadcast signal, and when the total transmission duration is reached, the positioning auxiliary device switches from the wake-up state to the sleep state, and stops transmitting the broadcast signal to wait for the next wake-up.
In the above embodiment, the positioning auxiliary device is awakened before scanning, and the awakened positioning auxiliary device sends the broadcast signal, so that power consumption of the positioning auxiliary device in a non-working state can be reduced, and resource consumption of the positioning auxiliary device is reduced.
Referring to fig. 4, a schematic diagram of a hardware structure of a vehicle device is shown, and the vehicle devices described above can be implemented by the vehicle device shown in fig. 4.
Referring to fig. 4, in this embodiment, the vehicle-mounted device may include a geomagnetic sensor module, a six-AXIS gyroscope sensor module (6AXIS), a main control MCU, a download module, a server connection module, a signal conversion module, a power conversion module, and an antenna box module.
In this embodiment, the main control MCU may be HC32F460JEUA, the download module may be swddowload, the server connection module may be Debug UART, the signal conversion module may be TP8485 chip, the power conversion module may include a low dropout regulator (LDO) of 3.3V and a low dropout regulator (LDO) of 1.8V, and the antenna Box module may be CONNECT TO ANT Box.
In this embodiment, the vehicle device may acquire 9-AXIS data through the six-AXIS gyroscope sensor module (6AXIS) and the geomagnetic sensor module, and transmit the 9-AXIS data to the main control MCU (HC32F460JEUA) through the SDA data line and the SCL data line, so as to calculate the current azimuth angle through the main control MCU.
Further, the vehicle device may receive the broadcast signal of the target location auxiliary device through the antenna box module, and transmit the broadcast signal to the conversion module TP8485 through the RS485_ a interface and the RS485_ B interface, and then transmit the broadcast signal to the main control MCU through the Universal asynchronous receiver Transmitter/Transmitter (UART) interface after converting the broadcast signal into a signal that can be processed by the main control MCU through the conversion module TP 8485.
Further, the master control MUC can also judge the parking state of the vehicle according to the current azimuth and the quasi-parking azimuth carried in the broadcast signal, and generate a vehicle lock control instruction corresponding to the parking state.
In another embodiment, the master MCU may transmit the calculated current azimuth angle and the received broadcast signal to the server connection module Debug UART through the TXD-2 interface and the RXD-2 interface, so as to transmit the calculated current azimuth angle and the received broadcast signal to the server through the server connection module Debug UART for processing.
In this embodiment, the vehicle device may receive the power from the antenna box module, and supply power to the geomagnetic sensor module, the six-AXIS gyroscope sensor module (6AXIS), the main control MCU, and the signal conversion module after conversion by the power conversion module, for example, the vehicle device supplies power to the main control MCU and the signal conversion module through the 3.3V LDO, and supplies power to the geomagnetic sensor module and the six-AXIS gyroscope sensor module (6AXIS) through the 1.8V LDO.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a vehicle lock control device including: a broadcast signal acquisition module 100, a current azimuth determination module 200, a vehicle lock control signal generation module 300, and a control module 400, wherein:
the broadcast signal acquiring module 100 is configured to acquire a broadcast signal sent by a target positioning auxiliary device, where the broadcast signal includes a stop-and-go azimuth of a vehicle head.
And a current azimuth determining module 200, configured to acquire vehicle data and determine a current azimuth of the vehicle head based on the vehicle data.
The vehicle lock control signal generation module 300 is configured to determine a parking state of the vehicle based on the current azimuth and the stop-ready azimuth, and generate a vehicle lock control signal corresponding to the parking state.
And the control module 400 is used for controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
In one embodiment, the apparatus may further include:
a scanning module, configured to scan broadcast signals transmitted by multiple positioning assistance devices in a neighboring area and determine signal strength of each scanned broadcast signal when it is detected that a vehicle terminal satisfies a condition for starting broadcast signal scanning before the broadcast signal acquisition module 100 acquires the broadcast signal transmitted by a target positioning assistance device.
And the target positioning auxiliary equipment determining module is used for determining the target positioning auxiliary equipment of the corresponding vehicle based on the signal intensity.
In one embodiment, the target positioning assistance device determination module may comprise:
and the judging submodule is used for judging whether the signal intensity is greater than or equal to a preset threshold value or not.
The first determining submodule is used for determining that the corresponding positioning auxiliary equipment is non-target positioning auxiliary equipment when the signal intensity is smaller than a preset threshold value.
And the second determining submodule is used for determining the corresponding positioning auxiliary equipment as the target positioning auxiliary equipment when the signal intensity is greater than or equal to the preset threshold value.
In one embodiment, the apparatus may further include:
the wireless wake-up signal sending module is configured to send a wireless wake-up signal to the multiple positioning auxiliary devices in the neighboring area before the scanning module scans the broadcast signals sent by the multiple positioning auxiliary devices in the neighboring area, so as to wake up the multiple positioning auxiliary devices in the dormant state, so that the woken-up multiple positioning auxiliary devices send the broadcast signals.
In one embodiment, the vehicle lock control signal generation module 300 includes:
And the quasi-stop azimuth angle interval determining submodule is used for determining a quasi-stop azimuth angle interval of the vehicle according to the quasi-stop azimuth angle.
And the first vehicle lock control signal generation sub-module is used for determining that the vehicle is in a standard parking state and generating a first vehicle lock control signal which allows the vehicle lock to be closed when the current azimuth angle is determined to be located in the quasi-parking azimuth interval.
And the second vehicle lock control signal generation sub-module is used for determining that the vehicle is not in a standard parking state and generating a second vehicle lock control signal for forbidding closing of the vehicle lock when the current azimuth angle is determined not to be located in the quasi-parking azimuth interval.
In this embodiment, the control module 400 may include:
and the first control submodule is used for controlling the vehicle lock to be closed according to the first vehicle lock control signal.
And the second control submodule is used for forbidding the vehicle lock to be closed according to the second vehicle lock control signal.
In one embodiment, the current azimuth determination module 200 may include:
and the data acquisition submodule is used for acquiring acceleration data, rotation angular velocity data and magnetic field intensity data of the position of the vehicle.
And the calculation submodule is used for calculating the acceleration data, the rotation angular velocity data and the magnetic field intensity data of the position of the vehicle through a nine-axis fusion algorithm or an inertial navigation algorithm to generate the current azimuth angle of the vehicle head.
For specific limitations of the vehicle lock control device, reference may be made to the above limitations of the vehicle lock control method, which are not described in detail herein. The modules in the vehicle lock control device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle parking system is provided, which includes a vehicle end including a vehicle device and a vehicle lock, and a positioning assistance device for assisting in determining whether the vehicle is located in a parking area, the vehicle device for controlling the vehicle lock to be turned off or stopped.
In this embodiment, the vehicle device may be a server, and its internal structure diagram may be as shown in fig. 6. The vehicle device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the vehicle device is configured to provide computing and control capabilities. The memory of the vehicle device includes a nonvolatile storage medium, and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the vehicle device is used for storing data such as broadcast signals, current azimuth angles, vehicle lock control signals and the like. The network interface of the vehicle device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle lock control method.
Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the subject application and does not constitute a limitation on the vehicle devices to which the subject application is applied, and that a particular vehicle device may include more or fewer components than shown, or combine certain components, or have a different arrangement of components.
In one embodiment, the vehicle parking system may further include a server, the vehicle device may be connected to the server through a network, and the vehicle device may send the received broadcast signal and the calculated current azimuth to the server, so that the server determines the vehicle state according to the current azimuth and the stop-ready azimuth carried in the broadcast signal, generates the corresponding vehicle lock control signal, and then sends the corresponding vehicle lock control signal to the vehicle device.
In one embodiment, the vehicle parking system may further include a mobile terminal, which is configured to scan a two-dimensional code on the vehicle through the mobile terminal and unlock the lock.
In one embodiment, the vehicle may be a shared bicycle or a shared moped. The vehicle lock may be a mechanical lock when the vehicle is a shared bicycle, and may be a device that controls the reverse operation of the vehicle when the vehicle is a shared power-assisted vehicle.
In one embodiment, a vehicle apparatus is provided comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: acquiring a broadcast signal sent by target positioning auxiliary equipment, wherein the broadcast signal comprises a stop-and-go azimuth of a vehicle head; acquiring vehicle data, and determining the current azimuth angle of the vehicle head based on the vehicle data; judging the parking state of the vehicle based on the current azimuth angle and the quasi-parking azimuth angle, and generating a vehicle lock control signal corresponding to the parking state; and controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
In one embodiment, before the processor executes the computer program to acquire the broadcast signal transmitted by the target positioning assistance device, the following steps may be further implemented: when detecting that the vehicle terminal meets the condition of starting broadcast signal scanning, scanning broadcast signals sent by a plurality of positioning auxiliary devices in an adjacent area, and determining the signal intensity of each scanned broadcast signal; based on the respective signal strengths, a target location assistance device of the corresponding vehicle is determined.
In one embodiment, the processor, when executing the computer program, is configured to determine the target location assistance device of the corresponding vehicle based on the respective signal strengths, and may include: judging whether the signal intensity is greater than or equal to a preset threshold value or not; when the signal intensity is smaller than a preset threshold value, determining that the corresponding positioning auxiliary equipment is non-target positioning auxiliary equipment; and when the signal intensity is greater than or equal to the preset threshold value, determining that the corresponding positioning auxiliary equipment is the target positioning auxiliary equipment.
In one embodiment, before the processor executes the computer program to scan broadcast signals transmitted by a plurality of positioning assistance devices in a vicinity, the following steps may be further implemented: and sending wireless wake-up signals to a plurality of positioning auxiliary devices in the adjacent area so as to wake up the plurality of positioning auxiliary devices in the dormant state, so that the plurality of positioning auxiliary devices after wake-up send broadcast signals.
In one embodiment, the processor, when executing the computer program, determines a parking state of the vehicle based on the current azimuth and the quasi-parking azimuth, and generates a vehicle lock control signal corresponding to the parking state, may include: determining a quasi-stop azimuth angle interval of the vehicle according to the quasi-stop azimuth angle; when the current azimuth angle is judged to be located in the quasi-parking azimuth interval, determining that the vehicle is in a standard parking state, and generating a first vehicle lock control signal allowing the vehicle lock to be closed; and when the current azimuth angle is not determined to be positioned in the quasi-parking azimuth interval, determining that the vehicle is not in a standard parking state, and generating a second vehicle lock control signal for forbidding closing of the vehicle lock.
In this embodiment, the processor, when executing the computer program, implementing controlling the vehicle lock to be closed or prohibiting the vehicle lock from being closed according to the vehicle lock control signal, may include: controlling the vehicle lock to be closed according to the first vehicle lock control signal; and controlling to prohibit the vehicle lock from being closed according to the second vehicle lock control signal.
In one embodiment, the processor, when executing the computer program, is configured to obtain vehicle data and determine a current azimuth of the vehicle head based on the vehicle data, and may include: acquiring acceleration data, rotational angular velocity data and magnetic field intensity data of a position where a vehicle is located; and calculating the acceleration data, the rotation angular velocity data and the magnetic field intensity data of the position of the vehicle through a nine-axis fusion algorithm or an inertial navigation algorithm to generate the current azimuth angle of the vehicle head.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a broadcast signal sent by target positioning auxiliary equipment, wherein the broadcast signal comprises a stop-and-go azimuth of a vehicle head; acquiring vehicle data, and determining the current azimuth angle of the vehicle head based on the vehicle data; judging the parking state of the vehicle based on the current azimuth angle and the quasi-parking azimuth angle, and generating a vehicle lock control signal corresponding to the parking state; and controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
In one embodiment, the computer program when executed by the processor may further perform the following steps before acquiring the broadcast signal transmitted by the target positioning assistance device: when detecting that the vehicle terminal meets the condition of starting broadcast signal scanning, scanning broadcast signals sent by a plurality of positioning auxiliary devices in an adjacent area, and determining the signal intensity of each scanned broadcast signal; based on the respective signal strengths, a target location assistance device of the corresponding vehicle is determined.
In one embodiment, the computer program when executed by the processor for enabling determination of an object localization assistance device for a corresponding vehicle based on respective signal strengths may include: judging whether the signal intensity is greater than or equal to a preset threshold value or not; when the signal intensity is smaller than a preset threshold value, determining that the corresponding positioning auxiliary equipment is non-target positioning auxiliary equipment; and when the signal intensity is greater than or equal to the preset threshold value, determining that the corresponding positioning auxiliary equipment is the target positioning auxiliary equipment.
In one embodiment, the computer program when executed by the processor, for performing scanning for broadcast signals transmitted by a plurality of positioning assistance devices in a vicinity, may further perform the steps of: and sending wireless wake-up signals to a plurality of positioning auxiliary devices in the adjacent area so as to wake up the plurality of positioning auxiliary devices in the dormant state, so that the plurality of positioning auxiliary devices after wake-up send broadcast signals.
In one embodiment, the computer program when executed by the processor for determining a parking state of the vehicle based on the current azimuth and the quasi-parking azimuth and generating a vehicle lock control signal corresponding to the parking state may include: determining a quasi-stop azimuth angle interval of the vehicle according to the quasi-stop azimuth angle; when the current azimuth angle is judged to be located in the quasi-parking azimuth interval, determining that the vehicle is in a standard parking state, and generating a first vehicle lock control signal allowing the vehicle lock to be closed; and when the current azimuth angle is not determined to be positioned in the quasi-parking azimuth interval, determining that the vehicle is not in a standard parking state, and generating a second vehicle lock control signal for forbidding closing of the vehicle lock.
In this embodiment, the implementation of the computer program when executed by the processor to control the vehicle lock to be closed or prohibit the vehicle lock from being closed according to the vehicle lock control signal may include: controlling the vehicle lock to be closed according to the first vehicle lock control signal; and controlling to prohibit the vehicle lock from being closed according to the second vehicle lock control signal.
In one embodiment, the computer program when executed by the processor to perform acquiring vehicle data and determining a current azimuth of the vehicle head based on the vehicle data may include: acquiring acceleration data, rotational angular velocity data and magnetic field intensity data of a position where a vehicle is located; and calculating the acceleration data, the rotation angular velocity data and the magnetic field intensity data of the position of the vehicle through a nine-axis fusion algorithm or an inertial navigation algorithm to generate the current azimuth angle of the vehicle head.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle lock control method characterized by comprising:
acquiring a broadcast signal sent by target positioning auxiliary equipment, wherein the broadcast signal comprises a stop-and-go azimuth of a vehicle head;
acquiring vehicle data, and determining the current azimuth angle of the vehicle head based on the vehicle data;
judging the parking state of the vehicle based on the current azimuth angle and the quasi-parking azimuth angle, and generating a vehicle lock control signal corresponding to the parking state;
And controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
2. The method of claim 1, wherein before the acquiring the broadcast signal transmitted by the target positioning assistance device, further comprising:
when detecting that the vehicle terminal meets the condition of starting broadcast signal scanning, scanning broadcast signals sent by a plurality of positioning auxiliary devices in an adjacent area, and determining the signal intensity of each scanned broadcast signal;
based on each of the signal strengths, a target location assistance device corresponding to the vehicle is determined.
3. The method of claim 2, wherein determining an object location assistance device corresponding to the vehicle based on each of the signal strengths comprises:
judging whether the signal intensity is greater than or equal to a preset threshold value or not;
when the signal intensity is smaller than a preset threshold value, determining that the corresponding positioning auxiliary equipment is non-target positioning auxiliary equipment;
and when the signal intensity is greater than or equal to a preset threshold value, determining that the corresponding positioning auxiliary equipment is the target positioning auxiliary equipment.
4. The method of claim 2, wherein prior to scanning broadcast signals transmitted by a plurality of positioning assistance devices in a vicinity, further comprising:
Sending wireless wake-up signals to a plurality of positioning auxiliary devices in a neighboring area to wake up the plurality of positioning auxiliary devices in a dormant state, so that the plurality of positioning auxiliary devices after wake-up send broadcast signals.
5. The method of claim 1, wherein determining a parking state of a vehicle based on the current azimuth and the quasi-parking azimuth, and generating a vehicle lock control signal corresponding to the parking state comprises:
determining a quasi-stop azimuth angle interval of the vehicle according to the quasi-stop azimuth angle;
judging whether the current azimuth angle is located in the quasi-stop azimuth interval or not;
when the current azimuth angle is judged to be located in the quasi-parking azimuth interval, determining that the vehicle is in a standard parking state, and generating a first vehicle lock control signal allowing the vehicle lock to be closed;
when the current azimuth angle is not determined to be located in the quasi-parking azimuth interval, determining that the vehicle is not in a standard parking state, and generating a second vehicle lock control signal for forbidding closing of a vehicle lock;
the controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal comprises the following steps:
Controlling the vehicle lock to be closed according to the first vehicle lock control signal;
and controlling to prohibit the vehicle lock from being closed according to the second vehicle lock control signal.
6. The method of claim 1, wherein the obtaining vehicle data and determining a current azimuth angle of a vehicle nose based on the vehicle data comprises:
acquiring acceleration data, rotational angular velocity data and magnetic field intensity data of a position where a vehicle is located;
and calculating the acceleration data, the rotation angular velocity data and the magnetic field intensity data of the position of the vehicle through a nine-axis fusion algorithm or an inertial navigation algorithm to generate the current azimuth angle of the vehicle head.
7. A vehicle lock control device characterized by comprising:
the system comprises a broadcast signal acquisition module, a target positioning auxiliary device and a target positioning auxiliary device, wherein the broadcast signal acquisition module is used for acquiring a broadcast signal sent by the target positioning auxiliary device, and the broadcast signal comprises an accurate parking azimuth angle of a vehicle head;
the current azimuth angle determining module is used for acquiring vehicle data and determining the current azimuth angle of the vehicle head based on the vehicle data;
the vehicle lock control signal generation module is used for judging the parking state of the vehicle based on the current azimuth angle and the stop-allowable azimuth angle and generating a vehicle lock control signal corresponding to the parking state;
And the control module is used for controlling the vehicle lock to be closed or forbidding the vehicle lock to be closed according to the vehicle lock control signal.
8. The apparatus of claim 7, further comprising:
the scanning module is used for scanning broadcast signals sent by a plurality of positioning auxiliary devices in an adjacent area and determining the signal intensity of each scanned broadcast signal when the condition that the scanning of the broadcast signals is started is detected to be met by a vehicle terminal before the broadcast signal acquisition module acquires the broadcast signals sent by target positioning auxiliary devices;
and the target positioning auxiliary equipment determining module is used for determining target positioning auxiliary equipment corresponding to the vehicle based on each signal intensity.
9. A vehicle parking system comprises a vehicle end and a positioning auxiliary device, wherein the vehicle end comprises a vehicle device and a vehicle lock, the positioning auxiliary device is used for assisting in judging whether a vehicle is located in a parking area, and the vehicle device is used for controlling the vehicle lock to be closed or stopped;
the vehicle device comprising a memory storing a computer program and a processor, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 6 when executing the computer program.
10. 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 method of any one of claims 1 to 6.
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| CN202010572799.7A CN111862581A (en) | 2020-06-22 | 2020-06-22 | Vehicle lock control method, vehicle lock control device, vehicle parking system and storage medium |
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| CN202010572799.7A CN111862581A (en) | 2020-06-22 | 2020-06-22 | Vehicle lock control method, vehicle lock control device, vehicle parking system and storage medium |
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Application publication date: 20201030 |