CN113329366B - Parking control method, device and system - Google Patents

Parking control method, device and system Download PDF

Info

Publication number
CN113329366B
CN113329366B CN202110484012.6A CN202110484012A CN113329366B CN 113329366 B CN113329366 B CN 113329366B CN 202110484012 A CN202110484012 A CN 202110484012A CN 113329366 B CN113329366 B CN 113329366B
Authority
CN
China
Prior art keywords
vehicle
antenna
mobile terminal
parking
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110484012.6A
Other languages
Chinese (zh)
Other versions
CN113329366A (en
Inventor
丁磊
陈磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Human Horizons Shanghai Internet Technology Co Ltd
Original Assignee
Human Horizons Shanghai Internet Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Human Horizons Shanghai Internet Technology Co Ltd filed Critical Human Horizons Shanghai Internet Technology Co Ltd
Priority to CN202110484012.6A priority Critical patent/CN113329366B/en
Publication of CN113329366A publication Critical patent/CN113329366A/en
Application granted granted Critical
Publication of CN113329366B publication Critical patent/CN113329366B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • 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
    • G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup

Abstract

The invention discloses a parking control method, which comprises the following steps: when the mobile terminal enters the Bluetooth signal range of the vehicle, establishing Bluetooth connection between the vehicle and the mobile terminal based on preset Bluetooth key information between the vehicle and the mobile terminal; receiving the distance of the mobile terminal relative to the vehicle at the moment of sending by the mobile terminal; the distance is obtained by the mobile terminal acquiring an antenna signal currently sent by an antenna module configured on the vehicle and calculating according to the signal intensity of the antenna signal; after a parking starting instruction sent by a user through the mobile terminal is received, detecting whether the current distance is smaller than a preset distance threshold value; and if so, controlling the vehicle to enter a Bluetooth control parking mode. The invention also discloses a corresponding device and a corresponding system. By adopting the invention, the monitoring of the vehicle parking process by the user can be realized, and the parking accuracy and safety are effectively improved.

Description

Parking control method, device and system
Technical Field
The invention relates to the technical field of vehicle control, in particular to a parking control method, device and system.
Background
With the continuous development of social economy and vehicle technology, vehicles become indispensable transportation equipment in people's lives, and the automatic parking function is more and more widely applied to the vehicles, and the automatic parking refers to the function of automatically parking the vehicles, and can help the main driver to automatically park the vehicles into the parking places. The advent of the auto park function provides great convenience to many vehicle drivers.
The existing remote control parking technology usually adopts a physical key or a central control screen to start the parking function of the vehicle, or realizes remote control through a mobile network. However, the inventors found that the prior art has at least the following problems: by adopting a physical key or a central control screen to start parking, in the automatic parking process, a user cannot realize auxiliary control on a vehicle, the real parking situation is difficult to master, and potential safety hazards exist; in the method for realizing remote control through the mobile network, when the mobile network signal is unstable, the signal for parking is delayed, and the parking is not accurate.
Disclosure of Invention
The embodiment of the invention aims to provide a parking control method, a parking control device and a parking control system, which can realize monitoring of a user on a vehicle parking process, effectively improve parking accuracy and safety and effectively improve vehicle using experience of the user.
In order to achieve the above object, an embodiment of the present invention provides a parking control method applied to a vehicle, including:
when the mobile terminal enters the Bluetooth signal range of the vehicle, establishing Bluetooth connection between the vehicle and the mobile terminal based on preset Bluetooth key information between the vehicle and the mobile terminal;
receiving the distance of the mobile terminal relative to the vehicle at the moment of sending by the mobile terminal; the distance is obtained by the mobile terminal acquiring an antenna signal currently sent by an antenna module configured on the vehicle and calculating according to the signal intensity of the antenna signal;
after a parking starting instruction sent by a user through the mobile terminal is received, detecting whether the current distance is smaller than a preset distance threshold value;
and if the current distance is smaller than a preset distance threshold value, controlling the vehicle to enter a Bluetooth control parking mode.
As a preferred embodiment, after the controlling the vehicle to enter the bluetooth-controlled parking mode, the method further includes:
receiving a parking control instruction sent by a user through the mobile terminal;
and controlling the vehicle to finish parking operation according to the parking control instruction.
In a preferred embodiment, the parking control instruction includes a parking operation start instruction, a parking operation pause instruction, and a parking operation end instruction.
As a preferred embodiment, after the controlling the vehicle to enter the bluetooth-controlled parking mode, the method further includes:
detecting whether the vehicle has a self-detection problem that the vehicle does not meet a preset parking condition;
when the self-checking problem that the vehicle does not meet the preset parking condition is detected, the self-checking problem is sent to the mobile terminal, so that the mobile terminal displays the self-checking problem and corresponding solving measures.
As a preferred embodiment, after the controlling the vehicle to enter the bluetooth-controlled parking mode, the method further includes:
detecting whether the vehicle has an interruption fault;
and when the vehicle is detected to have an interruption fault, controlling the vehicle to stop the parking operation, and sending the information of the interruption fault to the mobile terminal for displaying.
As a preferred embodiment, the method further comprises:
if the current distance is larger than or equal to a preset distance threshold value, controlling the vehicle to be in a parking preparation stage, and sending warning information to the mobile terminal; the warning information is used for reminding a user of approaching the vehicle.
As a preferred embodiment, the method further comprises:
if the current distance is larger than or equal to a preset distance threshold value, controlling the vehicle to enter an automatic parking mode, and sending warning information to the mobile terminal; the warning information is used for reminding a user of approaching the vehicle.
In a preferred embodiment, the number of the antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle;
the distance is calculated by the mobile terminal in the following way: determining a distance value corresponding to the signal strength of each antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to each antenna module; and determining the current distance of the mobile terminal relative to the vehicle according to the distance of the mobile terminal relative to each antenna module.
The embodiment of the invention also provides a parking control method which is applied to the mobile terminal and comprises the following steps:
when the mobile terminal enters the Bluetooth signal range of the vehicle, establishing Bluetooth connection between the mobile terminal and the vehicle based on preset Bluetooth key information between the vehicle and the mobile terminal;
responding to a parking starting instruction input by a user, and sending the parking starting instruction to the vehicle;
acquiring an antenna signal currently transmitted by an antenna module configured on the vehicle;
calculating the distance of the current mobile terminal relative to the vehicle according to the signal strength of the antenna signal;
and sending the distance to the vehicle so that the vehicle is controlled to enter a Bluetooth control parking mode when the vehicle receives the parking starting instruction and detects that the current distance is smaller than a preset distance threshold value.
In a preferred embodiment, the number of the antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle;
then, the calculating the current distance between the mobile terminal and the vehicle according to the signal strength of the antenna signal specifically includes:
determining a distance value corresponding to the signal strength of each antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to each antenna module;
and determining the current distance of the mobile terminal relative to the vehicle according to the distance of the mobile terminal relative to each antenna module.
As a preferred embodiment, before the calculating the current distance of the mobile terminal relative to the vehicle according to the signal strength of the antenna signal, the method further includes:
judging whether the mobile terminal is positioned outside the vehicle or not according to the comparison relation between the signal strength of each antenna signal and a preset signal strength threshold value;
and if the mobile terminal is positioned outside the vehicle, calculating the current distance between the mobile terminal and the vehicle according to the signal intensity of the antenna signal.
As a preferred embodiment, the determining whether the mobile terminal is located outside the vehicle according to a comparison relationship between the signal strength of each antenna signal and a preset signal strength threshold specifically includes:
when the signal intensity of any antenna module is smaller than the signal intensity threshold value, judging that the mobile terminal is positioned outside the vehicle;
and when the signal intensity of each antenna module is greater than or equal to the signal intensity threshold value, judging that the mobile terminal is positioned in the vehicle.
The embodiment of the invention also provides a parking control device, which is applied to a vehicle, and comprises:
the first Bluetooth connection module is used for establishing Bluetooth connection between the vehicle and the mobile terminal based on preset Bluetooth key information between the vehicle and the mobile terminal when the mobile terminal enters a Bluetooth signal range of the vehicle;
the distance receiving module is used for receiving the distance of the mobile terminal relative to the vehicle at the moment sent by the mobile terminal; the distance is obtained by the mobile terminal acquiring an antenna signal currently sent by an antenna module configured on the vehicle and calculating according to the signal intensity of the antenna signal;
the distance detection module is used for detecting whether the current distance is smaller than a preset distance threshold value or not after receiving a parking starting instruction sent by a user through the mobile terminal;
and the parking mode control module is used for controlling the vehicle to enter a Bluetooth control parking mode if the current distance is smaller than a preset distance threshold.
The embodiment of the invention also provides a parking control device, which is applied to a mobile terminal, and comprises the following components:
the second Bluetooth connection module is used for establishing Bluetooth connection between the mobile terminal and the vehicle based on preset Bluetooth key information between the vehicle and the mobile terminal when the mobile terminal enters the Bluetooth signal range of the vehicle;
the parking starting instruction sending module is used for responding to a parking starting instruction input by a user and sending the parking starting instruction to the vehicle;
the antenna signal acquisition module is used for acquiring the antenna signal currently sent by the antenna module configured on the vehicle;
the distance calculation module is used for calculating the distance of the current mobile terminal relative to the vehicle according to the signal intensity of the antenna signal;
and the distance sending module is used for sending the distance to the vehicle so as to control the vehicle to enter a Bluetooth control parking mode when the vehicle receives the parking starting instruction and detects that the current distance is smaller than a preset distance threshold value.
An embodiment of the present invention further provides a parking control system, including: a vehicle and a mobile terminal;
the vehicle comprises a first processor, a first memory, and a computer program stored in the first memory and configured to be executed by the processor, the first processor implementing the parking control method as applied to a vehicle as any one of the above when executing the computer program;
the mobile terminal comprises a second processor, a second memory and a computer program stored in the second memory and configured to be executed by the processor, wherein the second processor implements the parking control method applied to the mobile terminal as any one of the above when executing the computer program.
Compared with the prior art, according to the parking control method, the parking control device and the parking control system, when the mobile terminal enters the Bluetooth signal range of the vehicle, the Bluetooth connection between the vehicle and the mobile terminal is established based on the preset Bluetooth key information between the vehicle and the mobile terminal; receiving the distance of the mobile terminal relative to the vehicle at the moment of sending by the mobile terminal; the distance is obtained by acquiring an antenna signal currently sent by an antenna module configured on the vehicle through the mobile terminal and calculating according to the signal intensity of the antenna signal; after a parking starting instruction sent by a user through the mobile terminal is received, detecting whether the current distance is smaller than a preset distance threshold value; and if so, controlling the vehicle to enter a Bluetooth control parking mode. By adopting the embodiment of the invention, the user can send the parking starting instruction through the Bluetooth key of the mobile terminal, and then the vehicle is controlled to enter the Bluetooth parking control mode when the distance between the user and the vehicle is judged to meet the condition, so that the vehicle can receive the parking control instruction sent by the user, the vehicle is controlled to finish the parking operation by combining the preset parking program, the supervision and control of the user are received in real time in the parking process, and the parking efficiency and the parking safety are effectively improved.
Drawings
Fig. 1 is a schematic step diagram of a parking control method according to an embodiment of the present invention;
fig. 2 is a schematic step diagram of a preferred parking control method according to a second embodiment of the present invention;
fig. 3 is a schematic step diagram of another parking control method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a parking control apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of another parking control apparatus according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a parking control system according to a sixth embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Fig. 1 is a schematic step diagram of a parking control method according to an embodiment of the present invention. The embodiment of the invention provides a parking control method, which is applied to a vehicle and specifically executes the following steps through steps S11 to S14:
s11, when the mobile terminal enters the Bluetooth signal range of the vehicle, establishing Bluetooth connection between the vehicle and the mobile terminal based on preset Bluetooth key information between the vehicle and the mobile terminal.
Specifically, the mobile terminal comprises an electronic mobile device used by a user such as a mobile phone and a tablet, and the owner user applies for and generates Bluetooth key information with the vehicle through the mobile terminal in advance for realizing intelligent control of the vehicle.
In one embodiment, the bluetooth key information between the owner-user and the vehicle is generated by:
the vehicle owner user initiates a Bluetooth key opening application to a cloud vehicle networking system (TSP) through a Bluetooth key APP downloaded by the mobile terminal, and simultaneously sends the ID information of the vehicle and the ID information of the mobile terminal. And the TSP system generates a Bluetooth key and signature information encrypted by a public key according to the ID information of the vehicle and the ID information of the mobile terminal, and issues the Bluetooth key and the signature information to the TBox of the vehicle. And after receiving the feedback information of the vehicle, the TSP system returns the Bluetooth key and the signature information to the mobile terminal for storage, and the establishment of the Bluetooth key information between the vehicle and the mobile terminal of the vehicle owner user is completed.
Furthermore, the TSP system is further configured to perform functions such as management of the bluetooth key and management of bluetooth connection information, and a user may implement change management operations such as lending, retrieving, updating, and deleting the bluetooth key through the mobile terminal, the vehicle TBox, and the TSP system, thereby implementing sharing of the bluetooth key and control of the vehicle.
In one embodiment, the owner user authorizes the non-owner user through the bluetooth key, and then the bluetooth key information between the authorized user and the vehicle is generated through the following steps:
the owner user passes through the bluetooth key APP that mobile terminal downloaded initiates the application of bluetooth key authorization to TSP system. The TSP system creates a Bluetooth authorization application and sends the Bluetooth authorization notice to the mobile terminal of the authorized user, the authorized user performs Bluetooth authorization confirmation operation according to the received Bluetooth authorization notice and feeds back corresponding authorization codes, ID information of the mobile terminal and the like to the TSP system, the TSP system generates Bluetooth key information and returns the Bluetooth key information to the mobile terminal of the authorized user after confirmation, the authorized user approaches the vehicle to establish Bluetooth connection between the mobile terminal and the vehicle and sends a Bluetooth key activation instruction to the TBox of the vehicle, and the Tbox of the vehicle returns feedback information of successful Bluetooth key activation to the mobile terminal of the authorized user after processing the Bluetooth key activation instruction. And completing the establishment of the Bluetooth key information between the vehicle and the mobile terminal of the authorized user.
It is to be understood that the generation method of the bluetooth key information may also adopt other generation methods in the prior art, and the present invention is not limited in this respect.
In the embodiment of the invention, after the Bluetooth key information between the vehicle and the mobile terminal is established, when the mobile terminal enters the Bluetooth signal range of the vehicle, the vehicle and the mobile terminal can automatically establish Bluetooth connection, so that a user can send a corresponding vehicle control command through the mobile terminal.
S12, receiving the distance of the mobile terminal relative to the vehicle at the moment transmitted by the mobile terminal; and the distance is obtained by the mobile terminal acquiring the antenna signal currently sent by the antenna module configured on the vehicle and calculating according to the signal intensity of the antenna signal.
In the embodiment of the invention, at least one antenna module is arranged on the vehicle, and antenna information is periodically broadcasted outwards. After the Bluetooth connection between the vehicle and the mobile terminal is established, the mobile terminal acquires an antenna signal sent by an antenna module configured on the vehicle in real time, calculates the distance between the current mobile terminal and the vehicle according to the signal intensity of the antenna signal, and returns the distance information to the TBox of the vehicle in real time.
Specifically, the distance information is calculated by: and the mobile terminal determines a distance value corresponding to the signal strength of the antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to the antenna module, and thus the distance of the mobile terminal relative to the vehicle is determined.
It should be noted that, since the vehicle is already configured with the bluetooth module for transmitting the bluetooth signal, the antenna module may directly adopt the bluetooth module configured for transmitting the bluetooth signal by the vehicle; of course, the antenna module may also be an additionally configured bluetooth module, which does not affect the beneficial effects obtained by the present invention.
In a preferred embodiment, a plurality of antenna modules are disposed on the vehicle and respectively installed at different positions of the vehicle, and each antenna module periodically broadcasts an antenna signal to the outside.
Preferably, the number of the antenna modules is five, and the installation positions of the antenna modules are respectively: a top center of the vehicle, a front, rear, left, and right side orientation of the vehicle.
In one embodiment, a bluetooth module configured in the vehicle for transmitting the bluetooth signal is located as a main antenna module (BTM) at the center of the top of the vehicle. And, four slave antenna modules (BTS) are additionally provided, respectively disposed at front, rear, left and right side directions of the vehicle.
Then, the distance is calculated by the mobile terminal by the following method:
determining a distance value corresponding to the signal strength of each antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to each antenna module; and determining the current distance of the mobile terminal relative to the vehicle according to the distance of the mobile terminal relative to each antenna module.
In the embodiment of the invention, the signal strength (RSSI) of the antenna signal which can be received when the mobile terminal is positioned at different distance values of the vehicle is tested in advance to construct and obtain the mapping relation between the signal strength and the distance values. It is understood that the closer the mobile terminal is to an antenna, the greater the RSSI value received by the antenna.
In the application process, the mobile terminal receives the antenna signals sent by each antenna module of the vehicle, calculates corresponding antenna signal strength values, finds corresponding distance values according to the mapping relation between the signal strength and the distance values, and obtains the distance of the mobile terminal relative to each antenna module, and then calculates the current distance of the mobile terminal relative to the vehicle according to each distance by means of averaging and the like.
It should be noted that different distance intervals, for example, different distance intervals such as (0, 2], (2, 3], (3, 6), (6, 10) (unit: meter) may be pre-divided, and then a mapping relationship between signal strength and distance interval is constructed, so as to calculate the distance interval of the mobile terminal relative to each antenna module.
Preferably, in the embodiment of the present invention, the method further includes calculating an orientation of the mobile terminal relative to the vehicle:
the mobile terminal receives the antenna signals sent by each antenna module of the vehicle, calculates corresponding antenna signal strength values, and determines the direction of the mobile terminal according to the position where the antenna signal with the maximum signal strength is arranged by comparing the magnitude relation of all the antenna signal strengths.
For example, if the antenna signal strength set to the left side of the vehicle is significantly greater than the other antenna signal strengths in the acquired antenna signal strengths, it may be determined that the mobile terminal is located in the left side of the vehicle.
As a preferred embodiment, after receiving the antenna signal of each antenna module, the mobile terminal first determines whether the mobile terminal is located outside the vehicle according to a comparison relationship between the signal strength of each antenna signal and a preset signal strength threshold; and if the mobile terminal is positioned outside the vehicle, calculating the current distance and direction of the mobile terminal relative to the vehicle according to the signal intensity of each antenna signal.
Specifically, the manner of determining whether the mobile terminal is located outside the vehicle is as follows: predetermining a signal intensity threshold, and judging that the mobile terminal is positioned outside the vehicle when the signal intensity of any antenna module is smaller than the signal intensity threshold; and when the signal intensity of each antenna module is greater than or equal to the signal intensity threshold value, judging that the mobile terminal is positioned in the vehicle.
By adopting the embodiment of the invention, whether the mobile terminal is positioned outside the vehicle is firstly determined through the signal intensity of the antenna signal, and if the mobile terminal is positioned in the vehicle, a user is reminded to get off the vehicle; if the mobile terminal is located outside the vehicle, the relative position relation between the mobile terminal and the vehicle is calculated, the parking mode of the vehicle is controlled, and the situation that a user is located in the vehicle and cannot comprehensively monitor the parking state of the vehicle can be effectively avoided.
Preferably, each antenna module consists of a bluetooth broadcasting unit, an inner antenna and an outer antenna; the antenna direction of the inner antenna faces towards the inside of the vehicle, and the antenna direction of the outer antenna faces towards the outside of the vehicle; and the Bluetooth broadcasting unit controls the inner antenna and the outer antenna to alternately broadcast signals outwards in a preset signal broadcasting period.
In the embodiment of the present invention, in order to improve the accuracy of obtaining the antenna signal strength by the mobile terminal, further improve the accuracy of judging whether the mobile terminal is located outside the vehicle, and improve the accuracy of calculating the distance and the direction of the mobile terminal relative to the vehicle, two antennas are respectively arranged in each antenna module of the additional quota, and the two antennas are respectively an outer antenna for broadcasting an antenna signal to the outside of the vehicle and an inner antenna for broadcasting an antenna signal to the inside of the vehicle.
By way of example, a bluetooth module configured in the vehicle for transmitting the bluetooth signal is located in the center of the top of the vehicle as a main antenna module (BTM). And, four slave antenna modules (BTS) are additionally provided, respectively disposed at front, rear, left and right side directions of the vehicle, and each of the slave antenna modules BTS includes two antennas, respectively, an outer antenna and an inner antenna. Therefore, the number of antennas provided on the vehicle is 9.
Further, the bluetooth broadcasting module controls the inner antenna to transmit the signal strength of the inner antenna once in the current period and controls the outer antenna to transmit the signal strength of the outer antenna in the next period by using a preset time length, for example, 100ms, as a period, so as to circulate.
By adopting the embodiment of the invention, the antenna signals are broadcasted to the inside and the outside of the vehicle by the inner antenna and the outer antenna, so that the mobile terminal can receive the antenna signals sent by each antenna module no matter the mobile terminal is positioned inside or outside the vehicle, and the accuracy of obtaining the antenna signal strength is improved. In addition, the inner antenna and the outer antenna share one broadcasting module, antenna signals are broadcasted alternately, and equipment cost can be saved.
As a preferred embodiment, after the mobile terminal receives the antenna signal of each antenna module and determines that the mobile terminal is located outside the vehicle, in the process of calculating the position information, the mobile terminal corrects the external antenna signal received in the current period according to the internal antenna signal received in the previous period, so as to improve the accuracy of calculating the distance and the direction of the mobile terminal relative to the vehicle.
Specifically, the mobile terminal calculates a signal strength difference between an inner antenna signal received in a previous period and an outer antenna signal received in a current period according to the inner antenna signal received in the previous period and the outer antenna signal received in the current period, and obtains a correction factor corresponding to the signal strength difference from a mapping relation table according to a mapping relation table between a preset signal strength difference and the correction factor to correct the outer antenna signal received in the current period.
The correction mode comprises the following steps: and adjusting the phase and/or amplitude of the external antenna signal received in the current period according to the correction factor, thereby correcting the signal strength of the external antenna signal received in the current period.
By adopting the embodiment of the invention, two antennas are arranged for each slave antenna module, and the outer antenna signal received in the current period is corrected according to the inner antenna signal received in the previous period, so that the accuracy of the intensity of the antenna signal received by the mobile terminal can be effectively improved, and the accuracy of calculating the distance and the direction of the mobile terminal relative to the vehicle can be effectively improved.
It is understood that, in order to increase the calculation accuracy of the distance and the orientation of the mobile terminal, the number of antenna modules on the vehicle may also be increased appropriately, and is not limited in particular.
S13, after a parking starting instruction sent by a user through the mobile terminal is received, detecting whether the current distance is smaller than a preset distance threshold value;
and S14, if the current distance is smaller than a preset distance threshold value, controlling the vehicle to enter a Bluetooth parking control mode.
Specifically, after the bluetooth connection between the vehicle and the mobile terminal is established, the user may input a parking start instruction through the bluetooth key APP on the mobile terminal, for example, by clicking a parking start instruction button on an APP page, or by inputting a parking start instruction through voice control or the like. After receiving a parking starting instruction of a user, the mobile terminal sends the parking starting instruction to the TBox of the vehicle through Bluetooth.
After the vehicle receives the parking starting instruction, whether the distance between the vehicle and the mobile terminal is smaller than a preset distance threshold value is further judged according to the received distance between the vehicle and the mobile terminal, and if yes, the vehicle is controlled to enter a Bluetooth control parking mode.
It should be noted that the preset distance threshold may be set according to actual situations, for example, set to be 5 meters. The method aims to ensure that a user is within a certain range centering on the vehicle, so that the vehicle can receive supervision and control of the user in the parking process, and the parking efficiency and the parking safety are improved.
Preferably, in the embodiment of the invention, after step S14, the parking control method further includes steps S15 and S16:
s15, receiving a parking control instruction sent by a user through the mobile terminal;
and S16, controlling the vehicle to finish parking operation according to the parking control command.
Specifically, in the bluetooth control parking mode, the user may send a parking control instruction to the vehicle through the bluetooth key APP on the mobile terminal, so as to implement parking control of the vehicle.
The parking control instruction comprises a parking operation starting instruction, a parking operation suspending instruction and a parking operation ending instruction.
Further, the types of parking include parking-in and parking-out, and the parking control instruction may also be divided into a parking-in operation start instruction, a parking-in operation pause instruction, a parking-in operation end instruction, a parking-out operation start instruction, a parking-out operation pause instruction, and a parking-out operation end instruction.
After the vehicle enters a Bluetooth control parking mode, the parking sensor device and the vehicle body controller configured on the vehicle acquire relevant data according to a preset parking program, control the speed and direction of the vehicle and perform parking operation. In the parking process, a user can send a corresponding parking control instruction through the mobile terminal according to the actual parking situation of the vehicle, and the starting, the pause, the stop and the like of parking are controlled. For example, in a parking process, a user observes that an obstacle exists around a vehicle, a parking operation pause instruction can be sent to the vehicle through the mobile terminal, the TBox of the vehicle receives the parking operation pause instruction sent by the user and forwards the parking operation pause instruction to a parking sensor device and a vehicle body controller configured on the vehicle, the parking operation of the vehicle is controlled to be paused according to the parking operation pause instruction input by the user, and then after the obstacle is eliminated, the user controls the vehicle to continue the parking operation by sending a parking operation start instruction.
The embodiment of the invention provides a parking control method, which is applied to a vehicle, and when a mobile terminal enters a Bluetooth signal range of the vehicle, bluetooth connection between the vehicle and the mobile terminal is established based on preset Bluetooth key information between the vehicle and the mobile terminal; receiving the distance of the mobile terminal relative to the vehicle at the moment of sending by the mobile terminal; the distance is obtained by acquiring an antenna signal currently sent by an antenna module configured on the vehicle through the mobile terminal and calculating according to the signal intensity of the antenna signal; after a parking starting instruction sent by a user through the mobile terminal is received, detecting whether the current distance is smaller than a preset distance threshold value; and if so, controlling the vehicle to enter a Bluetooth control parking mode. By adopting the embodiment of the invention, the user can send the parking starting instruction through the Bluetooth key of the mobile terminal, and then the vehicle is controlled to enter the Bluetooth parking control mode when the distance between the user and the vehicle is judged to meet the condition, so that the vehicle can receive the parking control instruction sent by the user, the vehicle is controlled to finish the parking operation by combining the preset parking program, the supervision and control of the user are received in real time in the parking process, and the parking efficiency and the parking safety are effectively improved.
Referring to fig. 2, a schematic step diagram of a preferred parking control method according to a second embodiment of the present invention is shown. The second embodiment of the invention is implemented on the basis of the first embodiment, and provides a more preferable implementation mode.
In the embodiment of the invention, after step S14, the parking control method further includes:
s21, detecting whether the vehicle has a self-detection problem that the vehicle does not meet a preset parking condition;
s22, when the self-checking problem that the vehicle does not meet the preset parking condition is detected, the self-checking problem is sent to the mobile terminal, and therefore the mobile terminal displays the self-checking problem and corresponding solving measures.
Specifically, after the vehicle enters a parking mode, a door controller and a parking sensor of the vehicle, such as a radar sensor, detect whether the vehicle has a self-checking problem that does not meet a preset parking condition, including detecting whether a main driving door, a sub-driving door, a rear seat door, a front hatch cover, a trunk and the like of the vehicle are in an open state, and whether obstacles exist around the vehicle, and the like, if the self-checking problem exists, it is determined that the parking condition is not met, and a TBox of the vehicle transmits a bluetooth message to send a corresponding self-checking problem to the mobile terminal for displaying, so as to remind a user of solving the problem.
Preferably, the mobile terminal can also inquire a pre-stored solution corresponding to the self-checking problem according to the self-checking problem, and display the solution on a Bluetooth key APP interface together to remind a user of eliminating a fault which does not meet a parking condition according to the solution.
As a preferred embodiment, after step S14, the parking control method further includes:
s23, detecting whether the vehicle has an interruption fault;
and S24, when the vehicle is detected to have an interruption fault, controlling the vehicle to stop the parking operation, and sending the information of the interruption fault to the mobile terminal for displaying.
Specifically, after the vehicle enters the parking mode, a door controller, a parking sensor, such as a radar sensor, and the like of the vehicle detect whether the vehicle has an interruption fault in real time. The interruption fault refers to a fault which does not meet the condition of continuing parking and occurs around the vehicle or the vehicle, and comprises the conditions that wheels are stuck, a front trunk is opened by a user, the parking speed is too high, an accelerator is interfered, an ACC is activated, an EPB is activated and the like.
Preferably, the TBox of the vehicle sends the corresponding interrupt fault to the mobile terminal for display by transmitting a bluetooth message to remind a user.
By adopting the embodiment of the invention, after the vehicle enters the Bluetooth parking mode, whether the vehicle has self-detection problems and interruption faults at present can be detected, and the detected problems are sent to the mobile terminal for displaying so as to remind a user, and the supervision and control of the user are received in real time in the parking process, thereby effectively improving the parking safety.
As a preferred embodiment, referring to fig. 2, in addition to the first embodiment, the parking control method further includes step S25:
s25, if the current distance is larger than or equal to a preset distance threshold value, controlling the vehicle to be in a parking preparation stage, and sending warning information to the mobile terminal; the warning information is used for reminding a user of approaching the vehicle.
Specifically, after a parking start instruction sent by a user through the mobile terminal is received, when the vehicle detects that the current distance is larger than or equal to the distance threshold value according to the received distance between the mobile terminal and the vehicle, it indicates that the user is far away from the vehicle, and the parking state of the user may not be accurately monitored, the vehicle is controlled to be in a parking preparation stage, and warning information is sent to the mobile terminal to remind the user of approaching the vehicle.
And then, when the user is close to the vehicle after receiving the warning information and the vehicle judges that the distance is smaller than the distance threshold value according to the currently received distance information, controlling the vehicle to enter a Bluetooth control parking mode.
It can be understood that, after the vehicle enters the bluetooth control mode, if the user is far away from the vehicle, and the vehicle determines that the distance is greater than or equal to the distance threshold according to the currently received distance information, the vehicle is controlled to enter a parking preparation stage again, and warning information is sent to the mobile terminal to remind the user of approaching the vehicle.
It should be noted that, in the parking preparation phase, the vehicle is not operated for parking.
By adopting the technical means of the embodiment of the invention, the vehicle detects the distance information between the vehicle and the mobile terminal in real time, when the fact that the user is too far away from the vehicle is detected, the vehicle is controlled to be in a parking preparation stage, the vehicle can be guaranteed to be capable of carrying out parking operation under the monitoring of the user, and when the parking process is in a state, the user can find and process the parking operation in time, so that the parking safety is improved.
Alternatively, in another embodiment, the parking control method further includes step S25':
s25', if the current distance is larger than or equal to a preset distance threshold value, controlling the vehicle to enter an automatic parking mode, and sending warning information to the mobile terminal; the warning information is used for reminding a user of approaching the vehicle.
Specifically, after a parking start instruction sent by a user through the mobile terminal is received, when the vehicle detects that the current distance is greater than or equal to the distance threshold value according to the received distance between the mobile terminal and the vehicle, it indicates that the user is far away from the vehicle and the parking state of the user may not be accurately monitored, the vehicle is controlled to enter an automatic parking mode, and warning information is sent to the mobile terminal to remind the user of approaching the vehicle.
And then, when the user is close to the vehicle after receiving the warning information and the vehicle judges that the distance is smaller than the distance threshold value according to the currently received distance information, controlling the vehicle to enter a Bluetooth control parking mode.
It can be understood that, after the vehicle enters the bluetooth control mode, if the user is far away from the vehicle, and the vehicle determines that the distance is greater than or equal to the distance threshold according to the currently received distance information, the vehicle is controlled to enter the automatic parking mode again, and warning information is sent to the mobile terminal to remind the user of approaching the vehicle.
By adopting the technical means of the embodiment of the invention, the vehicle detects the distance information between the vehicle and the mobile terminal in real time, when the fact that the user is too far away from the vehicle is detected, the vehicle is controlled to enter the automatic parking mode, the parking sensor and the vehicle body controller of the vehicle continuously complete the parking operation according to the preset parking program, the smooth proceeding of the parking operation is ensured, the parking operation termination caused by the fact that the user suddenly has an emergency and cannot monitor the parking process of the vehicle in real time is avoided, and therefore the parking efficiency is improved.
In a preferred embodiment, the parking control method further includes step S26:
and S26, after the vehicle is detected to finish the parking operation, executing a corresponding information push strategy.
For example, after the vehicle is detected to complete the parking operation, the ISD lamp is controlled to push corresponding lamplight voice information, such as a lamplight style of "owner, you go back", and the voice module is also controlled to play corresponding voice information, such as a voice message of "owner, you go back".
As an optional implementation manner, the mobile terminal provides an instruction block for the user, the user can visually program the vehicle control instruction, and a complete vehicle control instruction is created by dragging and combining the instruction block, so that the user-defined design of the push information is realized.
By way of example, a user selects corresponding instruction blocks to form an instruction block combination through the mobile terminal, wherein the instruction block combination comprises an instruction block 1 for instructing the vehicle to display a reading second countdown through the ISD intelligent interactive system and an instruction block 2 for instructing the vehicle to project and display a channel type video through the ISD intelligent interactive system, and the execution time of the instruction block 2 is after the instruction block 1 (for example, the execution time of the instruction block 1 is 0, the total execution time is 10s, and the execution time of the instruction block 5 is after 10 s). At the moment, the instruction block 1 and the instruction block 2 are used for converting the simulation control instruction, and then the automobile model is rendered to obtain the display animation of the vehicle when the projection display is countdown and the display animation of the road grade video is projected and displayed after the reading of the second is finished.
As another optional implementation, after it is detected that the vehicle completes a parking operation, an artificial intelligence system in the vehicle, such as AI hipphigo, is called, voice information sent by the user is obtained on site, and according to the voice information of the user, lane information programmed on site is pushed through the intelligent interaction system.
It can be understood that the information pushing scenario is only taken as a distance, and in practical application, parameters such as the style, the display/play duration, the period, and the like of the pushed information can be designed by a user in a customized manner, which is not specifically limited herein.
By adopting the embodiment of the invention, the technological sense of the vehicle can be effectively improved, so that a good vehicle using experience is provided for a user.
Fig. 3 is a schematic step diagram of another parking control method according to a third embodiment of the present invention. The third embodiment of the invention provides a parking control method, which is applied to a mobile terminal and specifically executes the following steps of S31 to S35:
s31, when the mobile terminal enters the Bluetooth signal range of the vehicle, establishing Bluetooth connection between the mobile terminal and the vehicle based on preset Bluetooth key information between the vehicle and the mobile terminal.
Specifically, the mobile terminal comprises an electronic mobile device used by a user such as a mobile phone and a tablet, and the owner user applies for and generates Bluetooth key information with the vehicle through the mobile terminal in advance for realizing intelligent control of the vehicle.
The method for generating the bluetooth key information between the mobile terminal and the vehicle may be the method for generating the bluetooth key information in the above embodiment one or embodiment two, or may be another method for generating the bluetooth key information in the prior art, which is not described in detail herein.
In the embodiment of the invention, after the Bluetooth key information between the vehicle and the mobile terminal is established, when the mobile terminal enters the Bluetooth signal range of the vehicle, the vehicle and the mobile terminal can automatically establish Bluetooth connection, so that a user can send a corresponding vehicle control command through the mobile terminal.
And S32, responding to a parking starting instruction input by a user, and sending the parking starting instruction to the vehicle.
Specifically, after the bluetooth connection between the vehicle and the mobile terminal is established, the user may input a parking start instruction through the bluetooth key APP on the mobile terminal, for example, by clicking a parking start instruction button on an APP page, or by inputting a parking start instruction through voice control or the like. And after receiving a parking starting instruction of a user, the mobile terminal sends the parking starting instruction to the TBox of the vehicle through Bluetooth.
S33, acquiring an antenna signal currently sent by an antenna module configured on the vehicle;
and S34, calculating the distance of the current mobile terminal relative to the vehicle according to the signal intensity of the antenna signal.
In the embodiment of the invention, at least one antenna module is arranged on the vehicle, and antenna information is periodically broadcasted outwards. After the Bluetooth connection between the vehicle and the mobile terminal is established, the mobile terminal acquires an antenna signal sent by an antenna module configured on the vehicle in real time, and calculates the current distance between the mobile terminal and the vehicle according to the signal intensity of the antenna signal.
Specifically, the distance information is calculated by: and the mobile terminal determines a distance value corresponding to the signal strength of the antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to the antenna module, and thus the distance of the mobile terminal relative to the vehicle is determined.
It should be noted that, since the vehicle is already configured with the bluetooth module for transmitting the bluetooth signal, the antenna module may directly adopt the bluetooth module configured for transmitting the bluetooth signal by the vehicle; of course, the antenna module may also be an additionally configured bluetooth module, which does not affect the beneficial effects obtained by the present invention.
And S35, sending the distance to the vehicle so that the vehicle is controlled to enter a Bluetooth parking control mode when the vehicle receives the parking starting instruction and detects that the current distance is smaller than a preset distance threshold value.
And after the distance information is obtained through calculation, the mobile terminal returns the distance information to the TBox of the vehicle in real time. And after receiving the parking starting instruction, the vehicle can further judge whether the distance between the mobile terminal and the vehicle is smaller than a preset distance threshold value according to the received distance between the mobile terminal and the vehicle, and if so, the vehicle is controlled to enter a Bluetooth parking control mode. And the parking sensor equipment and the vehicle body controller configured on the vehicle collect relevant data according to a preset parking program, control the speed and direction of the vehicle and perform parking operation. In the parking process, a user can send a corresponding parking control instruction through the mobile terminal according to the actual parking situation of the vehicle, and the starting, the pause, the stop and the like of parking are controlled.
The third embodiment of the invention provides a parking control method, which is applied to a mobile terminal, and when the mobile terminal enters a Bluetooth signal range of a vehicle, the Bluetooth connection between the mobile terminal and the vehicle is established based on the preset Bluetooth key information between the vehicle and the mobile terminal; responding to a parking starting instruction input by a user, and sending the parking starting instruction to the vehicle; acquiring an antenna signal currently transmitted by an antenna module configured on the vehicle; calculating the distance of the current mobile terminal relative to the vehicle according to the signal strength of the antenna signal; and sending the distance to the vehicle so that the vehicle is controlled to enter a Bluetooth parking control mode when the vehicle receives the parking starting instruction and detects that the current distance is smaller than a preset distance threshold value. By adopting the embodiment of the invention, the user can send the parking starting instruction through the Bluetooth key of the mobile terminal, and then the vehicle is controlled to enter the Bluetooth parking control mode when the distance between the user and the vehicle is judged to meet the condition, so that the vehicle can receive the parking control instruction sent by the user, the vehicle is controlled to finish the parking operation by combining the preset parking program, the supervision and control of the user are received in real time in the parking process, and the parking efficiency and the parking safety are effectively improved.
As a preferred implementation manner, on the basis of the third embodiment, a plurality of antenna modules are configured on the vehicle and are respectively installed at different positions of the vehicle, and each antenna module periodically broadcasts an antenna signal outwards.
Preferably, the number of the antenna modules is five, and the installation positions of the antenna modules are respectively: a top center of the vehicle, a front, rear, left, and right side orientation of the vehicle.
It should be noted that, because the vehicle is already configured with the bluetooth module for transmitting the bluetooth signal, the antenna module may directly adopt the bluetooth module configured for transmitting the bluetooth signal by the vehicle, and on this basis, additionally configure another bluetooth module.
In one embodiment, a bluetooth module configured in the vehicle for transmitting the bluetooth signal is located in the center of the top of the vehicle as a main antenna module (BTM). And, four slave antenna modules (BTSs) are additionally provided, respectively disposed at front, rear, left and right side directions of the vehicle.
After the Bluetooth connection between the vehicle and the mobile terminal is established, the mobile terminal acquires an antenna signal sent by an antenna module configured on the vehicle in real time, and calculates the distance information of the current mobile terminal relative to the vehicle according to the signal intensity of the antenna signal.
Then, step S34 is specifically executed by steps S341 to S342:
s341, determining a distance value corresponding to the signal strength of each antenna signal according to a mapping relationship between the signal strength and the distance value, so as to obtain a distance between the mobile terminal and each antenna module;
and S342, determining the current distance between the mobile terminal and the vehicle according to the distance between the mobile terminal and each antenna module.
And testing the Received Signal Strength (RSSI) of the antenna signal when the mobile terminal is positioned at different distance values of the vehicle in advance so as to construct a mapping relation between the signal strength and the distance values. It is understood that the closer the mobile terminal is to an antenna, the greater the RSSI value received by the antenna.
In the application process, the mobile terminal receives the antenna signals sent by each antenna module of the vehicle, calculates corresponding antenna signal strength values, finds corresponding distance values according to the mapping relation between the signal strength and the distance values, and obtains the distance of the mobile terminal relative to each antenna module, and then calculates the current distance of the mobile terminal relative to the vehicle according to each distance by means of averaging and the like.
It should be noted that different distance intervals, for example, different distance intervals such as (0, 2], (2, 3], (3, 6), (6, 10) (unit: meter) may be pre-divided, and then a mapping relationship between signal strength and distance interval is constructed, so as to calculate the distance interval of the mobile terminal relative to each antenna module.
Preferably, in the embodiment of the present invention, the method further includes calculating an orientation of the mobile terminal relative to the vehicle, and includes step S343:
s343, determining the current direction of the mobile terminal relative to the vehicle according to the comparison relation among the antenna signal strengths.
The mobile terminal receives the antenna signals sent by each antenna module of the vehicle, calculates corresponding antenna signal strength values, and determines the direction of the mobile terminal according to the position where the antenna signal with the maximum signal strength is arranged by comparing the magnitude relation of all the antenna signal strengths.
For example, if the antenna signal strength set to the left side of the vehicle is significantly greater than the other antenna signal strengths in the acquired antenna signal strengths, it may be determined that the mobile terminal is located in the left side of the vehicle.
As a preferred embodiment, after step S33 and before step S34, the method further comprises:
s33', judging whether the mobile terminal is positioned outside the vehicle or not according to the comparison relation between the signal strength of each antenna signal and a preset signal strength threshold value;
s33', if the mobile terminal is located outside the vehicle, executing step S34; and if the mobile terminal is judged to be positioned in the vehicle, subsequent calculation of the position information is not carried out, corresponding warning information is displayed, and a user is reminded to get off the vehicle.
Specifically, step S33' is performed by:
when the signal intensity of any antenna module is smaller than the signal intensity threshold value, judging that the mobile terminal is positioned outside the vehicle; and when the signal intensity of each antenna module is greater than or equal to the signal intensity threshold value, judging that the mobile terminal is positioned in the vehicle.
By adopting the embodiment of the invention, whether the mobile terminal is positioned outside the vehicle is firstly determined through the signal intensity of the antenna signal, and if the mobile terminal is positioned in the vehicle, a user is reminded to get off the vehicle; if the mobile terminal is located outside the vehicle, the relative position relation between the mobile terminal and the vehicle is calculated, the parking mode of the vehicle is controlled, and the situation that a user is located in the vehicle and cannot comprehensively monitor the parking state of the vehicle can be effectively avoided.
As a preferred embodiment, in order to reduce the data volume of the interaction between the vehicle and the mobile terminal, step S35 specifically includes:
s351, judging whether the position information at the current moment is consistent with the position information at the last moment or not;
s352, if yes, deleting the position information at the current moment;
and S353, if not, sending the position information of the current moment to the vehicle.
In the embodiment of the invention, the mobile terminal acquires the antenna signal in real time and calculates the position information in real time, and if the position information of the current moment calculated by the mobile terminal is consistent with the position information calculated at the last moment, which indicates that the mobile terminal does not move, the position information calculated at the current moment is deleted without being sent to the vehicle; if the position information of the current moment calculated by the mobile terminal is inconsistent with the position information calculated at the last moment, the mobile terminal is described to move, and the position information of the current moment needs to be sent to the vehicle.
Preferably, each antenna module consists of a bluetooth broadcasting unit, an inner antenna and an outer antenna; the antenna direction of the inner antenna faces towards the inside of the vehicle, and the antenna direction of the outer antenna faces towards the outside of the vehicle; and the Bluetooth broadcasting unit controls the inner antenna and the outer antenna to alternately broadcast signals outwards in a preset signal broadcasting period.
In the embodiment of the present invention, in order to improve the accuracy of obtaining the antenna signal strength by the mobile terminal, further improve the accuracy of determining whether the mobile terminal is located outside the vehicle, and improve the accuracy of calculating the distance and the direction of the mobile terminal relative to the vehicle, two antennas are respectively arranged in each antenna module of the additional quota, and the two antennas are respectively an outer antenna for broadcasting the antenna signal outside the vehicle and an inner antenna for broadcasting the antenna signal inside the vehicle.
By way of example, a bluetooth module configured in the vehicle for transmitting the bluetooth signal is located as a main antenna module (BTM) at the center of the top of the vehicle. And, four slave antenna modules (BTS) are additionally provided, respectively disposed at front, rear, left and right side directions of the vehicle, and each of the slave antenna modules BTS includes two antennas, respectively, an outer antenna and an inner antenna. Therefore, the number of antennas provided on the vehicle is 9.
Further, the bluetooth broadcasting module controls the inner antenna to transmit the signal strength of the inner antenna once in the current period and controls the outer antenna to transmit the signal strength of the outer antenna in the next period by using a preset time length, for example, 100ms, as a period, so as to circulate.
It is understood that, in order to increase the calculation accuracy of the distance of the mobile terminal, the number of antenna modules on the vehicle may be increased appropriately, and is not limited in particular.
By adopting the embodiment of the invention, the antenna signals are broadcasted to the inside and the outside of the vehicle by the inner antenna and the outer antenna, so that the mobile terminal can receive the antenna signals sent by each antenna module no matter the mobile terminal is positioned inside or outside the vehicle, and the accuracy of obtaining the antenna signal strength is improved. In addition, the inner antenna and the outer antenna share one broadcasting module, antenna signals are broadcasted alternately, and equipment cost can be saved.
As a preferred embodiment, after the mobile terminal receives the antenna signal of each antenna module and determines that the mobile terminal is located outside the vehicle, in the process of calculating the position information, the mobile terminal corrects the external antenna signal received in the current period according to the internal antenna signal received in the previous period, so as to improve the accuracy of calculating the distance and the direction of the mobile terminal relative to the vehicle.
Specifically, the mobile terminal calculates a signal strength difference between an inner antenna signal received in a previous period and an outer antenna signal received in a current period, and obtains a correction factor corresponding to the signal strength difference from a mapping relation table according to a preset mapping relation table between the signal strength difference and the correction factor to correct the outer antenna signal received in the current period.
The correction mode comprises the following steps: and adjusting the phase and/or amplitude of the external antenna signal received in the current period according to the correction factor, thereby correcting the signal strength of the external antenna signal received in the current period.
By adopting the embodiment of the invention, two antennas are arranged for each slave antenna module, and the outer antenna signal received in the current period is corrected according to the inner antenna signal received in the previous period, so that the accuracy of the intensity of the antenna signal received by the mobile terminal can be effectively improved, and the accuracy of calculating the distance and the direction of the mobile terminal relative to the vehicle can be effectively improved.
Fig. 4 is a schematic structural diagram of a parking control apparatus according to a fourth embodiment of the present invention. The fourth embodiment of the present invention provides a parking control apparatus 40, which is applied to a vehicle, where the apparatus 40 includes: a first bluetooth connection module 41, a distance receiving module 42, a distance detection module 43, and a parking mode control module 44; wherein, the first and the second end of the pipe are connected with each other,
the first bluetooth connection module 41 is configured to, when the mobile terminal enters a bluetooth signal range of the vehicle, establish bluetooth connection between the vehicle and the mobile terminal based on preset bluetooth key information between the vehicle and the mobile terminal;
the distance receiving module 42 is configured to receive a distance, relative to the vehicle, of the mobile terminal at a time sent by the mobile terminal; the distance is obtained by acquiring an antenna signal currently sent by an antenna module configured on the vehicle through the mobile terminal and calculating according to the signal intensity of the antenna signal;
the distance detection module 43 is configured to detect whether the current distance is smaller than a preset distance threshold value after receiving a parking start instruction sent by a user through the mobile terminal;
the parking mode control module 44 is configured to control the vehicle to enter a bluetooth controlled parking mode if the current distance is smaller than a preset distance threshold.
It should be noted that, a parking control device provided in the fourth embodiment of the present invention is used to execute all the process steps of the parking control method in the first embodiment or the second embodiment, and the working principles and beneficial effects of the two are in one-to-one correspondence, so that detailed description is omitted.
Fig. 5 is a schematic structural diagram of a parking control device according to a fifth embodiment of the present invention. The fifth embodiment of the present invention provides a parking control device 50, which is applied to a mobile terminal, where the device 50 includes: the system comprises a second Bluetooth connection module 51, a parking starting instruction sending module 52, an antenna signal acquisition module 53, a distance calculation module 54 and a distance sending module 55; wherein, the first and the second end of the pipe are connected with each other,
the second bluetooth connection module 51 is configured to establish bluetooth connection between the mobile terminal and the vehicle based on preset bluetooth key information between the vehicle and the mobile terminal when the mobile terminal enters a bluetooth signal range of the vehicle;
the parking starting instruction sending module 52 is configured to send a parking starting instruction to the vehicle in response to a parking starting instruction input by a user;
the antenna signal obtaining module 53 is configured to obtain an antenna signal currently sent by an antenna module configured on the vehicle;
the distance calculating module 54 is configured to calculate a current distance between the mobile terminal and the vehicle according to the signal strength of the antenna signal;
the distance sending module 55 is configured to send the distance to the vehicle, so that the vehicle is controlled to enter a bluetooth controlled parking mode when the vehicle receives the parking start instruction and detects that the current distance is smaller than a preset distance threshold.
It should be noted that, the parking control device provided in the fifth embodiment of the present invention is used for executing all the process steps of the parking control method described in the third embodiment, and the working principles and beneficial effects of the two are in one-to-one correspondence, so that details are not described herein.
Fig. 6 is a schematic structural diagram of a parking control system according to a sixth embodiment of the present invention. An embodiment of the present invention provides a parking system 60, including: a vehicle 61 and a mobile terminal 62;
the vehicle 61 includes a first processor, a first memory, and a computer program stored in the first memory and configured to be executed by the processor, the first processor implementing the parking control method according to the first embodiment or the second embodiment when executing the computer program;
the mobile terminal 62 includes a second processor, a second memory, and a computer program stored in the second memory and configured to be executed by the processor, and the second processor implements the parking control method according to the third embodiment when executing the computer program.
Preferably, the vehicle searching system 60 further comprises a cloud-end internet of vehicles system 63, i.e. a TSP backstage. The TSP backend is used to implement functions such as generation and management of bluetooth key information between the vehicle 61 and the mobile terminal 62, and management of bluetooth connection information.
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 a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (15)

1. A parking control method applied to a vehicle, the method comprising:
when a mobile terminal enters a Bluetooth signal range of the vehicle, establishing Bluetooth connection between the vehicle and the mobile terminal based on preset Bluetooth key information between the vehicle and the mobile terminal;
receiving the distance of the mobile terminal relative to the vehicle at the moment of sending by the mobile terminal; the distance is obtained by acquiring an antenna signal currently sent by an antenna module configured on the vehicle through the mobile terminal and calculating according to the signal intensity of the antenna signal;
after a parking starting instruction sent by a user through the mobile terminal is received, detecting whether the current distance is smaller than a preset distance threshold value;
if the current distance is smaller than a preset distance threshold value, controlling the vehicle to enter a Bluetooth control parking mode;
the number of the antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle; each antenna module consists of a Bluetooth broadcasting unit, an inner antenna and an outer antenna; the antenna direction of the inner antenna faces towards the inside of the vehicle, and the antenna direction of the outer antenna faces towards the outside of the vehicle; the Bluetooth broadcasting unit controls the inner antenna and the outer antenna to broadcast signals outwards alternately in a preset signal broadcasting period;
in the process of calculating the distance, the mobile terminal calculates a signal strength difference value between an inner antenna signal received in a previous period and an outer antenna signal received in a current period according to the inner antenna signal received in the previous period and the outer antenna signal received in the current period, acquires a correction factor corresponding to the signal strength difference value from a mapping relation table according to a preset mapping relation table between the signal strength difference value and the correction factor, and adjusts the phase and/or amplitude of the outer antenna signal received in the current period, so as to correct the signal strength of the outer antenna signal received in the current period.
2. The vehicle parking control method according to claim 1, wherein after the controlling the vehicle to enter a bluetooth controlled parking mode, the method further comprises:
receiving a parking control instruction sent by a user through the mobile terminal;
and controlling the vehicle to finish the parking operation according to the parking control instruction.
3. The vehicle parking control method according to claim 2, wherein the parking control instruction includes a parking operation start instruction, a parking operation pause instruction, and a parking operation end instruction.
4. The vehicle parking control method according to claim 1, wherein after the controlling the vehicle to enter a bluetooth controlled parking mode, the method further comprises:
detecting whether the vehicle has a self-detection problem which does not meet a preset parking condition;
when the self-checking problem that the vehicle does not meet the preset parking condition is detected, the self-checking problem is sent to the mobile terminal, so that the mobile terminal displays the self-checking problem and corresponding solving measures.
5. The vehicle parking control method according to claim 1, wherein after the controlling the vehicle to enter a bluetooth controlled parking mode, the method further comprises:
detecting whether the vehicle has an interruption fault;
and when the vehicle is detected to have an interruption fault, controlling the vehicle to stop the parking operation, and sending the information of the interruption fault to the mobile terminal for displaying.
6. The vehicle parking control method according to claim 1, characterized by further comprising:
if the current distance is larger than or equal to a preset distance threshold value, controlling the vehicle to be in a parking preparation stage, and sending warning information to the mobile terminal; the warning information is used for reminding a user of approaching the vehicle.
7. The vehicle parking control method according to claim 1, characterized by further comprising:
if the current distance is larger than or equal to a preset distance threshold value, controlling the vehicle to enter an automatic parking mode, and sending warning information to the mobile terminal; the warning information is used for reminding a user of approaching the vehicle.
8. The vehicle parking control method according to claim 1,
the distance is calculated by the mobile terminal in the following way: determining a distance value corresponding to the signal strength of each antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to each antenna module; and determining the distance of the mobile terminal relative to the vehicle according to the distance of the mobile terminal relative to each antenna module.
9. A parking control method is applied to a mobile terminal, and comprises the following steps:
when the mobile terminal enters the Bluetooth signal range of a vehicle, establishing Bluetooth connection between the mobile terminal and the vehicle based on preset Bluetooth key information between the vehicle and the mobile terminal;
responding to a parking starting instruction input by a user, and sending the parking starting instruction to the vehicle;
acquiring an antenna signal currently transmitted by an antenna module configured on the vehicle;
calculating the distance of the current mobile terminal relative to the vehicle according to the signal strength of the antenna signal;
sending the distance to the vehicle so that the vehicle is controlled to enter a Bluetooth parking control mode when the vehicle receives the parking starting instruction and detects that the current distance is smaller than a preset distance threshold value;
the number of the antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle; each antenna module consists of a Bluetooth broadcasting unit, an inner antenna and an outer antenna; the antenna direction of the inner antenna faces towards the inside of the vehicle, and the antenna direction of the outer antenna faces towards the outside of the vehicle; the Bluetooth broadcasting unit controls the inner antenna and the outer antenna to broadcast signals outwards alternately in a preset signal broadcasting period;
after acquiring the antenna signal currently transmitted by the antenna module configured on the vehicle, the method further comprises: and calculating a signal intensity difference value between the inner antenna signal received in the last period and the outer antenna signal received in the current period, acquiring a correction factor corresponding to the signal intensity difference value from a mapping relation table according to a preset mapping relation table between the signal intensity difference value and the correction factor, and adjusting the phase and/or amplitude of the outer antenna signal received in the current period so as to correct the signal intensity of the outer antenna signal received in the current period.
10. The vehicle parking control method according to claim 9, wherein the number of antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle;
then, the calculating the current distance between the mobile terminal and the vehicle according to the signal strength of the antenna signal specifically includes:
determining a distance value corresponding to the signal strength of each antenna signal according to a mapping relation between the signal strength and the distance value, which is constructed in advance, so as to obtain the distance of the mobile terminal relative to each antenna module;
and determining the distance of the mobile terminal relative to the vehicle according to the distance of the mobile terminal relative to each antenna module.
11. The vehicle parking control method according to claim 10, wherein before the calculating of the current distance of the mobile terminal with respect to the vehicle based on the signal strength of the antenna signal, the method further comprises:
judging whether the mobile terminal is positioned outside the vehicle or not according to the comparison relation between the signal strength of each antenna signal and a preset signal strength threshold value;
and if the mobile terminal is positioned outside the vehicle, calculating the current distance between the mobile terminal and the vehicle according to the signal intensity of the antenna signal.
12. The method for controlling parking according to claim 11, wherein the determining whether the mobile terminal is located outside the vehicle according to a comparison relationship between the signal strength of each of the antenna signals and a preset signal strength threshold specifically includes:
when the signal intensity of any antenna module is smaller than the signal intensity threshold value, judging that the mobile terminal is positioned outside the vehicle;
and when the signal intensity of each antenna module is greater than or equal to the signal intensity threshold value, judging that the mobile terminal is positioned in the vehicle.
13. A parking control apparatus applied to a vehicle, the apparatus comprising:
the first Bluetooth connection module is used for establishing Bluetooth connection between the vehicle and the mobile terminal based on preset Bluetooth key information between the vehicle and the mobile terminal when the mobile terminal enters a Bluetooth signal range of the vehicle;
the distance receiving module is used for receiving the distance of the mobile terminal relative to the vehicle at the moment sent by the mobile terminal; the distance is obtained by the mobile terminal acquiring an antenna signal currently sent by an antenna module configured on the vehicle and calculating according to the signal intensity of the antenna signal;
the distance detection module is used for detecting whether the current distance is smaller than a preset distance threshold value or not after receiving a parking starting instruction sent by a user through the mobile terminal;
the parking mode control module is used for controlling the vehicle to enter a Bluetooth control parking mode if the current distance is smaller than a preset distance threshold;
the number of the antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle; each antenna module consists of a Bluetooth broadcasting unit, an inner antenna and an outer antenna; the antenna direction of the inner antenna faces towards the inside of the vehicle, and the antenna direction of the outer antenna faces towards the outside of the vehicle; the Bluetooth broadcasting unit controls the inner antenna and the outer antenna to broadcast signals outwards alternately in a preset signal broadcasting period;
in the process of calculating the distance, the mobile terminal calculates a signal strength difference value between the inner antenna signal received in the previous period and the outer antenna signal received in the current period according to the inner antenna signal received in the previous period and the outer antenna signal received in the current period, acquires a correction factor corresponding to the signal strength difference value from the mapping relation table according to a mapping relation table between a preset signal strength difference value and the correction factor, and adjusts the phase and/or amplitude of the outer antenna signal received in the current period, so as to correct the signal strength of the outer antenna signal received in the current period.
14. A parking control apparatus applied to a mobile terminal, the apparatus comprising:
the second Bluetooth connection module is used for establishing Bluetooth connection between the mobile terminal and the vehicle based on preset Bluetooth key information between the vehicle and the mobile terminal when the mobile terminal enters a Bluetooth signal range of the vehicle;
the parking starting instruction sending module is used for responding to a parking starting instruction input by a user and sending the parking starting instruction to the vehicle;
the antenna signal acquisition module is used for acquiring the antenna signal currently sent by the antenna module configured on the vehicle;
the distance calculation module is used for calculating the distance of the current mobile terminal relative to the vehicle according to the signal intensity of the antenna signal;
the distance sending module is used for sending the distance to the vehicle so that the vehicle is controlled to enter a Bluetooth control parking mode when the vehicle receives the parking starting instruction and the current distance is detected to be smaller than a preset distance threshold value;
the number of the antenna modules arranged on the vehicle is more than one, and different antenna modules are arranged at different positions on the vehicle; each antenna module consists of a Bluetooth broadcasting unit, an inner antenna and an outer antenna; the antenna direction of the inner antenna faces towards the inside of the vehicle, and the antenna direction of the outer antenna faces towards the outside of the vehicle; the Bluetooth broadcasting unit controls the inner antenna and the outer antenna to broadcast signals outwards alternately in a preset signal broadcasting period;
the antenna signal acquisition module is further configured to: and calculating a signal strength difference value between the inner antenna signal received in the previous period and the outer antenna signal received in the current period, acquiring a correction factor corresponding to the signal strength difference value from a mapping relation table according to a mapping relation table between a preset signal strength difference value and the correction factor, and adjusting the phase and/or amplitude of the outer antenna signal received in the current period, so as to correct the signal strength of the outer antenna signal received in the current period.
15. A parking control system characterized by comprising: a vehicle and a mobile terminal;
the vehicle includes a first processor, a first memory, and a computer program stored in the first memory and configured to be executed by the processor, the first processor implementing the parking control method according to any one of claims 1 to 8 when executing the computer program;
the mobile terminal includes a second processor, a second memory, and a computer program stored in the second memory and configured to be executed by the processor, the second processor implementing the parking control method according to any one of claims 9 to 12 when executing the computer program.
CN202110484012.6A 2021-04-30 2021-04-30 Parking control method, device and system Active CN113329366B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110484012.6A CN113329366B (en) 2021-04-30 2021-04-30 Parking control method, device and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110484012.6A CN113329366B (en) 2021-04-30 2021-04-30 Parking control method, device and system

Publications (2)

Publication Number Publication Date
CN113329366A CN113329366A (en) 2021-08-31
CN113329366B true CN113329366B (en) 2022-10-18

Family

ID=77414087

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110484012.6A Active CN113329366B (en) 2021-04-30 2021-04-30 Parking control method, device and system

Country Status (1)

Country Link
CN (1) CN113329366B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113859225A (en) * 2021-10-26 2021-12-31 北京经纬恒润科技股份有限公司 Remote control parking method and device
CN114590246B (en) * 2022-05-09 2022-09-06 远峰科技股份有限公司 Dual-channel communication automatic parking method, device, equipment and storage medium
CN117445907A (en) * 2023-11-29 2024-01-26 零束科技有限公司 Close-range parking control system and method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112061050A (en) * 2020-09-07 2020-12-11 华人运通(上海)云计算科技有限公司 Scene triggering method, device, equipment and storage medium
CN112319608A (en) * 2019-07-19 2021-02-05 广州汽车集团股份有限公司 Method and system for realizing parking by adopting mobile phone Bluetooth key
CN112550281A (en) * 2020-12-29 2021-03-26 广州小鹏自动驾驶科技有限公司 Automatic parking control method and device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102394578B1 (en) * 2017-08-22 2022-05-04 현대자동차 주식회사 System and method for vehicle control
US10737690B2 (en) * 2018-01-02 2020-08-11 Ford Global Technologies, Llc Mobile device tethering for a remote parking assist system of a vehicle
CN109515384A (en) * 2018-11-15 2019-03-26 浙江吉利汽车研究院有限公司 Vehicle shared system and method based on digital key
JP2020085488A (en) * 2018-11-16 2020-06-04 株式会社東海理化電機製作所 Position determination system and position determination method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112319608A (en) * 2019-07-19 2021-02-05 广州汽车集团股份有限公司 Method and system for realizing parking by adopting mobile phone Bluetooth key
CN112061050A (en) * 2020-09-07 2020-12-11 华人运通(上海)云计算科技有限公司 Scene triggering method, device, equipment and storage medium
CN112550281A (en) * 2020-12-29 2021-03-26 广州小鹏自动驾驶科技有限公司 Automatic parking control method and device

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"CS75PLUS 驾驶指南 学习--1 手机蓝牙钥匙篇";CS75普拉斯;《长安CS75PLUS论坛》;20191228;第1-35页 *
车辆蓝牙钥匙定位优化解决方案;夏宝华;《电子技术与软件工程》;20200601(第11期);全文 *

Also Published As

Publication number Publication date
CN113329366A (en) 2021-08-31

Similar Documents

Publication Publication Date Title
CN113329366B (en) Parking control method, device and system
CN110709909B (en) Parking control method and parking control device
US10818106B2 (en) System and method for pre-trip inspection of a tractor-trailer
CN113225673B (en) Vehicle searching method, device and system
CN107054294B (en) System and method for on-demand disabling of passive entry
CN111739302A (en) Method and system for automatic passenger-replacing parking
CN108749813B (en) Automatic parking system and parking method
CN113329330A (en) Vehicle door control method, device and system
CN112319608A (en) Method and system for realizing parking by adopting mobile phone Bluetooth key
CN113129630B (en) Autonomous parking method, AVP platform and vehicle terminal
CN113470225A (en) Electronic lock control method, device and system for vehicle
US20210229655A1 (en) Systems and methods for executing automated vehicle maneuvering operations
US11619934B2 (en) Vehicle remote control method and vehicle remote control device
CN116279429A (en) Intelligent parking method and device based on UWB digital key, vehicle and medium
CN113581164A (en) Parking control method, device and system and storage medium
CN111724577A (en) Method and device for remote control driving of vehicle and vehicle
CN112373462B (en) Automatic parking method, device, controller and system
CN108407818A (en) A kind of automated driving system intelligently switched
CN112564832A (en) Vehicle early warning message generation method and device, computer equipment and storage medium
CN113012470A (en) Alarming method and parameter real-time adjusting method of front collision early warning system
CN113771561A (en) Vehicle towing method, electronic device, towing vehicle and storage medium
CN112564829A (en) Information distribution method and device, computer equipment and storage medium
CN110588543A (en) Front radar and panoramic camera control device and method
US20230186761A1 (en) Systems and methods for optical tethering image frame plausibility
CN114235442B (en) Method, device and equipment for testing performance of automatic driving vehicle and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant