CN118098003A - Underground parking garage vehicle searching method, electronic device, vehicle, mobile terminal and medium - Google Patents

Underground parking garage vehicle searching method, electronic device, vehicle, mobile terminal and medium Download PDF

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Publication number
CN118098003A
CN118098003A CN202211494289.8A CN202211494289A CN118098003A CN 118098003 A CN118098003 A CN 118098003A CN 202211494289 A CN202211494289 A CN 202211494289A CN 118098003 A CN118098003 A CN 118098003A
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China
Prior art keywords
mobile terminal
vehicle
ultra
circles
position information
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CN202211494289.8A
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Chinese (zh)
Inventor
刘兴
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Weilai Mobile Technology Co ltd
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Weilai Mobile Technology Co ltd
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Priority to CN202211494289.8A priority Critical patent/CN118098003A/en
Priority to PCT/CN2023/129727 priority patent/WO2024109525A1/en
Publication of CN118098003A publication Critical patent/CN118098003A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/04—Key management, e.g. using generic bootstrapping architecture [GBA]
    • H04W12/041—Key generation or derivation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H04W12/069—Authentication using certificates or pre-shared keys
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention relates to the technical field of automobile positioning, in particular to an underground parking garage automobile searching method, an electronic device, a vehicle, a mobile terminal and a medium, and aims to solve the problem of difficulty in automobile searching of a user in an underground parking garage. To this end, the method of the invention comprises: transmitting the vehicle parking position information to the paired mobile terminals; responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel with the mobile terminal; acquiring mobile terminal position information according to a ranging session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on a vehicle and an ultra-wideband positioning tag arranged on the paired mobile terminal; and sending the mobile terminal position information to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can perform vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and a pre-stored map of the underground parking garage.

Description

Underground parking garage vehicle searching method, electronic device, vehicle, mobile terminal and medium
Technical Field
The invention relates to the technical field of automobile positioning, in particular to an underground parking garage automobile searching method, an electronic device, a vehicle, a mobile terminal and a medium.
Background
The traditional underground parking lot vehicle searching main is mainly carried out by means of a map, a user can record the final parking number, and then vehicle searching is carried out through experience. However, the user may forget to record the parking space number information, and most of parking lots lack a map with a parking space number, so that it is difficult to directly search for a vehicle according to the map. Some high-end underground parking lots also have license plate number car searching functions, and the final position of the car is displayed through a large inquiry screen of a car searching machine of the parking lots, so that rough guiding of car searching is provided for users. However, the user is required to take a parking navigation picture for car searching guidance, and the technology is still immature, and the user can not search for the car frequently. In addition, the image is a static image, binding and dynamic interaction with the vehicle searching direction of the user cannot be carried out, and a plurality of walls and upright posts of the parking lot can influence the vehicle searching efficiency of the user.
Accordingly, there is a need in the art for a method of locating vehicles in an underground parking garage that addresses the above-described problems.
Disclosure of Invention
The present invention has been made to overcome the above-mentioned drawbacks, and provides a solution or at least partially solves the problem of the existing method resulting in a low vehicle searching efficiency.
In a first aspect, the present invention provides a method for searching vehicles in an underground parking garage, comprising the steps of:
transmitting the vehicle parking position information to the paired mobile terminals;
responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel with the mobile terminal;
Acquiring mobile terminal position information according to a ranging session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on a vehicle and an ultra-wideband positioning tag arranged on the paired mobile terminal;
and sending the mobile terminal position information to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can perform vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and a pre-stored map of the underground parking garage.
In a specific embodiment, the sending the vehicle parking position information to the paired mobile terminal includes:
The position of the vehicle is positioned through a vehicle inertial navigation algorithm or a dead reckoning algorithm, so that the vehicle parking position information when the vehicle is parked is obtained;
and responding to the command of starting the vehicle searching function, and sending the vehicle parking position information to the mobile terminal.
In a specific embodiment, the responding to the vehicle searching request from the mobile terminal establishes a Bluetooth communication channel with the mobile terminal, and the method comprises the following steps:
responding to the scanning of the mobile terminal to the broadcasted Bluetooth information, and establishing Bluetooth connection with the mobile terminal;
identity authentication is performed to establish a bluetooth communication channel with the mobile terminal.
In a specific embodiment, the broadcasted bluetooth information includes UUIDs, and the UUIDs are randomly generated at preset time intervals.
In a specific embodiment, the performing identity authentication to establish a bluetooth communication channel with the mobile terminal includes:
sending a request to a mobile terminal for establishing Bluetooth connection, and acquiring equipment information of the mobile terminal;
generating a first random number and generating a first public key by using an ECDH key derivation algorithm;
Transmitting the first public key to the mobile terminal, wherein the mobile terminal generates a second random number and generates a second public key using an ECDH key derivation algorithm, and calculates a second session key using the first public key and the second random number;
acquiring the second public key from the mobile terminal;
Calculating a first session key from the second public key and the first random number;
Transmitting a vehicle certificate encrypted using the first session key to the mobile terminal, such that the mobile terminal verifies the vehicle certificate encrypted using the first session key using a pre-stored mobile terminal OEM public key;
acquiring, from the mobile terminal, a mobile terminal certificate encrypted by the mobile terminal using the second session key;
Verifying said use of said mobile terminal certificate using a pre-stored vehicle OEM public key;
And establishing a Bluetooth communication channel with the mobile terminal.
In a specific embodiment, the acquiring the mobile terminal location information according to the ranging session established by the ultra wideband transceiver set on the vehicle and the ultra wideband positioning tag set on the paired mobile terminal on the bluetooth communication channel includes:
acquiring distance values between at least 3 ultra-wideband transceivers positioned at different positions of a vehicle and the ultra-wideband positioning tag;
forming a circle by taking the positions of the at least 3 ultra-wideband transceivers as circle centers and the corresponding distance values as radiuses;
acquiring the confidence positions of the ultra-wideband positioning labels for the corresponding circles according to the formed at least 3 circles;
and obtaining the position information of the mobile terminal according to the confidence position.
In a specific embodiment, the obtaining, according to the formed at least 3 circles, the confidence positions of the ultra-wideband positioning tag for the corresponding circles includes:
judging whether an intersection point exists for any two circles of the at least 3 circles;
if an intersection point exists, acquiring a confidence position of the ultra-wideband positioning tag for a corresponding circle according to the intersection point;
And if the intersection point does not exist, acquiring the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection point of the extension line of the connecting line of the circle centers of the two circles and the respective circles.
In a specific embodiment, if there is an intersection point, obtaining, according to the intersection point, a confidence position of the ultra-wideband positioning tag for a corresponding circle includes:
judging whether the intersection points of the two circles are 2;
If the number of the intersection points of the two circles is 2, selecting the intersection point which is closer to an average coordinate in the 2 intersection points as the confidence positions of the ultra-wideband positioning tag on the two circles, wherein the average coordinate is obtained by averaging the position coordinates of all intersection points of all circles with the intersection points in the at least 3 circles;
And if the intersection points of the two circles are 1, selecting the 1 intersection points as confidence positions of the ultra-wideband positioning tag on the two circles respectively.
In a specific embodiment, if there is no intersection point, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection point of the extension line of the connecting line of the circle centers of the two circles and the respective circles includes:
acquiring a center point of an intersection point of the extension line and each of the two circles;
and taking the central point as the confidence positions of the ultra-wideband positioning tag for the two circles respectively.
In a specific embodiment, the obtaining the location information of the mobile terminal according to the confidence location includes:
If all the obtained confidence positions are the same positions, determining that the position coordinates of the mobile terminal are the coordinates of the same positions;
And if all the obtained confidence positions are a plurality of positions, determining that the mobile terminal position is the coordinates of the mass centers of the plurality of positions.
In a second aspect, the present invention provides a vehicle searching method for an underground parking garage, further comprising the steps of:
Receiving vehicle parking position information sent by paired vehicles;
Responding to a vehicle searching request, and establishing a Bluetooth communication channel with the vehicle;
receiving mobile terminal position information sent by the vehicle, wherein the mobile terminal position information is obtained according to a ranging session established on the Bluetooth communication channel by an ultra-wideband positioning tag arranged on the mobile terminal and an ultra-wideband transceiver arranged on the matched vehicle;
And carrying out vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage.
In a specific embodiment, the establishing a bluetooth communication channel with the vehicle in response to a vehicle seeking request includes:
Responding to a vehicle searching request, and scanning Bluetooth signals broadcast by vehicles in an underground parking garage;
Establishing Bluetooth connection with the paired vehicle according to UUID in the broadcasted Bluetooth information;
Identity authentication is performed to establish an encrypted bluetooth communication channel with the vehicle.
In a specific embodiment, the authenticating to establish an encrypted bluetooth communication channel with the vehicle includes:
Transmitting equipment information of the mobile terminal to a vehicle in response to an acquisition request transmitted by the vehicle for establishing Bluetooth connection, wherein the vehicle generates a first random number and generates a first public key by using an ECDH key derivation algorithm;
receiving the first public key sent by the vehicle;
generating a second random number and generating a second public key using an ECDH key derivation algorithm;
transmitting the second public key to the vehicle, wherein the vehicle calculates a first session key using the second public key and the first random number;
Calculating a second session key according to the first public key and the second random number;
receiving a vehicle certificate encrypted by the vehicle using the first session key;
Verifying the vehicle certificate by using a prestored mobile terminal OEM public key;
Transmitting a mobile terminal certificate encrypted using the second session key to the vehicle so that the vehicle verifies the mobile terminal certificate using a pre-stored vehicle OEM public key;
a bluetooth communication channel is established with the vehicle.
In a specific embodiment, the vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage includes:
And displaying a navigation path on the map according to the vehicle parking position information and the mobile terminal position information.
In a third aspect, the present invention provides a method for searching vehicles in an underground parking garage, further comprising the steps of:
The parking vehicle sends vehicle parking position information to the paired mobile terminals;
Responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel between the vehicle and the mobile terminal;
Acquiring position information of a mobile terminal according to a distance measurement session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on a vehicle and an ultra-wideband positioning tag arranged on a paired mobile terminal;
The vehicle sends the mobile terminal position information to the mobile terminal through the Bluetooth communication channel;
And the mobile terminal carries out vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage.
In a specific embodiment, the responding to the vehicle searching request from the mobile terminal establishes a communication channel between the vehicle and the mobile terminal, and the method comprises the following steps:
Responding to a vehicle searching request, and scanning Bluetooth information broadcast by a vehicle in an underground parking garage by the mobile terminal;
according to UUID in the broadcasted Bluetooth information, the mobile terminal establishes Bluetooth connection with the matched vehicle;
The vehicle and the mobile terminal perform identity authentication to establish an encrypted bluetooth communication channel.
In a specific embodiment, the vehicle and the mobile terminal perform identity authentication to establish an encrypted bluetooth communication channel, comprising:
The vehicle sends a request to a mobile terminal for establishing Bluetooth connection, and equipment information of the mobile terminal is obtained;
The vehicle generates a first random number and generates a first public key by using an ECDH key derivation algorithm;
the vehicle sends the first public key to the mobile terminal;
the mobile terminal generating a second random number and generating a second public key using an ECDH key derivation algorithm, and calculating a second session key using the first public key and the second random number;
The mobile terminal sends the second public key to the vehicle;
The vehicle calculates a first session key according to the second public key and the first random number;
The vehicle sends a vehicle certificate encrypted by using the first session key to the mobile terminal;
The mobile terminal uses a prestored mobile terminal OEM public key to verify the vehicle certificate;
the mobile terminal sends a mobile terminal certificate encrypted by using the second session key to the vehicle;
the vehicle verifies the mobile terminal certificate by using a pre-stored vehicle OEM public key;
And establishing a Bluetooth communication channel between the vehicle and the mobile terminal.
In a fourth aspect, the present invention provides an electronic device, including a processor and a memory, where the memory stores a program, and when the program is executed by the processor, implements the method for searching for vehicles in an underground parking garage of the first aspect.
In a fifth aspect, embodiments of the present invention provide a vehicle comprising the electronic device of the fourth aspect and at least 3 ultra-wideband transceivers disposed in different locations of the vehicle.
In a sixth aspect, the present invention provides a mobile terminal, including an ultra wideband positioning tag, a processor, and a memory, where the memory stores a program, and when the program is executed by the processor, the method for searching for vehicles in an underground parking garage according to the second aspect is implemented.
In a seventh aspect, the present invention provides a computer readable storage medium storing a plurality of program codes adapted to be loaded and executed by a processor to perform the underground parking garage seeking method of the first aspect or the underground parking garage seeking method of the second aspect.
Scheme 1. A method for searching vehicles in an underground parking garage is characterized by comprising the following steps:
transmitting the vehicle parking position information to the paired mobile terminals;
responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel with the mobile terminal;
Acquiring mobile terminal position information according to a ranging session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on a vehicle and an ultra-wideband positioning tag arranged on the paired mobile terminal;
and sending the mobile terminal position information to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can perform vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and a pre-stored map of the underground parking garage.
The method according to claim 1, wherein the sending the vehicle parking position information to the paired mobile terminal includes:
The position of the vehicle is positioned through a vehicle inertial navigation algorithm or a dead reckoning algorithm, so that the vehicle parking position information when the vehicle is parked is obtained;
and responding to the command of starting the vehicle searching function, and sending the vehicle parking position information to the mobile terminal.
The method according to claim 1, wherein the establishing a bluetooth communication channel with the mobile terminal in response to a vehicle finding request from the mobile terminal comprises:
responding to the scanning of the mobile terminal to the broadcasted Bluetooth information, and establishing Bluetooth connection with the mobile terminal;
Identity authentication is performed to establish an encrypted bluetooth communication channel with the mobile terminal.
The method according to claim 3, wherein the broadcasted bluetooth information comprises UUIDs, and the UUIDs are randomly generated at preset time intervals.
The method according to claim 3, wherein said authenticating to establish a bluetooth communication channel with said mobile terminal comprises:
sending a request to a mobile terminal for establishing Bluetooth connection, and acquiring equipment information of the mobile terminal;
generating a first random number and generating a first public key by using an ECDH key derivation algorithm;
Transmitting the first public key to the mobile terminal, wherein the mobile terminal generates a second random number and generates a second public key using an ECDH key derivation algorithm, and calculates a second session key using the first public key and the second random number;
acquiring the second public key from the mobile terminal;
Calculating a first session key from the second public key and the first random number;
Transmitting a vehicle certificate encrypted using the first session key to the mobile terminal, such that the mobile terminal verifies the vehicle certificate encrypted using the first session key using a pre-stored mobile terminal OEM public key;
acquiring, from the mobile terminal, a mobile terminal certificate encrypted by the mobile terminal using the second session key;
Validating the mobile terminal certificate using a pre-stored vehicle OEM public key;
an encrypted bluetooth communication channel is established with the mobile terminal.
The method according to the scheme 1 is characterized in that the obtaining mobile terminal position information according to a ranging session established by an ultra wideband transceiver set on a vehicle and an ultra wideband positioning tag set on the paired mobile terminal on the bluetooth communication channel includes:
acquiring distance values between at least 3 ultra-wideband transceivers positioned at different positions of a vehicle and the ultra-wideband positioning tag;
forming a circle by taking the positions of the at least 3 ultra-wideband transceivers as circle centers and the corresponding distance values as radiuses;
acquiring the confidence positions of the ultra-wideband positioning labels for the corresponding circles according to the formed at least 3 circles;
and obtaining the position information of the mobile terminal according to the confidence position.
The method according to claim 6, wherein the obtaining the confidence positions of the ultra-wideband positioning tag for the corresponding circles according to the formed at least 3 circles includes:
judging whether an intersection point exists for any two circles of the at least 3 circles;
if an intersection point exists, acquiring a confidence position of the ultra-wideband positioning tag for a corresponding circle according to the intersection point;
And if the intersection point does not exist, acquiring the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection point of the extension line of the connecting line of the circle centers of the two circles and the respective circles.
The method according to claim 7, wherein if there is an intersection point, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection point includes:
judging whether the intersection points of the two circles are 2;
if the number of the intersection points of the two circles is 2, selecting the intersection point which is closer to an average coordinate in the 2 intersection points as the confidence positions of the ultra-wideband positioning tag on the two circles, wherein the average coordinate is obtained by averaging the position coordinates of all the intersection points of the circles with the intersection points in the at least 3 circles;
And if the intersection points of the two circles are 1, selecting the 1 intersection points as confidence positions of the ultra-wideband positioning tag on the two circles respectively.
The method according to the scheme 9 is characterized in that if no intersection point exists, obtaining the confidence position of the ultra-wideband positioning tag on the corresponding circle according to the intersection point of the extension line of the connecting line of the centers of the two circles and the two circles, including:
acquiring a center point of an intersection point of the extension line and each of the two circles;
and taking the central point as the confidence positions of the ultra-wideband positioning tag for the two circles respectively.
The method according to any one of claims 6-9, wherein the obtaining the mobile terminal location information according to the confidence location comprises:
If all the obtained confidence positions are the same positions, determining that the position coordinates of the mobile terminal are the coordinates of the same positions;
And if all the obtained confidence positions are a plurality of positions, determining that the mobile terminal position is the coordinates of the mass centers of the plurality of positions.
Scheme 11. A method for searching vehicles in an underground parking garage is characterized by comprising the following steps:
Receiving vehicle parking position information sent by paired vehicles;
Responding to a vehicle searching request, and establishing a Bluetooth communication channel with the vehicle;
receiving mobile terminal position information sent by the vehicle, wherein the mobile terminal position information is obtained according to a ranging session established on the Bluetooth communication channel by an ultra-wideband positioning tag arranged on the mobile terminal and an ultra-wideband transceiver arranged on the matched vehicle;
And carrying out vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage.
The method of claim 11, wherein said establishing a bluetooth communication channel with said vehicle in response to a vehicle seek request comprises:
responding to a vehicle searching request, and scanning Bluetooth information broadcast by vehicles in an underground parking garage;
Establishing Bluetooth connection with the paired vehicle according to UUID in the broadcasted Bluetooth information;
Identity authentication is performed to establish an encrypted bluetooth communication channel with the vehicle.
The method of claim 12, wherein said authenticating to establish a bluetooth encrypted communication channel with said vehicle comprises:
Transmitting equipment information of the mobile terminal to a vehicle in response to an acquisition request transmitted by the vehicle for establishing Bluetooth connection, wherein the vehicle generates a first random number and generates a first public key by using an ECDH key derivation algorithm;
receiving the first public key sent by the vehicle;
generating a second random number and generating a second public key using an ECDH key derivation algorithm;
transmitting the second public key to the vehicle, wherein the vehicle calculates a first session key using the second public key and the first random number;
Calculating a second session key according to the first public key and the second random number;
receiving a vehicle certificate encrypted by the vehicle using the first session key;
Verifying the vehicle certificate by using a prestored mobile terminal OEM public key;
Transmitting a mobile terminal certificate encrypted using the second session key to the vehicle so that the vehicle verifies the mobile terminal certificate using a pre-stored vehicle OEM public key;
a bluetooth communication channel is established with the vehicle.
The method according to claim 11, wherein the performing the vehicle-finding navigation according to the vehicle parking position information, the mobile terminal position information, and the pre-stored map of the underground parking garage includes:
And displaying a navigation path on the map according to the vehicle parking position information and the mobile terminal position information.
Scheme 15. A method for searching vehicles in an underground parking garage is characterized by comprising the following steps:
The parking vehicle sends vehicle parking position information to the paired mobile terminals;
Responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel between the vehicle and the mobile terminal;
Acquiring position information of a mobile terminal according to a distance measurement session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on a vehicle and an ultra-wideband positioning tag arranged on a paired mobile terminal;
The vehicle sends the mobile terminal position information to the mobile terminal through the Bluetooth communication channel;
And the mobile terminal carries out vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage.
An electronic device comprising a processor and a memory, the memory having a program stored therein, wherein the program, when executed by the processor, implements the method of any of claims 1-10.
A vehicle according to claim 17, comprising:
The electronic device of aspect 16;
at least 3 ultra-wideband transceivers disposed in different locations of the vehicle.
Scheme 18. A mobile terminal comprising:
An ultra wideband positioning tag;
a processor and a memory, the memory storing a program,
Wherein the program, when executed by the processor, implements the method of any one of claims 11-14.
A computer readable storage medium storing a plurality of program codes, characterized in that the program codes are adapted to be loaded and run by a processor to perform the method of any one of the schemes 1-10 or the method of any one of the schemes 11-14.
The technical scheme provided by the invention has at least one or more of the following beneficial effects:
In the technical scheme of the invention, the mobile terminal supporting Ultra Wideband (UWB) technology is used as a digital car key to carry out short-time accurate positioning, so that the optimal path planning and navigation of the car searching are realized on occasions without GPS signals in the underground parking lot, and the car searching efficiency is improved to a great extent. And the vehicle only provides short-term reliable positioning data, and the session interaction of the UWB transceiver at the vehicle end and the UWB positioning tag of the mobile terminal and the transmission of the positioning data are realized through a BLE safety channel with low power consumption, so that the power consumption of the whole machine is reduced.
Drawings
The present disclosure will become more readily understood with reference to the accompanying drawings. As will be readily appreciated by those skilled in the art: the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. Moreover, like numerals in the figures are used to designate like parts, wherein:
FIG. 1 shows a schematic diagram of a hardware architecture for implementing a method for locating a car in an underground parking garage in accordance with an embodiment of the present invention;
FIG. 2 illustrates a flow chart of a method for locating a car in an underground parking garage applied to a vehicle end in accordance with one embodiment of the present invention;
fig. 3 shows a schematic flow chart of a vehicle establishing an encrypted bluetooth communication channel with a mobile terminal according to an embodiment of the invention;
Fig. 4 shows a schematic flow diagram of establishing an encrypted bluetooth communication channel with a mobile terminal, performed on the vehicle side, according to an embodiment of the invention;
FIG. 5 is a flow chart illustrating the main steps for obtaining location information of a mobile terminal according to one embodiment of the present invention;
FIG. 6 shows a schematic diagram of obtaining confidence positions of the ultra-wideband positioning tag for corresponding circles in an ideal model;
FIG. 7 is a schematic diagram showing the acquisition of confidence positions of the ultra-wideband positioning tag for corresponding circles in practical applications;
FIG. 8 illustrates a flow chart of a method for locating a car in an underground parking garage applied to a mobile terminal according to one embodiment of the present invention;
Fig. 9 shows a schematic flow diagram of establishing an encrypted bluetooth communication channel with a mobile terminal, performed at the mobile terminal side, according to an embodiment of the invention;
Fig. 10 illustrates a flowchart of a car-finding method of an underground parking garage applied to a mobile terminal and a vehicle according to one embodiment of the present invention.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "module," "processor" may include hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, or software components, such as program code, or a combination of software and hardware. The processor may be a central processor, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor may be implemented in software, hardware, or a combination of both. Non-transitory computer readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like. The term "a and/or B" means all possible combinations of a and B, such as a alone, B alone or a and B. The term "at least one A or B" or "at least one of A and B" has a meaning similar to "A and/or B" and may include A alone, B alone or A and B. The singular forms "a", "an" and "the" include plural referents.
In order to solve the technical problems, in particular to solve the problem of lower vehicle searching efficiency caused by inconvenience of the existing vehicle searching method by means of a map or license plate number vehicle searching function, the invention provides an underground parking lot vehicle searching method.
Fig. 1 shows a schematic diagram of a hardware architecture for implementing a car searching method for an underground parking garage according to an embodiment of the present invention. In the underground parking garage, the vehicle cannot be positioned by GPS or Beidou signals of a global satellite positioning system, so that in order to implement the vehicle searching method, a Bluetooth communication function is required to be provided at the vehicle end, and in order to realize positioning, at least 3 Ultra Wideband (UWB) transceivers positioned at different positions are further arranged at the vehicle end, and the UWB transceiver 1, the UWB transceiver 2 and the UWB transceiver 3 are shown in the figure. Correspondingly, a mobile terminal paired with the vehicle (as a digital key) needs to be provided with an ultra wideband positioning tag capable of establishing a ranging session with the UWB transceiver.
The mobile terminal is, for example, a smart phone, a tablet computer, an intelligent wearable device, etc.
Fig. 2 is a flowchart of a method for searching vehicles in an underground parking garage, which is applied to a vehicle end and comprises the following steps S1-S4:
S1, sending vehicle parking position information to the paired mobile terminals.
The binding pairing is performed in advance between the vehicle and the mobile terminal of the user (e.g., driver) of the vehicle.
In one embodiment, the step further comprises the following steps S10-S12:
S10, positioning the position of the vehicle through a vehicle inertial navigation algorithm or a dead reckoning algorithm to obtain vehicle parking position information when the vehicle is parked.
In one example, when a GPS signal is lost after the vehicle enters an underground parking garage, an inertial navigation system or a dead reckoning system installed on the vehicle uses the GPS signal before the loss as an initial value of an inertial navigation algorithm or a dead reckoning algorithm to position the vehicle, so as to obtain vehicle parking position information when the vehicle is parked.
And S12, responding to the command of starting the vehicle searching function, and sending the vehicle parking position information to the mobile terminal.
In one example, the user asks the user whether the vehicle seeking function needs to be activated by voice or text prompts during the user's stop. If the user agrees to turn on the car-seeking function, the vehicle sends the parking space information of the vehicle to the user's mobile phone through Bluetooth (BLE) for the subsequent car-seeking navigation function.
S2, responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel with the mobile terminal.
In one embodiment, this step further comprises the following steps S20-S22:
s20, responding to the scanning of the mobile terminal on the broadcasted Bluetooth information, and establishing Bluetooth connection with the mobile terminal.
In one embodiment, when the user returns to the parking lot, the user arrives at the parking floor first, and opens the car searching APP to manually start the car searching function. If the vehicle agrees to start the vehicle searching function, the vehicle searching function continuously broadcasts Bluetooth information. After the vehicle searching function is started, the mobile phone establishes Bluetooth connection with the vehicle through Bluetooth information broadcasted by the vehicle in the timing scanning parking lot.
In the broadcast Bluetooth information, UUID is included, special characters are used for representing that the current vehicle supports the vehicle searching and positioning function, the mobile phone can set Bluetooth scanning and filtering conditions through UUID characteristics, and when the mobile terminal scans the vehicle supporting the vehicle searching and positioning function, the mobile terminal can actively initiate a Bluetooth connection request.
In one example, the UUID is randomly generated at preset time intervals, that is, at intervals, to reduce communication security risks.
In one example, the mobile terminal may set a bluetooth scan filter condition through a UUID feature, and when the mobile terminal scans a vehicle supporting a vehicle locating function, the mobile terminal may actively initiate a bluetooth connection request.
S22, identity authentication is carried out so as to establish an encrypted Bluetooth communication channel with the mobile terminal.
In one example, referring to fig. 3 and 4, a flow chart of the main steps of performing identity authentication to establish an encrypted bluetooth communication channel with a handset according to one embodiment of the invention is shown. As shown in fig. 4, the following steps S220 to S228 are included:
S220, sending a request to a mobile terminal for establishing Bluetooth connection, and acquiring equipment information of the mobile terminal .
In one example, the device information includes a device type, GATT protocol version, and the like.
S221, generating a first random number and generating a first public key by using an ECDH key derivation algorithm.
S222, the first public key is sent to the mobile terminal, wherein the mobile terminal generates a second random number, generates a second public key by using an ECDH key derivation algorithm, and calculates a second session key by using the first public key and the second random number.
S223, acquiring the second public key from the mobile terminal.
S224, calculating a first session key according to the second public key and the first random number.
S225, sending the vehicle certificate encrypted by using the first session key to the mobile terminal, so that the mobile terminal uses a prestored mobile terminal OEM public key to verify the vehicle certificate encrypted by using the first session key.
S226, acquiring the mobile terminal certificate encrypted by the mobile terminal by using the second session key from the mobile terminal.
And S227, verifying the mobile terminal certificate by using a pre-stored vehicle OEM public key.
S228, establishing an encrypted Bluetooth communication channel with the mobile terminal.
Through the steps of fig. 3 and 4, the vehicle and the mobile phone encrypt the interactive data by using the temporary symmetric key generated randomly each time the vehicle is located, thereby effectively avoiding the invasion means such as relay attack, violent attack and the like and having extremely high security.
S3, acquiring the position information of the mobile terminal according to a distance measuring session established by an ultra-wideband transceiver arranged on the vehicle and an ultra-wideband positioning tag arranged on the paired mobile terminal on the Bluetooth communication channel.
In a specific embodiment, referring to fig. 5, fig. 5 is a flowchart illustrating main steps for obtaining location information of a mobile terminal according to an embodiment of the present invention, including the following steps S30 to S36:
s30, obtaining distance values between at least 3 ultra-wideband transceivers positioned at different positions of the vehicle and the ultra-wideband positioning tag.
In the architecture shown in fig. 1, 3 UWB transceivers are provided on the vehicle, however, the present invention is not limited thereto, and one or more back-up UWB transceivers may be provided, for example, in order to prevent one of them from being damaged, and in an actual ranging application, more than 3 UWB transceivers may be used to establish a ranging session with the UWB positioning tag on the mobile terminal side.
In one example, the distance value is obtained by time of flight ranging (TOF), signal strength analysis (RSS), angle of arrival positioning (AOA), time of arrival positioning (TOA), or time difference of arrival positioning (TDOA).
S32, forming a circle by taking the positions of the at least 3 ultra-wideband transceivers as circle centers and taking the corresponding distance value as a radius.
In one example, the coordinates of the ultra-wideband transceivers located at different positions of the vehicle are fixed and known during installation and deployment, and then at least 3 circles can be obtained according to the obtained distance values between the at least 3 ultra-wideband transceivers located at different positions of the vehicle and the ultra-wideband positioning tag.
S34, obtaining the confidence positions of the ultra-wideband positioning labels to the corresponding circles according to the formed at least 3 circles.
In one example, taking time-of-flight ranging (TOF) as an example, the confidence positions of the ultra-wideband positioning tags on corresponding circles are obtained, based on the following principle:
The distance from the ultra-wideband positioning tag to the ultra-wideband transceiver at different positions of the vehicle is obtained by measuring the time from the departure to the return of the pulse signal and multiplying the propagation speed (the propagation speed of the pulse signal in the air is a fixed value v=30kaleidoscope/second) by the distance from the ultra-wideband positioning tag to the ultra-wideband transceiver at different positions of the vehicle.
As shown in fig. 6, the coordinates of the ultra-wideband transceivers located at different positions of the vehicle are fixed at the time of installation and deployment, and the coordinates are known as BS1 (x 1, y 1), BS2 (x 2, y 2), BS3 (x 3, y 3), and the coordinates of the positioning tag obtained are E (x, y). Setting r1, r2 and r3 as the relative distances calculated by the propagation time of signals between the ultra-wideband transceivers positioned at different positions of the vehicle and the ultra-wideband positioning tag E, and drawing a circular track by taking the relative distances as the radius by each ultra-wideband transceiver positioned at different positions of the vehicle. The unique intersection point can be calculated by using three circular equations, and the calculation formula is shown as follows:
Where v is the propagation velocity, and t 1、t2、t3 is the time from the departure to the return of the pulse signal by measuring the ultra-wideband transceivers at different positions of the vehicle.
Fig. 6 shows an ideal model, where the 3 circles formed have a common intersection E, which is the confidence location, i.e. the location of the ultra wideband positioning tag.
However, in practical applications, due to the reasons of unstable ranging signals and ranging errors, the formed circles do not necessarily have the same intersection point, in which case the algorithm of the ideal model is not solved, and conventionally, the coordinates of the UWB positioning tag are obtained by taking one or simply averaging the coordinates of all the intersection points according to experience, which often does not coincide with the actual situation, and cannot solve some extreme situations, such as the situation that 3 circles have no intersection point.
To this end, in one embodiment, for step S34, the present invention provides a method comprising the following steps S340-S344:
S340, judging whether an intersection point exists for any two circles of the at least 3 circles.
In one example, as shown in fig. 7, circle 1 has a center of BS1 (x 1, y 1), circle 2 has a center of BS2 (x 2, y 2), and circle 3 has a center of BS3 (x 3, y 3). Wherein circle 1 and circle 2 have an intersection point C, circle 1 and circle 3 have two intersection points a and B, and circle 2 and circle 3 have no intersection point.
And S342, if an intersection point exists, acquiring the confidence position of the ultra-wideband positioning tag on the corresponding circle according to the intersection point.
In a specific embodiment, for circles 1 and 2, and circles 1 and 3 where the intersection points exist, the following steps S3420 to S3424 are included:
S3420, judging whether the intersection points of the two circles are 2.
And S3422, if the number of the intersection points of the two circles is 2, selecting the intersection point which is closer to an average coordinate in the 2 intersection points as the confidence positions of the ultra-wideband positioning label on each of the two circles, wherein the average coordinate is obtained by averaging the position coordinates of all the intersection points of all the circles with the intersection points in the at least 3 circles.
In the example of FIG. 7, circles 1-3 have a total of 3 intersections: A. b, C. Probability that the true position of the UWB positioning tag appears where the intersection points of the plurality of formed circles are collectively concentrated is higher. Thus, the average of the coordinates of these three points of intersection, e.g. G in the figure, can be calculated, and then for the two points of intersection a and B of circles 1 and 3, the point of intersection B closer to G is selected as the confidence position of the UWB positioning tag on circle 1 and circle 3.
And S3424, if the intersection points of the two circles are 1, selecting the 1 intersection points as confidence positions of the ultra-wideband positioning tag on the two circles respectively.
In the example of fig. 7, where there is only one intersection point C for circle 1 and circle 2, then intersection point C is directly selected as the confidence location of the UWB positioning tag on circle 1 and circle 2.
And S344, if no intersection point exists, acquiring the confidence position of the ultra-wideband positioning tag to the corresponding circle according to the intersection point of the extension line of the circle center connecting line of the two circles and the respective intersection points of the two circles.
In the example of fig. 7, circle 2 and circle 3 have no intersection, in which case the method of the present invention further comprises the following steps S3440-S3442:
s3440, obtaining the central point of the intersection point of the extension line of the circle center connecting line of the two circles and the two circles.
S3442, taking the central point as the confidence positions of the ultra-wideband positioning tag for the two circles respectively.
In the example of fig. 7, the extension lines of circle 2 and circle 3 intersect with circle 2 and circle 3 at D and E, respectively, so that probability that the actual position of the UWB positioning tag appears at the center of the intersection point is higher, and thus the center point F is taken as the confidence position of the UWB positioning tag for circle 2 and circle 3.
S36, obtaining the position information of the mobile terminal according to the confidence position.
In one embodiment, the step further includes steps S360-S362:
S360, if all the obtained confidence positions are the same positions, determining that the position coordinates of the mobile terminal are the coordinates of the same positions;
this is the ideal case as shown in fig. 5, i.e. the method provided by the invention is compatible with the ideal case.
And S362, if all the obtained confidence positions are a plurality of positions, determining that the position of the mobile terminal is the coordinates of the mass centers of the plurality of positions.
In the example of fig. 7, three confidence positions B, C and F are obtained in total. The inventors found through a large number of experiments that, in the case where there are a plurality of confidence positions, the probability that the true position of the UWB positioning tag appears at a certain point in an area (confidence area) constituted by the plurality of confidence positions conforms to a gaussian distribution, and in such a gaussian distribution, the position where the probability is the largest is the centroid of the confidence area. Therefore, the method of the invention can further obtain the coordinates of the centroid as the coordinates of the UWB positioning tag through a well-known centroid algorithm, namely the coordinate information of the mobile terminal.
It should be noted that, the step (algorithm) of acquiring the position information of the mobile terminal may be implemented at the vehicle end, however, the present invention is not limited thereto, and the position data may be acquired by the vehicle end and then sent to the server, and the server may complete the calculation of the confidence position and obtain the position information of the mobile terminal according to the confidence position.
And S4, sending the mobile terminal position information to the mobile terminal through the communication channel, so that the mobile terminal can conduct vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and a pre-stored map of the underground parking garage.
In one embodiment, the car searching APP of the mobile terminal calls a pre-stored map of the underground parking garage, marks the car parking position and the mobile terminal position on the map, and performs path navigation according to the car parking position and the mobile terminal position.
Through the steps S1-S4, the vehicle can be searched in the underground parking lot without GPS positioning signals, the vehicle only provides short-term reliable positioning data, the session interaction of the UWB positioning tag of the vehicle end UWB transceiver and the mobile terminal and the sending of the positioning data are realized through a BLE safety channel with low power consumption, and therefore the power consumption of the whole machine is reduced.
Fig. 8 is a flowchart of a car searching method for an underground parking garage, which is applied to a mobile terminal, according to an embodiment of the present invention, and includes the following steps S5 to S8:
s5, receiving vehicle parking position information sent by the paired vehicles.
The binding pairing is performed in advance between the vehicle and the mobile terminal of the user (e.g., driver) of the vehicle.
In one example, when a GPS signal is lost after the vehicle enters an underground parking garage, an inertial navigation system or a dead reckoning system installed on the vehicle uses the GPS signal before the loss as an initial value of an inertial navigation algorithm or a dead reckoning algorithm to position the vehicle, so as to obtain vehicle parking position information when the vehicle is parked.
In one example, the user asks the user whether the vehicle seeking function needs to be activated by voice or text prompts during the user's stop. If the user agrees to turn on the car-seeking function, the vehicle sends the parking space information of the vehicle to the user's mobile phone through Bluetooth (BLE) for the subsequent car-seeking navigation function.
S6, responding to the vehicle searching request, and establishing a Bluetooth communication channel with the vehicle.
In one embodiment, this step includes the following steps S60-S64:
S60, in response to the vehicle searching request, scanning Bluetooth information broadcasted by vehicles in the underground parking garage.
In one embodiment, when the user returns to the parking lot, the user arrives at the parking floor first, and opens the car searching APP to manually start the car searching function. If the vehicle agrees to start the vehicle searching function, the vehicle searching function continuously broadcasts Bluetooth information. After the vehicle searching function is started, the mobile phone scans Bluetooth information broadcast by vehicles in the parking lot at fixed time.
S62, establishing Bluetooth connection with the matched vehicle according to the UUID in the broadcasted Bluetooth signal.
The broadcasted Bluetooth information comprises UUID, special characters are used for representing that the current vehicle supports the vehicle searching and positioning function, the mobile phone can set Bluetooth scanning and filtering conditions through UUID characteristics, and when the mobile terminal scans the vehicle supporting the vehicle searching and positioning function, the mobile terminal can actively initiate a Bluetooth connection request.
In one example, the UUID is randomly generated at preset time intervals, that is, at intervals, to reduce communication security risks.
In one example, the mobile terminal may set a bluetooth scan filter condition through a UUID feature, and when the mobile terminal scans a vehicle supporting a vehicle locating function, the mobile terminal may actively initiate a bluetooth connection request.
S64, identity authentication is carried out so as to establish an encrypted Bluetooth communication channel with the vehicle.
In one embodiment, referring to fig. 3 and 9, a flow chart of the main steps of performing identity authentication to establish an encrypted bluetooth communication channel with the vehicle according to one embodiment of the invention is shown. As shown in fig. 9, the following steps S640 to S648 are included:
S640, responding to an acquisition request sent by a vehicle establishing Bluetooth connection, and sending equipment information of the mobile terminal to the vehicle, wherein the vehicle generates a first random number and generates a first public key by using an ECDH key derivation algorithm;
In one example, the device information includes a device type, GATT protocol version, and the like.
S641, receiving the first public key sent by the vehicle;
S642, generating a second random number and generating a second public key by using an ECDH key derivation algorithm;
s643, sending the second public key to the vehicle, wherein the vehicle calculates a first session key by using the second public key and the first random number;
s644, calculating a second session key according to the first public key and the second random number;
s645, receiving a vehicle certificate encrypted by the vehicle using the first session key;
s646, verifying the vehicle certificate by using a prestored mobile terminal OEM public key;
S647, transmitting a mobile terminal certificate encrypted using the second session key to the vehicle, so that the vehicle verifies the mobile terminal certificate using a pre-stored vehicle OEM public key;
S648, an encrypted Bluetooth communication channel with the vehicle is established.
Through the steps of fig. 3 and 9, the vehicle and the mobile phone encrypt the interactive data by using the temporary symmetric key generated randomly each time the vehicle is located, thereby effectively avoiding the invasion means such as relay attack, violent attack and the like and having extremely high security.
And S7, receiving the mobile terminal position information sent by the vehicle, wherein the mobile terminal position information is obtained according to a distance measurement session established on the Bluetooth communication channel by an ultra-wideband positioning tag arranged on the mobile terminal and an ultra-wideband transceiver arranged on the matched vehicle.
The step of obtaining the location information of the mobile terminal is described in detail in the above step S3, and will not be described herein.
And S8, carrying out vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage.
In one embodiment, the step comprises:
And displaying a navigation path on the map according to the vehicle parking position information and the mobile terminal position information.
In one example, a car-finding APP of the mobile terminal invokes a pre-stored map of the underground parking garage and marks the vehicle parking location and the mobile terminal location on the map, and thereby performs path navigation.
In a specific embodiment, the method further comprises:
detecting whether a mobile data network exists;
and if the existence of the dynamic data network is detected, downloading the map of the underground parking garage.
In one specific example, after the user parks, the cell phone may choose to download the parking lot offline map in the presence of the network because the underground parking garage does not have to have mobile data coverage.
Through the steps S5-S8, the vehicle can be searched in the underground parking lot without GPS positioning signals, the vehicle only provides short-term reliable positioning data, the session interaction of the UWB positioning tag of the vehicle end UWB transceiver and the mobile terminal and the sending of the positioning data are realized through a BLE safety channel with low power consumption, and therefore the power consumption of the whole machine is reduced.
Fig. 10 is a flowchart of a car searching method for an underground parking garage according to an embodiment of the present invention, applied to a mobile terminal and a vehicle, including the following steps S9 to S13:
And S9, the parked vehicle sends the vehicle parking position information to the paired mobile terminal.
And S10, responding to a vehicle searching request from the mobile terminal, and establishing a communication channel between the vehicle and the mobile terminal.
S11, acquiring the position information of the mobile terminal according to a distance measurement session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on the vehicle and an ultra-wideband positioning tag arranged on the paired mobile terminal.
And S12, the vehicle sends the mobile terminal position information to the mobile terminal through the Bluetooth communication channel.
And S13, the mobile terminal carries out vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and the pre-stored map of the underground parking garage.
Details of the steps S9 to S13 can refer to details of the steps S1 to S4 and the steps S5 to S8, and are not described herein.
It should be noted that, although the foregoing embodiments describe the steps in a specific order, it will be understood by those skilled in the art that, in order to achieve the effects of the present invention, the steps are not necessarily performed in such an order, and may be performed simultaneously (in parallel) or in other orders, and these variations are within the scope of the present invention.
Further, the present invention also provides an electronic device including a processor and a memory, the memory may be configured to store a program for executing the underground parking garage vehicle searching method of the above-described method embodiment, and the processor may be configured to execute the program in the memory, including, but not limited to, the program for executing the underground parking garage vehicle searching method shown in fig. 2. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention.
Further, the invention also provides a vehicle, which comprises the electronic device and at least 3 ultra-wideband transceivers arranged at different positions of the vehicle.
The invention further provides a mobile terminal, which comprises an ultra-wideband positioning tag, a processor and a memory, wherein the memory stores a program, and the program is executed by the processor to realize the method shown in fig. 8.
Further, the present invention also provides a computer readable storage medium storing a plurality of program codes, wherein the program codes are adapted to be loaded and executed by a processor to perform the method shown in fig. 2 or fig. 8.
It will be appreciated by those skilled in the art that the present invention may implement all or part of the above-described methods according to the above-described embodiments, or may be implemented by means of a computer program for instructing relevant hardware, where the computer program may be stored in a computer readable storage medium, and where the computer program may implement the steps of the above-described embodiments of the method when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include: any entity or device, medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, software distribution media, and the like capable of carrying the computer program code. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.

Claims (10)

1. A method for locating a vehicle in an underground parking garage, comprising:
transmitting the vehicle parking position information to the paired mobile terminals;
responding to a vehicle searching request from the mobile terminal, and establishing a Bluetooth communication channel with the mobile terminal;
Acquiring mobile terminal position information according to a ranging session established on the Bluetooth communication channel by an ultra-wideband transceiver arranged on a vehicle and an ultra-wideband positioning tag arranged on the paired mobile terminal;
and sending the mobile terminal position information to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can perform vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information and a pre-stored map of the underground parking garage.
2. The method of claim 1, wherein the transmitting the vehicle parking location information to the paired mobile terminal comprises:
The position of the vehicle is positioned through a vehicle inertial navigation algorithm or a dead reckoning algorithm, so that the vehicle parking position information when the vehicle is parked is obtained;
and responding to the command of starting the vehicle searching function, and sending the vehicle parking position information to the mobile terminal.
3. The method of claim 1, wherein the establishing a bluetooth communication channel with the mobile terminal in response to a seek request from the mobile terminal comprises:
responding to the scanning of the mobile terminal to the broadcasted Bluetooth information, and establishing Bluetooth connection with the mobile terminal;
Identity authentication is performed to establish an encrypted bluetooth communication channel with the mobile terminal.
4. A method according to claim 3, wherein the broadcasted bluetooth information comprises UUIDs, and the UUIDs are randomly generated at preset time intervals.
5. A method according to claim 3, wherein said authenticating to establish a bluetooth communication channel with the mobile terminal comprises:
sending a request to a mobile terminal for establishing Bluetooth connection, and acquiring equipment information of the mobile terminal;
generating a first random number and generating a first public key by using an ECDH key derivation algorithm;
Transmitting the first public key to the mobile terminal, wherein the mobile terminal generates a second random number and generates a second public key using an ECDH key derivation algorithm, and calculates a second session key using the first public key and the second random number;
acquiring the second public key from the mobile terminal;
Calculating a first session key from the second public key and the first random number;
Transmitting a vehicle certificate encrypted using the first session key to the mobile terminal, such that the mobile terminal verifies the vehicle certificate encrypted using the first session key using a pre-stored mobile terminal OEM public key;
acquiring, from the mobile terminal, a mobile terminal certificate encrypted by the mobile terminal using the second session key;
Validating the mobile terminal certificate using a pre-stored vehicle OEM public key;
an encrypted bluetooth communication channel is established with the mobile terminal.
6. The method according to claim 1, wherein the acquiring mobile terminal location information according to a ranging session established by an ultra wideband transceiver provided on a vehicle and an ultra wideband positioning tag provided on the paired mobile terminal on the bluetooth communication channel includes:
acquiring distance values between at least 3 ultra-wideband transceivers positioned at different positions of a vehicle and the ultra-wideband positioning tag;
forming a circle by taking the positions of the at least 3 ultra-wideband transceivers as circle centers and the corresponding distance values as radiuses;
acquiring the confidence positions of the ultra-wideband positioning labels for the corresponding circles according to the formed at least 3 circles;
and obtaining the position information of the mobile terminal according to the confidence position.
7. The method of claim 6, wherein the obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle based on the formed at least 3 circles comprises:
judging whether an intersection point exists for any two circles of the at least 3 circles;
if an intersection point exists, acquiring a confidence position of the ultra-wideband positioning tag for a corresponding circle according to the intersection point;
And if the intersection point does not exist, acquiring the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection point of the extension line of the connecting line of the circle centers of the two circles and the respective circles.
8. The method of claim 7, wherein the obtaining the confidence location of the ultra-wideband positioning tag for the corresponding circle based on the intersection point if the intersection point exists comprises:
judging whether the intersection points of the two circles are 2;
if the number of the intersection points of the two circles is 2, selecting the intersection point which is closer to an average coordinate in the 2 intersection points as the confidence positions of the ultra-wideband positioning tag on the two circles, wherein the average coordinate is obtained by averaging the position coordinates of all the intersection points of the circles with the intersection points in the at least 3 circles;
And if the intersection points of the two circles are 1, selecting the 1 intersection points as confidence positions of the ultra-wideband positioning tag on the two circles respectively.
9. The method of claim 7, wherein if no intersection exists, obtaining the confidence position of the ultra-wideband positioning tag on the corresponding circle according to the intersection of the extension line of the circle center connecting line of the two circles and each of the two circles, comprising:
acquiring a center point of an intersection point of the extension line and each of the two circles;
and taking the central point as the confidence positions of the ultra-wideband positioning tag for the two circles respectively.
10. The method according to any of claims 6-9, wherein said obtaining the mobile terminal location information from the trusted location comprises:
If all the obtained confidence positions are the same positions, determining that the position coordinates of the mobile terminal are the coordinates of the same positions;
And if all the obtained confidence positions are a plurality of positions, determining that the mobile terminal position is the coordinates of the mass centers of the plurality of positions.
CN202211494289.8A 2022-11-25 2022-11-25 Underground parking garage vehicle searching method, electronic device, vehicle, mobile terminal and medium Pending CN118098003A (en)

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