WO2024109525A1 - Underground parking lot vehicle searching method, electronic apparatus, vehicle, mobile terminal, and medium - Google Patents

Underground parking lot vehicle searching method, electronic apparatus, vehicle, mobile terminal, and medium Download PDF

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Publication number
WO2024109525A1
WO2024109525A1 PCT/CN2023/129727 CN2023129727W WO2024109525A1 WO 2024109525 A1 WO2024109525 A1 WO 2024109525A1 CN 2023129727 W CN2023129727 W CN 2023129727W WO 2024109525 A1 WO2024109525 A1 WO 2024109525A1
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WIPO (PCT)
Prior art keywords
vehicle
mobile terminal
ultra
location information
communication channel
Prior art date
Application number
PCT/CN2023/129727
Other languages
French (fr)
Chinese (zh)
Inventor
刘兴
Original Assignee
蔚来移动科技有限公司
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Publication of WO2024109525A1 publication Critical patent/WO2024109525A1/en

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Classifications

    • 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

Definitions

  • the present invention relates to the technical field of automobile positioning, and in particular to an underground parking lot vehicle finding method, an electronic device, a vehicle, a mobile terminal and a medium.
  • Traditional underground parking lot car search mainly relies on maps. Users can record the final parking number and then search for the car based on experience. However, users may forget to record the parking space number information, and most parking lots lack parking lot number maps, making it difficult to search for the car directly based on the parking space number. Some high-end underground parking lots also have the function of searching for cars by license plate number.
  • the query screen of the parking lot car search machine displays the final location of the vehicle and provides users with general guidance for finding the car.
  • users are required to take parking navigation photos for car search guidance, and the technology is not yet mature, and it is often impossible to search for the user's vehicle.
  • the image is a static image and cannot be bound and dynamically interacted with the user's car search direction. The many walls and columns in the parking lot will also affect the user's car search efficiency.
  • the art needs a method for finding a car in an underground parking lot to solve the above problems.
  • the present invention is proposed to provide a solution or at least partially solve the problem of low vehicle search efficiency caused by the existing method.
  • the present invention provides a method for finding a car in an underground parking lot, comprising the following steps:
  • the mobile terminal location information is sent to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can locate the underground parking space according to the vehicle parking location information, the mobile terminal location information and the pre-stored underground parking space. Use the map of the venue to find the car.
  • the sending the vehicle parking location information to the paired mobile terminal includes:
  • the vehicle position is located by using a vehicle inertial navigation algorithm or a dead reckoning algorithm to obtain the vehicle parking position information when the vehicle is parked;
  • the vehicle parking location information is sent to the mobile terminal.
  • establishing a Bluetooth communication channel with the mobile terminal includes:
  • the broadcast Bluetooth information includes a UUID, and the UUID is randomly generated at a preset time interval.
  • the performing identity authentication to establish a Bluetooth communication channel with the mobile terminal includes:
  • the mobile terminal Sending 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;
  • a Bluetooth communication channel is established with the mobile terminal.
  • the acquiring of the mobile terminal location information according to the ranging session established on the Bluetooth communication channel between the ultra-wideband transceiver provided on the vehicle and the ultra-wideband positioning tag provided on the paired mobile terminal includes:
  • a circle is formed with the positions of the at least three ultra-wideband transceivers as the center and the corresponding distance value as the radius;
  • the mobile terminal location information is obtained according to the confident location.
  • obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the at least three circles formed includes:
  • the confidence position of the ultra-wideband positioning tag for the corresponding circle is obtained according to the intersection of the extension line of the line connecting the centers of the two circles and the respective intersections of the two circles.
  • obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection includes:
  • intersection point that is closer to the average coordinates among the two intersection points as the confidence position of the ultra-wideband positioning tag on each of the two circles, wherein the average coordinates are obtained by averaging the position coordinates of all intersection points of all circles that have intersection points among the at least three circles;
  • the one intersection point is selected as the confidence position of the ultra-wideband positioning tag on each of the two circles.
  • obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the extension line of the line connecting the centers of the two circles and the intersection of the two circles respectively includes:
  • the center point is used as the confidence position of the ultra-wideband positioning tag for each of the two circles.
  • obtaining the mobile terminal location information according to the trusted location includes:
  • the mobile terminal position is determined as the coordinates of the centroid of the multiple positions.
  • the present invention provides a method for finding a car in an underground parking lot, further comprising the following steps:
  • the mobile terminal location information is obtained according to a ranging session established on the Bluetooth communication channel between an ultra-wideband positioning tag set on the mobile terminal and an ultra-wideband transceiver set on the paired vehicle;
  • the mobile terminal position information and the pre-stored location of the underground parking lot Use the map to navigate to the car.
  • establishing a Bluetooth communication channel with the vehicle includes:
  • Identity authentication is performed to establish an encrypted Bluetooth communication channel with the vehicle.
  • the performing identity authentication to establish an encrypted Bluetooth communication channel with the vehicle includes:
  • a Bluetooth communication channel is established with the vehicle.
  • the vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and the pre-stored map of the underground parking lot includes:
  • the navigation path is displayed on the map according to the vehicle parking location information and the mobile terminal location information.
  • the present invention provides a method for finding a car in an underground parking lot, further comprising the following steps:
  • the parked vehicle sends the vehicle parking location information to the paired mobile terminal;
  • the vehicle sends the mobile terminal location information to the mobile terminal via the Bluetooth communication channel;
  • the mobile terminal performs vehicle search and navigation according to the vehicle parking location information, mobile terminal location information and a pre-stored map of the underground parking lot.
  • establishing a communication channel between the vehicle and the mobile terminal includes:
  • the mobile terminal scans the Bluetooth information broadcast by the vehicle in the underground parking lot;
  • the mobile terminal establishes a Bluetooth connection with the paired vehicle
  • the vehicle and the mobile terminal perform identity authentication to establish an encrypted Bluetooth communication channel.
  • the vehicle and the mobile terminal perform identity authentication to establish an encrypted Bluetooth communication channel, including:
  • the vehicle sends a request to the mobile terminal that establishes a Bluetooth connection, and obtains device information of the mobile terminal;
  • the vehicle generates a first random number and generates a first public key using an ECDH key derivation algorithm
  • the vehicle sends the first public key to the mobile terminal
  • 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;
  • the mobile terminal sends the second public key to the vehicle;
  • the vehicle calculates a first session key based on the second public key and the first random number
  • the vehicle sends a vehicle certificate encrypted using the first session key to the mobile terminal;
  • the mobile terminal verifies the vehicle certificate using a pre-stored mobile terminal OEM public key
  • the mobile terminal sends the mobile terminal certificate encrypted by the second session key to the vehicle;
  • the vehicle verifies the mobile terminal certificate using a pre-stored vehicle OEM public key
  • a Bluetooth communication channel is established between the vehicle and the mobile terminal.
  • the present invention provides an electronic device, including a processor and a memory, wherein a program is stored in the memory, and when the program is executed by the processor, the underground parking lot car search method of the first aspect is implemented.
  • an embodiment of the present invention provides a vehicle, comprising the electronic device of the fourth aspect and at least three ultra-wideband transceivers disposed at different locations of the vehicle.
  • the present invention provides a mobile terminal including an ultra-wideband positioning tag, a processor and a memory, wherein a program is stored in the memory, and when the program is executed by the processor, the underground parking lot car search method of the second aspect is implemented.
  • the present invention provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the underground parking lot car finding method of the first aspect or the underground parking lot car finding method of the second aspect.
  • a mobile terminal supporting ultra-wideband (UWB) technology is used as a digital car key for short-term precise positioning, and the optimal path planning for finding a car is realized in underground parking lots where there is no GPS signal. Planning and navigation greatly improve the efficiency of finding the car.
  • the vehicle only provides short-term reliable positioning data.
  • the conversation interaction between the vehicle-side UWB transceiver and the UWB positioning tag of the mobile terminal and the transmission of positioning data are realized through the low-power BLE security channel, thereby reducing the power consumption of the whole machine.
  • FIG1 is a schematic diagram showing a hardware architecture of an underground parking lot car search method according to an embodiment of the present invention
  • FIG2 is a flow chart showing a method for finding a vehicle in an underground parking lot applied to a vehicle end according to an embodiment of the present invention
  • FIG3 is a schematic diagram showing a process of establishing an encrypted Bluetooth communication channel between a vehicle and a mobile terminal according to an embodiment of the present invention
  • FIG4 is a schematic diagram showing a process of establishing an encrypted Bluetooth communication channel with a mobile terminal executed on a vehicle side according to an embodiment of the present invention
  • FIG5 is a schematic diagram showing a flow chart of main steps for obtaining location information of a mobile terminal according to an embodiment of the present invention
  • FIG6 is a schematic diagram showing a method of obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle in an ideal model
  • FIG7 is a schematic diagram showing a method of obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle in a real application
  • FIG8 shows a flow chart of a method for finding a car in an underground parking lot applied to a mobile terminal according to an embodiment of the present invention
  • FIG9 is a schematic diagram showing a flow chart of establishing an encrypted Bluetooth communication channel with a mobile terminal executed on the mobile terminal side according to an embodiment of the present invention
  • FIG. 10 shows a flow chart of a method for finding a vehicle in an underground parking lot applied to a mobile terminal and a vehicle according to an embodiment of the present invention.
  • module and “processor” may include hardware, software or a combination of the two.
  • a module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as program codes, or a combination of software and hardware.
  • the processor may be a central processing unit, 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 the two.
  • the non-transitory computer-readable storage medium includes any suitable medium that can store program code, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc.
  • a and/or B means all possible combinations of A and B, such as only A, only B, or A and B.
  • the term “at least one A or B” or “at least one of A and B” has a similar meaning to “A and/or B” and may include only A, only B, or A and B.
  • the singular terms “a”, “the” and “the” may also include plural forms.
  • FIG1 shows a schematic diagram of the hardware architecture of an underground parking lot vehicle search method according to an embodiment of the present invention. Since it is often impossible to locate a vehicle through the GPS or Beidou signal of the global satellite positioning system in an underground parking lot, in order to implement the vehicle search method of the present invention, a Bluetooth communication function is required on the vehicle side, and in order to achieve positioning, the vehicle side is also provided with at least three ultra-wideband (UWB) transceivers located at different positions, such as UWB transceiver 1, UWB transceiver 2, and UWB transceiver 3 as shown in the figure.
  • UWB transceiver 1 UWB transceiver 1
  • UWB transceiver 2 UWB transceiver 3
  • the mobile terminal paired with the vehicle (as a digital key) needs to have an ultra-wideband positioning tag that can establish a ranging session with the UWB transceiver.
  • the mobile terminal is, for example, a smart phone, a tablet computer, a smart wearable device, etc.
  • FIG2 is a flow chart of a method for finding a car in an underground parking lot according to an embodiment of the present invention, which is applied to a vehicle end and includes the following steps S1 to S4:
  • the vehicle and the mobile terminal of the vehicle user are bound and paired in advance.
  • the step further includes the following steps S10-S12:
  • the inertial navigation system or dead reckoning system installed on the vehicle uses the GPS signal before the loss as the initial value of the inertial navigation algorithm or the dead reckoning algorithm to locate the vehicle, and obtains the parking position information of the vehicle when the vehicle is parked.
  • the vehicle when a user is parking, the vehicle prompts the user through voice or text whether to enable the car search function. If the user agrees to enable the car search function, the vehicle sends the parking location information of the vehicle to the user's mobile phone via Bluetooth (BLE) for subsequent car search navigation.
  • BLE Bluetooth
  • the step further includes the following steps S20-S22:
  • the mobile phone when the user returns to the parking lot, he/she first goes to the parking floor of the vehicle and opens the car search APP to manually start the car search function. If the vehicle agrees to start the car search function, it will continuously broadcast Bluetooth information. When the car search function is turned on, the mobile phone establishes a Bluetooth connection with the vehicle by regularly scanning the Bluetooth information broadcast by the vehicles in the parking lot.
  • the broadcast Bluetooth information includes UUID, in which special characters are used to indicate that the current vehicle supports the vehicle search and positioning function.
  • the mobile phone can set the Bluetooth scan filter conditions through the UUID feature. When the mobile terminal scans a vehicle that supports the vehicle search and positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
  • the UUID is randomly generated at preset time intervals, that is, it is randomly generated every certain period of time to reduce communication security risks.
  • the mobile terminal can set the Bluetooth scanning filter condition through the UUID feature.
  • the mobile terminal scans a vehicle that supports the vehicle positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
  • S22 Perform identity authentication to establish an encrypted Bluetooth communication channel with the mobile terminal.
  • FIG3 and FIG4 a schematic diagram of the main steps of performing identity authentication to establish an encrypted Bluetooth communication channel with a mobile phone according to an embodiment of the present invention is shown. As shown in FIG4, the following steps S220 to S228 are included:
  • S220 Send a request to the mobile terminal that has established a Bluetooth connection to obtain device information of the mobile terminal.
  • the device information includes device type, GATT protocol version, etc.
  • S222 Send 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.
  • the vehicle and mobile phone use a randomly generated temporary symmetric key to encrypt the interactive data each time they locate the vehicle, effectively avoiding intrusion methods such as relay attacks and brute force attacks, and have extremely high security.
  • FIG. 5 is a schematic diagram of a main step flow chart of obtaining the location information of a mobile terminal according to an embodiment of the present invention, including the following steps S30 to S36:
  • three UWB transceivers are arranged on the vehicle; however, the present invention is not limited thereto.
  • one or more backup UWB transceivers may be arranged in order to prevent one of the transceivers from being damaged.
  • more than three UWB transceivers may be used to establish a ranging session with the UWB positioning tag on the mobile terminal side.
  • the distance value is obtained by time of flight (TOF), signal strength analysis (RSS), angle of arrival (AOA), time of arrival (TOA) or time difference of arrival (TDOA).
  • TOF time of flight
  • RSS signal strength analysis
  • AOA angle of arrival
  • TOA time of arrival
  • TDOA time difference of arrival
  • the coordinates of the ultra-wideband transceivers located at different positions of the vehicle are fixed and known during installation and deployment, and at least three circles can be obtained based on the distance values between at least three ultra-wideband transceivers located at different positions of the vehicle and the ultra-wideband positioning tag obtained as above.
  • the confidence position of the ultra-wideband positioning tag on the corresponding circle is obtained, and the principle is as follows:
  • the round-trip distance is obtained, and divided by 2, the distance from the ultra-wideband positioning tag to the ultra-wideband transceiver located at different positions of the vehicle is obtained.
  • the coordinates of the UWB transceivers at different locations of the vehicle are fixed and known during installation and deployment, namely BS1 (x1, y1), BS2 (x2, y2), and BS3 (x3, y3).
  • the coordinates of the positioning tag to be determined are E (x, y).
  • r1, r2, and r3 are set to be the relative distances between the three UWB transceivers at different locations of the vehicle and the UWB positioning tag E calculated by the propagation time of the signal.
  • Each UWB transceiver at different locations of the vehicle The transceiver draws a circular trajectory with the relative distance as the radius.
  • the unique intersection point can be calculated using the three circle equations, as shown in the following formula:
  • v is the propagation speed
  • t 1 , t 2 , and t 3 are the time taken by the ultra-wideband transceivers located at different positions of the vehicle to measure the time taken for the pulse signal to start and return.
  • FIG6 shows an ideal model, in which the three circles have a common intersection point E, which is used as the confidence position, that is, the position of the ultra-wideband positioning tag.
  • the algorithm of the above ideal model has no solution.
  • the existing practice is to take one of them or simply average the coordinates of all the intersection points based on experience to obtain the coordinates of the UWB positioning tag, which is often inconsistent with the actual situation and cannot solve some extreme cases, such as the situation where the three circles have no intersection point.
  • step S34 the present invention provides a method, comprising the following steps S340-S344:
  • the center of circle 1 is BS1 (x1, y1)
  • the center of circle 2 is BS2 (x2, y2)
  • the center of circle 3 is BS3 (x3, y3).
  • Circles 1 and 2 have one intersection point C
  • circle 1 and 3 have two intersection points A and B
  • circle 2 and 3 have no intersection point.
  • intersection point that is closer to the average coordinate among the two intersection points as the confidence position of the ultra-wideband positioning tag on each of the two circles, wherein the average coordinate is obtained by taking the average of the position coordinates of all intersection points of all circles that have intersection points among the at least three circles.
  • intersection point C there is only one intersection point C between circle 1 and circle 2 , so the intersection point C is directly selected as the confidence position of the UWB positioning tag on circle 1 and circle 2 .
  • the method of the present invention further includes the following steps S3440-S3442:
  • the step further includes steps S360-S362:
  • This situation is the ideal situation shown in FIG5 , that is, the method provided by the present invention is compatible with the ideal situation.
  • the method of the present invention can further obtain the coordinates of the centroid as the coordinates of the UWB positioning tag through a known centroid algorithm, that is, the coordinate information of the mobile terminal can be obtained.
  • the above-mentioned steps (algorithms) for obtaining the location information of the mobile terminal can be implemented on the vehicle side, but the present invention is not limited to this.
  • the vehicle side can also obtain the location data and send it to the server, and the server completes the calculation of the confident position and obtains the mobile terminal location information based on the confident position.
  • S4 sending the mobile terminal location information to the mobile terminal through the communication channel, so that The mobile terminal performs vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and the pre-stored map of the underground parking lot.
  • the car search APP of the mobile terminal calls a pre-stored map of the underground parking lot, and marks the parking position of the vehicle and the position of the mobile terminal on the map, thereby performing route navigation.
  • FIG8 is a flow chart of a method for finding a car in an underground parking lot according to an embodiment of the present invention, which is applied to a mobile terminal and includes the following steps S5 to S8:
  • the vehicle and the mobile terminal of the vehicle user are bound and paired in advance.
  • the inertial navigation system or dead reckoning system installed on the vehicle uses the GPS signal before the loss as the initial value of the inertial navigation algorithm or the dead reckoning algorithm to locate the vehicle, and obtains the parking position information of the vehicle when the vehicle is parked.
  • the vehicle when a user is parking, the vehicle prompts the user through voice or text whether to enable the car search function. If the user agrees to enable the car search function, the vehicle sends the parking location information of the vehicle to the user's mobile phone via Bluetooth (BLE) for subsequent car search navigation function.
  • BLE Bluetooth
  • the step includes the following steps S60 to S64:
  • S60 In response to the vehicle search request, scan the Bluetooth information broadcast by the vehicles in the underground parking lot.
  • the user when the user returns to the parking lot, he first goes to the floor where the vehicle is parked, opens the car search APP and manually turns on the car search function. If the vehicle agrees to turn on the car search function, it will continuously broadcast Bluetooth information. When the car search function is turned on, the mobile phone periodically scans the Bluetooth information broadcast by the vehicles in the parking lot.
  • S62 Establish a Bluetooth connection with the paired vehicle according to the UUID in the broadcast Bluetooth signal.
  • the broadcast Bluetooth information includes UUID, in which special characters are used to indicate that the current vehicle supports the vehicle search and positioning function.
  • the mobile phone can set the Bluetooth scan filter conditions through the UUID feature. When the mobile terminal scans a vehicle that supports the vehicle search and positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
  • the UUID is randomly generated at preset time intervals, that is, it is randomly generated every certain period of time to reduce communication security risks.
  • the mobile terminal can set the Bluetooth scanning filter condition through the UUID feature.
  • the mobile terminal scans a vehicle that supports the vehicle positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
  • S64 Perform identity authentication to establish an encrypted Bluetooth communication channel with the vehicle.
  • FIG3 and FIG9 a schematic diagram of the main steps of performing identity authentication to establish an encrypted Bluetooth communication channel with the vehicle according to an embodiment of the present invention is shown. As shown in FIG9 , the following steps S640 to S648 are included:
  • S640 in response to an acquisition request sent by a vehicle that establishes a Bluetooth connection, sending device information of the mobile terminal to the vehicle, wherein the vehicle generates a first random number and generates a first public key using an ECDH key derivation algorithm;
  • the device information includes device type, GATT protocol version, etc.
  • the vehicle and mobile phone use a randomly generated temporary symmetric key to encrypt the interactive data each time they locate the vehicle, effectively avoiding intrusion methods such as relay attacks and brute force attacks, and have extremely high security.
  • S7 Receive mobile terminal location information sent from the vehicle, wherein the mobile terminal location information is obtained according to a ranging session established on the Bluetooth communication channel between an ultra-wideband positioning tag set on the mobile terminal and an ultra-wideband transceiver set on the paired vehicle.
  • Car navigation is performed based on the vehicle parking location information, the mobile terminal location information, and a pre-stored map of the underground parking lot.
  • the step includes:
  • the navigation path is displayed on the map according to the vehicle parking location information and the mobile terminal location information.
  • a car search APP of a mobile terminal calls a pre-stored map of an underground parking lot, and marks the parking location of the vehicle and the location of the mobile terminal on the map, thereby performing route navigation.
  • the method further comprises:
  • the mobile phone can choose to download an offline map of the parking lot under network conditions.
  • FIG10 is a flow chart of a method for finding a vehicle in an underground parking lot according to an embodiment of the present invention, which is applied to a mobile terminal and a vehicle, and includes the following steps S9 to S13:
  • the parked vehicle sends the vehicle parking location information to the paired mobile terminal.
  • the vehicle sends the mobile terminal location information to the mobile terminal via the Bluetooth communication channel.
  • the mobile terminal performs vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and a pre-stored map of the underground parking lot.
  • steps S9 to S13 can refer to the details of steps S1 to S4 and steps S5 to S8, which will not be repeated here.
  • the present invention also provides an electronic device, including a processor and a memory, wherein the memory can be configured to store a program for executing the underground parking lot car search method of the above method embodiment, and the processor can be configured to execute the program in the memory, which includes but is not limited to a program for executing the underground parking lot car search method shown in FIG2.
  • the memory can be configured to store a program for executing the underground parking lot car search method of the above method embodiment
  • the processor can be configured to execute the program in the memory, which includes but is not limited to a program for executing the underground parking lot car search method shown in FIG2.
  • the present invention also provides a vehicle, comprising the above electronic device and at least three ultra-wideband transceivers arranged at different positions of the vehicle.
  • the present invention also provides a mobile terminal, including an ultra-wideband positioning tag, a processor and a memory, wherein a program is stored in the memory, and when the program is executed by the processor, the method shown in FIG. 8 is implemented.
  • the present invention also provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the method shown in FIG. 2 or FIG. 8 above.
  • the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program
  • the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor.
  • the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form.
  • the computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code.
  • computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
  • computer-readable storage media do not include electric carrier signals and telecommunication signals.

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Abstract

An underground parking lot vehicle searching method, comprising: S1, sending vehicle parking position information to a paired mobile terminal; S2, in response to a vehicle searching request from the mobile terminal, establishing a Bluetooth communication channel with the mobile terminal; S3, acquiring mobile terminal position information according to a distance measurement session, which is 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 S4, sending the mobile terminal position information to the mobile terminal by means of the Bluetooth communication channel, so that the mobile terminal performs vehicle searching navigation according to the vehicle parking position information, the mobile terminal position information, and a pre-stored map of an underground parking lot.

Description

地下停车场寻车方法、电子装置、车辆、移动终端及介质Underground parking lot car search method, electronic device, vehicle, mobile terminal and medium
本申请要求2022年11月25日提交的、发明名称为“地下停车场寻车方法、电子装置、车辆、移动终端及介质”的中国专利申请202211494289.8的优先权，上述中国专利申请的全部内容通过引用并入本申请中。This application claims priority to Chinese patent application 202211494289.8, filed on November 25, 2022, with the invention name “Underground parking lot car finding method, electronic device, vehicle, mobile terminal and medium”. The entire contents of the above Chinese patent application are incorporated into this application by reference.
技术领域Technical Field
本发明涉及汽车定位技术领域，具体涉及一种地下停车场寻车方法、电子装置、车辆、移动终端及介质。The present invention relates to the technical field of automobile positioning, and in particular to an underground parking lot vehicle finding method, an electronic device, a vehicle, a mobile terminal and a medium.
背景技术Background technique
传统的地下停车场寻车主要借助地图，用户可以记录最终的停车编号，然后通过经验进行寻车。但是用户可能会忘记记录车位编号信息，且大部分停车场缺少停车场编号地图，很难根据地图直接进行车位号寻车。有些高端的地下停车场也具有车牌号寻车功能，通过停车场寻车机的查询大屏，显示车辆的最终位置，为用户提供寻车的大致指引。但是需要用户拍下停车导航照片用于寻车指引，而且该技术尚不成熟，经常有无法搜索到用户车辆的情况。此外，该图像是静态图像，无法和用户寻车方向进行绑定和动态互动，停车场的诸多墙体和立柱也会影响用户寻车效率。Traditional underground parking lot car search mainly relies on maps. Users can record the final parking number and then search for the car based on experience. However, users may forget to record the parking space number information, and most parking lots lack parking lot number maps, making it difficult to search for the car directly based on the parking space number. Some high-end underground parking lots also have the function of searching for cars by license plate number. The query screen of the parking lot car search machine displays the final location of the vehicle and provides users with general guidance for finding the car. However, users are required to take parking navigation photos for car search guidance, and the technology is not yet mature, and it is often impossible to search for the user's vehicle. In addition, the image is a static image and cannot be bound and dynamically interacted with the user's car search direction. The many walls and columns in the parking lot will also affect the user's car search efficiency.
相应地，本领域需要一种地下停车场寻车方法来解决上述问题。Accordingly, the art needs a method for finding a car in an underground parking lot to solve the above problems.
发明内容Summary of the invention
为了克服上述缺陷，提出了本发明，以提供解决或至少部分地解决现有方法导致寻车效率较低的问题。In order to overcome the above-mentioned defects, the present invention is proposed to provide a solution or at least partially solve the problem of low vehicle search efficiency caused by the existing method.
在第一方面，本发明提供一种地下停车场寻车方法，包括如下步骤：In a first aspect, the present invention provides a method for finding a car in an underground parking lot, comprising the following steps:
向配对的移动终端发送车辆停放位置信息；Sending vehicle parking location information to paired mobile terminals;
响应于来自所述移动终端的寻车请求，建立与所述移动终端的蓝牙通信信道；In response to a vehicle search request from the mobile terminal, establishing a Bluetooth communication channel with the mobile terminal;
根据车辆上设置的超宽带收发器与所述配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息；Acquiring the location information of the mobile terminal according to a ranging session established on the Bluetooth communication channel between an ultra-wideband transceiver provided on the vehicle and an ultra-wideband positioning tag provided on the paired mobile terminal;
将所述移动终端位置信息通过所述蓝牙通信信道发送到所述移动终端，以使得所述移动终端根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车 场的地图进行寻车导航。The mobile terminal location information is sent to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can locate the underground parking space according to the vehicle parking location information, the mobile terminal location information and the pre-stored underground parking space. Use the map of the venue to find the car.
在一个具体实施例中，所述向配对的移动终端发送车辆停放位置信息，包括：In a specific embodiment, the sending the vehicle parking location information to the paired mobile terminal includes:
通过车辆惯导算法或航迹推算算法，进行车辆的位置定位，得到车辆停车时的车辆停放位置信息；The vehicle position is located by using a vehicle inertial navigation algorithm or a dead reckoning algorithm to obtain the vehicle parking position information when the vehicle is parked;
响应于开启寻车功能指令，将所述车辆停放位置信息发送至所述移动终端。In response to an instruction to start a vehicle search function, the vehicle parking location information is sent to the mobile terminal.
在一个具体实施例中，所述响应于来自移动终端的寻车请求，建立与所述移动终端的蓝牙通信信道，包括：In a specific embodiment, in response to a vehicle search request from a mobile terminal, establishing a Bluetooth communication channel with the mobile terminal includes:
响应于所述移动终端对广播的蓝牙信息的扫描，建立与所述移动终端的蓝牙连接；In response to the mobile terminal scanning the broadcasted Bluetooth information, establishing a Bluetooth connection with the mobile terminal;
进行身份认证以建立与所述移动终端的蓝牙通信信道。Perform identity authentication to establish a Bluetooth communication channel with the mobile terminal.
在一个具体实施例中，所述广播的蓝牙信息包括UUID，并且所述UUID以预设时间间隔随机生成。In a specific embodiment, the broadcast Bluetooth information includes a UUID, and the UUID is randomly generated at a preset time interval.
在一个具体实施例中，所述进行身份认证以建立与所述移动终端的蓝牙通信信道，包括：In a specific embodiment, the performing identity authentication to establish a Bluetooth communication channel with the mobile terminal includes:
向建立蓝牙连接的移动终端发送请求，获取所述移动终端的设备信息；Send a request to a mobile terminal that has established a Bluetooth connection to obtain device information of the mobile terminal;
生成第一随机数并使用ECDH密钥派生算法生成第一公钥；Generate a first random number and generate a first public key using an ECDH key derivation algorithm;
将所述第一公钥发送至所述移动终端，其中，所述移动终端生成第二随机数并使用ECDH密钥派生算法生成第二公钥，并且使用所述第一公钥和所述第二随机数计算第二会话密钥；Sending 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;
从所述移动终端获取所述第二公钥；Acquire the second public key from the mobile terminal;
根据所述第二公钥和所述第一随机数计算第一会话密钥；Calculate a first session key according to the second public key and the first random number;
向所述移动终端发送使用所述第一会话密钥加密的车辆证书，以使得所述移动终端使用预先存储的移动终端OEM公钥对使用所述第一会话密钥加密的车辆证书进行验证；Sending the vehicle certificate encrypted by the first session key to the mobile terminal, so that the mobile terminal verifies the vehicle certificate encrypted by the first session key by using a pre-stored mobile terminal OEM public key;
从所述移动终端获取由所述移动终端使用所述第二会话密钥加密的移动终端证书；acquiring, from the mobile terminal, a mobile terminal certificate encrypted by the mobile terminal using the second session key;
使用预先存储的车辆OEM公钥对所述使用所述移动终端证书进行验证；Using a pre-stored vehicle OEM public key to verify the use of the mobile terminal certificate;
建立与所述移动终端的蓝牙通信信道。A Bluetooth communication channel is established with the mobile terminal.
在一个具体实施例中，所述根据车辆上设置的超宽带收发器与所述配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息，包括：In a specific embodiment, the acquiring of the mobile terminal location information according to the ranging session established on the Bluetooth communication channel between the ultra-wideband transceiver provided on the vehicle and the ultra-wideband positioning tag provided on the paired mobile terminal includes:
获取至少3个位于车辆不同位置的超宽带收发器与所述超宽带定位标签之间的距离值；Obtaining distance values between at least three ultra-wideband transceivers located at different positions of the vehicle and the ultra-wideband positioning tag;
以所述至少3个超宽带收发器的位置为圆心，以对应的距离值为半径形成圆形； A circle is formed with the positions of the at least three ultra-wideband transceivers as the center and the corresponding distance value as the radius;
根据形成的至少3个圆形，获取所述超宽带定位标签对于对应的圆的置信位置；According to the at least three circles formed, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle;
根据所述置信位置得到所述移动终端位置信息。The mobile terminal location information is obtained according to the confident location.
在一个具体实施例中，所述根据形成的至少3个圆形，获取所述超宽带定位标签对于对应的圆的置信位置，包括：In a specific embodiment, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the at least three circles formed includes:
对于所述至少3个圆形中任两个圆形，判断是否存在交点；For any two of the at least three circles, determine whether there is an intersection;
若存在交点，根据所述交点获取所述超宽带定位标签对于对应的圆的置信位置；If there is an intersection, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection;
若不存在交点，根据所述两个圆形的圆心连线的延长线与所述两个圆形各自的交点获取所述超宽带定位标签对于对应的圆的置信位置。If there is no intersection, the confidence position of the ultra-wideband positioning tag for the corresponding circle is obtained according to the intersection of the extension line of the line connecting the centers of the two circles and the respective intersections of the two circles.
在一个具体实施例中，所述若存在交点，根据所述交点获取所述超宽带定位标签对于对应的圆的置信位置，包括：In a specific embodiment, if there is an intersection, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection includes:
判断所述两个圆形的交点是否为2个；Determine whether there are 2 intersection points of the two circles;
若所述两个圆形的交点为2个，选择该2个交点中距离平均坐标更近的交点作为所述超宽带定位标签在所述两个圆形各自上的置信位置，其中所述平均坐标为对所述至少3个圆形中存在交点的所有圆形的所有交点的位置坐标取平均值得到的；If there are two intersection points of the two circles, select the intersection point that is closer to the average coordinates among the two intersection points as the confidence position of the ultra-wideband positioning tag on each of the two circles, wherein the average coordinates are obtained by averaging the position coordinates of all intersection points of all circles that have intersection points among the at least three circles;
若所述两个圆形的交点为1个，则选择该1个交点作为所述超宽带定位标签在所述两个圆形各自上的置信位置。If there is one intersection point between the two circles, the one intersection point is selected as the confidence position of the ultra-wideband positioning tag on each of the two circles.
在一个具体实施例中，若不存在交点，根据所述两个圆形的圆心连线的延长线与所述两个圆形各自的交点获取所述超宽带定位标签对于对应的圆的置信位置，包括：In a specific embodiment, if there is no intersection, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the extension line of the line connecting the centers of the two circles and the intersection of the two circles respectively includes:
获取所述延长线与所述两个圆形各自的交点的中心点；Obtain the center point of the intersection of the extension line and the two circles;
将所述中心点作为所述超宽带定位标签对于所述两个圆形各自的置信位置。The center point is used as the confidence position of the ultra-wideband positioning tag for each of the two circles.
在一个具体实施例中，所述根据所述置信位置得到所述移动终端位置信息，包括：In a specific embodiment, obtaining the mobile terminal location information according to the trusted location includes:
若得到的所有置信位置为同一位置，则确定所述移动终端位置坐标为所述同一位置的坐标；If all the obtained confidence positions are the same position, determining the position coordinates of the mobile terminal as the coordinates of the same position;
若得到的所有置信位置为多个位置，则确定所述移动终端位置为所述多个位置的质心的坐标。If all the obtained confidence positions are multiple positions, the mobile terminal position is determined as the coordinates of the centroid of the multiple positions.
在第二方面，本发明提供一种地下停车场寻车方法，还包括如下步骤：In a second aspect, the present invention provides a method for finding a car in an underground parking lot, further comprising the following steps:
接收配对的车辆发送的车辆停放位置信息；Receiving vehicle parking location information sent by the paired vehicle;
响应于寻车请求，建立与所述车辆的蓝牙通信信道；In response to the vehicle search request, establishing a Bluetooth communication channel with the vehicle;
接收来自所述车辆发送的移动终端位置信息，其中所述移动终端位置信息根据移动终端上设置的超宽带定位标签与配对的车辆上设置的超宽带收发器在所述蓝牙通信信道上建立的测距会话获得；Receiving mobile terminal location information sent from the vehicle, wherein the mobile terminal location information is obtained according to a ranging session established on the Bluetooth communication channel between an ultra-wideband positioning tag set on the mobile terminal and an ultra-wideband transceiver set on the paired vehicle;
根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地 图进行寻车导航。According to the vehicle parking position information, the mobile terminal position information and the pre-stored location of the underground parking lot Use the map to navigate to the car.
在一个具体实施例中，所述响应于寻车请求，建立与所述车辆的蓝牙通信信道，包括：In a specific embodiment, in response to the vehicle search request, establishing a Bluetooth communication channel with the vehicle includes:
响应于寻车请求，扫描地下停车场内车辆广播的蓝牙信号；In response to a vehicle search request, scanning Bluetooth signals broadcast by vehicles in the underground parking lot;
根据广播的蓝牙信息中的UUID，与配对的车辆建立蓝牙连接；Establish a Bluetooth connection with the paired vehicle based on the UUID in the broadcast Bluetooth information;
进行身份认证以建立与所述车辆的加密蓝牙通信信道。Identity authentication is performed to establish an encrypted Bluetooth communication channel with the vehicle.
在一个具体实施例中，所述进行身份认证以建立与所述车辆的加密蓝牙通信信道，包括：In a specific embodiment, the performing identity authentication to establish an encrypted Bluetooth communication channel with the vehicle includes:
响应于建立蓝牙连接的车辆发送的获取请求，向所述车辆发送所述移动终端的设备信息，其中，所述车辆生成第一随机数并使用ECDH密钥派生算法生成第一公钥；In response to an acquisition request sent by a vehicle establishing a Bluetooth connection, sending device information of the mobile terminal to the vehicle, wherein the vehicle generates a first random number and generates a first public key using an ECDH key derivation algorithm;
接收所述车辆发送的所述第一公钥；Receiving the first public key sent by the vehicle;
生成第二随机数并使用ECDH密钥派生算法生成第二公钥；Generate a second random number and generate a second public key using the ECDH key derivation algorithm;
将所述第二公钥发送至所述车辆，其中所述车辆使用所述第二公钥和所述第一随机数计算第一会话密钥；sending 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;
根据所述第一公钥和第二随机数计算第二会话密钥；Calculate a second session key based on the first public key and the second random number;
接收所述车辆使用所述第一会话密钥加密的车辆证书；receiving a vehicle certificate of the vehicle encrypted using the first session key;
使用预先存储的移动终端OEM公钥对所述车辆证书进行验证；Verifying the vehicle certificate using a pre-stored mobile terminal OEM public key;
将使用所述第二会话密钥加密的移动终端证书发送至所述车辆，以使得所述车辆使用预先存储的车辆OEM公钥对所述移动终端证书进行验证；sending the mobile terminal certificate encrypted by the second session key to the vehicle, so that the vehicle verifies the mobile terminal certificate by using a pre-stored vehicle OEM public key;
建立与所述车辆的蓝牙通信信道。A Bluetooth communication channel is established with the vehicle.
在一个具体实施例中，所述根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航，包括：In a specific embodiment, the vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and the pre-stored map of the underground parking lot includes:
根据所述车辆停放位置信息和移动终端位置信息，在所述地图上显示导航路径。The navigation path is displayed on the map according to the vehicle parking location information and the mobile terminal location information.
在第三方面，本发明提供一种地下停车场寻车方法，还包括如下步骤：In a third aspect, the present invention provides a method for finding a car in an underground parking lot, further comprising the following steps:
停车车辆向配对的移动终端发送车辆停放位置信息；The parked vehicle sends the vehicle parking location information to the paired mobile terminal;
响应于来自所述移动终端的寻车请求，建立所述车辆与所述移动终端的蓝牙通信信道；In response to a vehicle search request from the mobile terminal, establishing a Bluetooth communication channel between the vehicle and the mobile terminal;
根据车辆上设置的超宽带收发器与配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息；Acquire the location information of the mobile terminal according to a ranging session established on the Bluetooth communication channel between an ultra-wideband transceiver provided on the vehicle and an ultra-wideband positioning tag provided on the paired mobile terminal;
所述车辆将所述移动终端位置信息通过所述蓝牙通信信道发送到所述移动终端；The vehicle sends the mobile terminal location information to the mobile terminal via the Bluetooth communication channel;
所述移动终端根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。 The mobile terminal performs vehicle search and navigation according to the vehicle parking location information, mobile terminal location information and a pre-stored map of the underground parking lot.
在一个具体实施例中，所述响应于来自所述移动终端的寻车请求，建立所述车辆与所述移动终端的通信信道，包括：In a specific embodiment, in response to the vehicle search request from the mobile terminal, establishing a communication channel between the vehicle and the mobile terminal includes:
响应于寻车请求，移动终端扫描地下停车场内车辆广播的蓝牙信息；In response to the vehicle search request, the mobile terminal scans the Bluetooth information broadcast by the vehicle in the underground parking lot;
根据广播的蓝牙信息中的UUID，移动终端与配对的车辆建立蓝牙连接；According to the UUID in the broadcasted Bluetooth information, the mobile terminal establishes a Bluetooth connection with the paired vehicle;
所述车辆和所述移动终端进行身份认证从而建立加密蓝牙通信信道。The vehicle and the mobile terminal perform identity authentication to establish an encrypted Bluetooth communication channel.
在一个具体实施例中，所述车辆和所述移动终端进行身份认证从而建立加密蓝牙通信信道，包括：In a specific embodiment, the vehicle and the mobile terminal perform identity authentication to establish an encrypted Bluetooth communication channel, including:
所述车辆向建立蓝牙连接的移动终端发送请求，获取所述移动终端的设备信息；The vehicle sends a request to the mobile terminal that establishes a Bluetooth connection, and obtains device information of the mobile terminal;
所述车辆生成第一随机数并使用ECDH密钥派生算法生成第一公钥；The vehicle generates a first random number and generates a first public key using an ECDH key derivation algorithm;
所述车辆将所述第一公钥发送至所述移动终端；The vehicle sends the first public key to the mobile terminal;
所述移动终端生成第二随机数并使用ECDH密钥派生算法生成第二公钥，并且使用所述第一公钥和所述第二随机数计算第二会话密钥；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;
所述移动终端将所述第二公钥发送至所述车辆；The mobile terminal sends the second public key to the vehicle;
所述车辆根据所述第二公钥和所述第一随机数计算第一会话密钥；The vehicle calculates a first session key based on the second public key and the first random number;
所述车辆向所述移动终端发送使用所述第一会话密钥加密的车辆证书；The vehicle sends a vehicle certificate encrypted using the first session key to the mobile terminal;
所述移动终端使用预先存储的移动终端OEM公钥对所述车辆证书进行验证；The mobile terminal verifies the vehicle certificate using a pre-stored mobile terminal OEM public key;
所述移动终端向所述车辆发送使用所述第二会话密钥加密的移动终端证书；The mobile terminal sends the mobile terminal certificate encrypted by the second session key to the vehicle;
所述车辆使用预先存储的车辆OEM公钥对所述移动终端证书进行验证；The vehicle verifies the mobile terminal certificate using a pre-stored vehicle OEM public key;
建立所述车辆与所述移动终端的蓝牙通信信道。A Bluetooth communication channel is established between the vehicle and the mobile terminal.
在第四方面，本发明提供一种电子装置，包括处理器和存储器，存储器中存储有程序，所述程序被所述处理器执行时，实现第一方面的地下停车场寻车方法。In a fourth aspect, the present invention provides an electronic device, including a processor and a memory, wherein a program is stored in the memory, and when the program is executed by the processor, the underground parking lot car search method of the first aspect is implemented.
在第五方面，本发明的实施例提供一种车辆，包括第四方面的电子装置以及设置于车辆的不同位置的至少3个超宽带收发器。In a fifth aspect, an embodiment of the present invention provides a vehicle, comprising the electronic device of the fourth aspect and at least three ultra-wideband transceivers disposed at different locations of the vehicle.
在第六方面，本发明提供一种移动终端，包括超宽带定位标签、处理器和存储器，存储器中存储有程序，所述程序被所述处理器执行时，实现第二方面的地下停车场寻车方法。In a sixth aspect, the present invention provides a mobile terminal including an ultra-wideband positioning tag, a processor and a memory, wherein a program is stored in the memory, and when the program is executed by the processor, the underground parking lot car search method of the second aspect is implemented.
在第七方面，本发明提供一种计算机可读存储介质，存储有多条程序代码，所述程序代码适于由处理器加载并运行以执行第一方面的地下停车场寻车方法或第二方面的地下停车场寻车方法。In a seventh aspect, the present invention provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the underground parking lot car finding method of the first aspect or the underground parking lot car finding method of the second aspect.
本发明上述一个或多个技术方案，至少具有如下一种或多种有益效果：The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:
在实施本发明的技术方案中，通过支持超宽带(UWB)技术的移动终端作为数字车钥匙进行短时精准定位，对于地下停车场无GPS信号的场合实现寻车最优路径规 划和导航，很大程度上提高了寻车效率。并且车辆仅提供短暂的可靠的定位数据，车辆端UWB收发器和移动终端的UWB定位标签的会话交互及定位数据的发送通过低功耗的BLE安全通道实现，从而降低整机的功耗。In the technical solution of the present invention, a mobile terminal supporting ultra-wideband (UWB) technology is used as a digital car key for short-term precise positioning, and the optimal path planning for finding a car is realized in underground parking lots where there is no GPS signal. Planning and navigation greatly improve the efficiency of finding the car. In addition, the vehicle only provides short-term reliable positioning data. The conversation interaction between the vehicle-side UWB transceiver and the UWB positioning tag of the mobile terminal and the transmission of positioning data are realized through the low-power BLE security channel, thereby reducing the power consumption of the whole machine.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
参照附图，本发明的公开内容将变得更易理解。本领域技术人员容易理解的是：这些附图仅仅用于说明的目的，而并非意在对本发明的保护范围组成限制。此外，图中类似的数字用以表示类似的部件，其中：The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:
图1示出实施根据本发明实施例的地下停车场寻车方法的硬件架构示意图；FIG1 is a schematic diagram showing a hardware architecture of an underground parking lot car search method according to an embodiment of the present invention;
图2示出根据本发明一个实施例的应用于车辆端的地下停车场寻车方法的流程图；FIG2 is a flow chart showing a method for finding a vehicle in an underground parking lot applied to a vehicle end according to an embodiment of the present invention;
图3示出根据本发明的一个实施例的车辆与移动终端建立加密蓝牙通信信道的流程示意图；FIG3 is a schematic diagram showing a process of establishing an encrypted Bluetooth communication channel between a vehicle and a mobile terminal according to an embodiment of the present invention;
图4示出根据本发明的一个实施例的在车辆侧执行的与移动终端建立加密蓝牙通信信道的流程示意图；FIG4 is a schematic diagram showing a process of establishing an encrypted Bluetooth communication channel with a mobile terminal executed on a vehicle side according to an embodiment of the present invention;
图5示出根据本发明一个实施例的获取移动终端位置信息的主要步骤流程示意图；FIG5 is a schematic diagram showing a flow chart of main steps for obtaining location information of a mobile terminal according to an embodiment of the present invention;
图6示出理想模型中获取所述超宽带定位标签对于对应的圆的置信位置的示意图；FIG6 is a schematic diagram showing a method of obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle in an ideal model;
图7示出现实应用中获取所述超宽带定位标签对于对应的圆的置信位置的示意图；FIG7 is a schematic diagram showing a method of obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle in a real application;
图8示出根据本发明一个实施例的应用于移动终端的地下停车场寻车方法的流程图；FIG8 shows a flow chart of a method for finding a car in an underground parking lot applied to a mobile terminal according to an embodiment of the present invention;
图9示出根据本发明的一个实施例的在移动终端侧执行的与移动终端建立加密蓝牙通信信道的流程示意图；FIG9 is a schematic diagram showing a flow chart of establishing an encrypted Bluetooth communication channel with a mobile terminal executed on the mobile terminal side according to an embodiment of the present invention;
图10示出根据本发明一个实施例的应用于移动终端和车辆的地下停车场寻车方法的流程图。FIG. 10 shows a flow chart of a method for finding a vehicle in an underground parking lot applied to a mobile terminal and a vehicle according to an embodiment of the present invention.
具体实施方式Detailed ways
下面参照附图来描述本发明的一些实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.
在本发明的描述中，“模块”、“处理器”可以包括硬件、软件或者两者的组合。一个模块可以包括硬件电路，各种合适的感应器，通信端口，存储器，也可以包括软件部分，比如程序代码，也可以是软件和硬件的组合。处理器可以是中央处理器、微处理器、图像处理器、数字信号处理器或者其他任何合适的处理器。处理器具有数据和/或信号处理功能。处理器可以以软件方式实现、硬件方式实现或者二者结合方式实现。 非暂时性的计算机可读存储介质包括任何合适的可存储程序代码的介质，比如磁碟、硬盘、光碟、闪存、只读存储器、随机存取存储器等等。术语“A和/或B”表示所有可能的A与B的组合，比如只是A、只是B或者A和B。术语“至少一个A或B”或者“A和B中的至少一个”含义与“A和/或B”类似，可以包括只是A、只是B或者A和B。单数形式的术语“一个”、“这个”也可以包含复数形式。In the description of the present invention, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as program codes, or a combination of software and hardware. The processor may be a central processing unit, 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 the two. The non-transitory computer-readable storage medium includes any suitable medium that can store program code, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc. The term "A and/or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and/or B" and may include only A, only B, or A and B. The singular terms "a", "the" and "the" may also include plural forms.
为了解决上述技术问题，尤其是为了解决现有寻车方法借助地图或车牌号寻车功能的不方便导致寻车效率较低的问题，为此，提出了本发明的一种地下停车场寻车方法。In order to solve the above technical problems, especially to solve the problem of low efficiency of searching for a car due to the inconvenience of searching for a car by map or license plate number in the existing searching for a car method, a method for searching for a car in an underground parking lot of the present invention is proposed.
图1示出实施根据本发明实施例的地下停车场寻车方法的硬件架构示意图。由于在地下停车场的场景中，往往无法通过全球卫星定位***的GPS或北斗信号来对车辆进行定位，因此，为了实施本发明的寻车方法，在车辆端，需要具备蓝牙通信功能，并且为了实现定位，车辆端还设置有至少3个位于不同位置的超宽带(UWB)收发器，如图所示的UWB收发器1、UWB收发器2以及UWB收发器3。对应地，与该车辆配对的移动终端(作为数字钥匙)需要具备能够与所述UWB收发器建立测距会话的超宽带定位标签。FIG1 shows a schematic diagram of the hardware architecture of an underground parking lot vehicle search method according to an embodiment of the present invention. Since it is often impossible to locate a vehicle through the GPS or Beidou signal of the global satellite positioning system in an underground parking lot, in order to implement the vehicle search method of the present invention, a Bluetooth communication function is required on the vehicle side, and in order to achieve positioning, the vehicle side is also provided with at least three ultra-wideband (UWB) transceivers located at different positions, such as UWB transceiver 1, UWB transceiver 2, and UWB transceiver 3 as shown in the figure. Correspondingly, the mobile terminal paired with the vehicle (as a digital key) needs to have an ultra-wideband positioning tag that can establish a ranging session with the UWB transceiver.
其中，移动终端例如为智能手机、平板电脑、智能穿戴设备等。Among them, the mobile terminal is, for example, a smart phone, a tablet computer, a smart wearable device, etc.
图2是根据本发明一个实施例的地下停车场寻车方法的流程图，应用于车辆端，包括下列步骤S1-步骤S4：FIG2 is a flow chart of a method for finding a car in an underground parking lot according to an embodiment of the present invention, which is applied to a vehicle end and includes the following steps S1 to S4:
S1、向配对的移动终端发送车辆停放位置信息。S1. Send vehicle parking location information to the paired mobile terminal.
预先将车辆和车辆的用户(例如驾驶员)的移动终端进行绑定配对。The vehicle and the mobile terminal of the vehicle user (eg, driver) are bound and paired in advance.
在一个具体实施例中，该步骤进一步包括下列步骤S10-步骤S12：In a specific embodiment, the step further includes the following steps S10-S12:
S10、通过车辆惯导算法或航迹推算算法，进行车辆的位置定位，得到车辆停车时的车辆停放位置信息。S10. Position the vehicle using a vehicle inertial navigation algorithm or a dead reckoning algorithm to obtain parking position information of the vehicle when the vehicle is parked.
在一个示例中，当车辆进入地下停车场后丢失GPS信号，车辆上安装的惯导***或航位推算***将丢失前的GPS信号作为惯性导航算法或航位推算算法的初始值来进行车辆的位置定位，得到车辆停车时的车辆停放位置信息。In one example, when a vehicle loses the GPS signal after entering an underground parking lot, the inertial navigation system or dead reckoning system installed on the vehicle uses the GPS signal before the loss as the initial value of the inertial navigation algorithm or the dead reckoning algorithm to locate the vehicle, and obtains the parking position information of the vehicle when the vehicle is parked.
S12、响应于开启寻车功能指令，将所述车辆停放位置信息发送至所述移动终端。S12: In response to the instruction to start the vehicle search function, the vehicle parking location information is sent to the mobile terminal.
在一个示例中，用户停车过程中，车辆通过语音或文本提示，询问用户是否需要开启寻车功能。如果用户同意开启寻车功能，车辆通过蓝牙(BLE)将车辆的停车位置信息发送到用户手机，用于后续的寻车导航功能。In one example, when a user is parking, the vehicle prompts the user through voice or text whether to enable the car search function. If the user agrees to enable the car search function, the vehicle sends the parking location information of the vehicle to the user's mobile phone via Bluetooth (BLE) for subsequent car search navigation.
S2、响应于来自所述移动终端的寻车请求，建立与所述移动终端的蓝牙通信信道。S2. In response to a vehicle search request from the mobile terminal, establishing a Bluetooth communication channel with the mobile terminal.
在一个具体实施例中，该步骤进一步包括下列步骤S20-步骤S22： In a specific embodiment, the step further includes the following steps S20-S22:
S20、响应于所述移动终端对广播的蓝牙信息的扫描，建立与所述移动终端的蓝牙连接。S20: In response to the mobile terminal scanning the broadcasted Bluetooth information, establishing a Bluetooth connection with the mobile terminal.
在一个具体实施例中，当用户返回停车场后，先到达车辆停放楼层，打开寻车APP手动开启寻车功能。如果是同意开启寻车功能的车辆，其会不断广播蓝牙信息。当开启寻车功能后，手机通过定时扫描停车场的车辆广播的蓝牙信息与车辆建立蓝牙连接。In a specific embodiment, when the user returns to the parking lot, he/she first goes to the parking floor of the vehicle and opens the car search APP to manually start the car search function. If the vehicle agrees to start the car search function, it will continuously broadcast Bluetooth information. When the car search function is turned on, the mobile phone establishes a Bluetooth connection with the vehicle by regularly scanning the Bluetooth information broadcast by the vehicles in the parking lot.
在广播的蓝牙信息中，包括UUID，其中会采用特殊字符用于表征当前车辆支持寻车定位功能，手机可以通过UUID特征设置蓝牙扫描过滤条件，当移动终端扫描到支持寻车定位功能的车辆后，移动终端会主动发起蓝牙连接请求。The broadcast Bluetooth information includes UUID, in which special characters are used to indicate that the current vehicle supports the vehicle search and positioning function. The mobile phone can set the Bluetooth scan filter conditions through the UUID feature. When the mobile terminal scans a vehicle that supports the vehicle search and positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
在一个示例中，所述UUID以预设时间间隔随机生成，也就是说每隔一段时间随机生成一次，以降低通信安全风险。In one example, the UUID is randomly generated at preset time intervals, that is, it is randomly generated every certain period of time to reduce communication security risks.
在一个示例中，移动终端可以通过UUID特征设置蓝牙扫描过滤条件，当移动终端扫描到支持寻车定位功能的车辆后，移动终端会主动发起蓝牙连接请求。In one example, the mobile terminal can set the Bluetooth scanning filter condition through the UUID feature. When the mobile terminal scans a vehicle that supports the vehicle positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
S22、进行身份认证从而建立与所述移动终端的加密蓝牙通信信道。S22: Perform identity authentication to establish an encrypted Bluetooth communication channel with the mobile terminal.
在一个示例中，参阅附图3和附图4，示出了根据本发明的一个实施例的进行身份认证以建立与手机的加密蓝牙通信信道的主要步骤流程示意图。如图4所示，包括下列步骤S220-步骤S228：In one example, referring to FIG3 and FIG4, a schematic diagram of the main steps of performing identity authentication to establish an encrypted Bluetooth communication channel with a mobile phone according to an embodiment of the present invention is shown. As shown in FIG4, the following steps S220 to S228 are included:
S220、向建立蓝牙连接的移动终端发送请求，获取所述移动终端的设备信息。S220: Send a request to the mobile terminal that has established a Bluetooth connection to obtain device information of the mobile terminal.
在一个示例中，所述设备信息包括设备类型、GATT协议版本等。In one example, the device information includes device type, GATT protocol version, etc.
S221、生成第一随机数并使用ECDH密钥派生算法生成第一公钥。S221. Generate a first random number and use the ECDH key derivation algorithm to generate a first public key.
S222、将所述第一公钥发送至所述移动终端，其中，所述移动终端生成第二随机数并使用ECDH密钥派生算法生成第二公钥，并且使用所述第一公钥和所述第二随机数计算第二会话密钥。S222. Send 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.
S223、从所述移动终端获取所述第二公钥。S223. Obtain the second public key from the mobile terminal.
S224、根据所述第二公钥和所述第一随机数计算第一会话密钥。S224. Calculate a first session key according to the second public key and the first random number.
S225、向所述移动终端发送使用所述第一会话密钥加密的车辆证书，以使得所述移动终端使用预先存储的移动终端OEM公钥对所述使用第一会话密钥加密的车辆证书进行验证。S225. Send the vehicle certificate encrypted by using the first session key to the mobile terminal, so that the mobile terminal verifies the vehicle certificate encrypted by using the first session key by using the pre-stored mobile terminal OEM public key.
S226、从所述移动终端获取由所述移动终端使用所述第二会话密钥加密的移动终端证书。S226. Obtain from the mobile terminal a mobile terminal certificate encrypted by the mobile terminal using the second session key.
S227、使用预先存储的车辆OEM公钥对所述移动终端证书进行验证。S227: Use the pre-stored vehicle OEM public key to verify the mobile terminal certificate.
S228、建立与所述移动终端的加密蓝牙通信信道。 S228. Establish an encrypted Bluetooth communication channel with the mobile terminal.
通过图3和4的步骤，车辆和手机每次进行寻车定位均使用随机生成的临时对称密钥对交互数据进行加密，有效避免了中继攻击和暴力攻击等入侵手段，具备极高的安全性。Through the steps of Figures 3 and 4, the vehicle and mobile phone use a randomly generated temporary symmetric key to encrypt the interactive data each time they locate the vehicle, effectively avoiding intrusion methods such as relay attacks and brute force attacks, and have extremely high security.
S3、根据车辆上设置的超宽带收发器与所述配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息。S3. Acquire the location information of the mobile terminal according to a ranging session established on the Bluetooth communication channel between the ultra-wideband transceiver provided on the vehicle and the ultra-wideband positioning tag provided on the paired mobile terminal.
在一个具体实施例中，参阅附图5，图5为根据本发明一个实施例的获取移动终端位置信息的主要步骤流程示意图，包括下列步骤S30-步骤S36：In a specific embodiment, referring to FIG. 5 , FIG. 5 is a schematic diagram of a main step flow chart of obtaining the location information of a mobile terminal according to an embodiment of the present invention, including the following steps S30 to S36:
S30、获取至少3个位于车辆不同位置的超宽带收发器与所述超宽带定位标签之间的距离值。S30, obtaining distance values between at least three ultra-wideband transceivers located at different positions of the vehicle and the ultra-wideband positioning tag.
如图1所示的架构中，车辆上设置3个UWB收发器，然而本发明不限于此，例如为了防止其中一个损坏，还可以设置一个或更多个备份的UWB收发器，在实际测距应用中，也可以使用比3个更多的UWB收发器与移动终端侧的UWB定位标签建立测距会话。In the architecture shown in FIG1 , three UWB transceivers are arranged on the vehicle; however, the present invention is not limited thereto. For example, in order to prevent one of the transceivers from being damaged, one or more backup UWB transceivers may be arranged. In actual ranging applications, more than three UWB transceivers may be used to establish a ranging session with the UWB positioning tag on the mobile terminal side.
在一个示例中，通过飞行时间测距法(TOF)、信号强度分析法(RSS)、到达角度定位法(AOA)、到达时间定位法(TOA)或到达时间差定位法(TDOA)得到所述距离值。In one example, the distance value is obtained by time of flight (TOF), signal strength analysis (RSS), angle of arrival (AOA), time of arrival (TOA) or time difference of arrival (TDOA).
S32、以所述至少3个超宽带收发器的位置为圆心，以对应的距离值为半径形成圆形。S32, forming a circle with the positions of the at least three ultra-wideband transceivers as the center and the corresponding distance value as the radius.
在一个示例中，位于车辆不同位置的超宽带收发器的坐标在安装部署时位置固定且坐标已知，再根据上述获取的至少3个位于车辆不同位置的超宽带收发器与所述超宽带定位标签之间的距离值，可以得到至少3个圆形。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 at least three circles can be obtained based on the distance values between at least three ultra-wideband transceivers located at different positions of the vehicle and the ultra-wideband positioning tag obtained as above.
S34、根据形成的至少3个圆形，获取所述超宽带定位标签对于对应的圆的置信位置。S34. According to the at least three circles formed, obtain the confidence position of the ultra-wideband positioning tag for the corresponding circle.
在一个示例中，以飞行时间测距法(TOF)为例，获取所述超宽带定位标签在对应的圆上的置信位置，原理如下：In one example, taking the time-of-flight (TOF) method as an example, the confidence position of the ultra-wideband positioning tag on the corresponding circle is obtained, and the principle is as follows:
通过测量脉冲信号从出发到返回的时间，乘以传播速度(脉冲信号在空气中的传播速度为定值v＝30万KM/秒)，得到往返一次的距离，除以2即为所述超宽带定位标签到位于车辆不同位置的超宽带收发器的距离。By measuring the time from the departure to the return of the pulse signal, multiplying it by the propagation speed (the propagation speed of the pulse signal in the air is a constant v = 300,000 km/second), the round-trip distance is obtained, and divided by 2, the distance from the ultra-wideband positioning tag to the ultra-wideband transceiver located at different positions of the vehicle is obtained.
如图6所示，位于车辆不同位置的超宽带收发器的坐标在安装部署时位置固定且坐标已知，分别为BS1(x1、y1)、BS2(x2、y2)、BS3(x3、y3)，所求定位标签的坐标为E(x、y)。设定r1、r2、r3分别为3个位于车辆不同位置的超宽带收发器与超宽带定位标签E之间通过信号的传播时间计算的相对距离，每个位于车辆不同位置的超宽带 收发器以相对距离为半径画一个圆形轨迹。利用三个圆形方程能够计算出唯一的交点，计算公式如下公式所示：

As shown in Figure 6, the coordinates of the UWB transceivers at different locations of the vehicle are fixed and known during installation and deployment, namely BS1 (x1, y1), BS2 (x2, y2), and BS3 (x3, y3). The coordinates of the positioning tag to be determined are E (x, y). r1, r2, and r3 are set to be the relative distances between the three UWB transceivers at different locations of the vehicle and the UWB positioning tag E calculated by the propagation time of the signal. Each UWB transceiver at different locations of the vehicle The transceiver draws a circular trajectory with the relative distance as the radius. The unique intersection point can be calculated using the three circle equations, as shown in the following formula:

其中，v为传播速度，t1、t2、t3为位于车辆不同位置的超宽带收发器通过测量脉冲信号从出发到返回的时间。Wherein, v is the propagation speed, and t 1 , t 2 , and t 3 are the time taken by the ultra-wideband transceivers located at different positions of the vehicle to measure the time taken for the pulse signal to start and return.
图6所示为理想模型，形成的3个圆具有共同的交点E，该共同的交点即作为置信位置，也就是所述超宽带定位标签的位置。FIG6 shows an ideal model, in which the three circles have a common intersection point E, which is used as the confidence position, that is, the position of the ultra-wideband positioning tag.
然而，在现实应用中，由于存在测距信号不稳定、存在测距误差等原因，所形成的多个圆未必存在同一个交点的情况，在这种情况下，上述理想模型的算法就无解了，现有的做法是根据经验取其中一个或对所有交点的坐标进行简单的平均来得到UWB定位标签的坐标，这与实际情况往往并不相符，并且也不能解决一些极端情况下例如3个圆没有交点的情况。However, in practical applications, due to the instability of ranging signals and the existence of ranging errors, the multiple circles formed may not have the same intersection point. In this case, the algorithm of the above ideal model has no solution. The existing practice is to take one of them or simply average the coordinates of all the intersection points based on experience to obtain the coordinates of the UWB positioning tag, which is often inconsistent with the actual situation and cannot solve some extreme cases, such as the situation where the three circles have no intersection point.
为此，在一个具体实施例中，对于步骤S34，本发明提供一种方法，包括下列步骤S340-步骤S344：To this end, in a specific embodiment, for step S34, the present invention provides a method, comprising the following steps S340-S344:
S340、对于所述至少3个圆形中任两个圆形，判断是否存在交点。S340: For any two circles among the at least three circles, determine whether there is an intersection.
在一个示例中，如图7所示，圆1的中心为BS1(x1、y1)、圆2的中心为BS2(x2、y2)、圆3的中心为BS3(x3、y3)。其中圆1和圆2存在一个交点C，圆1和圆3存在两个交点A和B，圆2和圆3没有交点。In one example, as shown in FIG7 , the center of circle 1 is BS1 (x1, y1), the center of circle 2 is BS2 (x2, y2), and the center of circle 3 is BS3 (x3, y3). Circles 1 and 2 have one intersection point C, circle 1 and 3 have two intersection points A and B, and circle 2 and 3 have no intersection point.
S342、若存在交点，根据所述交点获取所述超宽带定位标签在对应的圆上的置信位置。S342: If there is an intersection, obtain the confidence position of the ultra-wideband positioning tag on the corresponding circle according to the intersection.
在一个具体实施例中，对于存在交点的圆1和圆2、圆1和圆3，包括下列步骤S3420-步骤S3424：In a specific embodiment, for the intersections of circle 1 and circle 2, and circle 1 and circle 3, the following steps S3420 to S3424 are included:
S3420、判断所述两个圆形的交点是否为2个。S3420. Determine whether there are two intersection points of the two circles.
S3422、若所述两个圆形的交点为2个，选择该2个交点中距离平均坐标更近的交点作为所述超宽带定位标签在所述两个圆形各自上的置信位置，其中所述平均坐标为对所述至少3个圆形中存在交点的所有圆形的所有交点的位置坐标取平均值得到的。S3422. If there are two intersection points between the two circles, select the intersection point that is closer to the average coordinate among the two intersection points as the confidence position of the ultra-wideband positioning tag on each of the two circles, wherein the average coordinate is obtained by taking the average of the position coordinates of all intersection points of all circles that have intersection points among the at least three circles.
在图7的示例中，圆1-3共存在3个交点：A、B、C。从概率上来说，UWB定位标签真实的位置出现在多个形成的圆的交点共同集中的地方的概率更高。因此，可以计算出这三个交点的坐标的平均值，例如图中的G，那么对于圆1和3的两个交点A 和B来说，选择更接近于G的交点B作为UWB定位标签在圆1和圆3上的置信位置。In the example of Figure 7, there are three intersection points in circles 1-3: A, B, and C. From a probability perspective, the probability that the real location of the UWB positioning tag appears in the place where the intersection points of multiple circles are concentrated is higher. Therefore, the average value of the coordinates of these three intersection points can be calculated, such as G in the figure. Then for the two intersection points A of circles 1 and 3, For A and B, the intersection B that is closer to G is selected as the confidence position of the UWB positioning tag on circle 1 and circle 3.
S3424、若所述两个圆形的交点为1个，则选择该1个交点作为所述超宽带定位标签在所述两个圆形各自上的置信位置。S3424: If there is one intersection point between the two circles, select the one intersection point as the confidence position of the ultra-wideband positioning tag on each of the two circles.
在图7的示例中，圆1和圆2仅存在一个交点C，那么直接选择交点C作为UWB定位标签在圆1和圆2上的置信位置。In the example of FIG. 7 , there is only one intersection point C between circle 1 and circle 2 , so the intersection point C is directly selected as the confidence position of the UWB positioning tag on circle 1 and circle 2 .
S344、若不存在交点，根据所述两个圆形的圆心连线的延长线与所述两个圆形各自的交点获取所述超宽带定位标签对于对应的圆的置信位置。S344: If there is no intersection, obtain the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the extension line of the line connecting the centers of the two circles and the intersection points of the two circles.
在图7的示例中，圆2和圆3没有交点，在这种情况下，本发明的方法进一步包括下列步骤S3440-步骤S3442：In the example of FIG. 7 , circle 2 and circle 3 have no intersection. In this case, the method of the present invention further includes the following steps S3440-S3442:
S3440、获取所述两个圆形的圆心连线的延长线与所述两个圆形各自的交点的中心点。S3440, obtaining the center point of the intersection of the extension line of the line connecting the centers of the two circles and the two circles.
S3442、将所述中心点作为所述超宽带定位标签对于所述两个圆形各自的置信位置。S3442. Use the center point as the confidence position of the ultra-wideband positioning tag for each of the two circles.
在图7的示例中，圆2和圆3的延长线与圆2和圆3分别交于D和E，从概率上来说，UWB定位标签真实的位置出现在交点中心位置的概率更高，因此取中心点F作为UWB定位标签对于圆2和圆3的置信位置。In the example of Figure 7, the extension lines of circle 2 and circle 3 intersect with circle 2 and circle 3 at D and E respectively. From a probability perspective, the probability that the true position of the UWB positioning tag appears at the center of the intersection is higher. Therefore, the center point F is taken as the confidence position of the UWB positioning tag for circle 2 and circle 3.
S36、根据所述置信位置得到所述移动终端位置信息。S36. Obtain the mobile terminal location information according to the trusted location.
在一个具体实施例中，该步骤进一步包括步骤S360-S362：In a specific embodiment, the step further includes steps S360-S362:
S360、若得到的所有置信位置为同一位置，则确定所述移动终端位置坐标为所述同一位置的坐标；S360: If all the obtained confidence positions are the same position, determining the position coordinates of the mobile terminal to be the coordinates of the same position;
这种情形即如图5所示的理想情况，即本发明提供的方法能够兼容理想情况。This situation is the ideal situation shown in FIG5 , that is, the method provided by the present invention is compatible with the ideal situation.
S362、若得到的所有置信位置为多个位置，则确定所述移动终端位置为所述多个位置的质心的坐标。S362: If all the obtained confidence positions are multiple positions, determine the mobile terminal position as the coordinates of the centroid of the multiple positions.
在图7的示例中，共获得B、C和F三个置信位置。发明人通过大量实验发现，对于存在多个置信位置的情形，UWB定位标签真实的位置出现在多个置信位置构成的区域(置信区域)中某一点上的概率符合高斯分布，而在这样的高斯分布中，概率最大的位置即置信区域的质心。为此，本发明的方法进一步可以通过公知的质心算法获得质心的坐标作为UWB定位标签的坐标，也即移动终端的坐标信息即可获得。In the example of FIG7 , three confidence positions B, C and F are obtained. The inventors have found through a large number of experiments that, in the case of multiple confidence positions, the probability that the true position of the UWB positioning tag appears at a certain point in the region (confidence region) formed by multiple confidence positions conforms to the Gaussian distribution, and in such a Gaussian distribution, the position with the highest probability is the centroid of the confidence region. To this end, the method of the present invention can further obtain the coordinates of the centroid as the coordinates of the UWB positioning tag through a known centroid algorithm, that is, the coordinate information of the mobile terminal can be obtained.
需要说明的是，上述获取移动终端位置信息的步骤(算法)可以在车端实现，然而本发明并不限于此，也可以由车端获取到位置数据后发送到服务器，由服务器完成置信位置的计算以及根据置信位置得到移动终端位置信息。It should be noted that the above-mentioned steps (algorithms) for obtaining the location information of the mobile terminal can be implemented on the vehicle side, but the present invention is not limited to this. The vehicle side can also obtain the location data and send it to the server, and the server completes the calculation of the confident position and obtains the mobile terminal location information based on the confident position.
S4、将所述移动终端位置信息通过所述通信信道发送到所述移动终端，以使得所 述移动终端根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。S4, sending the mobile terminal location information to the mobile terminal through the communication channel, so that The mobile terminal performs vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and the pre-stored map of the underground parking lot.
在一个具体实施例中，移动终端的寻车APP调用预存的地下停车场的地图，并将所述车辆停放位置和移动终端位置标注在地图上，并由此进行路径导航。In a specific embodiment, the car search APP of the mobile terminal calls a pre-stored map of the underground parking lot, and marks the parking position of the vehicle and the position of the mobile terminal on the map, thereby performing route navigation.
通过上述步骤S1-S4，能够实现在没有GPS定位信号的地下停车场进行寻车，并且车辆仅提供短暂的可靠的定位数据，车辆端UWB收发器和移动终端的UWB定位标签的会话交互及定位数据的发送通过低功耗的BLE安全通道实现，从而降低整机的功耗。Through the above steps S1-S4, it is possible to find a car in an underground parking lot without a GPS positioning signal, and the vehicle only provides short-term reliable positioning data. The conversation interaction between the vehicle-side UWB transceiver and the UWB positioning tag of the mobile terminal and the transmission of positioning data are realized through the low-power BLE security channel, thereby reducing the power consumption of the entire machine.
图8是根据本发明一个实施例的地下停车场寻车方法的流程图，应用于移动终端，包括下列步骤S5-步骤S8：FIG8 is a flow chart of a method for finding a car in an underground parking lot according to an embodiment of the present invention, which is applied to a mobile terminal and includes the following steps S5 to S8:
S5、接收配对的车辆发送的车辆停放位置信息。S5. Receive vehicle parking location information sent by the paired vehicle.
预先将车辆和车辆的用户(例如驾驶员)的移动终端进行绑定配对。The vehicle and the mobile terminal of the vehicle user (eg, driver) are bound and paired in advance.
在一个示例中，当车辆进入地下停车场后丢失GPS信号，车辆上安装的惯导***或航位推算***将丢失前的GPS信号作为惯性导航算法或航位推算算法的初始值来进行车辆的位置定位，得到车辆停车时的车辆停放位置信息。In one example, when a vehicle loses the GPS signal after entering an underground parking lot, the inertial navigation system or dead reckoning system installed on the vehicle uses the GPS signal before the loss as the initial value of the inertial navigation algorithm or the dead reckoning algorithm to locate the vehicle, and obtains the parking position information of the vehicle when the vehicle is parked.
在一个示例中，用户停车过程中，车辆通过语音或文本提示，询问用户是否需要开启寻车功能。如果用户同意开启寻车功能，车辆通过蓝牙(BLE)将车辆的停车位置信息发送到用户手机，用于后续的寻车导航功能。In one example, when a user is parking, the vehicle prompts the user through voice or text whether to enable the car search function. If the user agrees to enable the car search function, the vehicle sends the parking location information of the vehicle to the user's mobile phone via Bluetooth (BLE) for subsequent car search navigation function.
S6、响应于寻车请求，建立与所述车辆的蓝牙通信信道。S6. In response to the vehicle search request, establish a Bluetooth communication channel with the vehicle.
在一个具体实施例中，该步骤包括下列步骤S60-步骤S64：In a specific embodiment, the step includes the following steps S60 to S64:
S60、响应于寻车请求，扫描地下停车场内车辆广播的蓝牙信息。S60: In response to the vehicle search request, scan the Bluetooth information broadcast by the vehicles in the underground parking lot.
在一个具体实施例中，当用户返回停车场后，先到达车辆停放楼层，打开寻车APP手动开启寻车功能。如果是同意开启寻车功能的车辆，其会不断广播蓝牙信息。当开启寻车功能后，手机通过定时扫描停车场的车辆广播的蓝牙信息。In a specific embodiment, when the user returns to the parking lot, he first goes to the floor where the vehicle is parked, opens the car search APP and manually turns on the car search function. If the vehicle agrees to turn on the car search function, it will continuously broadcast Bluetooth information. When the car search function is turned on, the mobile phone periodically scans the Bluetooth information broadcast by the vehicles in the parking lot.
S62、根据广播的蓝牙信号中的UUID，与配对的车辆建立蓝牙连接。S62: Establish a Bluetooth connection with the paired vehicle according to the UUID in the broadcast Bluetooth signal.
在广播的蓝牙信息中包括UUID，其中会采用特殊字符用于表征当前车辆支持寻车定位功能，手机可以通过UUID特征设置蓝牙扫描过滤条件，当移动终端扫描到支持寻车定位功能的车辆后，移动终端会主动发起蓝牙连接请求。The broadcast Bluetooth information includes UUID, in which special characters are used to indicate that the current vehicle supports the vehicle search and positioning function. The mobile phone can set the Bluetooth scan filter conditions through the UUID feature. When the mobile terminal scans a vehicle that supports the vehicle search and positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
在一个示例中，所述UUID以预设时间间隔随机生成，也就是说每隔一段时间随机生成一次，以降低通信安全风险。In one example, the UUID is randomly generated at preset time intervals, that is, it is randomly generated every certain period of time to reduce communication security risks.
在一个示例中，移动终端可以通过UUID特征设置蓝牙扫描过滤条件，当移动终端扫描到支持寻车定位功能的车辆后，移动终端会主动发起蓝牙连接请求。 In one example, the mobile terminal can set the Bluetooth scanning filter condition through the UUID feature. When the mobile terminal scans a vehicle that supports the vehicle positioning function, the mobile terminal will actively initiate a Bluetooth connection request.
S64、进行身份认证从而建立与所述车辆的加密蓝牙通信信道。S64: Perform identity authentication to establish an encrypted Bluetooth communication channel with the vehicle.
在一个具体实施例中，参阅图3和图9，示出了根据本发明的一个实施例的进行身份认证以建立与所述车辆的加密蓝牙通信信道的主要步骤流程示意图。如图9所示，包括下列步骤S640-步骤S648：In a specific embodiment, referring to FIG3 and FIG9 , a schematic diagram of the main steps of performing identity authentication to establish an encrypted Bluetooth communication channel with the vehicle according to an embodiment of the present invention is shown. As shown in FIG9 , the following steps S640 to S648 are included:
S640、响应于建立蓝牙连接的车辆发送的获取请求，向所述车辆发送所述移动终端的设备信息，其中，所述车辆生成第一随机数并使用ECDH密钥派生算法生成第一公钥；S640, in response to an acquisition request sent by a vehicle that establishes a Bluetooth connection, sending device information of the mobile terminal to the vehicle, wherein the vehicle generates a first random number and generates a first public key using an ECDH key derivation algorithm;
在一个示例中，所述设备信息包括设备类型、GATT协议版本等。In one example, the device information includes device type, GATT protocol version, etc.
S641、接收所述车辆发送的所述第一公钥；S641. Receive the first public key sent by the vehicle;
S642、生成第二随机数并使用ECDH密钥派生算法生成第二公钥；S642, generate a second random number and generate a second public key using the ECDH key derivation algorithm;
S643、将所述第二公钥发送至所述车辆，其中所述车辆使用所述第二公钥和所述第一随机数计算第一会话密钥；S643, sending 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;
S644、根据所述第一公钥和第二随机数计算第二会话密钥；S644. Calculate a second session key according to the first public key and the second random number;
S645、接收所述车辆使用所述第一会话密钥加密的车辆证书；S645, receiving the vehicle certificate encrypted by the vehicle using the first session key;
S646、使用预先存储的移动终端OEM公钥对所述车辆证书进行验证；S646, using the pre-stored mobile terminal OEM public key to verify the vehicle certificate;
S647、将使用所述第二会话密钥加密的移动终端证书发送至所述车辆，以使得所述车辆使用预先存储的车辆OEM公钥对所述移动终端证书进行验证；S647, sending the mobile terminal certificate encrypted by using the second session key to the vehicle, so that the vehicle verifies the mobile terminal certificate by using the pre-stored vehicle OEM public key;
S648、建立与所述车辆的加密蓝牙通信信道。S648. Establish an encrypted Bluetooth communication channel with the vehicle.
通过图3和图9的步骤，车辆和手机每次进行寻车定位均使用随机生成的临时对称密钥对交互数据进行加密，有效避免了中继攻击和暴力攻击等入侵手段，具备极高的安全性。Through the steps of Figures 3 and 9, the vehicle and mobile phone use a randomly generated temporary symmetric key to encrypt the interactive data each time they locate the vehicle, effectively avoiding intrusion methods such as relay attacks and brute force attacks, and have extremely high security.
S7、接收来自所述车辆发送的移动终端位置信息，其中所述移动终端位置信息根据移动终端上设置的超宽带定位标签与配对的车辆上设置的超宽带收发器在所述蓝牙通信信道上建立的测距会话获得。S7. Receive mobile terminal location information sent from the vehicle, wherein the mobile terminal location information is obtained according to a ranging session established on the Bluetooth communication channel between an ultra-wideband positioning tag set on the mobile terminal and an ultra-wideband transceiver set on the paired vehicle.
如何获得移动终端位置信息的步骤在上述步骤S3中有详细描述，在此不再赘述。The steps of how to obtain the location information of the mobile terminal are described in detail in the above step S3 and will not be repeated here.
S8、根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。S8. Car navigation is performed based on the vehicle parking location information, the mobile terminal location information, and a pre-stored map of the underground parking lot.
在一个具体实施例中，该步骤包括：In a specific embodiment, the step includes:
根据所述车辆停放位置信息和移动终端位置信息，在所述地图上显示导航路径。The navigation path is displayed on the map according to the vehicle parking location information and the mobile terminal location information.
在一个示例中，移动终端的寻车APP调用预存的地下停车场的地图，并将所述车辆停放位置和移动终端位置标注在地图上，并由此进行路径导航。In one example, a car search APP of a mobile terminal calls a pre-stored map of an underground parking lot, and marks the parking location of the vehicle and the location of the mobile terminal on the map, thereby performing route navigation.
在一个具体实施例中，所述方法还包括： In a specific embodiment, the method further comprises:
检测是否存在移动数据网络；Detect whether there is a mobile data network;
若检测到存在动数据网络，下载所述地下停车场的地图。If the presence of a mobile data network is detected, a map of the underground parking lot is downloaded.
在一个具体示例中，用户停车完成后，由于地下停车厂不一定有移动数据覆盖，因此手机可以选择在有网络的条件下进行停车场离线地图下载。In a specific example, after the user completes parking, since underground parking lots may not have mobile data coverage, the mobile phone can choose to download an offline map of the parking lot under network conditions.
通过上述步骤S5-S8，能够实现在没有GPS定位信号的地下停车场进行寻车，并且车辆仅提供短暂的可靠的定位数据，车辆端UWB收发器和移动终端的UWB定位标签的会话交互及定位数据的发送通过低功耗的BLE安全通道实现，从而降低整机的功耗。Through the above steps S5-S8, it is possible to find a car in an underground parking lot without a GPS positioning signal, and the vehicle only provides short-term reliable positioning data. The conversation interaction between the vehicle-side UWB transceiver and the UWB positioning tag of the mobile terminal and the transmission of positioning data are realized through the low-power BLE security channel, thereby reducing the power consumption of the entire machine.
图10是根据本发明一个实施例的地下停车场寻车方法的流程图，应用于移动终端和车辆，包括下列步骤S9-步骤S13：FIG10 is a flow chart of a method for finding a vehicle in an underground parking lot according to an embodiment of the present invention, which is applied to a mobile terminal and a vehicle, and includes the following steps S9 to S13:
S9、停车车辆向配对的移动终端发送车辆停放位置信息。S9. The parked vehicle sends the vehicle parking location information to the paired mobile terminal.
S10、响应于来自所述移动终端的寻车请求，建立所述车辆与所述移动终端的通信信道。S10. In response to a vehicle search request from the mobile terminal, establishing a communication channel between the vehicle and the mobile terminal.
S11、根据车辆上设置的超宽带收发器与配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息。S11. Acquire the location information of the mobile terminal according to a ranging session established on the Bluetooth communication channel between an ultra-wideband transceiver provided on the vehicle and an ultra-wideband positioning tag provided on the paired mobile terminal.
S12、所述车辆将所述移动终端位置信息通过所述蓝牙通信信道发送到所述移动终端。S12. The vehicle sends the mobile terminal location information to the mobile terminal via the Bluetooth communication channel.
S13、所述移动终端根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。S13, the mobile terminal performs vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and a pre-stored map of the underground parking lot.
上述步骤S9-步骤S13中的细节可参照步骤S1-S4以及步骤S5-S8的细节，在此不再赘述。The details of the above steps S9 to S13 can refer to the details of steps S1 to S4 and steps S5 to S8, which will not be repeated here.
需要指出的是，尽管上述实施例中将各个步骤按照特定的先后顺序进行了描述，但是本领域技术人员可以理解，为了实现本发明的效果，不同的步骤之间并非必须按照这样的顺序执行，其可以同时(并行)执行或以其他顺序执行，这些变化都在本发明的保护范围之内。It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present invention.
进一步，本发明还提供了一种电子装置，包括处理器和存储器，存储器可以被配置成存储执行上述方法实施例的地下停车场寻车方法的程序，处理器可以被配置成用于执行存储器中的程序，该程序包括但不限于执行图2所示的地下停车场寻车方法的程序。为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明实施例方法部分。Furthermore, the present invention also provides an electronic device, including a processor and a memory, wherein the memory can be configured to store a program for executing the underground parking lot car search method of the above method embodiment, and the processor can be configured to execute the program in the memory, which includes but is not limited to a program for executing the underground parking lot car search method shown in FIG2. For ease of explanation, only the part related to the embodiment of the present invention is shown, and for specific technical details not disclosed, please refer to the method part of the embodiment of the present invention.
进一步，本发明还提供了一种车辆，包括上述电子装置和设置于车辆的不同位置的至少3个超宽带收发器。 Furthermore, the present invention also provides a vehicle, comprising the above electronic device and at least three ultra-wideband transceivers arranged at different positions of the vehicle.
进一步，本发明还提供了一种移动终端，包括超宽带定位标签、处理器和存储器，存储器中存储有程序，所述程序被所述处理器执行时，实现图8所示的所述的方法。Furthermore, the present invention also provides a mobile terminal, including an ultra-wideband positioning tag, a processor and a memory, wherein a program is stored in the memory, and when the program is executed by the processor, the method shown in FIG. 8 is implemented.
进一步，本发明还提供了一种计算机可读存储介质，存储有多条程序代码，其特征在于，所述程序代码适于由处理器加载并运行以执行上述图2或图8所示的方法。Furthermore, the present invention also provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the method shown in FIG. 2 or FIG. 8 above.
本领域技术人员能够理解的是，本发明实现上述一实施例的方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读存储介质可以包括：能够携带所述计算机程序代码的任何实体或装置、介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器、随机存取存储器、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括电载波信号和电信信号。It is understood by those skilled in the art that the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。 So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims (19)

  1. 一种地下停车场寻车方法，其特征在于，包括：A method for finding a car in an underground parking lot, characterized by comprising:
    向配对的移动终端发送车辆停放位置信息；Sending vehicle parking location information to paired mobile terminals;
    响应于来自所述移动终端的寻车请求，建立与所述移动终端的蓝牙通信信道；In response to a vehicle search request from the mobile terminal, establishing a Bluetooth communication channel with the mobile terminal;
    根据车辆上设置的超宽带收发器与所述配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息；Acquiring the location information of the mobile terminal according to a ranging session established on the Bluetooth communication channel between an ultra-wideband transceiver provided on the vehicle and an ultra-wideband positioning tag provided on the paired mobile terminal;
    将所述移动终端位置信息通过所述蓝牙通信信道发送到所述移动终端，以使得所述移动终端根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。The mobile terminal location information is sent to the mobile terminal through the Bluetooth communication channel, so that the mobile terminal can perform vehicle search and navigation according to the vehicle parking location information, the mobile terminal location information and a pre-stored map of the underground parking lot.
  2. 根据权利要求1所述的方法，其特征在于，所述向配对的移动终端发送车辆停放位置信息，包括：The method according to claim 1, characterized in that the sending of the vehicle parking location information to the paired mobile terminal comprises:
    通过车辆惯导算法或航迹推算算法进行车辆的位置定位，得到车辆停车时的车辆停放位置信息；The position of the vehicle is located by using a vehicle inertial navigation algorithm or a dead reckoning algorithm to obtain the parking position information of the vehicle when the vehicle is parked;
    响应于开启寻车功能指令，将所述车辆停放位置信息发送至所述移动终端。In response to an instruction to start a vehicle search function, the vehicle parking location information is sent to the mobile terminal.
  3. 根据权利要求1或2所述的方法，其特征在于，所述响应于来自移动终端的寻车请求，建立与所述移动终端的蓝牙通信信道，包括：The method according to claim 1 or 2, characterized in that, in response to a vehicle search request from a mobile terminal, establishing a Bluetooth communication channel with the mobile terminal comprises:
    响应于所述移动终端对广播的蓝牙信息的扫描，建立与所述移动终端的蓝牙连接；In response to the mobile terminal scanning the broadcasted Bluetooth information, establishing a Bluetooth connection with the mobile terminal;
    进行身份认证以建立与所述移动终端的加密蓝牙通信信道。Perform identity authentication to establish an encrypted Bluetooth communication channel with the mobile terminal.
  4. 根据权利要求3所述的方法，其特征在于，所述广播的蓝牙信息包括UUID，并且所述UUID以预设时间间隔随机生成。The method according to claim 3 is characterized in that the broadcast Bluetooth information includes a UUID, and the UUID is randomly generated at a preset time interval.
  5. 根据权利要求3所述的方法，其特征在于，所述进行身份认证以建立与所述移动终端的蓝牙通信信道，包括：The method according to claim 3, characterized in that the performing identity authentication to establish a Bluetooth communication channel with the mobile terminal comprises:
    向建立蓝牙连接的移动终端发送请求，获取所述移动终端的设备信息；Send a request to a mobile terminal that has established a Bluetooth connection to obtain device information of the mobile terminal;
    生成第一随机数并使用ECDH密钥派生算法生成第一公钥；Generate a first random number and generate a first public key using an ECDH key derivation algorithm;
    将所述第一公钥发送至所述移动终端，其中，所述移动终端生成第二随机数并使用ECDH密钥派生算法生成第二公钥，并且使用所述第一公钥和所述第二随机数计算第二会话密钥；Sending 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;
    从所述移动终端获取所述第二公钥；Acquire the second public key from the mobile terminal;
    根据所述第二公钥和所述第一随机数计算第一会话密钥；Calculate a first session key according to the second public key and the first random number;
    向所述移动终端发送使用所述第一会话密钥加密的车辆证书，以使得所述移动终 端使用预先存储的移动终端OEM公钥对使用所述第一会话密钥加密的车辆证书进行验证；Send the vehicle certificate encrypted using the first session key to the mobile terminal so that the mobile terminal The end verifies the vehicle certificate encrypted using the first session key using the pre-stored mobile terminal OEM public key;
    从所述移动终端获取由所述移动终端使用所述第二会话密钥加密的移动终端证书；acquiring, from the mobile terminal, a mobile terminal certificate encrypted by the mobile terminal using the second session key;
    使用预先存储的车辆OEM公钥对所述移动终端证书进行验证；Verifying the mobile terminal certificate using a pre-stored vehicle OEM public key;
    建立与所述移动终端的加密蓝牙通信信道。An encrypted Bluetooth communication channel is established with the mobile terminal.
  6. 根据权利要求1-5中任一项之一所述的方法，其特征在于，所述根据车辆上设置的超宽带收发器与所述配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息，包括：The method according to any one of claims 1 to 5, characterized in that the step of obtaining the mobile terminal location information based on a ranging session established on the Bluetooth communication channel between an ultra-wideband transceiver provided on the vehicle and an ultra-wideband positioning tag provided on the paired mobile terminal comprises:
    获取至少3个位于车辆不同位置的超宽带收发器与所述超宽带定位标签之间的距离值；Obtaining distance values between at least three ultra-wideband transceivers located at different positions of the vehicle and the ultra-wideband positioning tag;
    以所述至少3个超宽带收发器的位置为圆心，以对应的距离值为半径形成圆形；A circle is formed with the positions of the at least three ultra-wideband transceivers as the center and the corresponding distance value as the radius;
    根据形成的至少3个圆形，获取所述超宽带定位标签对于对应的圆的置信位置；According to the at least three circles formed, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle;
    根据所述置信位置得到所述移动终端位置信息。The mobile terminal location information is obtained according to the confident location.
  7. 根据权利要求6所述的方法，其特征在于，所述根据形成的至少3个圆形，获取所述超宽带定位标签对于对应的圆的置信位置，包括：The method according to claim 6, characterized in that the step of obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle based on the at least three circles formed comprises:
    对于所述至少3个圆形中任两个圆形，判断是否存在交点；For any two of the at least three circles, determining whether there is an intersection;
    若存在交点，根据所述交点获取所述超宽带定位标签对于对应的圆的置信位置；If there is an intersection, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection;
    若不存在交点，根据所述两个圆形的圆心连线的延长线与所述两个圆形各自的交点获取所述超宽带定位标签对于对应的圆的置信位置。If there is no intersection, the confidence position of the ultra-wideband positioning tag for the corresponding circle is obtained according to the intersection of the extension line of the line connecting the centers of the two circles and the respective intersections of the two circles.
  8. 根据权利要求7所述的方法，其特征在于，所述若存在交点，根据所述交点获取所述超宽带定位标签对于对应的圆的置信位置，包括：The method according to claim 7 is characterized in that, if an intersection point exists, obtaining the confidence position of the ultra-wideband positioning tag for the corresponding circle according to the intersection point comprises:
    判断所述两个圆形的交点是否为2个；Determine whether there are 2 intersection points of the two circles;
    若所述两个圆形的交点为2个，选择该2个交点中距离平均坐标更近的交点作为所述超宽带定位标签在所述两个圆形各自上的置信位置，其中所述平均坐标为对所述至少3个圆形中存在交点的圆形的所有交点的位置坐标取平均值得到的；If there are two intersections of the two circles, select the intersection that is closer to the average coordinates among the two intersections as the confidence position of the ultra-wideband positioning tag on each of the two circles, wherein the average coordinates are obtained by averaging the position coordinates of all intersections of the circles that have intersections among the at least three circles;
    若所述两个圆形的交点为1个，则选择该1个交点作为所述超宽带定位标签在所述两个圆形各自上的置信位置。If there is one intersection point between the two circles, the one intersection point is selected as the confidence position of the ultra-wideband positioning tag on each of the two circles.
  9. 根据权利要求7所述的方法，其特征在于，若不存在交点，根据所述两个圆形的圆心连线的延长线与所述两个圆形各自的交点获取所述超宽带定位标签在对应的圆上的置信位置，包括：The method according to claim 7 is characterized in that, if there is no intersection, obtaining the confidence position of the ultra-wideband positioning tag on the corresponding circle according to the extension line of the line connecting the centers of the two circles and the intersection points of the two circles, comprises:
    获取所述延长线与所述两个圆形各自的交点的中心点；Obtain the center point of the intersection of the extension line and the two circles;
    将所述中心点作为所述超宽带定位标签对于所述两个圆形各自的置信位置。 The center point is used as the confidence position of the ultra-wideband positioning tag for each of the two circles.
  10. 根据权利要求6-9中任一项所述的方法，其特征在于，所述根据所述置信位置得到所述移动终端位置信息，包括：The method according to any one of claims 6 to 9, characterized in that obtaining the mobile terminal location information according to the trusted location comprises:
    若得到的所有置信位置为同一位置，则确定所述移动终端位置坐标为所述同一位置的坐标；If all the obtained confidence positions are the same position, determining the position coordinates of the mobile terminal as the coordinates of the same position;
    若得到的所有置信位置为多个位置，则确定所述移动终端位置为所述多个位置的质心的坐标。If all the obtained confidence positions are multiple positions, the mobile terminal position is determined as the coordinates of the centroid of the multiple positions.
  11. 一种地下停车场寻车方法，其特征在于，包括：A method for finding a car in an underground parking lot, characterized by comprising:
    接收配对的车辆发送的车辆停放位置信息；Receiving vehicle parking location information sent by the paired vehicle;
    响应于寻车请求，建立与所述车辆的蓝牙通信信道；In response to the vehicle search request, establishing a Bluetooth communication channel with the vehicle;
    接收来自所述车辆发送的移动终端位置信息，其中所述移动终端位置信息根据移动终端上设置的超宽带定位标签与配对的车辆上设置的超宽带收发器在所述蓝牙通信信道上建立的测距会话获得；Receiving mobile terminal location information sent from the vehicle, wherein the mobile terminal location information is obtained according to a ranging session established on the Bluetooth communication channel between an ultra-wideband positioning tag set on the mobile terminal and an ultra-wideband transceiver set on the paired vehicle;
    根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。Car navigation is performed based on the vehicle parking location information, the mobile terminal location information and a pre-stored map of the underground parking lot.
  12. 根据权利要求11所述的方法，其特征子在于，所述响应于寻车请求，建立与所述车辆的蓝牙通信信道，包括：The method according to claim 11, wherein the step of establishing a Bluetooth communication channel with the vehicle in response to the vehicle search request comprises:
    响应于寻车请求，扫描地下停车场内车辆广播的蓝牙信息；In response to a vehicle search request, scanning Bluetooth information broadcast by vehicles in the underground parking lot;
    根据广播的蓝牙信息中的UUID，与配对的车辆建立蓝牙连接；Establish a Bluetooth connection with the paired vehicle based on the UUID in the broadcast Bluetooth information;
    进行身份认证以建立与所述车辆的加密蓝牙通信信道。Identity authentication is performed to establish an encrypted Bluetooth communication channel with the vehicle.
  13. 根据权利要求12所述的方法，其特征在于，所述进行身份认证以建立与所述车辆的蓝牙加密通信信道，包括：The method according to claim 12, characterized in that the identity authentication to establish a Bluetooth encrypted communication channel with the vehicle comprises:
    响应于建立蓝牙连接的车辆发送的获取请求，向所述车辆发送所述移动终端的设备信息，其中，所述车辆生成第一随机数并使用ECDH密钥派生算法生成第一公钥；In response to an acquisition request sent by a vehicle establishing a Bluetooth connection, sending device information of the mobile terminal to the vehicle, wherein the vehicle generates a first random number and generates a first public key using an ECDH key derivation algorithm;
    接收所述车辆发送的所述第一公钥；Receiving the first public key sent by the vehicle;
    生成第二随机数并使用ECDH密钥派生算法生成第二公钥；Generate a second random number and generate a second public key using the ECDH key derivation algorithm;
    将所述第二公钥发送至所述车辆，其中所述车辆使用所述第二公钥和所述第一随机数计算第一会话密钥；sending 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;
    根据所述第一公钥和第二随机数计算第二会话密钥；Calculate a second session key based on the first public key and the second random number;
    接收所述车辆使用所述第一会话密钥加密的车辆证书；receiving a vehicle certificate of the vehicle encrypted using the first session key;
    使用预先存储的移动终端OEM公钥对所述车辆证书进行验证；Verifying the vehicle certificate using a pre-stored mobile terminal OEM public key;
    将使用所述第二会话密钥加密的移动终端证书发送至所述车辆，以使得所述车辆使用预先存储的车辆OEM公钥对所述移动终端证书进行验证； sending the mobile terminal certificate encrypted by the second session key to the vehicle, so that the vehicle verifies the mobile terminal certificate by using a pre-stored vehicle OEM public key;
    建立与所述车辆的蓝牙通信信道。A Bluetooth communication channel is established with the vehicle.
  14. 根据权利要求11-13中任一项所述的方法，其特征在于，所述根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航，包括：The method according to any one of claims 11 to 13, characterized in that the vehicle navigation is performed based on the vehicle parking location information, the mobile terminal location information and a pre-stored map of the underground parking lot, comprising:
    根据所述车辆停放位置信息和移动终端位置信息，在所述地图上显示导航路径。The navigation path is displayed on the map according to the vehicle parking location information and the mobile terminal location information.
  15. 一种地下停车场寻车方法，其特征在于，包括：A method for finding a car in an underground parking lot, characterized by comprising:
    停车车辆向配对的移动终端发送车辆停放位置信息；The parked vehicle sends the vehicle parking location information to the paired mobile terminal;
    响应于来自所述移动终端的寻车请求，建立所述车辆与所述移动终端的蓝牙通信信道；In response to a vehicle search request from the mobile terminal, establishing a Bluetooth communication channel between the vehicle and the mobile terminal;
    根据车辆上设置的超宽带收发器与配对的移动终端上设置的超宽带定位标签在所述蓝牙通信信道上建立的测距会话，获取移动终端位置信息；Acquire the location information of the mobile terminal according to a ranging session established on the Bluetooth communication channel between an ultra-wideband transceiver provided on the vehicle and an ultra-wideband positioning tag provided on the paired mobile terminal;
    所述车辆将所述移动终端位置信息通过所述蓝牙通信信道发送到所述移动终端；The vehicle sends the mobile terminal location information to the mobile terminal via the Bluetooth communication channel;
    所述移动终端根据所述车辆停放位置信息、移动终端位置信息以及预存的所述地下停车场的地图进行寻车导航。The mobile terminal performs vehicle search and navigation according to the vehicle parking location information, mobile terminal location information and a pre-stored map of the underground parking lot.
  16. 一种电子装置，包括处理器和存储器，存储器中存储有程序，其特征在于，所述程序被所述处理器执行时，实现权利要求1-10中任一项所述的方法。An electronic device comprises a processor and a memory, wherein a program is stored in the memory, wherein when the program is executed by the processor, the method according to any one of claims 1 to 10 is implemented.
  17. 一种车辆，其特征在于，包括：A vehicle, characterized by comprising:
    权利要求16所述电子装置；The electronic device according to claim 16;
    设置于车辆的不同位置的至少3个超宽带收发器。At least three ultra-wideband transceivers are arranged at different locations in the vehicle.
  18. 一种移动终端，包括：A mobile terminal, comprising:
    超宽带定位标签；Ultra-wideband positioning tags;
    处理器和存储器，存储器中存储有程序，A processor and a memory, wherein a program is stored in the memory.
    其特征在于，所述程序被所述处理器执行时，实现权利要求11-14中任一项所述的方法。It is characterized in that when the program is executed by the processor, the method described in any one of claims 11 to 14 is implemented.
  19. 一种计算机可读存储介质，存储有多条程序代码，其特征在于，所述程序代码适于由处理器加载并运行以执行权利要求1-10中任一项所述的方法或权利要求11-14中任一项所述的方法。 A computer-readable storage medium stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the method of any one of claims 1-10 or the method of any one of claims 11-14.
PCT/CN2023/129727 2022-11-25 2023-11-03 Underground parking lot vehicle searching method, electronic apparatus, vehicle, mobile terminal, and medium WO2024109525A1 (en)

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