WO2024109525A1 - Procédé de recherche de véhicule de parc de stationnement souterrain, appareil électronique, véhicule, terminal mobile et support - Google Patents

Procédé de recherche de véhicule de parc de stationnement souterrain, appareil électronique, véhicule, terminal mobile et support 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
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PCT/CN2023/129727
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English (en)
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/fr

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

Abstract

La présente invention porte sur un procédé de recherche de véhicule de parc de stationnement souterrain, comprenant : S1, l'envoi d'informations de position de stationnement de véhicule à un terminal mobile apparié ; S2, en réponse à une demande de recherche de véhicule provenant du terminal mobile, l'établissement d'un canal de communication Bluetooth avec le terminal mobile ; S3, l'acquisition d'informations de position de terminal mobile en fonction d'une session de mesure de distance, qui est établie sur le canal de communication Bluetooth par un émetteur-récepteur à bande ultra-large disposé sur un véhicule et une étiquette de positionnement à bande ultra-large disposée sur le terminal mobile apparié ; et S4, l'envoi des informations de position de terminal mobile au terminal mobile au moyen du canal de communication Bluetooth, de sorte que le terminal mobile effectue une navigation de recherche de véhicule en fonction des informations de position de stationnement de véhicule, des informations de position de terminal mobile et d'une carte pré-stockée d'un parc de stationnement souterrain.
PCT/CN2023/129727 2022-11-25 2023-11-03 Procédé de recherche de véhicule de parc de stationnement souterrain, appareil électronique, véhicule, terminal mobile et support WO2024109525A1 (fr)

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CN202211494289.8A CN118098003A (zh) 2022-11-25 2022-11-25 地下停车场寻车方法、电子装置、车辆、移动终端及介质
CN202211494289.8 2022-11-25

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CN104269072A (zh) * 2014-09-25 2015-01-07 北京数字天域科技股份有限公司 一种地下停车场寻车方法、装置以及***
KR101535773B1 (ko) * 2015-03-05 2015-07-24 노명섭 Ｂｌｅ 비콘 신호를 이용한 주차 위치 자동 산출 시스템 및 방법
CN105468337A (zh) * 2014-06-16 2016-04-06 比亚迪股份有限公司 通过移动终端寻找车辆的方法、***和移动终端
WO2016101243A1 (fr) * 2014-12-26 2016-06-30 吕润春 Système de recherche de véhicule intelligent et procédé de recherche de véhicule intelligent
CN108680161A (zh) * 2018-04-16 2018-10-19 西安艾润物联网技术服务有限责任公司 停车场寻车导航方法、***及存储介质
CN113225673A (zh) * 2021-04-30 2021-08-06 华人运通(上海)云计算科技有限公司 一种车辆寻找方法、装置和***
CN214565192U (zh) * 2021-03-19 2021-11-02 重庆长安汽车股份有限公司 基于蓝牙钥匙的寻车***

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105468337A (zh) * 2014-06-16 2016-04-06 比亚迪股份有限公司 通过移动终端寻找车辆的方法、***和移动终端
CN104269072A (zh) * 2014-09-25 2015-01-07 北京数字天域科技股份有限公司 一种地下停车场寻车方法、装置以及***
WO2016101243A1 (fr) * 2014-12-26 2016-06-30 吕润春 Système de recherche de véhicule intelligent et procédé de recherche de véhicule intelligent
KR101535773B1 (ko) * 2015-03-05 2015-07-24 노명섭 Ｂｌｅ 비콘 신호를 이용한 주차 위치 자동 산출 시스템 및 방법
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