Vehicle control method and device, vehicle, and storage medium

Abstract

The application discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the following steps: sending a first signal through a first antenna arranged on the vehicle, wherein the time point of sending the first signal by the first antenna is a first time point; receiving a second signal sent by a terminal device through the first antenna, a second antenna and a third antenna arranged on the vehicle, wherein the time point of receiving the second signal by the first antenna is a second time point, the time point of receiving the second signal by the second antenna is a third time point, and the time point of receiving the second signal by the third antenna is a fourth time point; determining the distance between the terminal device and the first antenna based on the first time point and the second time point; if the distance is less than or equal to a first threshold value, determining the position of the terminal device based on the second time point, the third time point, the fourth time point, the position of the first antenna, the position of the second antenna and the position of the third antenna; and if the position of the terminal device meets a specific condition, controlling a target component of the vehicle to perform a target operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle control method and device, a vehicle, and a storage medium. BACKGROUND

[0002] A terminal device can control a specific component of a vehicle as a control terminal, for example, a mobile phone can unlock the door of a vehicle. The control of the vehicle is realized through non-sensing technology, which can greatly optimize the user experience. An important feature of non-sensing technology is that the terminal device can control the vehicle without manual operation by the user. The current non-sensing technology either has high cost and cannot be widely applied, or cannot accurately determine the position of the terminal device, thereby failing to safely and accurately control the vehicle. SUMMARY

[0003] To solve the above technical problems, the embodiments of the present application provide a vehicle control method and device, a vehicle, and a storage medium.

[0004] The embodiments of the present application provide a vehicle control method, which comprises:

[0005] A first antenna provided on a vehicle sends a first signal, and the time at which the first antenna sends the first signal is a first time; wherein the first signal is used to trigger a terminal device to send a second signal;

[0006] The first antenna, a second antenna, and a third antenna provided on the vehicle receive the second signal sent by the terminal device, wherein the time at which the first antenna receives the second signal is a second time, the time at which the second antenna receives the second signal is a third time, and the time at which the third antenna receives the second signal is a fourth time;

[0007] Based on the first time and the second time, the distance between the terminal device and the first antenna is determined;

[0008] If the distance between the terminal device and the first antenna is less than or equal to a first threshold value, the position of the terminal device is determined based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna, and the position of the third antenna;

[0009] If the position of the terminal device meets a specific condition, a target component of the vehicle is controlled to perform a target operation.

[0010] The vehicle control device provided by the embodiments of the present application comprises:

[0011] The communication unit is configured to send a first signal through a first antenna arranged on the vehicle, and a time point at which the first antenna sends the first signal is a first time point; the first signal is used to trigger a terminal device to send a second signal; the communication unit is configured to receive the second signal sent by the terminal device through the first antenna, a second antenna and a third antenna arranged on the vehicle, wherein a time point at which the first antenna receives the second signal is a second time point, a time point at which the second antenna receives the second signal is a third time point, and a time point at which the third antenna receives the second signal is a fourth time point.

[0012] The determining unit is configured to determine a distance between the terminal device and the first antenna based on the first time point and the second time point; if the distance between the terminal device and the first antenna is less than or equal to a first threshold, the determining unit is configured to determine a position of the terminal device based on the second time point, the third time point, the fourth time point, a position of the first antenna, a position of the second antenna and a position of the third antenna.

[0013] The control unit is configured to control a target component of the vehicle to perform a target operation if the position of the terminal device satisfies a specific condition.

[0014] The embodiments of the present application also provide a vehicle, the vehicle is provided with a first antenna, a second antenna and a third antenna; the first antenna, the second antenna and the third antenna are used for signal transmission between the vehicle and a terminal device; the vehicle comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the vehicle control method in the above embodiments.

[0015] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the vehicle control method in the above embodiments.

[0016] The technical scheme of the embodiment of the application is that at least three antennas are arranged on the vehicle. The vehicle sends a first signal through a first antenna of the three antennas, a terminal device sends a second signal after receiving the first signal, and the vehicle receives the second signal sent by the terminal device through the three antennas respectively. The vehicle can determine the distance between the terminal device and the first antenna based on the time when the first signal is sent by the first antenna and the time when the second signal is received by the first antenna. If the distance between the terminal device and the first antenna is less than or equal to a first threshold value, the position of the terminal device is accurately calculated based on the time when the second signal is received by the three antennas and the positions of the three antennas, so that the vehicle is controlled without feeling based on the position of the terminal device. Since one prerequisite for controlling the vehicle is that the distance between the terminal device and the first antenna is less than or equal to the first threshold value, the safety of the vehicle control can be ensured. Since another prerequisite for controlling the vehicle is that the position of the terminal device meets a specific condition, and the determination of the position of the terminal device is only related to the vehicle and does not require the clock of the two communication parties, i.e., the vehicle and the terminal device, to be synchronized, the positioning accuracy can be very high. Furthermore, the implementation of the technical scheme of the embodiment of the application only needs to install three antennas on the vehicle, which is low in cost and can be widely applied. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is an application scenario provided by the embodiment of the application;

[0018] Figure 2 is a flowchart of a vehicle control method provided by the embodiment of the application;

[0019] Figure 3 is a flowchart of another vehicle control method provided by the embodiment of the application;

[0020] Figure 4 is a schematic diagram of a coordinate position provided by the embodiment of the application;

[0021] Figure 5 is a structural composition diagram of a vehicle control device provided by the embodiment of the application;

[0022] Figure 6 is a structural composition diagram of a vehicle provided by the embodiment of the application. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the application unless otherwise specifically stated.

[0024] It should be understood that the dimensions of the various elements shown in the drawings are shown for purposes of illustrating the application and are not necessarily shown to scale.

[0025] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application and uses.

[0026] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered part of the specification.

[0027] It is to be noted that like reference numerals and letters refer to like items in the drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0028] In order to facilitate understanding of the technical solutions of the embodiments of the application, the related technologies of the embodiments of the application are described below. It should be noted that the description of the related technologies below is used to understand the technical solutions of the embodiments of the application and does not limit the technical solutions of the embodiments of the application.

[0029] The terminal device can control a specific component of the vehicle as a control end, for example, a mobile phone can unlock the door of the vehicle. The control of the vehicle is realized through the non-sensing technology, which can greatly optimize the user experience. An important feature of the non-sensing technology is that the terminal device can realize the control of the vehicle without manual operation. At present, the implementation of the non-sensing technology can be based on Bluetooth communication or Ultra-wideband (UWB) communication. It should be noted that Near Field Communication (NFC) does not belong to the category of non-sensing technology because it needs to be manually swiped.

[0030] For the non-sensing technology based on Bluetooth communication, since the distance between the terminal device and the vehicle is calculated based on the signal strength received by the Bluetooth antenna, the following shortcomings exist: 1. The ranging accuracy is low, and the typical ranging accuracy is 3-5 m or even worse, which leads to inaccurate control of the vehicle. 2. For the case that the terminal device is far away from the vehicle, the signal strength is amplified by the Bluetooth signal amplifier, which leads to the control of the vehicle by the criminal, and the safety is low.

[0031] Therefore, the following technical solutions of the embodiments of the application are proposed. The technical solutions of the embodiments of the application can realize accurate positioning of the terminal device, thereby realizing accurate, safe, and non-sensing control of the vehicle.

[0032] The vehicle control method provided by the embodiments of the application is applied to a vehicle control device, and the vehicle control device can be arranged on the vehicle.Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application, in which a vehicle is taken as an example of a car, and a terminal device is taken as an example of a mobile phone. In the technical solution of the embodiment of the present application, the car is provided with at least three antennas for realizing communication with the mobile phone. The mobile phone is provided with at least one antenna for realizing communication with the car. It should be noted that the above-mentioned application scenario is only exemplary. In the embodiment of the present application, the vehicle is not limited to a car, but can also be a go-kart, a bicycle, a scooter, etc. The terminal device is not limited to a mobile phone, but can also be a tablet computer, a wearable device, etc.

[0033] It should be noted that the technical solution of the embodiment of the present application is described by taking an example in which the vehicle is provided with three antennas, and the terminal device is provided with one antenna, which is not limited thereto. The vehicle can be provided with a larger number of antennas (such as four antennas, five antennas, etc.), and the terminal device can also be provided with a larger number of antennas (such as two antennas, three antennas, etc.). The case of a larger number of antennas is also applicable to the technical solution of the embodiment of the present application, and belongs to the scope of protection of the present application.

[0034] The vehicle control method and the vehicle control device provided by the embodiment of the present application are described below.

[0035] It should be noted that in the following description, the description of the "first signal" can be replaced by "first communication frame", and the description of the "second signal" can be replaced by "second communication frame".

[0036] Figure 2 is a flowchart of the vehicle control method provided by an embodiment of the present application, as shown in Figure 2 The vehicle control method comprises the following steps:

[0037] Step 201: sending a first signal through a first antenna provided on the vehicle, the time at which the first antenna sends the first signal being a first time; wherein the first signal is used to trigger the terminal device to send a second signal.

[0038] In the embodiment of the present application, the terminal device can realize control of the vehicle, where "control of the vehicle" means "non-conscious control of the vehicle". It should be noted that "non-conscious control of the vehicle" can be understood as control of the vehicle without manual operation by the user.

[0039] In order to realize control of the vehicle by the terminal device, the vehicle and the terminal device need to have the following hardware conditions:

[0040] For the vehicle, the vehicle has at least three antennas, each of the three antennas has an independent radio frequency path, so that the three radio frequency paths can work simultaneously.

[0041] For the terminal device, the terminal device has at least one antenna, and the one antenna has an independent radio frequency channel.

[0042] In some optional embodiments of the present application, the antenna on the vehicle and the antenna on the terminal device are both Bluetooth antennas. It can be understood that the signals transmitted through the Bluetooth antennas are Bluetooth signals. However, the antenna on the vehicle and the antenna on the terminal device can also be other types of antennas.

[0043] In the embodiments of the present application, the vehicle transmits a first signal through its first antenna, wherein the time at which the first antenna transmits the first signal is a first time; and wherein the first signal is used to trigger the terminal device to transmit a second signal. That is, the terminal device transmits the second signal after receiving the first signal.

[0044] In some optional embodiments of the present application, the vehicle periodically transmits the first signal through its first antenna. As an example, the transmission period of the first signal is, for example, 100 ms.

[0045] Step 202: receiving the second signal transmitted by the terminal device through the first antenna, the second antenna and the third antenna arranged on the vehicle, wherein the time at which the first antenna receives the second signal is a second time, the time at which the second antenna receives the second signal is a third time, and the time at which the third antenna receives the second signal is a fourth time.

[0046] In the embodiments of the present application, the terminal device transmits the second signal through its antenna, and the vehicle receives the second signal through its antenna. The vehicle has three antennas, which are the first antenna, the second antenna and the third antenna, respectively. The three antennas receive the second signal, respectively, wherein the time at which the first antenna receives the second signal is a second time, the time at which the second antenna receives the second signal is a third time, and the time at which the third antenna receives the second signal is a fourth time.

[0047] Step 203: determining the distance between the terminal device and the first antenna based on the first time and the second time.

[0048] In some optional embodiments of the present application, before determining the accurate position of the terminal device, the terminal device is roughly positioned first. Here, roughly positioning the terminal device is reflected in determining whether the distance between the terminal device and the first antenna is close; if it is close, the accurate position of the terminal device is determined; if it is far, the process is ended, and the terminal device cannot control the vehicle; thereby the efficiency of accurate positioning can be effectively improved, and the calculation resources can be saved.

[0049] Based on the above considerations, in the embodiments of the present application, the distance between the terminal device and the first antenna is determined based on the first time and the second time; if the distance between the terminal device and the first antenna is less than or equal to a first threshold, the step of determining the position of the terminal device (i.e., the following step 204) is performed; if the distance between the terminal device and the first antenna is greater than the first threshold, the process ends. Here, the first time refers to the time when the first signal is sent by the first antenna of the vehicle, and the second time refers to the time when the second signal is received by the first antenna of the vehicle.

[0050] In the embodiments of the present application, the second signal can be sent immediately after the terminal device receives the first signal, or the second signal can be sent after a delay of a first time after the terminal device receives the first signal. The following will explain how to determine the distance between the terminal device and the first antenna in the two cases. It should be noted that the technical solution of the embodiments of the present application uses the method of signal time of flight (TOF) to calculate the distance between the terminal device and the first antenna.

[0051] In some optional embodiments of the present application, the second signal is sent immediately after the terminal device receives the first signal, and for this case, the distance between the terminal device and the first antenna is determined based on the first time and the second time. As an example, assuming that the first time is Y1_send, the second time is T1_receive, and the transmission speed of electromagnetic waves in air is C, then the distance between the terminal device and the first antenna is: L1 = (T1_receive - T1_send) * C / 2.

[0052] In some optional embodiments of the present application, the second signal is sent after a delay of a first time after the terminal device receives the first signal, and for this case, the second signal carries first information, and the first information is used to indicate the first time; the distance between the terminal device and the first antenna is determined based on the first time, the second time, and the first time. As an example, assuming that the first time is T1_send, the second time is T1_receive, the first time is T_delay, and the transmission speed of electromagnetic waves in air is C, then the distance between the terminal device and the first antenna is: L1 = (T1_receive - T1_send - T_delay) * C / 2.

[0053] In order to ensure the security of the first information, the second signal is subjected to security protection processing, and after the vehicle receives the second signal through the antenna, the second signal is subjected to security verification; if the security verification is passed, the first information is obtained from the second signal, so that the first time length can be determined according to the first information, and then the distance between the terminal device and the first antenna can be determined according to the first time, the second time, and the first time length.

[0054] When the distance between the terminal device and the first antenna is calculated by the above scheme, the first time length (T_delay) is introduced, so that the problem of intervention of other illegal relay devices can be avoided, for example, in the case that the terminal device is far away from the vehicle, the signal of the terminal device is amplified by the signal amplifier and then sent to the vehicle, because the signal of the terminal device is forwarded by the signal amplifier, the additional time delay will be caused by the forwarding, and the distance between the terminal device and the first antenna of the vehicle determined by the technical scheme of the embodiment of the application is relatively large, which reduces the risk of illegal control of the vehicle.

[0055] When the distance between the terminal device and the first antenna is calculated by the above scheme, the first time length (T_delay) is introduced, in order to ensure the accuracy of distance calculation, the first time length needs to be calibrated. Specifically, the following calibration methods can be used:

[0056] A) Laboratory calibration method, the test of the first time length (T_delay) is completed before the terminal device is shipped and is built into the terminal device.

[0057] B) User calibration method, the user actually measures the distance between the terminal device and the first antenna of the vehicle, and calculates the distance between the terminal device and the first antenna of the vehicle through the default first time length (T_delay), and calibrates the first time length (T_delay) according to the actually measured distance and the calculated distance.

[0058] In some optional embodiments of the application, the second signal subjected to security protection processing can be realized by the following way: the key information is carried in the second signal.

[0059] Step 204: If the distance between the terminal device and the first antenna is less than or equal to the first threshold value, the position of the terminal device is determined based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna, and the position of the third antenna.

[0060] In the embodiments of the present application, after the distance between the terminal device and the first antenna is determined through the step 203, it is determined whether the distance between the terminal device and the first antenna is less than or equal to the first threshold value. If yes, it is considered that the terminal device is close to the vehicle, and the step of determining the position of the terminal device is performed. If no, it is considered that the terminal device is far from the vehicle, and the process is ended, and the terminal device cannot control the vehicle.

[0061] In the embodiments of the present application, determining the position of the terminal device can be understood as accurately positioning the terminal device. The technical solution of the embodiments of the present application calculates the position of the terminal device by using the time difference of arrival method, which is described below.

[0062] In some optional embodiments of the present application, based on the second time and the third time, a first distance difference between the terminal device and the first antenna and the second antenna is determined; based on the third time and the fourth time, a second distance difference between the terminal device and the second antenna and the third antenna is determined; and based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna and the coordinates of the third antenna, the coordinates of the terminal device are determined.

[0063] It should be noted that the coordinates of the first antenna, the coordinates of the second antenna and the coordinates of the third antenna are already calibrated and are known quantities. The coordinates of the terminal device are the position to be determined.

[0064] As an example, it is assumed that the second time is T1_receive, the third time is T2_receive, the fourth time is T3_receive, and the transmission speed of electromagnetic waves in air is C. Then,

[0065] The first distance difference between the terminal device and the first antenna and the second antenna is:

[0066] D 12 =(T1_receive-T 2_ receive)*C.

[0067] The second distance difference between the terminal device and the second antenna and the third antenna is:

[0068] D 23 =(T2_receive-T3_receire)*C.

[0069] It should be noted that the above D 12 , D 23 have positive and negative values, but do not affect the implementation of the technical solution of the embodiments of the present application.

[0070] Suppose the coordinates of the first antenna are (x1, y1), the coordinates of the second antenna are (x2, y2), the coordinates of the third antenna are (x3, y3), and the coordinates of the terminal device are (x, y), where (x1, y1), (x2, y2), and (x3, y3) are known quantities, and (x, y) is an unknown quantity. The coordinates (x, y) of the terminal device can be determined by the following formula:

[0071]

[0072]

[0073] The coordinates (x, y) of the terminal device can be determined by the above formula. After the coordinates (x, y) of the terminal device are determined, the position of the terminal device is determined.

[0074] Step 205: If the position of the terminal device satisfies a certain condition, control the target component of the vehicle to perform a target operation.

[0075] In some optional embodiments of the present application, if the distance between the position of the terminal device and the target position of the vehicle is less than or equal to a second threshold, control the target component of the vehicle to perform a target operation.

[0076] Here, the target position of the vehicle can be any designated position on the vehicle. As an example, the target position of the vehicle can be the position of a target component of the vehicle, such as the position of a door, the position of a central control, or the position of a window. As an example, the target position of the vehicle can be the position of one of the antennas of the vehicle.

[0077] If the distance between the position of the terminal device and the target position of the vehicle is less than or equal to a second threshold, it means that the terminal device is close to the vehicle or close to the target component of the vehicle, and the target component of the vehicle can be controlled to perform a target operation. If the distance between the position of the terminal device and the target position of the vehicle is greater than the second threshold, it means that the terminal device is far away from the vehicle or far away from the target component of the vehicle, and the process ends, and the terminal device cannot control the vehicle.

[0078] In some optional embodiments of the present application, if the position of the terminal device is within a target range, control the target component of the vehicle to perform a target operation, where the target range is determined based on the target position of the vehicle.

[0079] Here, the target range is determined based on the target position of the vehicle. Optionally, the target range can be a quadrilateral region, a polygonal region, or a circular region centered on the target position, but is not limited thereto. The target range can also be an irregular region near the target position. The understanding of the target position can be referred to the foregoing related description.

[0080] If the position of the terminal device is within the target range, it means that the terminal device is close to the vehicle or close to the target component of the vehicle, and the target component of the vehicle can be controlled to perform a target operation; if the position of the terminal device is outside the target range, it means that the terminal device is far away from the vehicle or far away from the target component of the vehicle, and the process ends, and the terminal device cannot control the vehicle.

[0081] In the embodiments of the present application, the control of the target component of the vehicle to perform a target operation includes at least one of the following: control of the vehicle door to open; control of the vehicle lamp to turn on; control of the vehicle horn to sound; and control of the vehicle window to open. It should be noted that any one of the above operations on the vehicle can also be understood as an unlocking operation on the vehicle.

[0082] The technical scheme of the embodiments of the present application determines the position of the terminal device by using the time difference of arrival method to calculate the position of the terminal device, so that the problem of intervention of other illegal relay devices can be avoided. For example, in the case where the terminal device is far away from the vehicle, the signal of the terminal device is amplified by a signal amplifier and then sent to the vehicle, so as to realize remote communication between the vehicle and the terminal device. However, the position of the terminal device calculated by the technical scheme of the embodiments of the present application is still accurate and will not change. In the case where the terminal device is far away from the vehicle, even if the signal amplifier is used, the terminal device cannot control the vehicle, thereby reducing the risk of illegal control of the vehicle.

[0083] The technical scheme of the embodiments of the present application determines the position of the terminal device by using the time difference of arrival method to calculate the position of the terminal device, rather than using the TOF method to calculate the position of the terminal device. Therefore, the positioning accuracy of the terminal device only depends on the vehicle itself and does not depend on the T_delay parameter on the terminal device side. The positioning accuracy can be greatly improved. It should be noted that the T_delay parameter is related to the behavior of the terminal device and is a dynamic parameter to some extent. Even if it is calibrated, it can only be corrected to some extent and cannot be completely accurate. The technical scheme of the embodiments of the present application uses the time difference of arrival method of the signal to calculate the position of the terminal device, eliminates the influence of the time change caused by the behavior of the terminal device side, and makes the calculation accuracy only depend on the sampling accuracy of the vehicle receiving signal. Since the three antennas are all installed on the vehicle, the clock used by the three antennas is the same system, and there is no clock deviation. Therefore, the time difference of arrival of the signal at the three antennas is an absolutely accurate value, and the theoretical positioning accuracy can reach centimeter level, and the actual implementation accuracy can reach decimeter level.

[0084] Figure 3 is a flowchart of the vehicle control method provided by the embodiments of the present applicationFigure Three As shown in Figure 3 The vehicle control method comprises the following steps:

[0085] Step 301: The vehicle determines the coordinates of the three antennas on the vehicle.

[0086] Here, there are three antennas on the vehicle, which are marked as ANT1, ANT2, and ANT3. Among them, ANT1 can correspond to the first antenna, ANT2 can correspond to the second antenna, and ANT3 can correspond to the third antenna.

[0087] In the embodiment of the application, a coordinate system is established for the vehicle, and the coordinates of the three antennas on the vehicle in the coordinate system are (x1, y1), (x2, y2), and (x3, y3) respectively. Among them, (x1, y1) is the coordinate of ANT1, (x2, y2) is the coordinate of ANT2, and (x3, y3) is the coordinate of ANT3. In addition, the coordinate of the terminal device in the coordinate system can be denoted as (x, y). The coordinates of the three antennas are known quantities, and the coordinate of the terminal device is an unknown quantity.

[0088] Step 302: The vehicle sends signal A through ANT1 and records the time T1_send when ANT1 sends signal A.

[0089] Here, the vehicle can select one of the three antennas to send signal A, and here the vehicle sends signal A through ANT1 as an example.

[0090] Here, signal A can also be called a ranging TOF signal (i.e. Frame_TOF), and after the vehicle sends signal A through ANT1, it enters a waiting reception state.

[0091] Step 303: After receiving signal A, the terminal device sends signal B after a delay of T_delay.

[0092] Here, after receiving signal A, the terminal device sends signal B after a delay of T_delay, that is, the time length between the time when the terminal device receives signal A and the time when it sends signal B is T_delay.

[0093] Here, the terminal device can add some information to signal A to obtain signal B. As an example, the terminal device can add information indicating T_delay and key information in signal A. It can be understood that signal B is a forwarding frame of signal A.

[0094] Step 304: The vehicle receives signal B through the three antennas respectively, and records the times T1_receive, T2_receive, and T3_receive when the three antennas receive signal B respectively.

[0095] Here, T1_receive is the time when ANT1 receives signal B, T2_receive is the time when ANT2 receives signal B, and T3_receive is the time when ANT3 receives signal B.

[0096] Step 305: The vehicle calculates the distance L1 between the terminal device and ANT1 according to T1_send, T1_receive and T_delay.

[0097] Here, for ANT1, the propagation time of the first signal and the second signal in the air is T1_receive-T1_send-T_delay, and it can be seen that the distance between the terminal device and ANT1 is: L1=(T1-receive-T1_send-T_delay)*C / 2, where C is the transmission speed of electromagnetic waves in the air.

[0098] Step 306: The vehicle determines whether the distance L1 is less than or equal to the first threshold value; if so, step 307 is performed; if not, the process ends.

[0099] Here, if the distance L1 is less than or equal to the first threshold value, it means that the terminal device is close to the vehicle; if the distance L1 is greater than the first threshold value, it means that the terminal device is far from the vehicle, and the terminal device cannot control the vehicle.

[0100] For the case that the terminal device is close to the vehicle, a positioning algorithm can be started to realize accurate positioning of the terminal device. The process of accurate positioning is described in the following steps 307 and 308.

[0101] Step 307: The vehicle calculates the distance difference D between the terminal device and ANT1 and ANT2 according to T1_receive, T2_receive and T3_receive. 12 and the distance difference D between the terminal device and ANT2 and ANT3. 23 .

[0102] Here, the times when the three antennas receive signal B can be sorted, and the sorting result is assumed to be as follows: T1_receive>T2_receive>T3_receive, that is, the signal B emitted by the terminal device first reaches ANT3, then reaches ANT2, and finally reaches ANT1.

[0103] The time difference between the time when the signal B emitted by the terminal device reaches ANT1 and the time when it reaches ANT2 multiplied by the transmission speed of electromagnetic waves can determine the distance difference between the terminal device and ANT1 and ANT2, specifically,

[0104] The distance difference between the terminal device and ANT1 and ANT2 is:

[0105] D 12 =(T1_receive-T2_receive)*C.

[0106] The distance difference between the terminal device and ANT2 and ANT3 is:

[0107] D 23 =(T2_receive-T3_receive)*C.

[0108] Step 308: The vehicle calculates the coordinates of the terminal device according to D 12 , D 23 and the coordinates of the three antennas.

[0109] Suppose A1 represents the distance between the terminal device and ANT1, A2 represents the distance between the terminal device and ANT2, and A3 represents the distance between the terminal device and ANT3, then:

[0110]

[0111]

[0112]

[0113] A1-A2=D 12 =(T1_receive-T2_receive)*C;

[0114] A2-A3=D 23 =(T2_receive-T3_receive)*C.

[0115] Based on the above formula, the following formula can be obtained:

[0116]

[0117]

[0118] The coordinates (x, y) of the terminal device can be calculated through the above formula.

[0119] Step 309: If the coordinates of the terminal device indicate that the terminal device is close to the door of the vehicle, the door is controlled to open.

[0120] The technical solutions of the embodiments of the present application are illustrated by specific application examples.

[0121] Referring to Figure 4 , Figure 4The schematic diagram of the coordinate system of the vehicle has three antennas, ANT1, ANT2 and ANT3. The layout of the three antennas on the vehicle can be flexibly adjusted. For example, the three antennas are distributed at three corners of the vehicle, and a plane formed by the three antennas is parallel to the ground, so that the calculated coordinates of the terminal device are more accurate. As an example, ANT1 and ANT3 can be distributed at the front of the vehicle, and ANT2 can be distributed at the rear of the vehicle, and the three antennas form a right-angled triangle. In addition, the terminal device has one antenna. As an example, a coordinate system is established in meters, and the coordinates of ANT1, ANT2 and ANT3 are (0, 3), (0, 0) and (2, 3) respectively, and the coordinates of the terminal device are assumed to be (x, y).

[0122] 1) The vehicle transmits signal A through ANT1 using Bluetooth technology at a period of 100 ms, and waits for the return signal B of the mobile phone, wherein the time when ANT1 transmits signal A is T 1send = Ons. If ANT1 does not receive signal B within a certain time (such as 10 us), it indicates that the terminal device is not within the recognizable range of the vehicle.

[0123] 2) After receiving signal A, the terminal device adds key information and time delay information to signal A to obtain signal B, and transmits signal B through its antenna using Bluetooth technology after a delay of 10 ns. Here, the time delay information is used to indicate T delav = 10 ns.

[0124] 3) The time when the vehicle's ANT1 receives signal B is T1_receive = 20.5 ns, and the distance between the terminal device and the vehicle is calculated as:

[0125] L1 = (20.5 - 0 - 10) * 10 -9 * 3 * 10 8 / 2 = 1.575 meters.

[0126] Assuming that the first threshold is 20 meters, L1 is less than 20 meters, and the terminal device is close to the vehicle, the coordinates of the terminal device can be further determined.

[0127] 4) If T1_receive = 20.5 ns, T2_receive = 13.4 ns and T3_receive = 24.21 ns, the coordinates of the terminal device can be calculated as (-1, 0) by the above technical solutions of the embodiments of the present application.

[0128] Referring to Figure 4ANT1 is located at the left front of the vehicle head, ANT3 is located at the right front of the vehicle head, and ANT2 is located at the left rear of the vehicle tail. A target range can be defined as a rectangular region with two opposite points (-1, -1) and (0.5, 0.5). If the coordinates of the terminal device are within the target range, the left rear door of the vehicle can be opened.

[0129] Figure 5 is a structural composition schematic diagram of a vehicle control device provided by the embodiment of the application, as shown in Figure 5 The vehicle control device comprises:

[0130] The communication unit 501 is configured to send a first signal through a first antenna arranged on the vehicle, and the first antenna sends the first signal at a first time point. The first signal is used to trigger the terminal device to send a second signal. The first antenna, a second antenna and a third antenna arranged on the vehicle are configured to receive the second signal sent by the terminal device. The first antenna receives the second signal at a second time point, the second antenna receives the second signal at a third time point, and the third antenna receives the second signal at a fourth time point.

[0131] The determination unit 502 is configured to determine the distance between the terminal device and the first antenna based on the first time point and the second time point. If the distance between the terminal device and the first antenna is less than or equal to a first threshold value, the position of the terminal device is determined based on the second time point, the third time point, the fourth time point, the position of the first antenna, the position of the second antenna and the position of the third antenna.

[0132] The control unit 503 is configured to control a target component of the vehicle to perform a target operation if the position of the terminal device meets a specific condition.

[0133] In some optional embodiments of the application, the second signal is sent after the terminal device receives the first signal for a first time length. The second signal carries first information, and the first information is used to indicate the first time length.

[0134] The determination unit 502 is configured to determine the distance between the terminal device and the first antenna based on the first time point, the second time point and the first time length.

[0135] In some optional embodiments of the application, the second signal is subjected to security protection processing, and the device further comprises:

[0136] The acquisition unit 504 is configured to, after receiving the second signal, perform security verification on the second signal, and acquire the first information from the second signal if the security verification is passed.

[0137] In some optional embodiments of the present application, the communication unit 501 is configured to periodically send a first signal through the first antenna.

[0138] In some optional embodiments of the present application, the determination unit 502 is configured to determine, based on the second time and the third time, a first distance difference between the terminal device and the first antenna and the second antenna, determine, based on the third time and the fourth time, a second distance difference between the terminal device and the second antenna and the third antenna, and determine, based on the first distance difference, the second distance difference, coordinates of the first antenna, coordinates of the second antenna, and coordinates of the third antenna, coordinates of the terminal device.

[0139] In some optional embodiments of the present application, the control unit 503 is configured to, if a distance between the position of the terminal device and the target position of the vehicle is less than or equal to a second threshold value, control a target component of the vehicle to perform a target operation.

[0140] In some optional embodiments of the present application, the control unit 503 is configured to, if the position of the terminal device is within a target range, control a target component of the vehicle to perform a target operation, where the target range is determined based on the target position of the vehicle.

[0141] In some optional embodiments of the present application, controlling a target component of the vehicle to perform a target operation can include:

[0142] controlling a door of the vehicle to open;

[0143] controlling a lamp of the vehicle to turn on;

[0144] controlling a horn of the vehicle to sound;

[0145] controlling a window of the vehicle to open.

[0146] It should be noted that the above-mentioned scheme of the embodiments of the present application is only exemplary, and is not limited to the above-mentioned several operations, and can also be other types of operations, for example, controlling the air conditioner of the vehicle to turn on, and the like. The embodiments of the present application do not limit the type of operation.

[0147] Those skilled in the art should understand that, Figure 5 The implementation functions of each unit in the vehicle control device shown can be understood with reference to the related description of the foregoing vehicle control method. Figure 5The functions of the units in the vehicle control device shown can be implemented by programs running on the processor or by specific logic circuits.

[0148] The training device of the neural network described above in the embodiments of the present application, if realized in the form of a software function module and sold or used as an independent product, can also be stored in a storage medium (for example, a computer readable storage medium). Based on such an understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art. The computer software product is stored in a storage medium and includes a number of instructions for causing an electronic device (which can be an electronic device in a vehicle) to execute all or part of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a magnetic disk or an optical disk, and various media that can store program codes. Thus, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0149] Correspondingly, the embodiments of the present application also provide a computer readable storage medium, which stores a computer program (that is, computer executable instructions). The computer program is executed to implement the method described above in the embodiments of the present application.

[0150] Figure 6 is a structural composition schematic diagram of a vehicle of the embodiments of the present application, the vehicle is provided with a first antenna, a second antenna and a third antenna; the first antenna, the second antenna and the third antenna are used for signal transmission between the vehicle and a terminal device; as Figure 6 As shown, the vehicle can include one or more (only one is shown in the figure) processors 602 (the processor 602 can include but is not limited to a microprocessor (MCU, Micro Controller Unit) or a programmable logic device (FPGA, Field Programmable Gate Array) and the like), a memory 604 for storing data, and a transmission device 606 for communication function. Those skilled in the art can understand that, Figure 6 The structure shown is only a schematic, which does not limit the structure of the electronic device described above. For example, the vehicle can include more or less components than Figure 6 shown, or have a different configuration from Figure 6 shown.

[0151] The memory 604 can be used to store software programs of application software and modules, such as program instructions / modules corresponding to the method in the embodiments of the present application. The processor 602 performs various functional applications and data processing, i.e., implements the above method, by running the software programs and modules stored in the memory 604. The memory 604 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 604 can further include a memory remotely arranged with respect to the processor 602, which can be connected to the vehicle through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0152] The transmission device 606 is used to receive or send data via a network. The specific examples of the above network can include a wireless network provided by a communication provider of the vehicle. In one example, the transmission device 606 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to be able to communicate with the Internet. In one example, the transmission device 606 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0153] The technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0154] In several embodiments provided in the present application, it should be understood that the disclosed method and intelligent device can be implemented by other ways. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, such as: a plurality of units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0155] The units described above as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0156] In addition, each of the functional units in the embodiments of the present application can be integrated in a second processing unit, can be each unit separately as a unit, or two or more units can be integrated in a unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0157] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, The method includes: A first signal is transmitted by a first antenna installed on the vehicle, and the moment when the first antenna transmits the first signal is a first moment; wherein, the first signal is used to trigger the terminal device to transmit a second signal; The second signal is received by the terminal device through a first antenna, a second antenna, and a third antenna installed on the vehicle. The time when the first antenna receives the second signal is a second moment, the time when the second antenna receives the second signal is a third moment, and the time when the third antenna receives the second signal is a fourth moment. The second signal carries first information, which is used to indicate a first duration. Based on the first time and the second time, determine the distance between the terminal device and the first antenna; If the distance between the terminal device and the first antenna is less than or equal to a first threshold, then the position of the terminal device is determined based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna, and the position of the third antenna. If the location of the terminal device meets specific conditions, then the target component of the vehicle is controlled to perform the target operation; Determining the distance between the terminal device and the first antenna based on the first time and the second time includes: The first duration is calibrated to obtain a calibrated first duration; wherein, the calibration process of the first duration includes: the user measuring the actual distance between the terminal device and the first antenna, calculating the distance between the terminal device and the first antenna through the first duration, and calibrating the first duration based on the actual distance and the distance; Based on the first time point, the second time point, and the calibrated first duration, the distance between the terminal device and the first antenna is determined; Determining the location of the terminal device based on the second time point, the third time point, the fourth time point, the location of the first antenna, the location of the second antenna, and the location of the third antenna includes: Based on the second time and the third time, a first distance difference between the terminal device and the first antenna and the second antenna is determined; Based on the third time and the fourth time, a second distance difference between the terminal device and the second antenna and the third antenna is determined; The coordinates of the terminal device are determined based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna, and the coordinates of the third antenna. If the location of the terminal device meets a specific condition, then controlling the target component of the vehicle to perform a target operation includes: If the distance between the terminal device and the target location of the vehicle is less than or equal to a second threshold, then the target component of the vehicle is controlled to perform the target operation; or... If the location of the terminal device is within the target range, the target component of the vehicle is controlled to perform the target operation, wherein the target range is determined based on the target location of the vehicle.

2. The method according to claim 1, characterized in that, The second signal is sent after a first delay following receipt of the first signal by the terminal device.

3. The method according to claim 2, characterized in that, The second signal undergoes security protection processing, and the method further includes: Upon receiving the second signal, a security verification is performed on the second signal; If the security verification passes, the first information is obtained from the second signal.

4. The method according to any one of claims 1 to 3, characterized in that, The target component controlling the vehicle to perform the target operation includes at least one of the following: Control the opening of the vehicle's doors; Control the vehicle's headlights to turn on; Control the vehicle's horn to sound; Control the opening of the vehicle's windows.

5. A vehicle control device, characterized in that, The device includes: A communication unit is configured to transmit a first signal via a first antenna mounted on a vehicle, the time at which the first antenna transmits the first signal being a first moment; wherein the first signal is used to trigger a terminal device to transmit a second signal; and to receive the second signal transmitted by the terminal device via a first antenna, a second antenna, and a third antenna mounted on the vehicle, wherein the time at which the first antenna receives the second signal is a second moment, the time at which the second antenna receives the second signal is a third moment, and the time at which the third antenna receives the second signal is a fourth moment; the second signal carries first information, the first information being used to indicate a first duration; The determining unit is configured to determine the distance between the terminal device and the first antenna based on the first time and the second time; if the distance between the terminal device and the first antenna is less than or equal to a first threshold, then determine the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna, and the position of the third antenna. A control unit is configured to control a target component of the vehicle to perform a target operation if the location of the terminal device meets specific conditions. The determining unit is specifically used to calibrate the first duration to obtain a calibrated first duration; wherein, the calibration process of the first duration includes: the user measuring the actual distance between the terminal device and the first antenna, and calculating the distance between the terminal device and the first antenna through the first duration, calibrating the first duration according to the actual distance and the distance; and determining the distance between the terminal device and the first antenna based on the first time, the second time, and the calibrated first duration. The determining unit is specifically configured to: determine a first distance difference between the terminal device and the first antenna and the second antenna based on the second time and the third time; determine a second distance difference between the terminal device and the second antenna and the third antenna based on the third time and the fourth time; and determine the coordinates of the terminal device based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna, and the coordinates of the third antenna. The control unit is used for: If the distance between the terminal device and the target location of the vehicle is less than or equal to a second threshold, then the target component of the vehicle is controlled to perform the target operation; or... If the location of the terminal device is within the target range, the target component of the vehicle is controlled to perform the target operation, wherein the target range is determined based on the target location of the vehicle.

6. The apparatus according to claim 5, characterized in that, The second signal is sent after a first delay following receipt of the first signal by the terminal device.

7. The apparatus according to claim 6, characterized in that, The second signal undergoes security protection processing, and the device further includes: The acquisition unit is configured to perform security verification on the second signal after receiving the second signal; if the security verification is successful, the first information is acquired from the second signal.

8. The apparatus according to any one of claims 5 to 7, characterized in that, The target component controlling the vehicle to perform the target operation includes at least one of the following: Control the opening of the vehicle's doors; Control the vehicle's headlights to turn on; Control the vehicle's horn to sound; Control the opening of the vehicle's windows.

9. A vehicle, characterized in that, The vehicle is equipped with a first antenna, a second antenna, and a third antenna; the first antenna, the second antenna, and the third antenna are used for signal transmission between the vehicle and the terminal device; wherein... The vehicle includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 4.

10. The vehicle according to claim 9, characterized in that, The first antenna, the second antenna, and the third antenna are distributed at three locations on the vehicle, and the plane formed by the first antenna, the second antenna, and the third antenna is parallel to the ground.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

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