Control Method, Control Device, Vehicle, and Storage Medium

Abstract

The present application discloses a control method, a control device, a car and a storage medium. The control method includes: periodically obtaining the current position of the key relative to the car; based on the current position, confirming the functional area where the key is currently located, the functional area is an area with preset specific functions divided around the car, the functional area includes a transition area and a non-transition area connected to the transition area, and the transition area is a strip area within a certain range on both sides of the boundary line of adjacent functional areas; when the key is in the transition area, the car is controlled to keep executing the previous function unchanged. The present application implements the control method via a control device. By setting a transition area of the functional area, and controlling the car to keep the previous function unchanged when the key is in the transition area, the key can be moved near the junction boundary of different functional areas around the car, effectively reducing the frequent switching of preset functions of adjacent functional areas caused by random positioning errors, reducing the loss of the car's execution components, and improving the user experience.

Description

Technical Field

[0001] This application relates to the technical field of automobiles, and particularly to a control method, a control device, an automobile, and a storage medium. Background Art

[0002] In the related art, when the vehicle key enters the functional area demarcated around the vehicle, the vehicle will execute corresponding functions. However, when the vehicle key is near the boundary line between two functional areas, due to the existence of random errors in positioning and factors such as the instability of human movement, the output result of the vehicle's positioning system will randomly jump on both sides of the boundary line. If the preset actions corresponding to the functional area are directly executed according to the output result of the positioning system, when the vehicle is within a certain range of the functional area boundary, the preset actions of adjacent functional areas will be frequently switched, which is likely to cause adverse consequences such as reduced lifespan or damage of the execution components (such as the electric control door lock) and poor user experience. Summary of the Invention

[0003] This application provides a control method, a control device, an automobile, and a storage medium.

[0004] The control method according to the embodiments of this application includes:

[0005] Periodically obtain the current position of the key relative to the vehicle;

[0006] Based on the current position, confirm the functional area where the key is currently located. The functional area is a preset specific functional area demarcated around the vehicle. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on both sides of the boundary line between adjacent functional areas;

[0007] When the key is in the transition area, control the vehicle to keep executing the previous function unchanged.

[0008] In some embodiments, the control method further includes:

[0009] In each cycle, calculate the number of times the key is in different functional areas within a predetermined number of cycles;

[0010] Take the functional area where the number of times the key is in the same functional area is greater than the predetermined number as the target functional area;

[0011] When the key is in the non-transition area of the target functional area, control the vehicle to execute the preset function corresponding to the target functional area.

[0012] In some embodiments, periodically obtaining the current positions of the UWB anchor modules of the vehicle and the key respectively includes:

[0013] Periodically obtain the current distances between a plurality of UWB anchor modules on the vehicle body of the vehicle and the key respectively, and the plurality of UWB anchors are located at different positions of the vehicle;

[0014] Based on the current distances between the key and the plurality of UWB anchors on the vehicle body, calculate the current position of the key relative to the vehicle.

[0015] In some embodiments, calculating the number of times the key is located in different functional areas within a predetermined number of cycles in each cycle includes:

[0016] In each cycle, count the functional area where the key is located once;

[0017] In each cycle, confirm the number of times the key is located in different functional areas within a predetermined number of cycles according to the counting result.

[0018] In some embodiments, the control method further includes:

[0019] When the number of times the key is located in the same functional area is less than or equal to the predetermined number of times, keep the function previously executed by the vehicle unchanged.

[0020] In some embodiments, the value of the predetermined number of times is greater than half of the value of the predetermined number of cycles.

[0021] In some embodiments, the control method includes:

[0022] When the vehicle executes the preset function corresponding to the target functional area, control the vehicle to stop executing the functions corresponding to other functional areas.

[0023] The control device according to the embodiment of the present application includes:

[0024] An acquisition module, configured to periodically acquire the current position of the key relative to the vehicle;

[0025] A confirmation module, configured to confirm the functional area where the key is currently located based on the current position, the functional area being a preset specific functional area divided around the vehicle, the functional area including a transition area and a non-transition area connected to the transition area, and the transition area being a strip-shaped area within a certain range on both sides of the boundary line between adjacent functional areas;

[0026] A control module, configured to control the vehicle to keep executing the previous function unchanged when the key is located in the transition area. When the key is located in the non-transition area, control the vehicle to execute the preset function corresponding to the target functional area.

[0027] The automobile of the embodiment of the present application includes a memory and a controller, and the controller is used to execute the calculation program stored in the memory to implement the control method described in any one of the above embodiments.

[0028] In the control method, control device and automobile of the embodiment of the present application, the control method is implemented by the control device. By setting a transition zone of the functional zone and controlling the automobile to keep the previous function unchanged when the key is in the transition zone, the key can be moved near the intersection boundary of different functional zones around the automobile, effectively reducing the frequent switching of preset functions of adjacent functional zones caused by random positioning errors, reducing the loss of automobile execution components, and improving user experience.

[0029] The non-volatile computer-readable storage medium storing a computer program according to an embodiment of the present application implements the control method described in any one of the above embodiments when the computer program is executed by one or more processors.

[0030] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0032] Figure 1 It is a flow chart of a control method according to an embodiment of the present application;

[0033] Figure 2 is a schematic diagram of a module of a control device in an embodiment of the present application;

[0034] Figure 3 It is a schematic diagram of functional area division of a car according to an embodiment of the present application;

[0035] Figure 4 It is a schematic diagram of the flow structure of the control method of the implementation mode of the present application;

[0036] Figure 5 It is a flow chart of a control method according to an embodiment of the present application;

[0037] Figure 6 is a schematic diagram of a signal connection positioning process between a car and a key according to an embodiment of the present application;

[0038] Figure 7 It is a flow chart of a control method according to an embodiment of the present application;

[0039] Figure 8It is a schematic diagram of the principle of the first embodiment of the control method according to the embodiment of the present application, which uses a sliding window counting register group and a counting accumulator for counting;

[0040] Figure 9 It is a schematic flowchart of the control method according to the embodiment of the present application;

[0041] Figure 10 It is a schematic diagram of the principle of the second embodiment of the control method according to the embodiment of the present application, which uses a sliding window counting register group and a counting accumulator for counting;

[0042] Figure 11 It is a schematic diagram of the principle of the third embodiment of the control method according to the embodiment of the present application, which uses a sliding window counting register group and a counting accumulator for counting;

[0043] Figure 12 It is a schematic diagram of the principle of the fourth embodiment of the control method according to the embodiment of the present application, which uses a sliding window counting register group and a counting accumulator for counting;

[0044] Figure 13 It is a schematic diagram of the principle of the fifth embodiment of the control method according to the embodiment of the present application, which uses a sliding window counting register group and a counting accumulator for counting;

[0045] Figure 14 It is a schematic flowchart of the control method according to the embodiment of the present application.

[0046] Main component symbol description:

[0047] Automobile 100;

[0048] Memory 10, Controller 20, Main function area 30, Left front door function block 31, Left front door function block transition area 311, Left front door function block non-transition area 312, Left rear door function block 32, Left rear door function block transition area 321, Left rear door function block transition area 322, Right front door function block 33, Right front door function block transition area 331, Right front door function block non-transition area 332, Right rear door function block 34, Right rear door function block transition area 341, Right rear door function block non-transition area 342, Left tailgate function block 35, Left tailgate function block transition area 351, Left tailgate function block non-transition area 352, Right tailgate function block 36, Right tailgate function block transition area 361, Right tailgate function block transition area 362, Sub-function area 40, UWB anchor module 50;

[0049] Key 200;

[0050] Control device 300, Acquisition module 310, Confirmation module 320, Calculation module 330, Control module 340. Specific embodiments

[0051] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0053] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, or a connection that can communicate with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0054] In the present application, unless otherwise clearly defined and limited, the fact that the first feature is "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the fact that the first feature is "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The fact that the first feature is "below", "beneath" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0055] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0056] Please refer to Figure 1 , the control method of the embodiment of the present application includes:

[0057] S10: Periodically obtain the current position of the key 200 relative to the vehicle 100;

[0058] S20: Based on the current position, confirm the functional area where the key 200 is currently located. The functional area is a preset specific functional area demarcated around the vehicle 100. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on both sides of the boundary line of adjacent functional areas;

[0059] S30: When the key 200 is located in the transition area, control the vehicle 100 to maintain the previous function unchanged.

[0060] Please refer to Figure 2 , the control device 300 of the embodiment of the present application includes:

[0061] An acquisition module 310, configured to periodically obtain the current position of the key 200 relative to the vehicle 100;

[0062] A confirmation module 320, configured to confirm the functional area where the key 200 is located based on the current position. The functional area is a preset specific functional area demarcated around the vehicle 100. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on both sides of the boundary line of adjacent functional areas;

[0063] A control module 340, when the key 200 is located in the transition area, controls the vehicle 100 to maintain the previous function unchanged.

[0064] The automobile 100 of the embodiment of the present application includes a memory 10 and a controller 20, and the controller 20 is used to execute the computing program stored in the memory 10 to implement the control method of the above embodiment. In other words, the controller 20 is used to periodically obtain the current position of the key 200 relative to the automobile 100; and to confirm the functional area where the key 200 is located based on the current position. The functional area is an area with preset specific functions divided around the automobile 100. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip area within a certain range on both sides of the boundary line of adjacent functional areas; when the key 200 is located in the transition area, the automobile 100 is controlled to keep executing the previous function unchanged.

[0065] In the control method, control device 300 and automobile 100 of the embodiment of the present application, the control method is implemented via the control device 300. By setting a transition zone of the functional zone, and controlling the automobile 100 to keep the previous function unchanged when the key 200 is located in the transition zone, the key 200 can be moved near the intersection boundary line of different functional zones around the automobile 100, thereby reducing the frequent switching of preset functions of adjacent functional zones caused by random positioning errors, reducing the loss of the execution components of the automobile 100, and improving the user experience.

[0066] Specifically, the car 100 may be a new energy car, a fuel car, a hybrid car, etc. The key 200 of the car 100 may be a device used to enter the car 100, lock the car 100, or perform certain functions on the car 100. The key 200 may be a remote control key, a key with various wireless technologies applied, or a digital key in an electronic device such as a mobile phone. For example, the key 200 may be a UHF remote control key, a UWB digital key, etc. The car 100 may include a controller 20 and a memory 10, and the car 100 may implement the control method through the controller 20 and the memory 10.

[0067] In the control method, the control method can be implemented by first taking step S10, and the controller 20 can periodically obtain the current position of the key 200 relative to the car 100. The acquisition method can adopt positioning technologies such as the positioning and solving system of the car 100 for the key 200. For example, the positioning and solving system can include positioning of the key 200 by using the UWB ToF (Time of Flight) distance information collected by multiple UWB anchor points on the vehicle side, positioning of the key 200 by using the RSSI received signal strength information collected by multiple BLE anchor points, visual assisted positioning on the vehicle side, and relative positioning of the accelerometer on the key 200 side; the coordinates (position) of the key 200 relative to the body coordinate system of the car 100 can be obtained through the positioning of the key 200 by the car 100, so as to obtain the current position between the car 100 and the key 200.

[0068] Step S20 can be further taken. Based on the current position (coordinates) of the key 200 obtained in step S10, the functional area where the key 200 is located can be confirmed. The confirmation method can be to compare and judge the position (coordinates) of the current key 200 with the position (coordinates) of the boundary lines of all functional areas. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on both sides of the boundary line between adjacent functional areas. After confirming that the key 200 is located in a certain functional area, it is further confirmed whether the current key 200 is located in the transition area or the non-transition area of the boundary line to which the functional area belongs.

[0069] As Figure 3 shown, it should be understood that the functional areas of the vehicle 100 can be divided according to different positions around the vehicle 100. The main functional area 30 can be divided in the distance range outside the outer contour line of the vehicle 100, and the specific value of the distance range can be selected as about 0 meters to 2 meters. The secondary functional area 40 can be divided in the distance range outside the main functional area 30 of the vehicle 100, and the specific value of the distance range can be selected as about 2 meters to 30 meters and divided into several distance segments.

[0070] Within the main functional area 30, it can be divided into multiple functional blocks according to different components of the vehicle 100. For example, in the figure, the main functional area 30 of the vehicle 100 is divided into 6 functional blocks, including the left front door functional block 31, the left rear door functional block 32, the right front door functional block 33, the right rear door functional block 34, the left tailgate functional block 35, and the right tailgate functional block 36. In adjacent functional blocks, a transition area and a non-transition area can also be divided. The transition area is the extended area in the direction away from the boundary line adjacent to the adjacent functional block, and the non-transition area can be the area that is adjacent to the transition area and jointly forms the functional block with the transition area.

[0071] For ease of understanding, the functional blocks divided in Figure 3 can be further divided into the left front door functional block transition area 311 and the left front door functional block non-transition area 312, the left rear door functional block transition area 321 and the left rear door functional block transition area 322, the right front door functional block transition area 331 and the right front door functional block non-transition area 332, the right rear door functional block transition area 341 and the right rear door functional block non-transition area 342, the left tailgate functional block transition area 351 and the left tailgate functional block non-transition area 352, the right tailgate functional block transition area 361 and the right tailgate functional block transition area 362.

[0072] For example, when the key 200 is located in the non-transition area of each functional block, the vehicle 100 can unlock the corresponding functional block. For example, the left front door can be unlocked, the left rear door can be unlocked, etc. When the key 200 leaves each functional block, the vehicle 100 can lock the corresponding functional block. For example, the left front door can be locked, the left rear door can be locked, etc. Of course, the specific functions of each functional block can also be set to others.

[0073] In the secondary functional area 40, from the boundary of the primary functional area 30 to the multiple secondary functional areas 40 can form an annular block, as shown by the secondary functional areas 40 of two mutually surrounding annular blocks in the figure. When the key 200 is in the annular block, the vehicle 100 can be controlled to turn on the welcome lights, adjust the seat, and turn on the air conditioner; in some sub-areas of the annular (such as 2m to 6m) block close to the primary functional area, one or more functions such as remote parking or automatic following can also be executed. Further, the functions of the secondary functional area 40 can also be customized according to the actual situation of the vehicle 100 or the needs of the user.

[0074] It should also be understood that when the positioning and solving system and other positioning technologies obtain the position of the key 200, the output is a probability random distribution centered on the actual position of the key 200, and the output position coordinates of the key 200 will randomly fall into two functional areas adjacent to the boundary line; if not processed, the preset functions of the two functional areas will be frequently and randomly executed in the functional area; a phenomenon similar to this is usually called the ping-pong effect of the functional area boundary.

[0075] Therefore, step S30 can be taken to reduce the ping-pong effect. When the key 200 is in the transition area, the vehicle 100 is controlled to keep executing the previous function unchanged. Exemplarily, if the key 200 is located in the non-transition area 312 of the left front door functional block, the vehicle 100 realizes the preset function corresponding to the functional area where the left front door functional block 31 is located, for example, unlocking the left front door. At this time, if the key 200 is moved to the transition area 311 of the left front door functional block or the transition area 321 of the left rear door functional block, the vehicle 100 will keep executing the previous function unchanged, that is, the vehicle 100 still realizes the preset function corresponding to the functional area where the left front door functional block 31 is located, that is, unlocking the left front door.

[0076] Please refer to Figure 4 , in some embodiments, the control method further includes:

[0077] S40: In each cycle, calculate the number of times the key 200 is located in different functional areas within a predetermined number of cycles;

[0078] S50: Take the functional area where the number of times the key 200 is located in the same functional area is greater than the predetermined number as the target functional area;

[0079] S60: When the key 200 is in the non-transition area of the target function area, control the vehicle 100 to execute the preset function corresponding to the target function area.

[0080] In some embodiments, the control device further includes a calculation module 330. The calculation module 330 is configured to calculate the number of times the key 200 is located in different function areas within a predetermined number of cycles in each cycle; the control module 340 is configured to use the function area where the number of times the key 200 is located in the same function area is greater than the predetermined number as the target function area; and to control the vehicle 100 to execute the preset function corresponding to the target function area.

[0081] In the control method, step S40 is taken to calculate the number of times the key 200 is in different function areas within a predetermined number of cycles in each cycle. The predetermined number of cycles can be an integer multiple of the cycle for obtaining the relative position of the key 200 with respect to the vehicle 100 in step S10. The predetermined number of cycles can be 10 cycles, 16 cycles, etc. The number of times the key 200 is located in each function area can be calculated within a fixed cycle. Then step S50 can be taken to calculate the number of times falling in each function area within the predetermined number of cycles, and each function area is set with a predetermined number. When the number of times the key 200 falls in a certain function area within the cycle is greater than the predetermined number, the controller 20 can use the function area that meets the requirements as the target function area.

[0082] Please refer to Figure 5 , in some embodiments, periodically obtaining the current distance between the key 200 and the vehicle 100 (step S10) includes:

[0083] S11: Periodically obtain the current distances between a plurality of UWB anchor modules 50 on the vehicle body of the vehicle 100 and the key 200 respectively. The plurality of UWB anchors are located at different positions on the vehicle body of the vehicle 100;

[0084] S12: Calculate the current position of the key 200 relative to the vehicle based on the current distances between the key 200 and the plurality of UWB anchors on the vehicle body.

[0085] The acquisition module 310 is configured to periodically obtain the current distances between a plurality of UWB anchor modules 50 on the vehicle body of the vehicle 100 and the key 200 respectively. The plurality of UWB anchors are located at different positions on the vehicle 100; the calculation module 330 is configured to calculate the current position of the key 200 relative to the vehicle based on the current distances between the key 200 and the plurality of UWB anchors on the vehicle body.

[0086] The controller 20 is used to periodically obtain the current distances between a plurality of UWB anchor modules 50 on the vehicle body of the vehicle 100 and the key 200 respectively, and the plurality of UWB anchors are located at different positions on the vehicle body of the vehicle 100; and is used to calculate the current position of the key 200 relative to the vehicle 100 based on the current distances between the key 200 and the plurality of UWB anchors on the vehicle body.

[0087] In this way, the current position of the key 200 can be obtained more accurately through the plurality of UWB anchor modules 50 on the vehicle body of the vehicle 100, and then the functional area where the key 200 is located can be determined more accurately.

[0088] Specifically, the UWB technology, also known as the security-enhanced ultra-wideband technology, can be mainly applied to the digital key 200 system of the vehicle 100, and has the technical characteristics of anti-relay attack, high ranging and positioning accuracy; it can accurately identify the key 200 inside and outside the vehicle in terms of function, and accurately position the position outside the vehicle. The accuracy can reach ±6-10 cm under non-occluded conditions and about ±30 cm under occluded conditions.

[0089] The digital key system using UWB technology can provide functions such as keyless unlocking and keyless starting ignition with a good user experience. Exemplarily, by using the security-enhanced UWB technology based on 802.15.4Z, low-power Bluetooth (BLE) technology, and near-field communication (NFC) technology, electronic devices such as mobile phones can be used to achieve keyless unlocking and starting of the vehicle, digital key remote sharing can be conveniently carried out, the vehicle can be conveniently shared with family members, and friends can be authorized to use the vehicle for a short time.

[0090] To implement step S10, step S11 can be taken. The controller 20 can periodically obtain the current distances between each UWB anchor module 50 in the plurality of UWB anchor modules 50 on the vehicle body of the vehicle 100 and the UWB module on the key 200. Among them, the plurality of UWB anchor modules 50 can be set at different positions on the vehicle 100, for example, near the four corners (front left / rear left / front right / rear right) of the vehicle 100 and near the front and rear doors of the vehicle 100.

[0091] Then step S12 can be taken. According to the plurality of current distances obtained in step S11, that is, the current distances between the current key 200 and the plurality of UWB anchors on the vehicle body, the relative position between the key 200 and the vehicle 100 is located, and the functional area where the key 200 is located can be confirmed by resolving the relative position.

[0092] Exemplarily, it can be combined with Figure 6For further understanding, during the signal connection and positioning process between the key 200 based on UWB technology and the vehicle 100, the vehicle body can be equipped with a UWB positioning module (anchor point), a BLE (Bluetooth Low Energy) communication module and a positioning module (anchor point), an ultrasonic module, and a vision assistance module; the key 200 can be equipped with a UWB module, a BLE low-power Bluetooth module, an accelerometer and other modules for positioning, and the modules can include corresponding chips and modules; the low-power Bluetooth module in the key 200 and the low-power Bluetooth module in the vehicle 100 can achieve wireless communication and positioning based on the received signal strength RSSI, and the UWB module in the key 200 performs ToF ranging with multiple UWB anchor modules 50 distributed on the vehicle body of the vehicle 100, so as to obtain the current distance of the key 200.

[0093] Then, the ToF distances and received signal strength information between each of the multiple UWB anchor modules 50 on the vehicle 100 side and the UWB module of the key 200 can be sent to the controller 20 of the vehicle 100 for position calculation of the key 200, so as to obtain the relative position of the key 200. The information obtained by the accelerometer on the key 200, the ultrasonic module and the vision module of the vehicle body can also be used for assisting in the calculation of the relative position of the key 200. Then, the controller 20 further determines the functional area where the key 200 is located according to the relative position of the key 200 relative to the vehicle 100.

[0094] Please refer to Figure 7 , in some embodiments, in each cycle, calculating the number of times the key 200 is located in different functional areas within a predetermined number of cycles (step S40) includes:

[0095] S41: In each cycle, count the functional area where the key 200 is located once;

[0096] S42: In each cycle, confirm the number of times the key 200 is located in different functional areas within a predetermined number of cycles according to the counting result.

[0097] The calculation module 330 is used to count the functional area where the key 200 is located once in each cycle; and is used to confirm the number of times the key 200 is located in different functional areas within a predetermined number of cycles according to the counting result.

[0098] The controller 20 is used to count the functional area where the key 200 is located once in each cycle; and is used to confirm the number of times the key 200 is located in different functional areas within a predetermined number of cycles according to the counting result.

[0099] In this way, by using the counting method, the number of times the key 200 is in different functional areas within a cycle can be recorded, which is convenient for comparing the positioning of the key 200 between different functional areas and facilitating the judgment of subsequent steps.

[0100] Specifically, when the controller 20 performs step S40, it may first take step S41, count the function area where the key 200 is located in step S21 once in each cycle within a predetermined number of cycles, and then statistically obtain the corresponding number of times the key 200 has been confirmed in different function areas within the predetermined number of cycles.

[0101] It can be further understood in combination with Figure 8 the embodiments of Figure 3 Taking the left front door function block 31 and the left rear door function block 32 shown in

[0102] as an example, when the key 200 is located at different positions from the boundary line of the two function blocks, the controller 20 in the vehicle 100 can execute step S40. Among them, the vehicle 100 can calculate the number of times of the predetermined number of cycles by using the sliding window counting method in software logic. Taking the sliding window shift register group as an example:

[0103] In each cycle, each function area belonging to the sliding window shift register group and the counting accumulator in all function areas are updated once. When the key 200 is located in a certain function area, the sliding window shift register group belonging to this function area can receive the update information '1', and other function areas can receive the update information '0'; the shaded cells of the sliding window shift register group in the figure represent the information '1', and the blank cells of the sliding window shift register group represent the information '0'; the length of the sliding window shift register group can be regarded as the predetermined number of cycles, and the predetermined number of cycles in the figure is 10; each sliding window shift register group is accompanied by a counting accumulator, and the function of the counting accumulator is to calculate the number of '1's in the sliding window shift register group.

[0104] The predetermined number of times in the figure is selected as 6 times, and the number of times accumulated by the counting accumulator in the left front door function block 31 is greater than 6 times. Therefore, according to step S50, the left front door function block 31 can be confirmed as the target function area. If the position of the key 200 is in the non-transition area 312 of the left front door function block 31, the vehicle 100 can be controlled to execute the preset function corresponding to the target function area, for example, unlocking the left front door; if the position of the key 200 is in the transition area 311 of the left front door function block 31 or the transition area 321 of the left rear door function block 32, the vehicle 100 is controlled to keep the preset function of the previously executed target function area unchanged (such as unlocking the left front door).

[0105] In some embodiments, the predetermined number of cycles is the most recent predetermined number of cycles intercepted continuously with the current moment.

[0106] In this way, the predetermined number of cycles is the most recent predetermined number of cycles intercepted continuously with the current moment, which can ensure that the confirmation and counting of the function area where the key 200 is located are in the latest state.

[0107] Please refer to Figure 9 , in some embodiments, the control method further includes:

[0108] S70: When the number of times the key 200 is located in the same function area is less than or equal to the predetermined number of times, keep the function previously executed by the vehicle 100 unchanged.

[0109] The control module 340 is used to keep the function previously executed by the vehicle 100 unchanged when the number of times the key 200 is located in the same function area is less than or equal to the predetermined number of times. The controller 20 is used to keep the function previously executed by the vehicle 100 unchanged when the number of times the key 200 is located in the same function area is less than or equal to the predetermined number of times.

[0110] In this way, when the number of times the key 200 is located in the same function area is less than or equal to the predetermined number of times, keeping the function previously executed by the vehicle 100 unchanged can reduce the frequent switching of the vehicle 100 to execute the function area caused by the ping-pong effect of the key 200 located on the boundary line.

[0111] Specifically, when the controller 20 executes the control method to step S40 and does not meet step S50, step S70 can be executed, and when the number of times the key 200 is located in the same function area is less than or equal to the predetermined number of times, keep the function previously executed by the vehicle 100 unchanged.

[0112] The key 200 continues to move in the same direction, combined with Figure 10It is understood that at this time, the key 200 is in the middle of the transition zone of the left front door functional block 31, that is, the key 200 is located in the transition zone 311 of the left front door functional block, and the position of the key 200 is close to the transition zone 311 in the left front door functional block 31, and the position probability is normally distributed. At this time, the sliding window shift register group in the left front door functional block 31 confirms that the key 200 falls into the left front door functional block 31 7 times within 10 predetermined number cycles. The sliding window shift register group in the left rear door functional block 32 only confirms that the key 200 falls into the left rear door functional block 32 3 times within 10 predetermined number cycles.

[0113] In the figure, the predetermined number of times is selected as 6 times, the number of times accumulated by the counter accumulator in the left front door function block 31 is greater than 6 times, and the number of times accumulated by the counter accumulator in the left rear door function block 32 is less than 6 times. However, at this time, because the key 200 is located in the transition area 311 of the left front door function block, regardless of whether the result of the counter accumulator is greater than the predetermined number of times of 6 times, the previous function before entering the transition area remains unchanged. If the target function area previously executed by the car 100 is the left front door unlocking of the left front door function block 31, at this time, the car 100 still maintains the left front door unlocking state of the left front door function block 31 unchanged.

[0114] The key 200 continues to move in the same direction, and can be combined with Figure 11 It is understood that at this time, when the key 200 is at the intersection boundary between the left front door functional block 31 and the left rear door functional block 32, the position of the key 200 is on the intersection boundary line, and the probability is normally distributed. At this time, the sliding window shift register group in the left front door functional block 31 confirms that the key 200 has fallen into the left front door functional block 31 5 times within 10 predetermined number cycles, so the number of times accumulated by the counting accumulator is 5 times.

[0115] Due to the characteristics of the normal distribution curve, the sliding window shift register group in the left rear door functional block 32 also confirms that the key 200 has fallen into the left rear door functional block 32 5 times within 10 predetermined number cycles, so the number of times accumulated by the counting accumulator is 5 times.

[0116] In the figure, the predetermined number of times is selected as 6 times, the number of times the counter accumulator in the left front door function block 31 accumulates is equal to the number of times the counter accumulator in the left rear door function block 32 accumulates and both are less than 6 times, and the target function area maintains the previous state unchanged; in addition, because the key 200 is located in the transition area at this time, regardless of whether the values of the counter accumulators on both sides exceed the predetermined number of times, the function area executed by the automobile 100 is the preset function of the target function area before entering the transition area (such as one of the preset functions of the left front door function block 31 is unlocking the left front door); at this time, the automobile 100 can keep the left front door unlocking state of the left front door function block 31 unchanged.

[0117] The key 200 continues to move in the same direction and continues to engageFigure 12 Understand that at this time, the key 200 is in the transition area of the left rear door function block 32, that is, the key 200 is located in the left rear door function block transition area 321, and the position of the key 200 is in the transition area close to the left rear door function block 32, and the probability is normally distributed. At this time, the sliding window shift register group in the left rear door function block 32 confirmed that the key 200 fell into the left rear door function block 32 seven times within 10 predetermined number cycles, so the number of times accumulated by the counting accumulator is 7 times; the sliding window shift register group in the left front door function block 31 only confirmed that the key 200 fell into the left front door function block 31 three times within 10 predetermined number cycles, so the number of times accumulated by the counting accumulator is 3 times.

[0118] In the figure, the predetermined number is selected as 6 times. The number of times accumulated by the counting accumulator in the left rear door function block 32 is greater than 6 times, and the number of times accumulated by the counting accumulator in the left front door function block 31 is less than 6 times. However, at this time, because the position of the key 200 is in the left rear door function block transition area 321, regardless of whether the result of the counting accumulator is greater than the predetermined number of 6 times, the previous function before entering the transition area is maintained. If the target function area previously executed by the vehicle 100 is the left front door unlocking of the left front door function block 31, the vehicle 100 can maintain the left front door unlocking state of the left front door function block 31 at this time.

[0119] The key 200 continues to move in the same direction and continues to be combined with Figure 13 Understand that at this time, the key 200 is in the left rear door function block 32 and is located in the non-transition area 322 of the left rear door function block. The position of the key 200 is in the non-transition area close to the left rear door function block 32, and the probability is normally distributed. At this time, the sliding window shift register group in the left rear door function block 32 confirmed that the key 200 fell into the left rear door function block 32 nine times within 10 predetermined number cycles, so the number of times accumulated by the counting accumulator is 9 times; the sliding window shift register group in the left front door function block 31 only confirmed that the key 200 fell into the left front door function area 31 once within 10 predetermined number cycles, and the corresponding number of times accumulated by the counting accumulator is 1 time.

[0120] In the figure, the predetermined number is selected as 6 times, and the number of times accumulated by the counting accumulator in the left rear door function block 32 is greater than 6 times. Therefore, according to step S50, the left rear door function block 32 can be confirmed as the target function area, and at this time, the current position of the key 200 is the non-functional area 322, and the vehicle 100 is controlled to execute the preset function corresponding to the new target function area 32. For example, unlocking the left rear door.

[0121] In some embodiments, the value of the predetermined number is greater than half of the value of the predetermined number cycle.

[0122] In this way, a value of a predetermined number of times being greater than half of the value of a predetermined number of cycles can enable the vehicle 100 to confirm the function area of the key 200 in line with the actual situation.

[0123] Specifically, the value of the predetermined number of times should be set to be greater than half of the value of the predetermined number of cycles, that is, the value of the predetermined number of times is more than 50% of the value of the predetermined number of cycles. Preferably, the value of the predetermined number of times can be 60% or more of the value of the predetermined number of cycles.

[0124] Please refer to Figure 14 , in some embodiments, the control method includes:

[0125] S80: When the vehicle 100 executes the preset function corresponding to the target function area, control the vehicle 100 to stop executing the functions corresponding to other function areas.

[0126] In this way, it is possible to prevent the vehicle 100 from having a conflict with the functions executed by other function areas when executing the preset function of the target function area.

[0127] Specifically, in combination with Figure 3 the function areas of the vehicle 100, when the controller 20 of the vehicle 100 executes the control method and confirms that the target function area to be executed is the unlocking function of the left front door function block 31, the vehicle 100 will control the functions executed by other function areas except the target function area, such as the left rear door function block 32, the right front door function block 33, the right rear door function block 34, the left tailgate function block 35, and the right tailgate function block 36, to stop.

[0128] The non - volatile computer - readable storage medium storing a computer program according to the embodiment of the present application, when the computer program is executed by one or more processors, implements the control method of any of the above - mentioned embodiments. Specifically, the processor can execute any one of the steps in the control method.

[0129] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed not in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved or in the reverse order, which should be understood by those skilled in the technical field to which the embodiments of the present application belong.

[0130] The logic and / or steps represented in the flowchart or otherwise described herein can be considered, for example, as a definitional sequence list of executable instructions for implementing a logical function, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processing module, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0131] The processor can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0132] It should be understood that each part of the embodiments of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0133] Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0134] In addition, in each of the embodiments of the present application, the functional units can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0135] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0136] In the description of this specification, the description with reference to terms such as "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the said embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0137] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for an automobile, characterized in that, The control method includes: Periodically obtaining the current distances between a plurality of UWB anchor modules on the vehicle body and the key respectively, where the plurality of UWB anchors are located at different positions on the vehicle; Calculating the current position of the key relative to the vehicle based on the current distances between the key and the plurality of UWB anchors on the vehicle body; Based on the current position, confirming the functional area where the key is currently located. The functional area is a preset functional area demarcated around the vehicle, and the functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on both sides of the boundary line adjacent to the functional area; When the key is in the transition area, controlling the vehicle to maintain the previously executed function unchanged.

2. The control method according to claim 1, wherein The control method further includes: In each cycle, calculating the number of times the key is located in different functional areas within a predetermined number of cycles; Regarding the functional area where the number of times the key is located in the same functional area is greater than the predetermined number as the target functional area; When the key is in the non-transition area of the target functional area, controlling the vehicle to execute the preset function corresponding to the target functional area.

3. The control method according to claim 2, wherein The step of calculating the number of times the key is located in different functional areas within a predetermined number of cycles in each cycle includes: In each cycle, counting the functional area where the key is located once; In each cycle, confirming the number of times the key is located in different functional areas within a predetermined number of cycles according to the counting result.

4. The control method according to claim 2, wherein The control method further includes: When the number of times the key is located in the same functional area is less than or equal to the predetermined number, keeping the function previously executed by the vehicle unchanged.

5. The control method according to claim 2, characterized in that The value of the predetermined number is greater than half of the value of the predetermined number of cycles.

6. The control method according to claim 2, wherein The control method includes: When the vehicle executes the preset function corresponding to the target functional area, controlling the vehicle to stop executing the functions corresponding to other functional areas.

7. A control device, adapted to implement the control method according to any one of claims 1-6, for an automobile, characterized in that, The control device includes: An acquisition module for periodically acquiring the current position of the key relative to the vehicle; A confirmation module for confirming the functional area where the key is currently located based on the current position. The functional area is a preset functional area demarcated around the vehicle, and the functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on both sides of the boundary line adjacent to the functional area; A control module for controlling the vehicle to maintain the previously executed function unchanged when the key is in the transition area; and controlling the vehicle to execute the preset function corresponding to the target functional area when the key is in the non-transition area.

8. An automobile, characterized in that, The vehicle includes a memory and a controller, and the controller is configured to execute the calculation program stored in the memory to implement the control method according to any one of claims 1-6.

9. A non-volatile computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by one or more processors, the control method according to any one of claims 1-6 is implemented.

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