Control method, control device, automobile, and storage medium

Abstract

The application discloses a control method, a control device, an automobile and a storage medium. The control method comprises the following steps: periodically acquiring a current position of a key relative to the automobile, and caching the key position in a predetermined number of periods; calculating a radial velocity of the key relative to a boundary line of a functional area to be crossed based on the key position and a period value, the functional area being an area divided around the automobile; dynamically adjusting a frequency threshold value according to the radial velocity, the frequency threshold value being used for comparison with a frequency of the key being located in the same functional area in the predetermined number of periods, so as to determine whether the key is stably located in the functional area, and executing preset function control of the automobile according to the result, wherein the frequency threshold value is inversely related to the radial velocity. According to the control method, the control device and the automobile, the frequency threshold value is adjusted according to the size of the radial velocity of the key relative to the boundary line of the functional area, the accuracy is ensured, and the response speed of the corresponding functional area is improved when the key moves to the functional area quickly.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more particularly to a control method, control device, automobile, and storage medium. Background Technology

[0002] In related technologies, when a car key enters a designated functional area around the car, the car executes the corresponding function. However, when the car key is located at the boundary between two functional areas, due to random errors during positioning and the instability of human movement, the key position output by the car's positioning system will randomly jump between the two sides of the boundary. If the positioning system outputs the corresponding functional area's action, it will cause frequent switching of preset actions between adjacent functional areas when the car is within a certain range of the functional area boundary. Furthermore, the system's recognition and response time when the user enters / leaves the functional area is designed based on the user (key) entering / leaving the functional area at a normal speed; when the user quickly enters / leaves the functional area with the key, it can easily cause a lag in the functional area's response. Therefore, how to improve the timeliness of the system's response under different key movement speeds while ensuring positioning accuracy is a problem that needs to be solved. Summary of the Invention

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

[0004] The control method implemented in this application includes:

[0005] The key's current position relative to the vehicle is periodically acquired, and the key's position is cached for the most recent predetermined number of periods;

[0006] Based on the location information and the period value, the radial velocity of the key relative to the boundary line of the functional area to be crossed is calculated, wherein the functional area is the area defined around the car.

[0007] The threshold number of the sliding window counter for the relevant functional area is dynamically adjusted according to the radial speed. The threshold number is used to compare with the number of times the key is located in the same functional area within a predetermined number of cycles to determine whether the key is stably in the functional area. Based on this result, the preset function control of the car is executed. The threshold number is inversely correlated with the radial speed.

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

[0009] Based on the current location, confirm the functional area where the key is currently located;

[0010] In each cycle, the number of times the key is located in different functional areas within a predetermined number of cycles is counted.

[0011] The functional areas in which the key is located in the same functional area more than the specified number of times are defined as target functional areas.

[0012] Control the vehicle to execute the preset function corresponding to the target functional area.

[0013] In some implementations, the predetermined number of periods is the most recent predetermined number of periods that are continuous with the current time.

[0014] In some implementations, periodically acquiring the key's current position relative to the vehicle includes:

[0015] The current distance between the key and multiple UWB anchor point modules of the car is periodically obtained, and the multiple UWB anchor points are located at different positions of the car.

[0016] Based on the current distances between multiple keys and the vehicle's UWB anchor points, the current position of the key relative to the vehicle is calculated.

[0017] In some implementations, counting the number of times the key is located in different functional areas within a predetermined number of periods includes:

[0018] In each cycle, the functional area where the key is located is counted once;

[0019] Within a predetermined number of cycles, the number of times the key is located in different functional areas is confirmed based on the counting results.

[0020] In some embodiments, the control method further includes:

[0021] If the number of times the key is located in the same functional area is less than or equal to the threshold number, the function currently performed by the car remains unchanged.

[0022] In some implementations, the value of the number threshold is greater than half of the predetermined number of cycles.

[0023] In some embodiments, the control method includes:

[0024] When the vehicle is performing the preset function corresponding to the target functional area, the vehicle is controlled to stop performing the functions corresponding to other functional areas.

[0025] The control device in this embodiment includes:

[0026] The acquisition module is used to periodically acquire the current position of the key relative to the car and shift the cache of the key position within the most recent predetermined number of periods;

[0027] The calculation module is used to calculate the radial velocity of the key relative to the boundary line of the functional area that it is about to cross, based on the position and the period value, wherein the functional area is a region divided around the car.

[0028] An adjustment module is used to dynamically adjust a threshold number of times based on the radial velocity; wherein the threshold number of times is inversely correlated with the radial velocity of the functional area boundary line;

[0029] The decision module is used to compare the number of times the key is located in the same functional area within a predetermined number of periods. If the number of times the key is located in a certain functional area within a predetermined number of periods is greater than the number of times the key is located in that functional area, then the key is determined to be stably located in that functional area, and the functional area is taken as the target functional area of ​​the key at this time.

[0030] The control module is used to control the car to perform the preset function of the target function area based on the target function area result of the key at this time output by the judgment module.

[0031] The vehicle according to the embodiments of this application includes a memory and a controller, the controller being used to execute a calculation program stored in the memory to implement the control method described in any of the above embodiments.

[0032] In the control method, control device, and automobile of the present application embodiments, when the key is located near the boundary line of different functional areas of the automobile by the control device, the corresponding inverse correlation number threshold is adjusted according to the magnitude of the radial velocity of the key relative to the boundary line of the functional area, thereby improving the response speed of the corresponding functional area when the key moves rapidly towards the functional area while ensuring accuracy.

[0033] The embodiments of this application provide a non-volatile computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the control method described in any of the above embodiments.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0035] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0036] Figure 1 This is a flowchart illustrating the control method according to an embodiment of this application;

[0037] Figure 2 This is a schematic diagram of the control device according to an embodiment of this application;

[0038] Figure 3 This is a schematic diagram of the functional area division of a car according to an embodiment of this application;

[0039] Figure 4 This is a schematic diagram showing the movement speed of the key towards the functional area boundary line according to an embodiment of this application;

[0040] Figure 5 This is a flowchart illustrating the control method according to an embodiment of this application;

[0041] Figure 6 This is a flowchart illustrating the control method according to an embodiment of this application;

[0042] Figure 7 This is a flowchart illustrating the control method according to an embodiment of this application;

[0043] Figure 8 This is a schematic diagram of the signal connection and positioning process between the car and the key according to an embodiment of this application;

[0044] Figure 9 This is a flowchart illustrating the control method according to an embodiment of this application;

[0045] Figure 10 This is a schematic diagram of the first embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0046] Figure 11 This is a schematic diagram of the second embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0047] Figure 12 This is a schematic diagram of the third embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0048] Figure 13 This is a flowchart illustrating the control method according to an embodiment of this application;

[0049] Figure 14 This is a schematic diagram of the fourth embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0050] Figure 15 This is a schematic diagram of the fifth embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0051] Figure 16 This is a schematic diagram of the sixth embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0052] Figure 17 This is a schematic diagram of the seventh embodiment of the control method of this application, which uses a sliding window shift register group and a counting accumulator for counting;

[0053] Figure 18 This is a flowchart illustrating the control method of an embodiment of this application.

[0054] Explanation of key component symbols:

[0055] Car 100;

[0056] Memory 10, controller 20, main function area 30, left front door function area block 31, left rear door function area block 32, right front door function area block 33, right rear door function area block 34, tailgate left function area block 35, tailgate right function area block 36, secondary function area 40, UWB anchor point module 50.

[0057] Key 200;

[0058] Control device 300, acquisition module 310, calculation module 320, adjustment module 330, decision module 340, and control module 350. Detailed Implementation

[0059] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein 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 and are only used to explain this application, and should not be construed as limiting this application.

[0060] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0063] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0064] Please see Figure 1 The control method of this application includes:

[0065] S10: Periodically obtain the current position of key 200 relative to car 100, and cache the position of key 200 within the most recent predetermined number of periods;

[0066] S20: Calculate the radial velocity of the key 200 relative to the boundary line of the functional area that it is about to cross, based on the position and period value. The functional area is the area divided around the car 100.

[0067] S30: The number of times threshold is dynamically adjusted according to the radial speed. The number of times threshold is used to compare with the number of times key 200 is located in the same functional area within a predetermined number of cycles to determine whether key 200 is stably in the functional area, and to execute the preset function control of the car based on the result. The number of times threshold is inversely correlated with radial speed.

[0068] Please see Figure 2 The control device 300 in this embodiment includes:

[0069] The acquisition module 310 is used to periodically acquire the current position of the key 200 relative to the car and shift the cache of the key 200 position within the most recent predetermined number of periods;

[0070] The calculation module 320 is used to calculate the radial velocity of the key 200 relative to the boundary line of the functional area that it is about to cross, based on the position and period value. The functional area is the area divided around the car.

[0071] The adjustment module 330 is used to dynamically adjust the number of times threshold according to the radial velocity; wherein, the number of times threshold is inversely correlated with the radial velocity of the functional area boundary line;

[0072] The decision module 340 is used to compare the number of times the key 200 is located in the same functional area within a predetermined number of periods. If the number of times the key 200 is located in a certain functional area within a predetermined number of periods is greater than the number of times the key 200 is located in that functional area, the key 200 is determined to be stably located in that functional area, and the functional area is taken as the target functional area of ​​the key 200 at this time.

[0073] The control module 350 is used to control the car to execute the preset function of the target function area based on the target function area result of the key 200 output by the decision module.

[0074] The vehicle 100 of this application includes a memory 10 and a controller 20. The controller 20 is used to periodically acquire the current position of the key 200 relative to the vehicle, and shift and cache the position of the key 200 within the most recent predetermined number of periods; and to calculate the radial velocity of the key 200 relative to the boundary line of the functional area to be crossed based on the position and period value, wherein the functional area is a region divided around the vehicle 100; and to dynamically adjust a number threshold according to the radial velocity, wherein the number threshold is inversely correlated with the radial velocity of the functional area boundary line; and to compare the number threshold with the number of times the key 200 is located in the same functional area within the predetermined number of periods. If the number of times the key 200 is located in a certain functional area within the predetermined number of periods is greater than the number threshold of that functional area, it is determined that the key 200 is stably located in that functional area, and the functional area is taken as the target functional area of ​​the key 200 at this time; and to control the vehicle to perform a preset function of the target functional area according to the target functional area result of the key 200 output by the decision module.

[0075] In the control method, control device 300, and automobile 100 of the embodiments of this application, when the key 200 is located near the boundary line of different functional areas of the automobile 100 by the control device 300, the corresponding inverse correlation number threshold is adjusted according to the magnitude of the radial velocity of the key 200 relative to the boundary line of the functional area, thereby improving the response speed of the corresponding functional area when the key 200 moves quickly towards the functional area while ensuring accuracy.

[0076] Specifically, the vehicle 100 can be a new energy vehicle, a fuel vehicle, or a hybrid vehicle, etc. The key 200 of the vehicle 100 can be a device used to enter the vehicle 100, lock the vehicle 100, or issue certain function control commands to the vehicle 100. The key 200 can be a remote control key, a key using various wireless technologies, or a digital key from an electronic device such as a mobile phone. For example, the key 200 can be a UHF remote control key, a UWB digital key, etc. The vehicle 100 may include a controller 20 and a memory 10. The controller 20 can be used to collect information from positioning sensors such as UWB / BLE distributed on the vehicle body and calculate the position of the key 200. The vehicle 100 can be controlled through the controller 20 and the memory 10.

[0077] In the control method, the control method can be implemented by first taking step S10, whereby the controller 20 can periodically acquire the current distance between the car 100 and the key 200, and cache the position of the key 200 within the most recent predetermined number of periods. Periodic acquisition can be the acquisition of the period duration or the acquisition of the number of periods. The acquisition method can employ positioning technologies such as a positioning calculation system for the car 100 and the key 200. For example, the positioning calculation system can include positioning the key 200 based on the ToF (Time of Flight) distance information collected from multiple UWB anchor points on the vehicle, positioning the key 200 based on the RSSI received signal strength information collected from multiple BLE anchor points, visual-assisted positioning on the vehicle, and relative positioning using the accelerometer on the key 200. Through the positioning of the car 100 and the key 200, the coordinates (position) of the key 200 relative to the coordinate system of the car 100 itself can be obtained. The cached most recent predetermined number of periods can be the position of the key 200 in the most recent adjacent period.

[0078] Then, step S20 can be taken to calculate the radial velocity of the key 200 relative to the boundary line of the functional area that it is about to cross, based on the current position and cycle value obtained in step S10. Confirmation can be made by using the current distance and positioning technology of the car 100 and the key 200 to determine whether the key 200 or the user carrying the key 200 is in the functional area. Then, the moving speed of the key 200 relative to the functional area can be calculated based on the time of the cycle value and the distance of the key 200's position change corresponding to the cycle number. Finally, the radial velocity can be calculated from the speed of the key 200 and its angle with the boundary line of the functional area.

[0079] like Figure 3 As shown, it is important to understand that the functional areas of the car 100 can be divided based on different locations around the car 100. The distance range outside the outer contour line of the car 100 can be divided into main functional areas 30, with the specific value of the distance range being approximately 0 meters to 2 meters. The distance range outside the main functional areas 30 of the car 100 can be divided into multiple secondary functional areas 40, with the specific value of the distance range of the multiple secondary functional areas 40 being approximately 2 meters to 30 meters, divided into several distance segments.

[0080] The main functional area 30 can be divided into multiple functional blocks according to the 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. When the key 200 is in each functional block, the vehicle 100 can unlock the corresponding functional block, such as unlocking the left front door and the left rear door. When the key 200 leaves each functional block, the vehicle 100 can lock the corresponding functional block, such as locking the left front door and the left rear door. Of course, the specific functions of each functional block can also be set to other parameters.

[0081] In the secondary functional area 40, the boundaries of the main functional area 30 and multiple secondary functional areas 40 can form a ring-shaped block, as shown in the figure of two surrounding ring-shaped blocks of secondary functional areas 40. When the key 200 is in a ring-shaped block at different distances relative to the vehicle body, it can control the car 100 to turn on the welcome lights, adjust the seats, turn on the air conditioning, etc. In certain sub-blocks of the ring-shaped block (e.g., 2m to 6m) close to the main functional area, it can also perform one or more functions such as remote parking or automatic following. Furthermore, the functions of the secondary functional area 40 can be customized according to the actual needs of the car 100 or the user.

[0082] It is also important to understand that when positioning technologies such as positioning calculation systems obtain the location of key 200, they output a random probability distribution centered on the actual location of key 200. When key 200 is near the boundary of a functional area, the output coordinates of key 200 will randomly fall into the functional area adjacent to the boundary line. If no action is taken, the functional area will frequently and randomly execute the preset functions of two adjacent functional areas. This phenomenon is usually called the ping-pong effect of functional area boundaries.

[0083] Therefore, step S30 can be taken to adjust the number of times threshold based on the radial velocity of the key 200 relative to the boundary lines of the two functional areas it is about to cross, calculated in step S20, using an inverse correlation. When the radial velocity is large, the number of times threshold should be appropriately reduced; when the radial velocity is small, the number of times threshold should be appropriately increased. However, the lower limit of the number of times threshold should be greater than 50% of the predetermined number of cycles (usually 60%).

[0084] like Figure 4 As shown, the two functional areas can be understood as follows: Figure 3 The tailgate left functional area 35 and tailgate right functional area 36 are defined by their boundary line, which is the intersection line. The solid arrow can be considered the direction of movement of the key 200, with a movement speed of V0. The dashed arrow can be considered the radial velocity v of the key 200. Radial velocity v can be understood as the component of the key 200's actual movement speed and the vertical component of the functional area boundary line; that is, the speed in the actual movement direction of the key 200 and the radial velocity have a trigonometric function relationship. The radial velocity v can be obtained from the movement speed Vcosθ. Therefore, the movement speed of the key 200 relative to the functional area can also be expressed as the radial velocity relative to the boundary line that the functional area is about to cross.

[0085] Then, the number of times the key 200 is in the same functional area is counted within a predetermined number of periods. The predetermined number of periods can be an integer multiple of the period for obtaining the current distance between the car 100 and the key 200 in step S10. The predetermined number of periods can be 5 periods, 10 periods, etc. The number of times the key 200 is in the same functional area can be counted within a relatively fixed predetermined number of periods.

[0086] Within a predetermined number of periods, the number of times the key 200 falls in the same functional area is calculated and compared with a threshold number. This threshold number is used to determine the trigger limit for the key 200 falling in the corresponding functional area within the predetermined number of periods. When the number of times the key 200 falls in a certain functional area within the predetermined number of periods exceeds the threshold number, that functional area becomes the current target functional area, and the controller 20 can control the car 100 to execute the corresponding function of that target functional area.

[0087] Please see Figure 5 In some implementations, the control method further includes:

[0088] S40: Based on the current location, confirm the functional area where key 200 is currently located;

[0089] S50: In each cycle, calculate the number of times the key 200 is located in different functional areas within a predetermined number of cycles;

[0090] S60: The functional area in which the key 200 is located in the same functional area more than the number of times it is located is the target functional area;

[0091] S70: Controls the vehicle 100 to execute the preset function corresponding to the target function area.

[0092] In some implementations, the decision module 340 of the control device 300 is used to determine the functional area where the key 200 is currently located based on the current position; the calculation module 320 is used to calculate the number of times the key 200 is located in different functional areas within a predetermined number of cycles in each cycle; the control module 350 is used to take the functional area where the number of times the key 200 is located in the same functional area is greater than a threshold as the target functional area; and control the car 100 to execute the preset function corresponding to the target functional area.

[0093] The controller 20 is used to determine the functional area where the key 200 is currently located based on the current position; and to calculate the number of times the key 200 is located in different functional areas within a predetermined number of cycles in each cycle; and to designate functional areas where the number of times the key 200 is located in the same functional area is greater than a threshold as target functional areas; and to control the car 100 to perform the preset function corresponding to the target functional area.

[0094] Thus, by implementing a control method through a control device so that when the key 200 is near the boundary line of different functional areas of the car 100, the car 100 needs to reach a certain number of times within a predetermined period before it can execute the preset function of the corresponding functional area. This reduces the frequent random switching of preset functions in adjacent functional areas and reduces the wear and tear on the actuators of the car 100.

[0095] Specifically, in the control method, the control method can first take step S40, based on the current distance obtained in step S10, to confirm the functional area where the key 200 is located. The confirmation method can be to determine whether the key 200 or the user carrying the key 200 is in the functional area by using the current distance and the positioning technology of the car 100 and the key 200.

[0096] Then, step S50 can be taken to calculate the number of times the key 200 is in different functional areas within a predetermined number of periods. The number of times the key 200 is located in each functional area can be calculated within a fixed period. Then, step S60 can be taken to calculate the number of times the key falls in each functional area within a predetermined number of periods, and each functional area corresponds to a number threshold determined after adjustment in step S30. When the number of times the key 200 falls in a certain functional area within a period is greater than the number threshold, the controller 20 can designate the functional area that has reached the number threshold as the target functional area.

[0097] Then, step S70 can be taken. After determining the target functional area, the controller 20 can control the car 100 to realize the preset function of the target functional area. The preset function may be unlocking the corresponding functional area or turning on the lights of the corresponding functional area.

[0098] Please see Figure 6 In some implementations, the control method includes:

[0099] S80: The predetermined number period is the most recent predetermined number period that is continuous with the current time.

[0100] In some embodiments, the control device 300 is used to set the predetermined number period to the most recent predetermined number period that is continuous with the current time. The controller 20 is used to set the predetermined number period to the most recent predetermined number period that is continuous with the current time.

[0101] Thus, using the most recent predetermined period that is continuous with the current time ensures that the confirmation and counting of the functional area where the key 200 is located are up-to-date.

[0102] Please see Figure 7 In some embodiments, periodically acquiring the current position of the key 200 relative to the car 100 (step S10) includes:

[0103] S11: Periodically obtain the current distance between the multiple UWB anchor point modules 50 of the car 100 and the key 200, with the multiple UWB anchor points located at different positions of the car 100;

[0104] S12: Based on the current distance between multiple keys 200 and the vehicle body UWB anchor points, calculate the current position of the key 200 relative to the car 100.

[0105] The acquisition module 310 is used to periodically acquire the current distance between the multiple UWB anchor point modules 50 of the car 100 and the key 200, respectively, with the multiple UWB anchor points located at different positions on the car 100; the calculation module 320 is used to calculate the current position of the key 200 relative to the car 100 based on the current distance between the multiple keys 200 and the UWB anchor points distributed on the car body.

[0106] The controller 20 is used to periodically acquire the current distance between the multiple UWB anchor point modules 50 of the car 100 and the key 200, respectively, wherein the multiple UWB anchor points are located at different positions of the car 100; and to calculate the current position of the key 200 relative to the car 100 based on the current distance between the multiple key 200 and the car body UWB anchor points.

[0107] Thus, the current position of the key 200 can be obtained more accurately through the multiple UWB anchor point modules 50 of the car 100, which in turn can more accurately determine the functional area where the key 200 is located.

[0108] Specifically, UWB technology based on standards such as 802.15.4z, also known as security-enhanced ultra-wideband technology, can be mainly applied to the digital key system of automobiles. It features anti-relay attacks and high ranging and positioning accuracy. Functionally, it can accurately identify the key inside and outside the vehicle, and pinpoint its location outside the vehicle. Under unobstructed conditions, it can achieve an accuracy of ±6-10cm; under obstructed conditions, it can achieve an accuracy of approximately ±30cm.

[0109] Digital key systems employing UWB technology offer a superior user experience with features such as seamless unlocking and ignition. For example, by utilizing 802.15.4z-based security-enhanced UWB technology, Bluetooth Low Energy (BLE) technology, and Near Field Communication (NFC) technology, users can unlock and start their vehicles using smartphones or other electronic devices. This also allows for convenient remote sharing of digital keys, facilitating vehicle sharing with family members and granting temporary authorization for friends to use the vehicle.

[0110] To achieve step S10, step S11 can be taken. The controller 20 can periodically obtain the current distance between each of the multiple UWB anchor point modules 50 of the car 100 and the UWB module on the key 200. The multiple UWB anchor point modules 50 can be set at different positions of the car 100, such as near the four corners of the car 100 (left front / left rear / right front / right rear) and near the front and rear doors of the car 100.

[0111] Then, step S12 can be taken to locate the relative position of the key 200 and the car 100 based on the current distance between the multiple keys 200 and the UWB anchor point of the vehicle body obtained in step S11. The functional area where the key 200 is located can be confirmed by solving the relative position.

[0112] For example, it can be combined Figure 8To further understand, during the signal connection and positioning process between the key 200 and the car 100 based on UWB technology, the vehicle body may be equipped with a UWB positioning module (anchor point), a BLE (Bluetooth Low Energy) communication module and positioning module (anchor point), an ultrasonic module, and a vision assistance module. The key 200 may be equipped with a UWB module, a BLE low-power Bluetooth module, an accelerometer, and other modules for positioning. These modules may include corresponding chips and modules. The low-power Bluetooth module in the key 200 and the low-power Bluetooth module in the car 100 can achieve wireless communication and positioning based on the received signal strength (RSSI). The UWB module in the key 200 and multiple UWB anchor point modules 50 distributed in the car 100 perform ToF ranging to obtain the current distance of the key 200.

[0113] Then, the ToF distance information and received signal strength (RSSI) information between each of the multiple UWB anchor point modules 50 on the vehicle 100 and the UWB module of the key 200 can be sent to the controller 20 of the vehicle 100 to calculate the position of the key 200, thereby obtaining the relative position of the key 200. The information obtained from the accelerometer on the key 200, the ultrasonic module of the vehicle body, and the vision module can also be used to assist in calculating the relative position of the key 200. Then, the controller 20 further determines the functional area where the key 200 is located based on the relative position of the key 200 relative to the vehicle 100.

[0114] Please see Figure 9 In some implementations, calculating the number of times the key 200 is located in different functional areas within a predetermined number of cycles (step S50) includes:

[0115] S51: In each cycle, count once for the functional area where key 200 is located;

[0116] S52: Within a predetermined number of cycles, confirm the number of times the key 200 is located in different functional areas based on the counting results.

[0117] The calculation module 320 is used to count the functional area where the key 200 is located once in each cycle; and to confirm the number of times the key 200 is located in different functional areas based on the counting results within a predetermined number of cycles.

[0118] The controller 20 is used to count the functional area where the key 200 is located once in each cycle; and to confirm the number of times the key 200 is located in different functional areas based on the counting results within a predetermined number of cycles.

[0119] In this way, by using a counting method, the number of times the key 200 is in different functional areas within a predetermined number of periods can be recorded, which makes it easier to compare the location of the key 200 in different functional areas and facilitates the judgment in subsequent steps.

[0120] Specifically, the controller 20 can first take step S51 in step S50, and count the functional area where the key 200 confirmed in step S51 is located once in each cycle within a predetermined number of cycles. Then, the corresponding number of times the key 200 has been confirmed in different functional areas within the predetermined number of cycles can be counted.

[0121] Can be combined Figure 10 To further understand the embodiments, Figure 3 The left front door functional block 31 and left rear door functional block 32 shown are examples. When the key 200 is located at a certain position from the boundary line of the two functional blocks, the controller 20 inside the vehicle 100 can execute step S50. The vehicle 100 can calculate the number of times within a predetermined number of cycles using a sliding window counting method in software logic, taking a sliding window shift register group as an example:

[0122] When key 200 is located in the left front door functional area 31, the sliding window shift register group in the left front door functional area 31 receives confirmation information and records it using 0 and 1. If it falls into the left front door functional area 31, it is recorded as 1 (shaded unit of the shift register group in the figure); otherwise, it is recorded as 0 (blank unit of the shift register group in the figure). The length of the sliding window shift register group can be considered as a predetermined number of periods, which is 10 in the figure. Each sliding window shift register group is accompanied by a counter accumulator, whose function is to calculate the number of "1"s in the sliding window shift register group.

[0123] When key 200 is a certain distance from the boundary line in the left front door functional block 31, the position of key 200 is indeed considered to be close to the normal distribution curve of the left front door functional block 31. At this time, the sliding window shift register group in the left front door functional block 31 confirms that key 200 has fallen into the left front door functional block 31 9 times within 10 pre-order cycles, with the corresponding accumulator counting 9 times. Therefore, the sliding window shift register group in the left rear door functional block 32 only confirms that key 200 has fallen into the left front door functional block 31 1 time within 10 pre-order cycles, with the corresponding accumulator counting 1 time.

[0124] Simultaneously, the radial velocity corresponding to the moving speed V1 of the key 200 relative to the boundary line is v1. At this time, the threshold number of times can be adjusted to 7 times, and the count accumulator in the left front door functional block 31 accumulates more than 7 times. Therefore, according to step S60, the left front door functional block 31 can be identified as the target functional area, and then step S70 can realize the control of the car 100 to perform the preset function corresponding to the target functional area. For example, unlocking the left front door.

[0125] Then it can be combined Figure 11 To understand, when key 200 is located in the same position as... Figure 11When the radial velocity corresponding to the movement speed V2 relative to the functional area boundary line at the same position is V2, and v2 is less than v1, the number of times threshold is adjusted inversely with the radial velocity. Therefore, the number of times threshold can be adjusted to 9 times. The number of times accumulated by the counter accumulator in the left front door functional area block 31 is still 9 times, which does not exceed the number of times threshold. Furthermore, according to step S60, the left front door functional area is not identified as the target functional area, and the car 100 maintains the current execution function. For example, if the car 100 previously performed the right front door unlocking function, it will continue to keep the right front door unlocked.

[0126] Can be combined Figure 12 To understand, when key 200 is located in the same position as... Figure 11 When the radial velocity corresponding to the movement speed V3 relative to the functional area boundary line at the same position is greater than v1, the number of times threshold is adjusted inversely with the radial velocity. Therefore, the number of times threshold can be adjusted to 6 times. The number of times accumulated by the counter accumulator in the left front door functional area block 31 is still 9 times, which exceeds the number of times threshold. Therefore, according to step S60, the left front door functional area block 31 can be identified as the target functional area, and then step S70 can realize the control of the car 100 to perform the preset function corresponding to the target functional area. For example, unlocking the left front door.

[0127] Please see Figure 13 In some implementations, the control method further includes:

[0128] S100: If the number of times the key 200 is located in the same functional area is less than or equal to the number of times the key 200 is located ...

[0129] The control module 350 is used to maintain the function currently being performed by the vehicle 100 when the number of times the key 200 is located in the same functional area is less than or equal to a threshold number of times. The controller 20 is used to maintain the function currently being performed by the vehicle 100 when the number of times the key 200 is located in the same functional area is less than or equal to a threshold number of times.

[0130] Thus, if the number of times the key 200 is located in the same functional area is less than or equal to the number of times the key 200 is located is less than or equal to the threshold, keeping the function currently performed by the car 100 can reduce the frequent switching of the functional area performed by the car 100 caused by the ping-pong effect of the key 200 being located at the boundary line.

[0131] Specifically, when the controller 20 executes the control method up to step S30 and does not satisfy step S40, it can execute step S100. If the number of times the key 200 is located in the same functional area is less than or equal to the number of times the key 200 is located ...

[0132] Combined Figure 14To understand this, when key 200 is near the boundary line in the left front door functional block 31, the position of key 200 is indeed considered to be close to the normal distribution curve of the boundary line. At this time, the sliding window shift register group in the left front door functional block 31 confirms that key 200 has fallen into the left front door functional block 31 7 times within 10 pre-order cycles, with the corresponding accumulator counting 7 times. Therefore, the sliding window shift register group in the left rear door functional block 32 only confirms that key 200 has fallen into the left front door functional block 31 3 times within 10 pre-order cycles, with the corresponding accumulator counting 3 times.

[0133] The moving speed of key 200 relative to the boundary line is also V1, corresponding to a radial speed of v1. Therefore, the threshold adjustment value in the figure is 7 times. The number of times accumulated by the counter accumulator in the left front door functional block 31 is equal to 7 times, while the number of times accumulated by the counter accumulator in the left rear door functional block 32 is less than 7 times. Therefore, according to step S100, if the target functional area executed by the current vehicle 100 is the unlocking of the left front door functional block 31, the vehicle 100 can maintain the unlocked state of the left front door functional block 31.

[0134] Then combine Figure 15 To understand, when key 200 is located in the same position as... Figure 13 When the radial velocity corresponding to the movement speed V2 relative to the functional area boundary line at the same position is V2, and v2 is less than v1, the number of times threshold is adjusted inversely with the radial velocity. Therefore, the number of times threshold can be adjusted to 9 times, and the number of times accumulated by the counter accumulator in the left front door functional area block 31 is still 7 times, which does not exceed the number of times threshold. Furthermore, according to step S60, the left front door functional area is not identified as the target functional area, and the car 100 maintains the current execution function. For example, if the car 100 previously performed the right front door unlocking function, it will continue to keep the right front door unlocked.

[0135] Further integration Figure 16 To understand this, when key 200 is on the boundary line between the left front door functional block 31 and the left rear door functional block, the position of key 200 is indeed considered to be on the normal distribution curve of the boundary line. At this time, the sliding window shift register group in the left front door functional block 31 confirms that key 200 has fallen into the left front door functional block 31 5 times within 10 pre-order cycles, with the corresponding accumulator incrementing 5 times. Therefore, the sliding window shift register group in the left rear door functional block 32 only confirms that key 200 has fallen into the left front door functional block 31 5 times within 10 pre-order cycles, with the corresponding accumulator incrementing 5 times.

[0136] The moving speed of key 200 relative to the boundary line is also V1, corresponding to a radial speed of v1. Therefore, the threshold adjustment value in the figure is 7 times. The number of times accumulated by the counter accumulator in the left front door functional block 31 is equal to 7 times, while the number of times accumulated by the counter accumulator in the left rear door functional block 32 is less than 7 times. Therefore, according to step S100, if the target functional area executed by the current vehicle 100 is the unlocking of the left front door functional block 31, the vehicle 100 can maintain the unlocked state of the left front door functional block 31.

[0137] Then combine Figure 17 To understand, when key 200 is located in the same position as... Figure 15 When the radial velocity corresponding to the movement speed V2 relative to the functional area boundary line at the same position is less than v1, the number of times threshold is adjusted inversely with the radial velocity. Therefore, the number of times threshold can be adjusted to 9 times. The number of times accumulated by the counter accumulator in the left front door functional area block 31 and the left rear door functional area block 32 is 5 times, which does not exceed the number of times threshold. Furthermore, according to step S60, the left front door functional area is not identified as the target functional area, and the car 100 maintains the current execution function. For example, if the car 100 previously executed the right front door unlocking function, it will continue to keep the right front door unlocked.

[0138] In some implementations, the value of the number of times threshold is greater than half of the predetermined number of cycles.

[0139] Thus, a threshold value greater than half of the predetermined number of cycles can ensure that the confirmation of the 100 key pairs 200 function areas of the car is consistent with reality.

[0140] Specifically, the value of the number of times threshold should be greater than half of the value of the predetermined number of periods, that is, the value of the number of times threshold should be more than 50% of the value of the predetermined number of periods. Preferably, the value of the number of times threshold can be 60% or more of the value of the predetermined number of periods.

[0141] Please see Figure 18 In some implementations, the control method includes:

[0142] S110: When the vehicle 100 is executing the preset function corresponding to the target function area, control the vehicle 100 to stop executing the functions corresponding to other function areas.

[0143] This prevents conflicts between the preset functions of the target functional area and the functions executed by other functional areas when the car 100 is performing the preset functions of the target functional area.

[0144] Specifically, in combination Figure 3To illustrate using the functional areas of the vehicle 100, when the controller 20 of the vehicle 100 executes the control method and confirms that the target functional area is the unlocking function of the left front door functional area 31, the vehicle 100 will stop the functions executed by other functional areas besides the target functional area, such as the left rear door functional area 32, the right front door functional area 33, the right rear door functional area 34, the tailgate left functional area 35, and the tailgate right functional area 36.

[0145] The non-volatile computer-readable storage medium storing a computer program, as described in this application, implements the control method of any of the above embodiments when the computer program is executed by one or more processors. Specifically, the processor can execute any step of the control method.

[0146] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0147] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0148] The processor can be a Central Processing Unit (CPU), or 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. A general-purpose processor can be a microprocessor or any conventional processor.

[0149] It should be understood that various parts of the embodiments of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0150] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0151] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0152] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0153] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0154] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for an automobile, characterized by, The control method includes: The current position of the key relative to the vehicle is periodically acquired, and the key position within the last predetermined number of periods is cached. The radial velocity of the key relative to the boundary line of the functional area to be crossed is calculated based on the position and period value, wherein the functional area is the area defined around the car. The number of times the radial velocity is dynamically adjusted is a threshold value. This threshold value is used to compare with the number of times the key is located in the same functional area within a predetermined number of cycles, so as to determine whether the key is stably located in the functional area. Based on this result, preset function control of the car is executed. The number of times the threshold value is inversely correlated with the radial velocity.

2. The control method according to claim 1, characterized by, The control method further includes: Based on the current location, confirm the functional area where the key is currently located; In each cycle, the number of times the key is located in different functional areas within a predetermined number of cycles is counted. The functional areas in which the key is located in the same functional area more than the specified number of times are defined as target functional areas. Control the vehicle to execute the preset function corresponding to the target functional area.

3. The control method according to claim 2, characterized by, The control method further includes: The predetermined number period is the most recent predetermined number period that is continuous with the current time.

4. The control method according to claim 2, characterized in that, Periodically acquiring the key's current position relative to the vehicle includes: The current distance between the key and multiple UWB anchor point modules of the car is periodically obtained, and the multiple UWB anchor points are located at different positions of the car. Based on the current distances between multiple keys and the vehicle's UWB anchor points, the current position of the key relative to the vehicle is calculated.

5. The control method according to claim 2, characterized in that, The calculation of the number of times the key is located in different functional areas within a predetermined number of periods includes: In each cycle, the functional area where the key is located is counted once; Within a predetermined number of cycles, the number of times the key is located in different functional areas is confirmed based on the counting results.

6. The control method according to claim 1, characterized in that, The control method further includes: If the number of times the key is located in the same functional area is less than or equal to the threshold number, the function currently performed by the car remains unchanged.

7. The control method according to claim 1, characterized in that, The value of the number threshold is greater than half of the predetermined number of cycles.

8. The control method according to claim 2, characterized in that, The control method includes: When the vehicle is performing the preset function corresponding to the target functional area, the vehicle is controlled to stop performing the functions corresponding to other functional areas.

9. A control device for an automobile, characterized in that, The control device includes: The acquisition module is used to periodically acquire the current position of the key relative to the car and shift the cache of the key position within the most recent predetermined number of periods; The calculation module is used to calculate the radial velocity of the key relative to the boundary line of the functional area that it is about to cross, based on the position and the period value, wherein the functional area is a region divided around the car. An adjustment module is used to dynamically adjust a threshold number of times based on the radial velocity; wherein the threshold number of times is inversely correlated with the radial velocity of the functional area boundary line; The decision module is used to compare the number of times the key is located in the same functional area within a predetermined number of periods. If the number of times the key is located in a certain functional area within a predetermined number of periods is greater than the number of times the key is located in that functional area, then the key is determined to be stably located in that functional area, and the functional area is taken as the target functional area of ​​the key at this time. The control module is used to control the car to perform the preset function of the target function area based on the target function area result of the key at this time output by the judgment module.

10. A car, characterized in that, The vehicle includes a memory and a controller, the controller being configured to execute a computational program stored in the memory to implement the control method according to any one of claims 1-8.

11. 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, it implements the control method according to any one of claims 1-8.

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