A vehicle door control method and apparatus

Abstract

The application provides a vehicle door control method and device, which is applied to the technical field of vehicles. In the case that a target mobile terminal with a preset matching relationship with a vehicle is identified, the method acquires Bluetooth positioning information of the target mobile terminal and multiple radar positioning information fed back by a vehicle-mounted radar, and one radar positioning information corresponds to one detection object. Then, according to the Bluetooth positioning information and the radar positioning information of each detection object, the target detection object corresponding to the target mobile terminal is determined, and the target radar positioning information is taken as the target positioning information of the target mobile terminal. Finally, the vehicle door of the vehicle is controlled according to the target positioning information of the target mobile terminal. Since the radar signal propagation is not easily affected by shielding compared with the Bluetooth signal, the corresponding radar positioning information is more accurate, the accuracy of the positioning result of the mobile terminal can be improved, the accuracy of the vehicle door control is further improved, and the use experience of the user is improved.

Description

Technical Field

[0001] This invention belongs to the field of automotive technology, and in particular relates to a door control method and device. Background Technology

[0002] A digital key refers to a mobile terminal device such as a smartphone, smartwatch, or smart bracelet that can be turned into a car key through communication technologies such as Bluetooth positioning. It works with the vehicle's onboard control module to enable functions such as keyless entry and start, remote key authorization, and personalized vehicle settings.

[0003] To ensure that digital keys provide the same user experience as physical keys, accurate positioning of mobile devices with digital key functionality is crucial. Existing Bluetooth-based digital key technologies largely rely on the Bluetooth signal strength between the mobile device and the vehicle, using a pre-defined correlation between location and signal strength for mobile device positioning.

[0004] However, the disadvantages of using Bluetooth signal strength for mobile terminal positioning are very obvious. When the mobile terminal is blocked, it will significantly affect the strength of the Bluetooth signal, resulting in inaccurate positioning results and inability to effectively control the car door, thus affecting the user experience. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a vehicle door control method and device that uses radar positioning information to replace the Bluetooth positioning information of a mobile terminal, reducing reliance on Bluetooth positioning results, improving the accuracy of mobile terminal positioning results, thereby improving the accuracy of vehicle door control and enhancing the user experience. The specific solution is as follows:

[0006] In a first aspect, the door control method provided by the present invention includes:

[0007] When a target mobile terminal with a preset matching relationship with the vehicle is identified, the Bluetooth positioning information of the target mobile terminal and multiple radar positioning information fed back by the vehicle radar are obtained.

[0008] One radar positioning information corresponds to one detection object;

[0009] Based on the Bluetooth positioning information and the radar positioning information of each of the detection objects, the target detection object corresponding to the target mobile terminal is determined;

[0010] The radar positioning information of the target detection object is used as the target positioning information of the target mobile terminal;

[0011] The vehicle doors are controlled based on the target location information.

[0012] Optionally, the Bluetooth positioning information includes the azimuth angle of the target mobile terminal;

[0013] The radar positioning information includes the azimuth angle of the corresponding target being detected;

[0014] The step of determining the target detection object corresponding to the target mobile terminal based on the Bluetooth positioning information and the radar positioning information of each of the detection objects includes:

[0015] The deviation between the azimuth angle of each of the detected objects and the azimuth angle of the target mobile terminal is calculated to obtain the corresponding azimuth angle deviation;

[0016] The detection objects whose azimuth deviation is within the preset angle range are taken as the target detection objects corresponding to the target mobile terminal.

[0017] Optionally, if the number of detection targets whose corresponding azimuth deviation is within a preset angle range includes multiple targets, the method further includes:

[0018] Obtain the moving speed of the target mobile terminal;

[0019] Based on the moving speed of the target mobile terminal, the target detection object is determined among multiple detection objects whose corresponding azimuth angle deviation is within a preset angle range.

[0020] Optionally, the radar positioning information may also include the moving speed of the corresponding detected object;

[0021] The step of determining the target detection object from among multiple detection objects whose corresponding azimuth angle deviations are within a preset angle range based on the moving speed of the target mobile terminal includes:

[0022] The detection objects whose corresponding azimuth angle deviation is less than the preset angle threshold are selected as candidate detection objects;

[0023] The speed deviation between the moving speed of each candidate detection object and the moving speed of the target mobile terminal is calculated to obtain the corresponding speed deviation;

[0024] Candidate detection objects whose speed deviation is within a preset speed range are selected as target detection objects corresponding to the target mobile terminal.

[0025] Optionally, controlling the vehicle doors based on the target positioning information includes:

[0026] The target mobile terminal's direction of movement and distance relative to the vehicle are determined based on the target positioning information;

[0027] The door is controlled based on the direction of movement of the target mobile terminal and its distance relative to the vehicle.

[0028] Optionally, controlling the car door based on the moving direction of the target mobile terminal and its distance relative to the vehicle includes:

[0029] If the target mobile terminal is moving towards the vehicle, the welcome function is activated or the car door is unlocked based on the distance between the target mobile terminal and the vehicle.

[0030] If the target mobile terminal is moving away from the vehicle, the vehicle door is locked according to the distance between the target mobile terminal and the vehicle.

[0031] Optionally, activating the welcome function or unlocking the car door based on the distance of the target mobile terminal relative to the vehicle includes:

[0032] If the distance between the target mobile terminal and the vehicle is less than a first distance threshold, the welcoming function is activated;

[0033] If the distance between the target mobile terminal and the vehicle is less than a second distance threshold, unlock the car door;

[0034] The step of locking the vehicle door based on the distance of the target mobile terminal relative to the vehicle includes:

[0035] If the distance between the target mobile terminal and the vehicle is greater than the third distance threshold, the vehicle door is locked;

[0036] Wherein, the third distance threshold is greater than the first distance threshold, and the first distance threshold is greater than the second distance threshold.

[0037] In a second aspect, the present invention provides a vehicle door control device, comprising:

[0038] The first acquisition unit is used to acquire the Bluetooth positioning information of the target mobile terminal and multiple radar positioning information fed back by the vehicle radar when a target mobile terminal with a preset matching relationship with the vehicle is identified.

[0039] One radar positioning information corresponds to one detection object;

[0040] The first determining unit is used to determine the target detection object corresponding to the target mobile terminal based on the Bluetooth positioning information and the radar positioning information of each of the detection objects;

[0041] The second determining unit is used to use the radar positioning information of the target detection object as the target positioning information of the mobile terminal.

[0042] The control unit is used to control the doors of the vehicle based on the target positioning information.

[0043] Optionally, the Bluetooth positioning information includes the azimuth angle of the target mobile terminal;

[0044] The radar positioning information includes the azimuth angle of the corresponding target being detected;

[0045] The first determining unit is configured to determine the target detection object corresponding to the target mobile terminal based on the Bluetooth positioning information and the radar positioning information of each of the detection objects, specifically including:

[0046] The deviation between the azimuth angle of each of the detected objects and the azimuth angle of the target mobile terminal is calculated to obtain the corresponding azimuth angle deviation;

[0047] The detection objects whose azimuth deviation is within the preset angle range are taken as the target detection objects corresponding to the target mobile terminal.

[0048] Optionally, if the number of detection targets within a preset angle range for which the corresponding azimuth deviation is within a certain range includes multiple targets, the device further includes:

[0049] The second acquisition unit is used to acquire the moving speed of the target mobile terminal;

[0050] The third determining unit is used to determine the target detection object among multiple detection objects whose corresponding azimuth angle deviation is within a preset angle range, based on the moving speed of the target mobile terminal.

[0051] The vehicle door control method provided by the present invention, after identifying the target mobile terminal, simultaneously acquires the Bluetooth positioning information of the mobile terminal and the radar positioning information of multiple detection objects fed back by radar. After determining the target detection object corresponding to the target mobile terminal, the radar positioning information of the target detection object is used as the target positioning information of the target mobile terminal. Since radar signal propagation is less affected by obstruction than Bluetooth signal, the corresponding radar positioning information is more accurate. Therefore, the positioning of the target mobile terminal is more accurate. Using radar positioning information to replace the Bluetooth positioning information of the mobile terminal reduces the dependence on Bluetooth positioning results, improves the accuracy of mobile terminal positioning results, and thus improves the accuracy of vehicle door control and enhances the user experience. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1This is a schematic block diagram of the structure of a vehicle positioning system in the prior art;

[0054] Figure 2 This is a flowchart of a door control method provided in an embodiment of the present invention;

[0055] Figure 3 This is a structural block diagram of a door control device provided in an embodiment of the present invention;

[0056] Figure 4 This is a structural block diagram of another door control device provided in an embodiment of the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] See Figure 1 Most vehicles in the current technology are equipped with body controllers, onboard radar, and onboard Bluetooth modules. When implementing digital key functionality, the onboard Bluetooth module also needs to cooperate with the user's Bluetooth-enabled mobile terminal, such as a smartphone or smartwatch. Considering the practical application of onboard radar, it can be positioned at the front left, front right, rear left, rear right, and door locations. The onboard radar can acquire detection information of multiple objects located in its detection direction, such as the object's angle, speed, and distance. When implementing digital key functionality, the mobile terminal needs to establish a pre-existing pairing relationship with the vehicle. In practical applications, based on this pre-established pairing relationship, the corresponding target mobile terminal is identified and confirmed via Bluetooth signals.

[0059] Furthermore, based on the working principle of vehicle-mounted radar, especially the widely used vehicle-mounted millimeter-wave radar, it is known that the radar information fed back during the detection of objects can achieve a high-precision target detection effect and is not easily affected by the external environment. Compared with Bluetooth signals, the transmission process of radar signals is more stable and reliable.

[0060] Based on the above, this embodiment of the invention provides a vehicle door control method. This method can be applied to the vehicle's body controller, or to other controllers on the vehicle capable of acquiring relevant parameters and having data processing capabilities. Obviously, in some cases, a network-side server can also be used for implementation; see reference. Figure 2The flowchart of the door control method provided in this embodiment of the invention includes the following steps:

[0061] S100, upon identifying a target mobile terminal with a preset matching relationship with the vehicle, acquires the target mobile terminal's Bluetooth positioning information and multiple radar positioning information fed back by the vehicle's radar.

[0062] One radar positioning information corresponds to one detection target; Bluetooth positioning information includes the azimuth angle of the target mobile terminal; radar positioning information includes the azimuth angle of the corresponding detection target.

[0063] The Bluetooth module of the mobile terminal (phone / wristband, etc.) interacts and pairs with the vehicle's in-vehicle Bluetooth module. The mobile terminal that successfully pairs with the in-vehicle Bluetooth module is the target mobile terminal mentioned in this embodiment. When the target mobile terminal approaches or moves away from the vehicle's searchable area, the in-vehicle Bluetooth module can obtain the azimuth angle of the target mobile terminal based on the obtained Bluetooth positioning information, and the in-vehicle Bluetooth module can calculate the speed of the target mobile terminal through the sensor signals inside the target mobile terminal.

[0064] It should be noted that the acquisition of Bluetooth positioning information of the target mobile terminal is based on existing technology. The distance between the target mobile terminal and the vehicle can be determined according to the pre-calibrated correspondence between distance and Bluetooth signal strength.

[0065] Based on the basic functions of vehicle-mounted radar, the vehicle controller can detect the environment around the vehicle and obtain the radar positioning information corresponding to each detected object in the environment. In practical applications, there are often multiple detected objects around the vehicle at the same time, and each detected object corresponds to a radar positioning information. Therefore, multiple radar positioning information can be obtained.

[0066] Optionally, when the vehicle controller obtains the azimuth angle of the detected object through the vehicle radar, if the vehicle radar is in a dormant state, the vehicle controller needs to wake up the vehicle radar and then control the vehicle radar to emit radar waves to obtain the radar positioning information corresponding to different detected objects.

[0067] S110 determines the target detection object corresponding to the target mobile terminal based on Bluetooth positioning information and radar positioning information of each detection object.

[0068] As mentioned earlier, when a vehicle-mounted radar acquires radar positioning information of multiple objects, it cannot determine which object is the target mobile terminal. Therefore, it is necessary to filter among the multiple objects and select the object corresponding to the target mobile terminal as the target object.

[0069] Optionally, based on the foregoing, the vehicle controller can simultaneously acquire both Bluetooth and radar positioning information of the target mobile terminal. For the same target mobile terminal, the Bluetooth and radar positioning information obtained by the vehicle controller should be similar, or even identical. Therefore, based on the deviation between the Bluetooth and radar positioning information, the target mobile terminal can be selected and identified from multiple detection targets. Specifically, the deviation between the azimuth angle of each detection object and the azimuth angle of the target mobile terminal is first calculated to obtain the corresponding azimuth angle deviation. Then, detection objects whose azimuth angle deviations are within a preset angle range are taken as the target detection objects corresponding to the target mobile terminal.

[0070] If the calculated difference between the azimuth angle of the target mobile terminal and the azimuth angle of the detected object is within a preset azimuth angle deviation range, and there are multiple detected objects, the vehicle controller needs to obtain the moving speed of the detected objects through the vehicle-mounted radar, and determine the target detected object by the difference between the moving speed of the target mobile terminal and the detected object. Specifically, the vehicle controller first identifies detected objects whose deviation between the azimuth angle of the target mobile terminal and the azimuth angle of the detected object is less than a preset deviation angle threshold as candidate detected objects. Then, the vehicle controller calculates the speed difference between the moving speed of each candidate detected object and the moving speed of the target mobile terminal to obtain the corresponding speed deviation. The corresponding speed deviation is compared with a preset speed range to obtain candidate detected objects within the preset speed range, and the candidate detected objects within the preset speed range are identified as the target detected objects corresponding to the target mobile terminal.

[0071] It should be noted that if the deviation between the azimuth angle of each detection object and the azimuth angle of the target mobile terminal is not within the preset angle range, the target detection object corresponding to the target mobile terminal can also be determined by whether the speed deviation between the detection object and the target mobile terminal is within the preset speed range. The specific determination process can be found in the above content, and will not be repeated here.

[0072] Furthermore, if there are multiple candidate detection objects whose speed deviations fall within a preset speed range, the target detection object corresponding to the target mobile terminal can be determined from among these multiple candidate detection objects according to preset screening rules. Specifically, within a preset time period, the azimuth angle deviation and speed deviation between the target mobile terminal and each candidate detection object are calculated according to a preset cycle. The corresponding azimuth angle deviation is compared with a preset angle range, and the speed deviation is compared with a preset speed range. The total number of times each candidate detection object can be used as a target detection object is counted. After the preset time period ends, the candidate detection objects whose total number of times they can be used as target detection objects is greater than a preset threshold are selected as the target detection objects corresponding to the target mobile terminal.

[0073] The preset number of times threshold can be set based on the specific control precision and the detection precision of the vehicle radar. This invention does not limit the specific value of the preset number of times threshold.

[0074] S120 uses the radar positioning information of the target object as the target positioning information of the target mobile terminal.

[0075] Once the target object corresponding to the target mobile terminal is identified, the radar positioning information of the target object can be used as the target positioning information of the target mobile terminal, eliminating the need to rely on Bluetooth signals for subsequent control processes.

[0076] S130 controls the vehicle doors based on the target location information.

[0077] Based on practical applications, it can be seen that the driver is either approaching the vehicle or moving away from the vehicle. The control process for the car door is naturally different in these two situations. Therefore, in the steps, it is first necessary to determine the movement direction of the target mobile terminal and its distance relative to the vehicle based on the obtained target positioning information, and then control the car door based on the movement direction of the target mobile terminal and its distance relative to the vehicle.

[0078] Specifically, if the vehicle is currently locked, and the body controller detects that the target mobile terminal is moving away from the vehicle, it will not perform any control. If the body controller detects that the target mobile terminal is moving closer to the vehicle, the body controller will activate the welcome function (such as illuminating the corresponding side welcome light) or unlock the door based on the distance between the target mobile terminal and the vehicle: if the body controller detects that the distance between the target mobile terminal and the vehicle is less than a first distance threshold, it will activate the welcome function; if the body controller detects that the distance between the target mobile terminal and the vehicle is less than a second distance threshold, it will unlock the door.

[0079] Conversely, if the vehicle is currently unlocked, and the body controller detects that the target mobile terminal is moving towards the vehicle, it will not perform any control. If the body controller detects that the target mobile terminal is moving away from the vehicle, it will lock the doors based on the distance between the target mobile terminal and the vehicle. Specifically: if the body controller detects that the distance between the target mobile terminal and the vehicle is greater than a third distance threshold, it will lock the doors.

[0080] The third distance threshold is greater than the first distance threshold, and the first distance threshold is greater than the second distance threshold. The specific threshold values ​​can be determined by the vehicle manufacturer according to actual needs. This invention does not limit the specific values ​​of each distance threshold.

[0081] The vehicle door control method provided by the present invention, after identifying the target mobile terminal, simultaneously acquires the Bluetooth positioning information of the mobile terminal and the radar positioning information of multiple detection objects fed back by radar. After determining the target detection object corresponding to the target mobile terminal, the radar positioning information of the target detection object is used as the target positioning information of the target mobile terminal. Since radar signal propagation is less affected by obstruction than Bluetooth signal, the corresponding radar positioning information is more accurate. Therefore, the positioning of the target mobile terminal is more accurate. Using radar positioning information to replace the Bluetooth positioning information of the mobile terminal reduces the dependence on Bluetooth positioning results, improves the accuracy of mobile terminal positioning results, and thus improves the accuracy of vehicle door control and enhances the user experience.

[0082] The following describes the door control device provided in the embodiments of the present invention. The door control device described below can be considered as the functional module architecture that needs to be set in the central equipment to realize the door control method provided in the embodiments of the present invention. The following description can be referred to in conjunction with the above.

[0083] See Figure 3 , Figure 3 This invention provides a vehicle door control device, which includes:

[0084] The first acquisition unit 10 is used to acquire the Bluetooth positioning information of the target mobile terminal and multiple radar positioning information fed back by the vehicle radar when a target mobile terminal with a preset matching relationship with the vehicle is identified; wherein, one radar positioning information corresponds to one detection object.

[0085] The first determining unit 20 is used to determine the target detection object corresponding to the target mobile terminal based on the Bluetooth positioning information and the radar positioning information of each detection object.

[0086] The second determining unit 30 is used to use the radar positioning information of the target detection object as the target positioning information of the mobile terminal.

[0087] The control unit 40 is used to control the vehicle doors based on the target positioning information.

[0088] Optionally, the Bluetooth positioning information includes the azimuth angle of the target mobile terminal;

[0089] Radar positioning information includes the azimuth angle of the target object;

[0090] The first determining unit 20 is used to determine the target detection object corresponding to the target mobile terminal based on the Bluetooth positioning information and the radar positioning information of each detection object, specifically including:

[0091] The deviation between the azimuth angle of each detected object and the azimuth angle of the target mobile terminal is calculated to obtain the corresponding azimuth angle deviation;

[0092] Detection objects whose azimuth deviation is within a preset angle range are taken as target detection objects corresponding to the target mobile terminal.

[0093] Optionally, the control unit 40 is used to control the vehicle doors based on the target positioning information, specifically including:

[0094] The target mobile terminal's direction of movement and distance relative to the vehicle are determined based on the target location information;

[0095] The doors are controlled based on the direction of movement of the target mobile terminal and its distance relative to the vehicle.

[0096] Optionally, the control unit 40 controls the door according to the moving direction of the target mobile terminal and its distance relative to the vehicle, specifically including: if the moving direction of the target mobile terminal is to move closer to the vehicle, activating the welcome function or unlocking the door according to the distance of the target mobile terminal relative to the vehicle.

[0097] If the target mobile terminal is moving away from the vehicle, the car door is locked based on the distance between the target mobile terminal and the vehicle.

[0098] Optionally, the control unit 40 may activate the welcome function or unlock the doors based on the distance of the target mobile terminal relative to the vehicle, specifically including:

[0099] If the distance between the target mobile terminal and the vehicle is less than the first distance threshold, the welcome function is activated;

[0100] If the distance between the target mobile terminal and the vehicle is less than the second distance threshold, unlock the car door;

[0101] Locking the car doors based on the distance of the target mobile terminal relative to the vehicle includes:

[0102] If the distance between the target mobile terminal and the vehicle is greater than the third distance threshold, the car door is locked;

[0103] Among them, the third distance threshold is greater than the first distance threshold, and the first distance threshold is greater than the second distance threshold.

[0104] Optional, see Figure 4 , Figure 4 Another door control device provided in the embodiments of the present invention, in Figure 3 Based on the illustrated embodiment, the device further includes:

[0105] The second acquisition unit 50 is used to acquire the moving speed of the target mobile terminal;

[0106] The third determining unit 60 is used to determine the target detection object among multiple detection objects whose corresponding azimuth angle deviation is within a preset angle range, based on the moving speed of the target mobile terminal.

[0107] Optionally, if there are multiple detection objects whose corresponding azimuth deviation is within the preset angle range, the second acquisition unit 50 is used to acquire the moving speed of the target mobile terminal; and to determine the target detection object among the multiple detection objects whose corresponding azimuth deviation is within the preset angle range according to the moving speed of the target mobile terminal.

[0108] Optionally, the radar positioning information also includes the moving speed of the corresponding target. The third determining unit 60 determines the target target from among multiple targets whose corresponding azimuth angle deviations are within a preset angle range, based on the moving speed of the target mobile terminal, including:

[0109] Detection objects with corresponding azimuth deviations less than preset angle thresholds are selected as candidate detection objects;

[0110] The speed deviation between the moving speed of each candidate detection object and the moving speed of the target mobile terminal is calculated to obtain the corresponding speed deviation;

[0111] Candidate detection objects whose speed deviation is within the preset speed range are selected as target detection objects corresponding to the target mobile terminal.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0113] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0114] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0115] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the core spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle door control method characterized by, The method comprises: In the case of identifying a target mobile terminal having a preset matching relationship with a vehicle, acquiring Bluetooth positioning information of the target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar; One of the radar positioning information corresponds to one detection object; According to the Bluetooth positioning information and the radar positioning information of each detection object, a target detection object corresponding to the target mobile terminal is determined; The radar positioning information of the target detection object is taken as target positioning information of the target mobile terminal; According to the target positioning information, a door of the vehicle is controlled; The Bluetooth positioning information comprises an azimuth angle of the target mobile terminal; The radar positioning information comprises an azimuth angle of the corresponding detection object; According to the Bluetooth positioning information and the radar positioning information of each detection object, the target detection object corresponding to the target mobile terminal is determined, which comprises: The azimuth angle deviation of each detection object and the azimuth angle of the target mobile terminal is calculated respectively to obtain a corresponding azimuth angle deviation; The detection object whose corresponding azimuth angle deviation is within a preset angle range is taken as the target detection object corresponding to the target mobile terminal.

2. The vehicle door control method according to claim 1, characterized by, If the detection object whose corresponding azimuth angle deviation is within the preset angle range comprises a plurality of detection objects, the method further comprises: The moving speed of the target mobile terminal is acquired; According to the moving speed of the target mobile terminal, a target detection object is determined from the plurality of detection objects whose corresponding azimuth angle deviation is within the preset angle range.

3. The vehicle door control method according to claim 2, characterized by, The radar positioning information further comprises a moving speed of the corresponding detection object; According to the moving speed of the target mobile terminal, a target detection object is determined from the plurality of detection objects whose corresponding azimuth angle deviation is within the preset angle range, which comprises: The detection object whose corresponding azimuth angle deviation is less than a preset angle threshold is taken as a candidate detection object; The speed deviation of each candidate detection object and the moving speed of the target mobile terminal is calculated respectively to obtain a corresponding speed deviation; The candidate detection object whose corresponding speed deviation is within a preset speed range is taken as the target detection object corresponding to the target mobile terminal.

4. The vehicle door control method according to claim 1, characterized by, According to the target positioning information, the door of the vehicle is controlled, which comprises: The moving direction of the target mobile terminal and the distance relative to the vehicle are determined according to the target positioning information; The door is controlled according to the moving direction of the target mobile terminal and the distance relative to the vehicle.

5. The vehicle door control method according to claim 4, characterized by, According to the moving direction of the target mobile terminal and the distance relative to the vehicle, the door is controlled, which comprises: If the moving direction of the target mobile terminal is to approach the vehicle, a welcome function or the door is unlocked according to the distance of the target mobile terminal relative to the vehicle; If the moving direction of the target mobile terminal is to move away from the vehicle, the door is locked according to the distance of the target mobile terminal relative to the vehicle.

6. The vehicle door control method according to claim 5, characterized by, According to the distance of the target mobile terminal relative to the vehicle, the welcome function or the door is unlocked, which comprises: If the distance of the target mobile terminal relative to the vehicle is less than a first distance threshold, the welcome function is started. If the distance of the target mobile terminal relative to the vehicle is less than a second distance threshold, the vehicle door is unlocked; The locking of the vehicle door according to the distance of the target mobile terminal relative to the vehicle comprises: If the distance of the target mobile terminal relative to the vehicle is greater than a third distance threshold, the vehicle door is locked; The third distance threshold is greater than the first distance threshold, and the first distance threshold is greater than the second distance threshold.

7. A vehicle door control device characterized by comprising: Comprise: The first acquisition unit is configured to, in a case where a target mobile terminal having a preset matching relationship with the vehicle is identified, acquire Bluetooth positioning information of the target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar; Each of the radar positioning information corresponds to a detection object; The first determination unit is configured to determine a target detection object corresponding to the target mobile terminal according to the Bluetooth positioning information and the radar positioning information of each of the detection objects; The second determination unit is configured to take the radar positioning information of the target detection object as target positioning information of the mobile terminal; The control unit is configured to control a vehicle door of the vehicle according to the target positioning information; The Bluetooth positioning information comprises an azimuth angle of the target mobile terminal; The radar positioning information comprises an azimuth angle of the corresponding detection object; The first determination unit is configured to determine a target detection object corresponding to the target mobile terminal according to the Bluetooth positioning information and the radar positioning information of each of the detection objects, and specifically comprises: Respective azimuth angle deviations of each of the detection objects and the target mobile terminal are calculated to obtain corresponding azimuth angle deviations; A detection object whose corresponding azimuth angle deviation is within a preset angle range is taken as a target detection object corresponding to the target mobile terminal.

8. The vehicle door control device according to claim 7, characterized by If the detection objects whose corresponding azimuth angle deviations are within the preset angle range include a plurality of detection objects, the device further comprises: The second acquisition unit is configured to acquire a moving speed of the target mobile terminal; The third determination unit is configured to determine a target detection object from the detection objects whose corresponding azimuth angle deviations are within the preset angle range according to the moving speed of the target mobile terminal.

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