Control method, control device, vehicle, and storage medium

Abstract

The present application discloses a control method, a control device, a car, and a storage medium. The control method includes: periodically obtaining the current position of the key relative to the car and caching the key position for a predetermined number of cycles; based on the current position, confirming the functional zone the key is currently in, and calculating the radial speed of the key relative to the boundary line of the functional zone that is about to be crossed based on the key's current and past positions and the period value; adjusting the number threshold and the transition zone width according to the radial speed, the number threshold and the transition zone width are both inversely regulated with the radial speed; if the number of times the key is located in a certain functional zone within a predetermined number of cycles is greater than the number threshold, then updating the range of the functional zone, and accordingly controlling the car to execute the preset function of the functional zone. The present application can ensure the accuracy of the key when it moves near the intersection of different functional zones around the car, while also improving the response speed of the corresponding functional zone when the key moves rapidly relative to the functional zone.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a control method, a control device, a vehicle, and a storage medium. Background Art

[0002] In the related art, when a car key enters a functional area defined around the car, the car will execute the corresponding function. However, when the car key is located at the boundary between two functional areas, due to factors such as random errors in positioning and the instability of human movement, the key position output by the car's positioning system will randomly jump on both sides of the boundary. If the preset action of the corresponding functional area is directly executed based on the output of the positioning system, the preset functions (actions) of the two adjacent functional areas will frequently switch when the key resides or moves within a certain range near the boundary of the car's functional area. In addition, when the user enters / leaves the functional area, the time it takes for the system to recognize and respond is designed based on the user (key) entering / leaving the functional area at a normal speed. When the user carries the key and quickly enters / leaves the functional area, it is easy to cause the functional area's response to lag. Therefore, how to improve the timeliness of the system's response at different key movement speeds is an unresolved problem. Summary of the Invention

[0003] The present application provides a control method, a control device, a car and a storage medium.

[0004] The control method of the embodiment of the present application includes:

[0005] Periodically obtaining the current position of the key relative to the vehicle and caching the key positions within a recent predetermined number of periods;

[0006] Based on the current position, the function zone where the key is currently located is determined. Function zones are blocks of preset specific functions divided around the vehicle. Each function zone includes a core zone and a transition zone. The transition zone is a strip of area within a certain range on the side of the boundary line between adjacent function zones. At any moment, the vehicle only performs the preset function of a certain function zone. This function zone is called the active function zone at that moment. The transition zone corresponding to the boundary line in the adjacent function zone outside the boundary line that the key is about to cross is called the active function zone extension. The active function zone and the active function zone extension are combined to form the effective active function zone. The area remaining after removing the active function zone extension from the adjacent function zone to which it belongs is called the effective adjacent function zone.

[0007] Calculating a radial velocity of the key relative to a functional zone boundary line that is about to be crossed based on the current and past positions of the key and the period value;

[0008] A number threshold and a width of the transition zone are adjusted according to the radial speed, and both the number threshold and the width of the transition zone are inversely regulated with the radial speed; the number threshold is used to compare with the number of times the key is located in the same functional zone within a predetermined number of cycles to determine whether the key is stably located in the functional zone; if the number of times the key is located in the same functional zone, a valid active functional zone, or a valid adjacent functional zone within the predetermined number of cycles is greater than the number threshold, then this functional zone becomes an active functional zone; if this active functional zone is different from the previous active functional zone, then the active functional zone is expanded from the active adjacent functional zone to the current functional zone, and the vehicle is controlled to execute the preset function of the active functional zone.

[0009] In certain embodiments, the control method comprises:

[0010] In each cycle, the number of times the key is located in each functional area in a predetermined number of cycles is calculated;

[0011] In each cycle, if there is a certain functional zone and the number of times the key is located in the functional zone within a predetermined number of cycles is greater than the threshold number of times for the functional zone, then the functional zone is updated to the new active functional zone, otherwise the original active functional zone remains unchanged;

[0012] Control the vehicle to execute a preset function corresponding to the active function area.

[0013] In some embodiments, the control method further comprises:

[0014] If in a new cycle, the active function zone of the new cycle is updated due to the update of the function zone where the key is located, the function executed by the vehicle is controlled to switch from the preset function of the active function zone of the previous cycle to the preset function of the active function zone of the new cycle.

[0015] In some embodiments, periodically obtaining the current position of the key relative to the vehicle includes:

[0016] Periodically acquiring current distances between a plurality of UWB anchor point modules on the vehicle and the key, wherein the plurality of UWB anchor points are located at different positions on the vehicle;

[0017] Based on the current distance between the key and a plurality of UWB anchor points on the vehicle body, the current position of the key relative to the vehicle is calculated.

[0018] In some embodiments, calculating the number of times the key is located in each functional area within a predetermined number of cycles in each cycle includes:

[0019] In each cycle, the count of the functional area where the key is currently located is increased once, and the counts of other functional areas remain unchanged;

[0020] In each cycle, the number of times the key is located in each functional area is confirmed based on the counting results of each functional area within a predetermined number of cycles.

[0021] In certain embodiments, in each cycle, if the number of times the key is located in the same function zone within a predetermined number of cycles is less than or equal to the number threshold, the active function zone is not updated and the function currently executed by the vehicle remains unchanged.

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

[0023] In certain embodiments, the control method comprises:

[0024] When the automobile executes the preset function corresponding to the active functional area, the automobile is controlled to stop executing functions corresponding to other functional areas.

[0025] The control device of the embodiment of the present application includes: an acquisition module for periodically acquiring the current position of the key relative to the vehicle and caching the key position within the most recent predetermined number of periods;

[0026] a confirmation module for confirming, based on the current position, the functional zone in which the key is currently located. A functional zone is a block of several preset specific functions divided around the perimeter of the vehicle. Each functional zone includes a core zone and a transition zone. The transition zone is a strip of area within a certain range on the side of the boundary line between adjacent functional zones. At any moment, the vehicle only performs the preset function of a certain functional zone, and this functional zone is referred to as the active functional zone at that moment. The transition zone corresponding to the boundary line in the adjacent functional zone outside the boundary line that the key is about to cross is referred to as the active functional zone extension. The active functional zone and the active functional zone extension are combined to form an effective active functional zone. The area remaining after removing the active functional zone extension from the adjacent functional zone to which it belongs is referred to as the effective adjacent functional zone.

[0027] a calculation module for calculating a radial velocity of the key relative to a functional zone boundary line that the key is about to cross based on the current and past positions of the key and a period value; an adjustment module for adjusting a number threshold and a width of the transition zone according to the radial velocity, wherein the number threshold and the width of the transition zone are both inversely adjusted to the radial velocity;

[0028] The judgment module compares the number of times threshold with the number of times the key is located in the same functional zone within a predetermined number of cycles to determine whether the key is stably located in the functional zone; if the number of times the key is located in the same functional zone, a valid active functional zone, or a valid adjacent functional zone within the predetermined number of cycles is greater than the number threshold, then the functional zone becomes the active functional zone; if the active functional zone is different from the previous active functional zone, then the active functional zone is expanded from the adjacent functional zone to the current functional zone;

[0029] The control module is used to control the vehicle to execute the preset function of the active functional area according to the judgment result output by the judgment module.

[0030] The automobile of the embodiment of the present application includes a memory and a controller, and the controller is used to execute the calculation program stored in the memory to implement the control method described in any of the above embodiments.

[0031] In the control method, control device and automobile of the implementation mode of the present application, the control device implements the control method by dynamically generating an active extended functional area, updating the area range of the effective active functional area and the effective adjacent functional area, and replacing the area range of the functional area to which it belongs with the area range of the effective active functional area and the effective adjacent functional area. When the key is located near the boundary line of different functional areas of the automobile, the number threshold size and the width size of the transition zone are adjusted according to the inverse adjustment relationship of the radial speed size of the key relative to the functional area. When the key moves near the intersection boundary of different functional areas around the automobile, the key can better improve the response speed of the corresponding functional area when it moves quickly relative to the functional area while ensuring the accuracy.

[0032] The non-volatile computer-readable storage medium storing a computer program according to an embodiment of the present application implements the control method described in any one of the above embodiments when the computer program is executed by one or more processors.

[0033] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 It is a flow chart of the control method of the embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a module of a control device according to an embodiment of the present application;

[0037] Figure 3This is a schematic diagram of the functional area division of a car according to an embodiment of the present application;

[0038] Figure 4 Schematic diagram of the movement speed of the key toward the boundary line of the functional area in an embodiment of the present application;

[0039] Figure 5 It is a flow chart of the control method of the embodiment of the present application;

[0040] Figure 6 It is a flow chart of the control method of the embodiment of the present application;

[0041] Figure 7 It is a flow chart of the control method of the embodiment of the present application;

[0042] Figure 8 Schematic diagram of the signal connection and positioning process between a car and a key according to an embodiment of the present application;

[0043] Figure 9 It is a flow chart of the control method of the embodiment of the present application;

[0044] Figure 10 This is a schematic diagram showing the principle of a first embodiment of a control method according to an embodiment of the present application, which uses a sliding window shift register group and a counting accumulator for counting;

[0045] Figure 11 It is a flow chart of the control method of the embodiment of the present application;

[0046] Figure 12 This is a schematic diagram showing the principle of a second embodiment of a control method according to an embodiment of the present application, which employs a sliding window shift register group and a counting accumulator for counting;

[0047] Figure 13 This is a schematic diagram of the principle of a third embodiment of the control method of the present application, which uses a sliding window shift register group and a counting accumulator for counting;

[0048] Figure 14 This is a schematic diagram showing the principle of a fourth embodiment of a control method according to an embodiment of the present application, which employs a sliding window shift register group and a counting accumulator for counting;

[0049] Figure 15 This is a schematic diagram showing the principle of a fifth embodiment of a control method according to an embodiment of the present application, which employs a sliding window shift register group and a counting accumulator for counting;

[0050] Figure 16 1 is a schematic diagram showing the principle of a sixth embodiment of a control method according to an embodiment of the present application, which employs a sliding window shift register group and a counting accumulator for counting;

[0051] Figure 17 It is a flow chart of the control method of the embodiment of the present application.

[0052] Description of main component symbols:

[0053] Car 100;

[0054] Memory 10, controller 20, main function area 30, left front door function block 31, left front door function block transition area 311, left front door function block core area 312, left rear door function block 32, left rear door function block core area 321, left rear door function block transition area 322, right front door function block 33, right front door function block transition area 331, right front door function block core area 332, right rear door function block 34, right rear door function block transition area 341, right rear door function block core area 342, tailgate left function block 35, tailgate left function block transition area 351, tailgate left function block core area 352, tailgate right function block 36, tailgate right function block transition area 361, tailgate right function block core area 362, secondary function area 40, UWB anchor module 50;

[0055] Key 200;

[0056] Control device 300 , acquisition module 310 , confirmation module 320 , calculation module 330 , adjustment module 340 , judgment module 350 , and control module 360 ​​. DETAILED DESCRIPTION

[0057] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0058] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0059] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0060] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0061] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0062] See also Figure 1 , the control method of the embodiment of the present application includes:

[0063] S10: Periodically obtaining the current position of the key 200 relative to the vehicle 100 and caching the position of the key 200 within the last predetermined number of periods;

[0064] S20: Based on the current position, confirm the function zone where the key 200 is currently located. A function zone is a block of several preset specific functions divided around the vehicle 100. Each function zone includes a core area and a transition zone. The transition zone is a strip of area within a certain range on the boundary line between adjacent function zones. At any moment, the vehicle 100 only performs the preset function of a certain function zone. This function zone is called the active function zone at that moment. The transition zone corresponding to the boundary line in the adjacent function zone outside the boundary line that the key 200 is about to cross is called the active function zone extension. The active function zone and the active function zone extension are combined to form the effective active function zone. The area remaining after removing the active function zone extension from the adjacent function zone to which it belongs is called the effective adjacent function zone.

[0065] S30: Calculating the radial velocity of the key relative to the boundary line of the functional area that is about to be crossed based on the current and past positions of the key and the period value;

[0066] S40: Adjust the number threshold and the width of the transition zone according to the radial speed, and the number threshold and the width of the transition zone are both inversely adjusted with the radial speed; the number threshold is used to compare with the number of times the key 200 is located in the same functional zone within a predetermined number of cycles to determine whether the key 200 is stably in the functional zone; if the number of times the key 200 is located in the same functional zone or the valid active functional zone or the valid adjacent functional zone within the predetermined number of cycles is greater than the number threshold, then this functional zone becomes the active functional zone; if this active functional zone is different from the previous active functional zone, the active functional zone is expanded from the adjacent functional zone to this functional zone, and the automobile 100 is controlled to execute the preset function of the active functional zone.

[0067] See also Figure 2 , the control device 300 of the embodiment of the present application includes:

[0068] an acquisition module 310 for periodically acquiring the current position of the key 200 relative to the vehicle 100 and caching the positions of the key 200 within a recent predetermined number of periods;

[0069] The confirmation module 320 is configured to determine the functional zone currently located by the key 200 based on the current position. A functional zone is a block of preset specific functions divided around the vehicle 100. Each functional zone includes a core zone and a transition zone. The transition zone is a strip of area within a certain range on the boundary line between adjacent functional zones. At any given moment, the vehicle 100 only performs the preset functions of a particular functional zone, which is referred to as the active functional zone at that moment. The transition zone corresponding to the boundary line in the adjacent functional zone outside the boundary line that the key 200 is about to cross is referred to as the active functional zone extension. The active functional zone and the active functional zone extension are combined to form the effective active functional zone. The area remaining after removing the active functional zone extension from the adjacent functional zones to which it belongs is referred to as the effective adjacent functional zone.

[0070] A calculation module 330 is configured to calculate a radial velocity of the key 200 relative to a functional zone boundary line that is about to be crossed based on the current and past positions and the period value of the key 200;

[0071] An adjustment module 340 is configured to adjust a number threshold and a transition zone width according to the radial velocity, wherein the number threshold and the transition zone width are both inversely regulated with the radial velocity;

[0072] The judgment module 350 is configured to compare a number threshold with the number of times the key 200 is located in the same functional zone within a predetermined number of cycles to determine whether the key 200 is stably in the functional zone. If the number of times the key 200 is located in the same functional zone, a valid active functional zone, or a valid adjacent functional zone within the predetermined number of cycles is greater than the number threshold, the functional zone becomes the active functional zone. If the active functional zone is different from the previous active functional zone, the active functional zone is expanded from the adjacent functional zone to the active functional zone.

[0073] The control module 360 ​​is used to control the automobile 100 to execute the preset function of the active functional zone according to the judgment result output by the judgment module.

[0074] The vehicle 100 of the embodiment of the present application includes a memory 10 and a controller 20. The controller 20 is configured to execute a computing program stored in the memory 10 to implement the control method of the embodiment described above. In other words, the controller 20 is configured to periodically obtain the current position of the key 200 relative to the vehicle 100 and cache the position of the key 200 within a predetermined number of recent periods.

[0075] Used to confirm the current functional zone of the key 200 based on the current position. A functional zone is a block of preset specific functions divided around the vehicle 100. Each functional zone includes a core area and a transition area. The transition area is a strip of area within a certain range on the boundary line between adjacent functional zones. At any given moment, the vehicle 100 only performs the preset functions of a certain functional zone. This functional zone is called the active functional zone at that moment. The transition area corresponding to the boundary line in the adjacent functional zone outside the boundary line that the key 200 is about to cross is called the active functional zone extension. The active functional zone and the active functional zone extension are combined to form the effective active functional zone. The area remaining after removing the active functional zone extension from the adjacent functional zone to which it belongs is called the effective adjacent functional zone.

[0076] Calculates the radial velocity of the key 200 relative to the boundary of the functional zone that is about to be crossed based on the current and past positions of the key 200 and the period value; and adjusts the number threshold and the width of the transition zone according to the radial velocity, wherein the number threshold and the width of the transition zone are inversely adjusted with the radial velocity.

[0077] The number threshold is used to compare with the number of times the key 200 is located in the same functional area within a predetermined number of cycles to determine whether the key 200 is stably in the functional area; if the number of times the key 200 is located in the same functional area within the predetermined number of cycles is greater than the number threshold, then this functional area becomes an active functional area. If this active functional area is different from the previous active functional area, the active functional area is expanded from the adjacent functional area to this functional area, and the car 100 is controlled to execute the preset function of the active functional area.

[0078] In the control method, control device 300 and automobile 100 of the embodiment of the present application, the control device 300 implements the control method by dynamically generating an active extended functional area, updating the area range of the effective active functional area and the effective adjacent functional area, and replacing the area range of the functional area to which it belongs with the area range of the effective active functional area and the effective adjacent functional area, and when the key 200 is located near the boundary line of different functional areas of the automobile 100, the number threshold size and the width size of the transition zone are adjusted according to the inverse adjustment relationship of the radial speed size of the key 200 relative to the functional area, so that when the key 200 moves near the intersection boundary of different functional areas around the automobile 100, the key 200 can better improve the response speed of the corresponding functional area when it moves quickly relative to the functional area while ensuring the accuracy.

[0079] Specifically, the car 100 may be a new energy vehicle, a fuel vehicle, a hybrid vehicle, etc. The key 200 of the car 100 may be a device used to enter the car 100, lock the car 100, or perform certain functions on the car 100. The key 200 may be a remote control key, a key using various wireless technologies, or a digital key in an electronic device such as a mobile phone. For example, the key 200 may be a UHF remote control key, a UWB digital key, etc. The car 100 may include a controller 20 and a memory 10. The controller 20 may be used to collect information from positioning sensors such as UWB / BLE distributed on the car body and calculate the position of the key 200. The car 100 can implement the control method through the controller 20 and the memory 10.

[0080] In the control method, the control method can be implemented by first taking step S10. The controller 20 can periodically obtain the key 200's relative position to the vehicle 100 and the current position, and cache the key 200's position within the most recent predetermined number of periods. The acquisition method can adopt positioning technologies such as the vehicle 100's positioning and solution system for the key 200. For example, the positioning and solution system can include positioning the key 200 using UWB ToF (Time of Flight) distance information from the key 200 collected by multiple UWB anchor points on the vehicle side, positioning the key 200 using RSSI received signal strength information from the key 200 collected by multiple BLE anchor points, visually assisted positioning on the vehicle side, and accelerometer-assisted relative positioning on the key 200 side. Through the positioning of the key 200 by the vehicle 100, the coordinates (position) of the key 200 relative to the vehicle body coordinate system can be obtained, thereby obtaining the current position between the vehicle 100 and the key 200.

[0081] Based on the current position (coordinates) of the key 200 obtained in step S10, the functional zone currently located by the key 200 can be confirmed in step S20. This confirmation can be performed by comparing the current position (coordinates) of the key 200 with the boundary positions (coordinates) of all functional zones. The relative positional relationship between the current position of the key 200 and the vehicle 100, combined with positioning technology, determines whether the key 200 or the user carrying the key 200 is within a valid active functional zone of a particular functional zone. The outer contour of the vehicle 100 can be divided into blocks with pre-set specific functions. Each functional zone includes a core area and a transition zone. The transition zone is a strip of area within a certain range on the boundary line between adjacent functional zones.

[0082] At any given moment, the vehicle 100 only executes the preset functions of a certain function zone, which is called the active function zone at that moment. The transition area in the adjacent function zone outside the boundary line that the key 200 is about to cross and corresponding to this boundary line is called the active function zone extension. The active function zone and the active function zone extension are combined to form the effective active function zone. The area remaining after removing the active function zone extension from the adjacent function zone to which it belongs is called the effective adjacent function zone.

[0083] like Figure 3 It is further understood that the functional areas of the vehicle 100 can be divided based on different locations around the vehicle 100. The distance range outside the outer contour of the vehicle 100 can be divided into a primary functional area 30, and the specific value of this distance range can be selected to be approximately 0 meters to 2 meters. The distance range outside the primary functional area 30 of the vehicle 100 can be divided into secondary functional areas 40, and the specific value of this distance range can be selected to be approximately 2 meters to 30 meters and divided into several distance segments.

[0084] The main functional area 30 can be divided into multiple functional blocks based on the different components of the vehicle 100. For example, the figure shows the main functional area 30 of the vehicle 100 divided into six functional blocks, including a left front door functional block 31, a left rear door functional block 32, a right front door functional block 33, a right rear door functional block 34, a left tailgate functional block 35, and a right tailgate functional block 36. Each functional block can also be divided into its own core area and transition area. The transition area is adjacent to the outer extension of the adjacent functional block in the direction away from the boundary line, and the core area can be the area adjacent to the transition area and together with the transition area constitutes the functional block.

[0085] For ease of understanding, Figure 3 The functional blocks divided by the central main functional block are further divided into a left front door functional block transition area 311 and a left front door functional block core area 312, a left rear door functional block transition area 321 and a left rear door functional block core area 322, a right front door functional block transition area 331 and a right front door functional block core area 332, a right rear door functional block transition area 341 and a right rear door functional block core area 342, a tailgate left functional block transition area 351 and a tailgate left functional block core area 352, and a tailgate right functional block transition area 361 and a tailgate right functional block core area 362.

[0086] Taking the left front door functional block 31 and the left rear door functional block 32 shown above as an example, at a certain moment, if the vehicle 100 is currently executing the preset function of the left front door functional block 31, the left front door functional block 31 is the active functional area at that moment, and the left rear door functional block transition area 321 adjacent to the left front door functional block 31 is an extension of the active functional area. The left front door functional block 31 (including the left front door functional block core area 312 and the left front door functional block transition area 311) and the left rear door functional block transition area 321 can be combined into an effective active functional area, and the left rear door functional block core area 322 is called the effective adjacent functional area.

[0087] Therefore, when the key 200 is within the valid active function zone of a function block, the vehicle 100 can unlock the corresponding function block, such as unlocking the left front door or unlocking the left rear door. When the key 200 leaves the valid active function zone of a function block, the valid active function zone and the valid adjacent function zones are updated. The vehicle 100 can then execute the preset function corresponding to the function zone to which the new valid active function zone belongs, thereby locking the corresponding function block, such as locking the left front door or locking the left rear door. Of course, the specific functions of each function block can also be set to other settings.

[0088] Within the secondary functional area 40, the area from the primary functional area 30 to the secondary functional area 40 can be annular, as shown in the figure as two surrounding annular blocks. When the key 200 is within the annular blocks at different distances from the vehicle body, it can control the vehicle 100 to activate the welcome lights, adjust the seats, turn on the air conditioning, and more. Within certain sub-blocks of the annular block (e.g., 2m-6m) near the primary functional area, one or more functions such as remote parking or automatic follow can also be executed. Furthermore, the functions of the secondary functional area 40 can be customized based on the actual needs of the vehicle 100 or the user's needs.

[0089] It should also be understood that since the positioning technology such as the positioning solution system outputs a random probability distribution centered on the actual position of the key 200 when obtaining the position of the key 200, the output position coordinates of the key 200 will randomly fall into the functional area adjacent to the boundary line; if no processing is done, the functions executed by the car will frequently and randomly switch between the preset functions of the two adjacent functional areas; phenomena similar to this situation are usually called the ping-pong effect of the functional area boundary.

[0090] Next, step S30 is performed to calculate the radial velocity of the key 200 relative to the functional zone boundary that is about to be crossed based on the acquired current and past positions and the period value. This calculation method can be based on the current position of the key 200, the cached past positions, the time period value, and the number of periods used to calculate the average velocity of the key 200. Based on the change in the position (displacement) of the key 200 and the time at which this displacement occurs, the velocity of the key 200 relative to the functional zone is determined. The radial velocity can then be calculated from the angle between the velocity of the key 200 and the functional zone boundary.

[0091] Based on the radial velocity of key 200 relative to the boundary between the two functional zones it is about to cross, calculated in step S30, the number threshold and the width of the transition zone on either side of the boundary are adjusted in an inverse relationship. When the radial velocity is high, the number threshold and the width of the transition zone are appropriately reduced; when the radial velocity is low, the number threshold and the width of the transition zone are appropriately increased. However, the lower limit of the number threshold must be greater than 50% (typically 60%) of the predetermined number of cycles, and the width of the transition zone is also adjusted within a reasonable range. This adaptive adjustment ensures that key 200 can switch functions appropriately when crossing a functional zone boundary, even when moving within a wide speed range, ensuring that the system maintains a high degree of responsiveness.

[0092] It should be understood that the number threshold is used to determine the trigger threshold for key 200 landing in a corresponding function zone within a predetermined number of cycles. When the number of times key 200 lands in a function zone (which can be a valid active function zone or a valid adjacent function zone) exceeds the number threshold within the predetermined number of cycles, that function zone becomes the current active function zone. If the active function zone in which key 200 is currently located is different from the active function zone in which key 200 was previously located, the active function zone can be expanded from the adjacent function zone to the current active function zone, and vehicle 100 can then be controlled to execute the preset function of the new current active function zone.

[0093] For example, when the radial speed of the key 200 relative to the boundary line that it is about to cross increases, the number thresholds corresponding to the functional areas on both sides of the boundary line will decrease, and the width of the transition zone will also decrease. In this way, after the key 200 crosses the boundary line and enters the new functional area, it will exceed the number threshold more quickly within a predetermined number of cycles, and due to the reduction in the width of the transition zone, the time it takes for the key 200 to cross the transition zone is shorter, and the conditions for the car to start executing the preset functions of the new functional area can be met more quickly, which can improve the response speed of the key 200 entering the new functional area; even in a scenario where the user runs quickly towards the car door, the car door will be unlocked in advance before the user reaches the car door.

[0094] It should also be understood that the moving velocity vector of the key 200 can be first calculated, and then the direction vector (or its perpendicular vector) of the boundary line that the key 200 is about to cross can be calculated. Through the projection relationship, the moving velocity vector of the key 200 can be converted into the radial velocity of the key 200 relative to the corresponding boundary line of the functional area.

[0095] like Figure 4 As shown in the figure, the two functional areas can be Figure 3 The left tailgate functional area 35 and the right tailgate functional area 36 are shown in the figure. The boundary line represents the intersection of the two functional areas. The solid arrow represents the direction of movement of the key 200, and the movement speed can be V. The dashed arrow represents the radial velocity v of the key 200. The radial velocity v can be understood as the component of the movement speed in the actual direction of movement of the key 200 and the velocity perpendicular to the functional area boundary. In other words, the actual movement speed of the key 200 and the radial velocity are trigonometrically related, and the radial velocity v can be calculated as Vcosθ.

[0096] See also Figure 5 In certain embodiments, the control method comprises:

[0097] S50: In each cycle, calculating the number of times the key 200 is located in each functional area within a predetermined number of cycles;

[0098] S60: In each cycle, if there is a certain functional zone and the number of times the key 200 is located in the functional zone within a predetermined number of cycles is greater than the threshold number of times for the functional zone, then the functional zone is updated to the new active functional zone; otherwise, the original active functional zone remains unchanged;

[0099] S70: Control the automobile 100 to execute the preset function corresponding to the active functional area.

[0100] The calculation module 330 is used to calculate the number of times the key 200 is located in each functional zone within a predetermined number of cycles in each cycle; in each cycle, if there is a functional zone and the number of times the key 200 is located in the functional zone within the predetermined number of cycles is greater than the threshold number of times for the functional zone, then the functional zone is updated to a new active functional zone; otherwise, the original active functional zone remains unchanged; and is used to control the automobile 100 to execute the preset function corresponding to the active functional zone.

[0101] The controller 20 is used to calculate the number of times the key 200 is located in each functional zone within a predetermined number of cycles in each cycle; in each cycle, if there is a functional zone and the number of times the key 200 is located in the functional zone within a predetermined number of cycles is greater than the threshold number of times for the functional zone, then the functional zone is updated to a new active functional zone; otherwise, the original active functional zone remains unchanged; and it is used to control the automobile 100 to execute the preset function corresponding to the active functional zone.

[0102] Then step S50 can be taken to calculate the number of times the key 200 is located in each functional area within a predetermined number of cycles in each cycle. Note that at this time, the areas of the functional areas corresponding to the valid active functional areas and the valid adjacent functional areas should be replaced by the areas of the valid active functional areas and the valid adjacent functional areas. The predetermined number of cycles can be a specific number of cycles preset for the current position of the key 200 relative to the car 100 obtained in step S10. The predetermined number of cycles can be 10 cycles, 16 cycles, etc. The number of times the key 200 is located in each functional area can be calculated within a fixed period.

[0103] Then step S60 can be taken. In each cycle, the number of times the key 200 falls into a certain functional area within a predetermined number of cycles can be calculated, and different functional areas are set with corresponding number thresholds. When the number of times the key 200 falls into a certain functional area within a predetermined number of cycles is greater than the number threshold of the functional area, the controller 20 can use the functional area that meets the requirements as the active functional area, wherein the functional area used as the active functional area can be the active functional area expanded from the adjacent functional area into this active functional area, otherwise the original active functional area remains unchanged.

[0104] It should be understood that the number threshold is a numerical threshold used to compare with the number of times the key 200 is located in the same functional zone within a predetermined number of cycles. When the comparison result exceeds the number threshold, the active functional zone will be changed.

[0105] Then, step S70 may be taken to control the automobile 100 to execute the preset function corresponding to the active functional area.

[0106] See also Figure 6 In some embodiments, the control method further comprises:

[0107] S80: If, in a new cycle, the function zone where the key 200 is located is updated, resulting in an update of the active function zone in the new cycle, the function executed by the vehicle is controlled to switch from the preset function of the active function zone in the previous cycle to the preset function of the active function zone in the new cycle. The control module 360 ​​is used to control, in a new cycle, the function executed by the vehicle, from the preset function of the active function zone in the previous cycle to the preset function of the active function zone in the new cycle due to an update of the function zone where the key 200 is located. The controller 20 is used to control, in a new cycle, the function executed by the vehicle 100, from the preset function of the active function zone in the previous cycle to the preset function of the active function zone in the new cycle due to an update of the function zone where the key 200 is located.

[0108] In this way, the control method can trigger the update of the active function zone where the key 200 is located according to the update of the position of the key 200 in the current cycle, further trigger the regional update of the new valid active function zone and the new valid adjacent function zone, further trigger the regional update of the functional zone to which the new valid active function zone and the new valid adjacent function zone belong, as well as the update of the preset function executed by the car (the new active function zone corresponds to the preset function), which will significantly reduce the frequency of the key 200 switching between adjacent function zones.

[0109] Specifically, if the active function zone of the new cycle is updated due to the update of the function zone where the key 200 is located, the function executed by the control vehicle 100 is switched from the preset function of the active function zone of the previous cycle to the preset function of the active function zone of the current cycle.

[0110] See also Figure 7 In some embodiments, periodically obtaining the current position of the key 200 relative to the vehicle 100 (step S10) includes:

[0111] S11: Periodically obtaining the current distances between the multiple UWB anchor point modules 50 on the car 100 and the key 200, where the multiple UWB anchor points are located at different locations on the car 100;

[0112] S12: Calculate the current position of the key 200 relative to the car 100 based on the current distance between the key 200 and multiple UWB anchor points on the car body.

[0113] The acquisition module 310 is used to periodically obtain the current distances between multiple UWB anchor point modules 50 on the car 100 and the key 200, where the multiple UWB anchor points are located at different positions on the car 100; the calculation module 330 is used to calculate the current position of the key 200 relative to the car 100 based on the current distances between the key 200 and the multiple UWB anchor points on the car body.

[0114] The controller 20 is used to periodically obtain the current distances between multiple UWB anchor point modules 50 of the car 100 and the key 200, where the multiple UWB anchor points are located at different positions on the car 100; and to calculate the current position of the key 200 relative to the car 100 based on the current distances between the key 200 and the multiple UWB anchor points on the car body.

[0115] In this way, a more accurate current position of the key 200 can be obtained through the multiple UWB anchor point modules 50 of the car 100, and the functional area where the key 200 is located can be determined more accurately.

[0116] Specifically, UWB technology, also known as security-enhanced ultra-wideband technology, is primarily used in the digital key 200 system of the vehicle 100. It features protection against relay attacks and high ranging and positioning accuracy. It can accurately identify the key 200 inside and outside the vehicle, as well as accurately locate its position outside the vehicle. Under unobstructed conditions, it can achieve an accuracy of ±6-10cm, and under obstructed conditions, it can reach an accuracy of approximately ±30cm.

[0117] The Digital Key 200 system, powered by UWB technology, provides a user-friendly experience with features such as touchless unlocking and ignition. For example, using security-enhanced UWB technology based on 802.15.4Z, Bluetooth Low Energy, and Near Field Communication (NFC) technology, the system enables touchless unlocking and starting of the vehicle using electronic devices such as mobile phones. Digital Key 200 can also be easily shared remotely, allowing family members to share the vehicle or grant temporary access to friends.

[0118] To implement step S10, step S11 may be taken, and the controller 20 may periodically obtain the current distance between each of the multiple UWB anchor point modules 50 on the car 100 and the UWB module on the key 200, wherein the multiple UWB anchor point modules 50 may be set at different positions of the car 100, for example, near the four wheels of the car 100 and near the front and rear doors of the car 100.

[0119] Then, step S21 may be taken to locate the relative position of the key 200 and the car 100 based on the multiple current distances obtained in step S111; then, step S22 may be taken to confirm the functional area where the key 200 is located by calculating the relative position based on the relative position located in step S21.

[0120] For example, it can be combined with Figure 8It should be further understood that during the signal connection and positioning process between the key 200 and the vehicle 100 based on UWB technology, the key 200 may be equipped with a UWB module, a Bluetooth Low Energy module, an ultrasonic module, a visual assistance module, a GPS module, or other positioning modules, each of which may include corresponding chips and modules. The Bluetooth Low Energy module in the key 200 and the Bluetooth Low Energy module in the vehicle 100 can achieve wireless communication, and the UWB module in the key 200 performs Time of Flight (ToF) ranging with multiple UWB anchor modules 50 distributed throughout the vehicle 100, thereby obtaining the current distance of the key 200. The ToF distance and received signal strength information between each of the multiple UWB anchor modules 50 on the vehicle 100 and the UWB module in the key 200 are then transmitted to the controller 20 of the vehicle 100 for key 200 position determination, thereby determining the relative position of the key 200. The controller 20 then further determines the functional zone where the key 200 is located based on the relative position of the key 200 relative to the vehicle 100.

[0121] See also Figure 9 In some embodiments, in each cycle, calculating the number of times the key 200 is located in each functional zone within a predetermined number of cycles (step S50) includes:

[0122] S51: In each cycle, the count of the functional area where the key 200 is currently located is increased once, and the counts of other functional areas remain unchanged;

[0123] S52: In each cycle, according to the counting results of each functional area within a predetermined number of cycles, the number of times the key 200 is located in each functional area is confirmed.

[0124] The calculation module 330 is used to increase the count of the functional area where the key 200 is currently located by one in each cycle, and keep the counts of other functional areas unchanged; and is used to confirm the number of times the key 200 is located in each functional area according to the counting results of each functional area within a predetermined number of cycles in each cycle.

[0125] The controller 20 is used to increase the count of the functional area where the key 200 is currently located by one in each cycle, and keep the counts of other functional areas unchanged; and is used to confirm the number of times the key 200 is located in each functional area according to the counting results of each functional area within a predetermined number of cycles in each cycle.

[0126] In this way, the number of times the key 200 is in each functional area during a period can be recorded by counting, which can facilitate comparison of the positioning of the key 200 in each functional area and facilitate judgment in subsequent steps.

[0127] Specifically, the controller 20 may first take step S51 when performing step S50, and increase the count of the functional area where the key 200 is located by one in each cycle within a predetermined number of cycles, and then obtain the corresponding number of valid active functional areas, valid adjacent functional areas, and other functional areas where the key 200 has been confirmed within the predetermined number of cycles.

[0128] Can be combined Figure 10 Further understanding of the embodiments Figure 3 Taking the left front door functional block 31 and the left rear door functional block 32 as examples, when the key 200 is located at different positions relative to the boundary between the two functional blocks, the controller 20 in the vehicle 100 may execute step S50. The vehicle 100 may calculate the number of predetermined cycles using a sliding window counting method in software logic, taking the sliding window shift register group as an example:

[0129] In each cycle, the sliding window shift register group and the counter accumulator belonging to each functional area in all functional areas are updated once. When the key 200 is located in a certain functional area, the sliding window shift register group belonging to the functional area can receive the update information "1", and the other functional areas can receive the update information "0"; the shaded cells of the sliding window shift register group in the figure represent the information "1", and the blank cells of the sliding window shift register group in the figure represent the information "0". The length of the sliding window shift register group can be regarded as a predetermined number of cycles, and the predetermined number of cycles in the figure is 10; each sliding window shift register group is accompanied by a counter accumulator, and the function of the counter accumulator is to calculate the number of "1"s in the sliding window shift register group;

[0130] When the active functional area before key 200 is the left front door functional area 31, the left front door functional area core area 312, the left front door functional area transition area 311, and the left rear door functional area transition area 321 collectively form the effective active functional area. The effective active functional area replaces the area of ​​the left front door functional area 31, and the area of ​​functional area 31 now includes the left rear door functional area transition area 321. The left rear door functional area core area 322 becomes the effective adjacent functional area, replacing the area of ​​the left rear door functional area 32. The area of ​​the left rear door functional area 32 now excludes the left rear door functional area transition area 321. If key 200 is in the left front door functional area 31 at this point, the confirmed position of key 200 is determined as a normal distribution curve centered on the actual position of key 200. At this point, the sliding window shift register group in the left front door functional block 31 confirmed that key 200 had entered the left front door functional area 31 eight times within the 10 predetermined cycles, and had entered the left rear door functional block transition area 321 once. Since the left rear door functional block transition area 321 is a valid active functional area, the counter accumulator has accumulated nine counts. Simultaneously, the sliding window shift register group in the left rear door functional block core area 322 confirmed that key 200 had entered the left rear door functional area 32 once within the 10 predetermined cycles (at this time, the functional area of ​​the left rear door functional block 32 only includes the left rear door functional block core area 322). Therefore, the counter accumulator has accumulated one count.

[0131] At this point, the threshold value in the figure is 8 times, and the count accumulated by the counter accumulator in the valid active function zone where the left front door function block 31 is located is 9 times, which is greater than 8 times. Therefore, according to step S40, the left front door function block 31 can be confirmed as an active function zone (this requires separating the active function zone extension 321 from the adjacent function zone 32 and then integrating it into the function zone 31). Then, step S70 can be implemented to control the vehicle 100 to execute the preset function corresponding to the active function zone, for example, unlocking the left front door.

[0132] In some embodiments, the predetermined number of periods is the latest predetermined number of periods that are continuous with the current moment.

[0133] In this way, the number of times the key 200 falls into each functional zone within a predetermined number of cycles is updated in each cycle, thereby ensuring that the active functional zone is in the latest state.

[0134] See also Figure 11 In some embodiments, the control method further comprises:

[0135] S90: In each cycle, if the number of times the key 200 is located in the same function zone within a predetermined number of cycles is less than or equal to the number threshold, the active function zone is not updated and the function currently executed by the car 100 remains unchanged.

[0136] The control module 360 ​​is configured to, in each cycle, if the number of times the key 200 is located in the same function zone within a predetermined number of cycles is less than or equal to a number threshold, not update the active function zone and the function currently being executed by the vehicle 100 remains unchanged. The controller 20 is configured to, in each cycle, if the number of times the key 200 is located in the same function zone within a predetermined number of cycles is less than or equal to a number threshold, not update the active function zone and the function currently being executed by the vehicle 100 remains unchanged.

[0137] In this way, when the number of times the key 200 is located in the same functional area is less than or equal to the number threshold, the function currently executed by the car 100 is kept unchanged, which can reduce the frequent switching of the functions executed by the car 100 caused by random positioning errors when the key 200 is located near the boundary line (ping-pong effect).

[0138] Specifically, it can be combined Figure 12 It is understood that when the active functional area before the key 200 is the left front door functional block 31, the left front door functional block core area 312, the left front door functional block transition area 311 and the left rear door transition area 321 constitute a valid active functional area, and the area of ​​the original left front door functional block 31 is replaced by the area of ​​this valid active functional area, and the other properties of the left front door functional block 31 remain unchanged. The left rear door functional block core area 322 constitutes a valid adjacent functional area, and the area of ​​the original left rear door functional block 32 is replaced by the area of ​​the valid adjacent functional area, and the other properties of the left rear door functional block 32 remain unchanged. If the key 200 is in the left front door functional block transition area 311 at this time, the position of the key 200 is confirmed to be a normal distribution curve centered on the actual position of the key 200. Compared Figure 10 , Figure 12 The radial velocity V1 in the image is reduced, and the corresponding count accumulator's 'number threshold' is changed from Figure 10 The 8 in the digits increases to 9, and the widths of transition zones 311 and 321 widen. At this point, the sliding window shift register group in the left front door functional block 31 has confirmed that key 200 has entered the left front door functional block transition zone 311 and the left front door functional block core zone 312 eight times within the predetermined number of 10 cycles, and has entered the left rear door functional block core zone 321 once. Because the left rear door functional block core zone 321 is a valid active functional zone, the counter accumulator counts 9 times. Simultaneously, the sliding window shift register group in the left rear door functional block 32 has confirmed that key 200 has entered the left rear door functional block transition zone 322 (a valid adjacent functional zone) once within the predetermined number of 10 cycles, so the counter accumulator in the left rear door functional block 32 counts 1 time.

[0139] At this point, since the key 200's moving speed V2 corresponds to a radial velocity v2, and the threshold value in the figure is 9, the count accumulated by the counter accumulator in the valid active function zone where the left front door function block 31 resides is greater than 9. Therefore, the original valid active function zone remains unchanged, and the left front door function block 31 is still identified as the active function zone. Step S70 is then continued, controlling the vehicle 100 to execute the preset function corresponding to the active function zone. For example, the vehicle 100 remains unlocked.

[0140] Recombination Figure 13 Understand that when the key 200 position is Figure 12 Move to Figure 13 When compared Figure 12 , Figure 13 The radial speed of the key in the key is increased, and the corresponding count accumulator's 'time threshold' is increased by Figure 12 9 of them dropped to Figure 13 7, the widths of transition zones 311 and 321 are narrowed. When the active functional area before key 200 is the left front door functional area 31, the left front door functional area core area 312, the left front door functional area transition zone 311, and the left rear door transition zone 321 constitute the valid active functional area, and the other properties of the left front door functional area 31 remain unchanged. The left rear door functional area core area 322 constitutes the valid adjacent functional area, and the other properties of the left rear door functional area 32 remain unchanged. If key 200 is in the left front door functional area transition zone 311 at this time, the confirmed position of key 200 is a normal distribution curve centered on the actual position of key 200. At this point, the sliding window shift register group in the left front door functional block 31 confirmed, within a predetermined number of 10 cycles, that key 200 had entered the left front door functional block transition area 311 and the left front door functional block core area 312 six times, and the left rear door functional block core area 321 twice. Because the left front door functional block core area 321 is a valid active functional area, the count accumulator counts 8 times. Simultaneously, the sliding window shift register group in the left rear door functional block 32 (composed of 322) confirmed, within a predetermined number of 10 cycles, that key 200 had entered the left rear door functional block transition area 322 (a valid adjacent functional area) twice, so the count accumulator counts 2 times in the left rear door functional block 32.

[0141] At this time, since the number threshold in the figure is 7 times, the number of times accumulated by the counter accumulator in the valid active function area where the left front door function block 31 is located is 8, which is greater than the number threshold (7 times). Therefore, the left front door function block 31 can be confirmed as an active function area. Figure 12 ), the range of the effective active function zone does not need to be updated, and step S70 is continued to control the vehicle 100 to execute the preset function corresponding to the active function zone. For example, the vehicle 100 keeps the left front door unlocked.

[0142] Recombination Figure 14 Understand that when the key 200 status is changed from Figure 13 Move to Figure 14 Position, compared to Figure 13 , Figure 14 The radial speed of the key in the key is reduced, and the corresponding count accumulator's 'times threshold' is changed by Figure 13 7 in the rising Figure 14 9, the widths of transition zones 311 and 321 are widened. When the active functional area before key 200 is the left front door functional area 31, the left front door functional area core area 312 and the left rear door functional area transition area 321 constitute the valid active functional area; the left rear door functional area core area 322 becomes the valid adjacent functional area. If key 200 is in the position shown in the figure, the confirmed position of key 200 is a normal distribution curve centered on the actual position of key 200. At this point, the sliding window shift register group in left front door functional area 311 confirms that key 200 has fallen into left front door functional area transition zones 311 and 312 five times and into left rear door functional area transition zone 321 three times within 10 predetermined cycles. Since left rear door functional area transition zone 321 is a valid active functional area, the counter accumulator counts eight times. At the same time, the sliding window shift register group of the left rear door function block 32 confirms that key 200 has entered the valid adjacent function zone (i.e., the left rear door function zone core zone 322) twice within the predetermined 10 cycles. Therefore, the count accumulator counts 3 times. At this point, the count threshold is 9 times. The count accumulator of the left front door function block 31 counts 8 times, which is less than 9 times. The count accumulator of the left rear door function block 32 counts 2 times, which is also less than 9 times. Therefore, the valid active function zone remains unchanged, and the vehicle 100 is controlled according to step S70 to ensure that the previously executed state remains unchanged, that is, the preset function corresponding to the active function zone 31 is executed. For example, the vehicle 100 remains unlocked on the left front door.

[0143] Combine Figure 15 As shown, the key 200 is Figure 14 Continue to move When the key 200 continues to move to Figure 15 Position, compared to Figure 14 , Figure 15 The radial speed of the key in the key is increased, and the corresponding count accumulator's 'time threshold' is increased by Figure 14 9 of them dropped to Figure 15 7, the widths of transition zones 311 and 321 are narrowed. Figure 15Before the state, the active functional area before key 200 is the left front door functional area 31. Therefore, the left front door functional area core area 312, the left front door functional area transition area 311, and the left rear door transition area 321 constitute the effective active functional area, which is equivalent to the left front door functional area 31. The left rear door core area 322 can become the effective adjacent functional area, equivalent to the left rear door functional area 32. If key 200 is moved to the position shown in the figure (located in the left rear door transition area 321, close to the left rear door core functional area 322), the confirmed position of key 200 is a normal distribution curve centered on the actual position of key 200. At this time, the sliding window shift register group corresponding to the functional area 31 falls into the left front door functional block core area 312 and the left front door functional block transition area 311 once within 10 predetermined number cycles, and falls into the left rear door functional block transition area 321 once, and the key 200 falls into the original valid active functional area 31 twice; the sliding window shift register group of the functional area 32 confirms that the key 200 falls into the left rear door functional area 32 (that is, the valid adjacent functional area formed by the left rear door functional block core area 322) 8 times within 10 predetermined number cycles. At this point, the threshold value is 7 times, and the count accumulator for the function zone where the left rear door function block 32 resides is 8 times, which is greater than 7 times. Therefore, the left rear door function block 32 can be confirmed as the new active function zone. The effective active function zone then consists of (the left rear door function block core zone 322, the left rear door function block core zone 321, and the left front door function block transition zone 311); the effective adjacent function zone consists of the left front door core function block 312. Step S70 can be achieved by controlling the vehicle 100 to execute the preset function of the function zone 32 corresponding to the new effective active function zone. For example, the vehicle 100 executes unlocking of the left rear door and locking of the left front door.

[0144] Recombination Figure 16 As shown, the key 200 is Figure 15 Continue to move When the key 200 continues to move to Figure 16 Position, compared to Figure 15 , Figure 16 The radial speed of the key in the key is reduced, and the corresponding count accumulator's 'times threshold' is changed by Figure 15 7 in the rise to Figure 169, the widths of transition areas 311 and 321 are increased. The active functional area before key 200 is the left rear door functional block 32. Therefore, the left front door functional block core area 312 becomes the effective adjacent functional area, equivalent to the left front door functional block 31. The left front door functional block transition area 311, the left rear door transition area 321, and the left rear door core area 322 constitute the effective active functional area, which is equivalent to the left rear door functional block 32. If key 200 is in the left rear door functional block core area 322 at this time, the confirmed position of key 200 is a normal distribution curve centered on the actual position of key 200. At this time, the sliding window shift register group corresponding to the functional area 31 has 0 times fallen into the left front door core functional area 312 within the 10 predetermined number cycles; the sliding window shift register group of the functional area 32 has confirmed that the key 200 has 10 times fallen into the left rear door valid active functional area 32 (that is, the valid active functional area composed of the left front door functional area extension 311, the left rear door functional area extension 321 and the left rear door core functional area 322) within the 10 predetermined number cycles. At this time, the number threshold is 9 times, and the number of times accumulated by the functional area counting accumulator where the left rear door functional block 32 is located is 10 times, which is greater than 9 times. Therefore, the left rear door functional block 32 can be confirmed as an active functional area, and Figure 15 The effective active function zone remains unchanged, and step S70 can be continued to control the car 100 to execute the preset function of the function zone 32 corresponding to the new effective active function zone. For example, the car 100 executes unlocking of the left rear door and locking of the left front door.

[0145] In some embodiments, the value of the number threshold is greater than half the value of the predetermined number of cycles.

[0146] In this way, the value of the number threshold is greater than half of the value of the predetermined number of cycles, so that the confirmation of the function area of ​​the key 200 by the car 100 is consistent with reality.

[0147] Specifically, the numerical value of the number threshold should be set to be greater than half of the numerical value of the predetermined number of cycles, that is, the numerical value of the number threshold is more than 50% of the numerical value of the predetermined number of cycles. Preferably, the numerical value of the number threshold can be 60% or more of the numerical value of the predetermined number of cycles.

[0148] See also Figure 17 In certain embodiments, the control method comprises:

[0149] S100: When the car 100 executes the preset function corresponding to the active functional area, the car 100 is controlled to stop executing the functions corresponding to other functional areas.

[0150] In this way, it is possible to prevent the automobile 100 from conflicting with functions executed in other functional areas when executing the preset functions of the active functional area.

[0151] Specifically, combined Figure 3 Taking the functional areas of the automobile 100 as an example, when the controller 20 of the automobile 100 executes the control method and confirms that the active functional area to be executed is the unlocking function of the left front door functional block 31, the automobile 100 will control 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, etc., to stop the functions executed by other functional areas except the active functional area.

[0152] The non-volatile computer-readable storage medium storing the computer program in the embodiments of the present 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 in the control method.

[0153] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0154] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the 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 (e.g., 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 purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0155] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0156] It should be understood that various parts of the embodiments of the present 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 a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0157] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0158] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0159] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0160] Throughout this specification, reference to terms such as "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations 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 any one or more embodiments or examples.

[0161] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for an automobile, characterized in that: The control method includes: Periodically obtaining the current position of the key relative to the vehicle and caching the key positions within a recent predetermined number of periods; Based on the current position, the function zone where the key is currently located is determined. Function zones are blocks of preset specific functions divided around the vehicle. Each function zone includes a core zone and a transition zone. The transition zone is a strip of area within a certain range on the side of the boundary line between adjacent function zones. At any moment, the vehicle only performs the preset function of a certain function zone. This function zone is called the active function zone at that moment. The transition zone corresponding to the boundary line in the adjacent function zone outside the boundary line that the key is about to cross is called the active function zone extension. The active function zone and the active function zone extension are combined to form the effective active function zone. The area remaining after removing the active function zone extension from the adjacent function zone to which it belongs is called the effective adjacent function zone. Calculating a radial velocity of the key relative to a functional zone boundary line that the key is about to cross based on the current and past positions of the key and the period value; adjusting a number threshold and a width of the transition zone according to the radial velocity, wherein the number threshold and the width of the transition zone are both inversely adjusted to the radial velocity; The number threshold is used to compare with the number of times the key is located in the same function area within a predetermined number of cycles to determine whether the key is stably in the function area; if the number of times the key is located in the same function area or a valid active function area or a valid adjacent function area within the predetermined number of cycles is greater than the number threshold, then this function area becomes an active function area; if this active function area is different from the previous active function area, the active function area is expanded from the adjacent function area to this function area, and the car is controlled to execute the preset function of the active function area.

2. The control method according to claim 1, characterized in that: The control method includes: In each cycle, calculating the number of times the key is located in each functional area within a predetermined number of cycles; In each cycle, if there is a certain functional zone and the number of times the key is located in the functional zone within a predetermined number of cycles is greater than the threshold number of times for the functional zone, then the functional zone is updated to the new active functional zone, otherwise the original active functional zone remains unchanged; Control the vehicle to execute a preset function corresponding to the active function area.

3. The control method according to claim 2, characterized in that: The control method includes: If in a new cycle, the active function zone of the new cycle is updated due to the update of the function zone where the key is located, the function executed by the vehicle is controlled to switch from the preset function of the active function zone of the previous cycle to the preset function of the active function zone of the new cycle.

4. The control method according to claim 1, wherein: The periodically obtaining the current position of the key relative to the vehicle includes: Periodically acquiring current distances between a plurality of UWB anchor point modules on the vehicle and the key, wherein the plurality of UWB anchor points are located at different positions on the vehicle; Based on the current distance between the key and a plurality of UWB anchor points on the vehicle body, the current position of the key relative to the vehicle is calculated.

5. The control method according to claim 2, characterized in that: The step of calculating, within each cycle, the number of times the key is located in each functional area within a predetermined number of cycles comprises: In each cycle, the count of the functional area where the key is currently located is increased once, and the counts of other functional areas remain unchanged; In each cycle, the number of times the key is located in each functional area is confirmed based on the counting results of each functional area within a predetermined number of cycles.

6. The control method according to claim 1, characterized in that: The control method further includes: In each cycle, if the number of times the key is located in the same function zone within a predetermined number of cycles is less than or equal to the number threshold, the active function zone is not updated and the function currently executed by the vehicle 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 value of the predetermined number of cycles.

8. The control method according to claim 1, characterized in that: The control method includes: When the automobile executes the preset function corresponding to the active functional area, the automobile is controlled to stop executing functions corresponding to other functional areas.

9. A control device for a car, characterized in that: The control device comprises: an acquisition module, configured to periodically acquire the current position of the key relative to the vehicle and cache the key positions within a recent predetermined number of periods; a confirmation module for confirming, based on the current position, the functional zone in which the key is currently located. A functional zone is a block of several preset specific functions divided around the perimeter of the vehicle. Each functional zone includes a core zone and a transition zone. The transition zone is a strip of area within a certain range on the side of the boundary line between adjacent functional zones. At any moment, the vehicle only performs the preset function of a certain functional zone, and this functional zone is referred to as the active functional zone at that moment. The transition zone corresponding to the boundary line in the adjacent functional zone outside the boundary line that the key is about to cross is referred to as the active functional zone extension. The active functional zone and the active functional zone extension are combined to form an effective active functional zone. The area remaining after removing the active functional zone extension from the adjacent functional zone to which it belongs is referred to as the effective adjacent functional zone. a calculation module, configured to calculate a radial velocity of the key relative to a functional zone boundary line that the key is about to cross based on the current and past positions of the key and a period value; an adjustment module, configured to adjust a number threshold and a width of the transition zone according to the radial velocity, wherein the number threshold and the width of the transition zone are both in an inverse adjustment relationship with the radial velocity; a judgment module, configured to compare the number threshold with the number of times the key is located in the same functional zone within a predetermined number of cycles to determine whether the key is stably located in the functional zone; if the number of times the key is located in the same functional zone, a valid active functional zone, or a valid adjacent functional zone within the predetermined number of cycles is greater than the number threshold, then the functional zone becomes the active functional zone; if the active functional zone is different from the previous active functional zone, then the active functional zone is expanded from the adjacent functional zone to the current functional zone; The control module is used to control the vehicle to execute the preset function of the active functional area according to the judgment result output by the judgment module.

10. An automobile, characterized in that: The automobile includes a memory and a controller, and the controller is used to execute a computing program stored in the memory to implement the control method according to any one of claims 1 to 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, the control method according to any one of claims 1 to 8 is implemented.

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