Control Method, Control Device, Vehicle, and Storage Medium for Vehicle Functions

Abstract

The present application discloses a control method, a control device, an automobile, and a storage medium. The control method includes: periodically obtaining the current position of a key relative to the automobile and caching the key positions within a recent predetermined number of periods; calculating the radial velocity of the key relative to the boundary line of the upcoming function area to be crossed based on the current and past positions of the key and the period value; adjusting the number threshold and the width of the transition area according to the radial velocity, and both the number threshold and the width of the transition area have an inverse adjustment relationship with the radial velocity. The function area is an area divided around the automobile with preset specific functions, and the function area includes a transition area and a non-transition area. Among them, the transition area is a strip-shaped area within a certain range on the boundary line side. When the key is located within the transition area, the automobile maintains the previously executed function unchanged; if the key is located in the non-transition area and the number of times the key is located in the same function area within a predetermined number of periods is greater than the number threshold, the automobile is controlled to execute the preset function of the function area where it is located.

Description

Technical Field

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

[0002] In the related art, when the vehicle key enters the functional area demarcated around the vehicle, the vehicle will execute corresponding functions. However, when the vehicle key is near the boundary line between two functional areas, due to the existence of positioning random errors and factors such as the instability of human movement, the key position output by the vehicle's positioning system will randomly jump on both sides of the boundary line. If the preset actions of the corresponding functional area are directly executed according to the output result of the positioning system, it will cause the preset functions (actions) of two adjacent functional areas to frequently switch when the key stays or moves within a certain range near the boundary of the vehicle functional area; in addition, the time for the system to make identification and response when the user enters / leaves the functional area is designed according to the user (key) entering / leaving the functional area at a normal speed; when the user carries the key and enters / leaves the functional area quickly, it is easy to cause the phenomenon of response lag in the functional area. Therefore, how to improve the timeliness of the system response when the key moves at different speeds is a problem to be solved. Summary of the Invention

[0003] The present application provides a control method for automobile functions, a control device, an automobile, and a storage medium.

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

[0005] Periodically obtain the current position of the key relative to the vehicle, and cache the key positions in the most recent predetermined number of cycles;

[0006] Based on the current and past positions of the key and the cycle value, calculate the radial velocity of the key relative to the functional area boundary line that is about to be crossed. The functional area is a preset specific functional area demarcated around the vehicle. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on the side of the adjacent functional area boundary line; when the key is located within the transition area, the vehicle maintains the previously executed function unchanged;

[0007] Adjust the number threshold and the width of the transition area according to the radial velocity. Both the number threshold and the width of the transition area are inversely adjusted with respect to the radial velocity; the number threshold is used to compare with the number of times the key is located in the same functional area within a predetermined number of cycles to determine whether the key is stably located in the functional area; if the key is located in the non-transition area and the number of times the key is located in the same functional area within a predetermined number of cycles is greater than the number threshold, then control the vehicle to execute the preset function of the functional area where it is located based on this result.

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

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

[0010] In each cycle, use the functional area where the number of times the key is located in the same functional area is greater than the number threshold as the target functional area;

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

[0012] In some embodiments, the control method includes:

[0013] When the key is in the transition area, control the vehicle to maintain the previous function unchanged.

[0014] In some embodiments, the periodically obtaining the current position of the key relative to the vehicle includes:

[0015] Periodically obtain the current distances between multiple UWB anchor modules on the vehicle body of the vehicle and the key respectively, and the multiple UWB anchors are located at different positions of the vehicle;

[0016] Based on the current distances between the key and multiple UWB anchors on the vehicle body, calculate the current position of the key relative to the vehicle.

[0017] In some embodiments, the calculating, in each cycle, the number of times the key is located in each functional area within a predetermined number of cycles includes:

[0018] In each cycle, increment the count of the functional area where the key is located by one;

[0019] In each cycle, confirm the number of times the key is located in each functional area within a predetermined number of cycles according to the result of the count.

[0020] In some embodiments, when the number of times the key is located in the same functional area is less than or equal to the number threshold, the vehicle maintains the current function unchanged.

[0021] In some embodiments, the value of the number threshold is greater than half of the value of the predetermined number of cycles.

[0022] In some embodiments, the control method includes:

[0023] When the vehicle executes the preset function corresponding to the target functional area, control the vehicle to stop executing the functions corresponding to other functional areas.

[0024] The control device for the functions of an automobile according to the embodiments of the present application includes:

[0025] An acquisition module, configured to periodically acquire the current position of the key relative to the automobile and cache the key positions within a recent predetermined number of periods;

[0026] A calculation module, configured to calculate the radial velocity of the key relative to the boundary line of the function area to be crossed based on the position and the period value, where the function area is a preset specific function area demarcated around the automobile, the function area includes a transition area and a non-transition area connected to the transition area, and the transition area is a strip-shaped area within a certain range on the side adjacent to the boundary line of the function area;

[0027] An adjustment module, configured to adjust the number threshold and the width of the transition area according to the radial velocity; wherein, both the number threshold and the width of the transition area are in an inverse adjustment relationship with the radial velocity;

[0028] A decision module, configured to use the number threshold for comparison with the number of times the key is located in the same function area within a predetermined number of periods. When the number of times the key is located in the same function area within a predetermined number of periods is greater than the number threshold, it is determined that this function area becomes the current target function area; and further determine whether the key is in the non-transition area of the current target function area according to the current key position coordinates;

[0029] A control module, configured to control the automobile to execute corresponding functions according to the decision result of the current target function area of the key output by the decision module and the decision result of whether it is in the non-transition area of the current target function area. When the number of times the key is located in the same function area within a predetermined number of periods is greater than the number threshold and the current position of the key is in the non-transition area of this function area, control the automobile to execute the preset function of the current function area where it is located; otherwise, the automobile maintains the previous function unchanged.

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

[0031] In the control method, control device, and automobile for the functions of an automobile according to the embodiments of the present application, when the key is located near the boundary line of different function areas of the automobile through the control device to implement the control method, the number threshold and the width of the transition area are adjusted according to the inverse adjustment relationship of the magnitude of the radial velocity of the key relative to the function area, so as to better improve the response speed of the corresponding function area while ensuring the accuracy when the key moves relatively fast relative to the function area.

[0032] A non - volatile computer - readable storage medium storing a computer program, when the computer program is executed by one or more processors, implements the control method described in any of the above - mentioned embodiments.

[0033] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Brief Description of the Drawings

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

[0035] Figure 1 is a schematic flowchart of the control method according to an embodiment of the present application;

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

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

[0038] Figure 4 is a schematic diagram of the moving speed of the key moving towards the boundary line of the functional area according to an embodiment of the present application;

[0039] Figure 5 is a schematic flowchart of the control method according to an embodiment of the present application;

[0040] Figure 6 is a schematic flowchart of the control method according to an embodiment of the present application;

[0041] Figure 7 is a schematic flowchart of the control method according to an embodiment of the present application;

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

[0043] Figure 9 is a schematic flowchart of the control method according to an embodiment of the present application;

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

[0045] Figure 11 is a schematic diagram of the principle of the second embodiment of the control method according to an embodiment of the present application using a sliding - window shift - register group and a counting accumulator for counting;

[0046] Figure 12It is a schematic diagram of the principle of the third embodiment of the counting method using a sliding window shift register group and a counting accumulator in the control method of the embodiment of the present application;

[0047] Figure 13 It is a schematic flowchart of the control method of the embodiment of the present application;

[0048] Figure 14 It is a schematic diagram of the principle of the fourth embodiment of the counting method using a sliding window shift register group and a counting accumulator in the control method of the embodiment of the present application;

[0049] Figure 15 It is a schematic diagram of the principle of the fifth embodiment of the counting method using a sliding window shift register group and a counting accumulator in the control method of the embodiment of the present application;

[0050] Figure 16 It is a schematic diagram of the principle of the sixth embodiment of the counting method using a sliding window shift register group and a counting accumulator in the control method of the embodiment of the present application;

[0051] Figure 17 It is a schematic diagram of the principle of the seventh embodiment of the counting method using a sliding window shift register group and a counting accumulator in the control method of the embodiment of the present application;

[0052] Figure 18 It is a schematic flowchart of the control method of the embodiment of the present application.

[0053] Main element symbol description:

[0054] Automobile 100;

[0055] Memory 10, Controller 20, Main function area 30, Left front door function block 31, Left front door function block transition area 311, Left front door function block non-transition area 312, Left rear door function block 32, Left rear door function block transition area 321, Left rear door function block non-transition area 322, Right front door function block 33, Right front door function block transition area 331, Right front door function block non-transition area 332, Right rear door function block 34, Right rear door function block transition area 341, Right rear door function block non-transition area 342, Left tailgate function block 35, Left tailgate function block transition area 351, Left tailgate function block non-transition area 352, Right tailgate function block 36, Right tailgate function block transition area 361, Right tailgate function block transition area 362, Sub-function area 40, UWB anchor module 50;

[0056] Key 200;

[0057] Control device 300, Acquisition module 310, Calculation module 320, Adjustment module 330, Judgment module 340, Control module 350. Detailed implementation manner

[0058] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and should not be construed as a limitation to the present application.

[0059] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0060] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, an electrical connection or a connection capable of mutual communication; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0061] In the present application, unless otherwise clearly defined and limited, the fact that the first feature is "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the fact that the first feature is "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The fact that the first feature is "under", "beneath" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0062] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0063] Please refer to Figure 1 , the control method of the embodiment of the present application includes:

[0064] S10: Periodically obtain the current position of the key 200 relative to the vehicle 100, and cache the positions of the key 200 in the most recent predetermined number of periods;

[0065] S20: Calculate the radial velocity of the key 200 relative to the boundary line of the upcoming functional area based on the current and past positions of the key 200 and the period value; determine the functional area where the key 200 is currently located; the functional area is an area around the vehicle 100 divided into areas with specific functions in advance, and the functional area includes a transition area and a non-transition area. Among them, the transition area is a strip-shaped area within a certain range on the side of the boundary line of adjacent functional areas; when the key 200 is located in the transition area, the vehicle 100 maintains the previously executed function unchanged.

[0066] S30: Adjust the number threshold and the width of the transition area according to the radial velocity. Both the number threshold and the width of the transition area are inversely adjusted with the radial velocity. 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 periods. When the number of times the key 200 is located in the same functional area within a predetermined number of periods is greater than the number threshold, then set this functional area as the target functional area, and the preset function of the target functional area is used as the function that the vehicle 100 may execute in the current period (the condition for execution is that the key 200 is in the non-transition area of this target functional area);

[0067] Please refer to Figure 2 , the control device 300 of the embodiment of the present application includes:

[0068] An acquisition module 310, configured to periodically acquire the current position of the key 200 relative to the vehicle 100, and cache the positions of the key 200 in the most recent predetermined number of periods;

[0069] A calculation module 320 is configured to calculate the radial velocity of the key 200 relative to the boundary line of the upcoming functional area based on the current and past positions and the cycle value of the key 200. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on the side of the functional area boundary line.

[0070] An adjustment module 330 is configured to adjust the number threshold of adjustments and the width of the transition area according to the radial velocity. Among them, both the number threshold of adjustments and the width of the transition area have an inverse adjustment relationship with the radial velocity.

[0071] A judgment module 340 is configured to use the number threshold of adjustments to compare with the number of times the key 200 is located in the same functional area within a predetermined number of cycles. When the number of times the key 200 is located in the same functional area within a predetermined number of cycles is greater than the number threshold of adjustments, it is judged that this functional area becomes the current target functional area. Additionally, it is judged whether the key 200 is in the non-transition area of the current target functional area according to the current position coordinates of the key 200.

[0072] A control module 350 is configured to control the vehicle 100 to perform corresponding functions according to the judgment result of the current target functional area of the key 200 output by the judgment module 340 and the judgment result of whether it is in the non-transition area of the current target functional area. When the number of times the key 200 is located in the same functional area within a predetermined number of cycles is greater than the number threshold of adjustments (at this time this functional area becomes the current target functional area), and the current position of the key 200 is in the non-transition area of this functional area, the vehicle 100 is controlled to perform the preset function of the current functional area (which is also the current target functional area); otherwise, the vehicle 100 maintains the previous function unchanged.

[0073] The vehicle 100 according to the embodiment of the present application includes a memory 10 and a controller 20. The controller 20 is configured to execute the calculation program stored in the memory 10 to implement the control method of the above embodiment. Or rather, the controller 20 is configured to periodically obtain the current position of the key 200 relative to the vehicle 100 and cache the positions of the key 200 in the most recent predetermined number of cycles; and is configured to calculate the radial velocity of the key 200 relative to the boundary line of the upcoming functional area based on the current and past positions and the cycle value of the key 200. The functional area is an area with a preset specific function divided around the vehicle 100. The functional area includes a transition area and a non-transition area connected to the transition area. The transition area is a strip-shaped area within a certain range on the side of the boundary line of adjacent functional areas. When the key 200 is located in the transition area, the vehicle 100 maintains the previous function unchanged.

[0074] and used to adjust the number threshold and the width of the transition zone according to the radial velocity, both the number threshold and the width of the transition zone are inversely adjusted with the radial velocity. The number threshold is used to compare with the number of times the key 200 is in the same functional area within a predetermined number of cycles. When the number of times the key 200 is in the same functional area within a predetermined number of cycles is greater than the number threshold, the functional area is set as the target functional area, and the preset function of the target functional area is used as the function that the vehicle 100 may execute in the current cycle (the condition for execution is that the key 200 is in the non-transition area of this target functional area);

[0075] In this application, the number threshold and the width of the transition zone are adjusted according to the radial velocity, and both the number threshold and the width of the transition zone are inversely adjusted with the radial velocity. The number threshold is used to compare with the number of times the key 200 is in the same functional area within a predetermined number of cycles to determine whether the key 200 is stably in the transition zone, and the preset function control of the vehicle 100 is executed according to the result;

[0076] In the control method, the control device 300 and the vehicle 100 according to the embodiments of this application, the control method is implemented via the control device 300. When the key 200 is near the boundary line of different functional areas of the vehicle 100, the size of the number threshold and the width of the transition zone are adjusted according to the inverse adjustment relationship of the radial velocity of the key 200 relative to the functional area, so as to improve the response speed of the corresponding functional area while ensuring the accuracy rate when the key 200 moves relatively fast in the functional area.

[0077] Specifically, the vehicle 100 can be a new energy vehicle, a fuel vehicle, a hybrid vehicle, etc. The key 200 of the vehicle 100 can be a device used to enter the vehicle 100, lock the vehicle 100 or execute certain functions on the vehicle 100. The key 200 can be a remote control key, a key applying various wireless technologies, or a digital key in an electronic device such as a mobile phone. For example, the key 200 can be a UHF remote control key, a UWB digital key, etc. The vehicle 100 can include a controller 20 and a memory 10. The controller 20 can be used to collect the positioning sensor information such as UWB / BLE distributed on the vehicle body and calculate the position of the key 200. The vehicle 100 can implement the control method through the controller 20 and the memory 10.

[0078] In the control method, to implement the control method, step S10 can be taken first. The controller 20 can periodically obtain the position of the key 200 relative to the vehicle 100 and the current position, and cache the positions of the key 200 within the most recent predetermined number of cycles. The acquisition method can adopt positioning technologies such as the positioning and calculation system of the vehicle 100 for the key 200. For example, the positioning and calculation system can include the positioning of the key 200 based on the UWB ToF (Time of Flight) distance information between the key 200 and multiple UWB anchors on the vehicle side, the positioning of the key 200 based on the RSSI received signal strength information between the key 200 and multiple BLE anchors, the visual assistance positioning on the vehicle side, and the acceleration - based relative positioning on the key 200 side, etc. Through the positioning of the key 200 by the vehicle 100, the coordinates (position) of the key 200 relative to the body coordinate system of the vehicle 100 can be obtained, and thus the current position between the vehicle 100 and the key 200 can be obtained.

[0079] Then, step S20 can be taken. Based on the current and past positions and cycle values obtained in step S10, calculate the radial velocity of the key 200 relative to the boundary line of the upcoming function area. The calculation method can be to obtain the velocity of the key 200 moving relative to the function area by using the current position of the key 200, the cached past positions, the time - period value, and the number of cycles used to calculate the average velocity of the key 200, according to the change (displacement) of the position of the key 200 and the time when this displacement occurs. Then, the radial velocity can be calculated from the angle between the velocity of the key 200 and the boundary line of the function area.

[0080] As Figure 3 shown, it should be understood that the function areas of the vehicle 100 can be divided according to different positions around the vehicle 100. The main function area 30 can be divided in the distance range outside the outer contour line of the vehicle 100. The specific value of the distance range can be selected as about 0 meters to 2 meters outside the contour line. The secondary function area 40 can be divided in the distance range outside the main function area 30 of the vehicle 100. The specific value of the distance range can be selected as about 2 meters to 30 meters outside the contour line, and several distance segments can be further divided within this distance range.

[0081] Within the main functional area 30, it can be divided into multiple functional blocks according to different positions close to the vehicle 100. For example, in the figure, the main functional area 30 of the vehicle 100 is divided into 6 functional blocks, including the left front door functional block 31, the left rear door functional block 32, the right front door functional block 33, the right rear door functional block 34, the left tailgate functional block 35, and the right tailgate functional block 36. When the key 200 is located in each functional block, the vehicle 100 can unlock the corresponding door of the functional block. For example, unlock the left front door, unlock the left rear door, etc. When the key 200 leaves each functional block, the vehicle 100 can lock the corresponding door of each functional block. For example, lock the left front door, lock the left rear door, etc. Of course, the specific functions of each functional block also include the state control of other components such as vehicle lights and seats. The functional block can also be divided into a transition area and a non-transition area. The transition area is a strip-shaped area close to the boundary line between adjacent functional blocks and extending outward in the direction away from the boundary line. The non-transition area can be an area close to the transition area and jointly forming the functional block with the transition area.

[0082] For ease of understanding, the Figure 3 functional blocks divided in the main functional block can be further divided into the left front door functional block transition area 311 and the left front door functional block non-transition area 312, the left rear door functional block transition area 321 and the left rear door functional block non-transition area 322, the right front door functional block transition area 331 and the right front door functional block non-transition area 332, the right rear door functional block transition area 341 and the right rear door functional block non-transition area 342, the left tailgate functional block transition area 351 and the left tailgate functional block non-transition area 352, the right tailgate functional block transition area 361 and the right tailgate functional block transition area 362.

[0083] For example, when the key 200 is located in the non-transition area of each functional block, if the number of times the key 200 is located in a certain functional area is greater than the number threshold within a predetermined number of cycles, the vehicle 100 can perform a functional action corresponding to that functional area (such as unlocking the corresponding door). For example, unlock the left front door, unlock the left rear door, etc. When the key 200 leaves a certain functional block and enters the non-transition area of an adjacent functional block, if the number of times the key 200 is located in the adjacent functional area is greater than the number threshold within a predetermined number of cycles, the vehicle 100 can perform a functional action corresponding to that adjacent functional area (such as locking the corresponding door). For example, lock the left front door, lock the left rear door, etc. Of course, the specific functions of each functional block may also include other actions.

[0084] In the secondary functional area 40, an annular block can be formed by enclosing from the outer boundary of the main functional area 30 to the outer boundaries of multiple secondary functional areas 40, such as Figure 3As shown in the secondary functional area 40 of the two surrounding circular blocks. When the key 200 is in the circular blocks at different distances from the vehicle body, it can control the vehicle 100 to turn on the welcome lights, adjust the seat, turn on the air conditioner, etc.; in some sub-areas of the near-circular (such as 2m to 6m) block close to the main functional area, one or more functions such as remote parking or automatic following can also be executed. Further, the functions of the secondary functional area 40 can also be customized according to the actual situation of the vehicle 100 or the needs of the user.

[0085] It should also be understood that since the key 200 positioning system outputs an approximate normal probability distribution centered on the actual position of the key 200 when calculating the position of the key 200, when the key 200 is near the functional area boundary line, the output key 200 position coordinates will randomly fall into the functional areas adjacent to the boundary line; if not processed, the preset functions of the functional areas executed by the vehicle will frequently switch; a phenomenon like this is usually called the ping-pong effect of the functional area boundary.

[0086] Steps S30 can be taken to reduce the ping-pong effect. When the key 200 is in the transition area, control the vehicle 100 to keep executing the previous function unchanged. Exemplarily, if the key 200 is located in the non-transition area 312 of the left front door functional block, the vehicle 100 executes the preset function corresponding to the functional area where the left front door functional block 31 is located, such as unlocking the left front door. At this time, if the key 200 is moved to the transition area 311 of the left front door functional block or the transition area 321 of the left rear door functional block, the vehicle 100 will keep executing the previous function unchanged, that is, the vehicle 100 still realizes the preset function corresponding to the functional area where the left front door functional block 31 is located, that is, unlocking the left front door.

[0087] According to the radial velocity of the key 200 relative to the two functional area boundary lines that it is about to cross calculated in step S20, adjust the size of the number threshold and the width of the transition zones on both sides of the boundary line in an inverse adjustment relationship. When the radial velocity is large, appropriately reduce the number threshold and reduce the width of the transition zone; when the radial velocity is small, appropriately increase the number threshold and increase the width of the transition zone; however, the lower limit of the number threshold should be greater than 50% (usually taken as 60%) of the predetermined number of cycles, and the width of the transition zone is also adjusted within a reasonable range. After such adaptive adjustment, even when the key 200 moves within a very wide speed range, it can perform function switching in a timely manner when crossing the functional area boundary, so that the system maintains a good response speed.

[0088] It should be understood that the number threshold is a trigger threshold for determining the number of times the key 200 falls within the corresponding functional area within a predetermined number of cycles. When the number of times the key 200 falls within a certain functional area within the predetermined number of cycles is greater than the number threshold, that functional area becomes the current target functional area. If the current position of the key 200 is in the non-transition area, the controller 20 can control the vehicle 100 to execute the corresponding preset function of the target functional area.

[0089] Exemplarily, when the radial velocity of the key 200 relative to the boundary line to be crossed increases, the number thresholds corresponding to the functional areas on both sides of the boundary line will decrease, and the width of the transition area 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 faster within the predetermined number of cycles. Moreover, due to the decrease in the width of the transition area, the time for the key 200 to cross the transition area is shorter, and thus the conditions for the vehicle 100 to start executing the preset function of the new functional area can be met faster, which can improve the response speed of the key 200 entering the new functional area; even in scenarios such as when the user runs quickly towards the car door, the car door will be unlocked in advance before the user reaches the car door.

[0090] It should also be understood that the moving velocity vector of the key 200 can be obtained first, and then the direction vector (or its perpendicular vector) of the boundary line that the key 200 is about to cross can be obtained. 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.

[0091] As Figure 4 shown and understood, the two functional areas can be Figure 3 the left functional block 35 of the tailgate and the right functional block 36 of the tailgate in , and the boundary line is the intersection line of the two functional blocks. The solid arrow can be regarded as the moving direction of the key 200, and the moving velocity can be V. The dashed arrow can be regarded as the radial velocity v of the key 200. The radial velocity v can be understood as the component velocity of the moving velocity of the actual movement direction of the key 200 in the vertical direction of the functional area boundary line. That is, the velocity of the actual moving direction of the key 200 and the radial velocity have a trigonometric function relationship, and the radial velocity v = Vcosθ can be obtained.

[0092] Please refer to Figure 5 , in some embodiments, the control method further includes:

[0093] S40: In each cycle, calculate the number of times the key 200 is located in each functional area within a predetermined number of cycles;

[0094] S50: Use the functional area where the number of times the key 200 is located in the same functional area is greater than the number threshold as the target functional area;

[0095] S60: When the key 200 is in the non-transition area of the target functional area, control the vehicle 100 to execute the preset function corresponding to the target functional area.

[0096] In some embodiments, the control device further includes a calculation module 320. The calculation module 320 is configured to calculate, in each cycle, the number of times the key 200 is located in each functional area within a predetermined number of cycles; the decision module is configured to use the functional area where the number of times the key 200 is located in the same functional area is greater than the number threshold as the target functional area, and to determine whether the current position of the key 200 is in the non-transition area of the target functional area; the control module is configured to control the vehicle 100 to execute the preset function corresponding to the target functional area when the key 200 is in the non-transition area of the target functional area.

[0097] The controller 20 is configured to calculate, in each cycle, the number of times the key 200 is located in different functional areas within a predetermined number of cycles; and to use the functional area where the number of times the key 200 is located in the same functional area is greater than the number threshold as the target functional area, and to control the vehicle 100 to execute the preset function corresponding to the target functional area when the key 200 is in the non-transition area of the target functional area.

[0098] In this way, the vehicle 100 is controlled to execute the preset function of the corresponding functional area only when the key 200 reaches the number threshold within a predetermined number of cycles and is in the non-transition area of the target functional area, thereby reducing the frequent random switching of the vehicle 100 executing the preset function between the target functional area and the adjacent functional area, and reducing the wear of the executing components of the vehicle 100.

[0099] Specifically, step S40 is taken in the control method. In each cycle, the number of times the key 200 is located in each functional area within a predetermined number of cycles is calculated. The predetermined number of cycles can be an integer multiple of the cycle for obtaining the current position between the vehicle 100 and the key 200 in step S10. The predetermined number of cycles can be 10 cycles, 16 cycles, etc. In a relatively fixed predetermined number of cycles, after confirming the functional area where the key 200 is located in step S20 in each cycle, the number of times the key 200 is located in different functional areas within the entire predetermined number of cycles will be calculated.

[0100] Then step S50 can be taken. Within the predetermined number of cycles, the number of times falling in each functional area can be calculated, and each functional area is set with a predetermined number threshold. When the number of times the key 200 falls in a certain functional area within the cycle is greater than the number threshold, the controller 20 can use the functional area that meets the requirements as the target functional area.

[0101] After that, step S60 can be taken. When it is determined that the target functional area where the key 200 is located is in the non-transition area, the controller 20 can control the vehicle 100 to implement the preset function of the target functional area. The preset function can be unlocking of the corresponding functional area, or turning on the light in the corresponding functional area, etc.

[0102] Please refer to Figure 6, in some embodiments, the control method includes:

[0103] S70: When the key 200 is in the transition zone, control the vehicle 100 to keep performing the previous function unchanged.

[0104] The control module 350 is configured to control the vehicle 100 to keep performing the previous function unchanged when the key 200 is in the transition zone. The controller 20 is configured to control the vehicle 100 to keep performing the previous function unchanged when the key 200 is in the transition zone.

[0105] In this way, when the key 200 is in the transition zone, the vehicle 100 keeps performing the preset function corresponding to the previous corresponding functional area. That is to say, when the key 200 is in the transition zone, the function performed by the vehicle 100 does not change; thereby reducing the frequent random switching of the preset functions performed by the vehicle 100 between the target functional area and the adjacent functional areas, and reducing the wear of the execution components of the vehicle 100.

[0106] Specifically, step S70 can be executed after step S50 and when step S60 is not satisfied, that is, when the key 200 is in the transition zone of the target functional area, control the vehicle 100 to keep performing the previous function unchanged. Exemplarily, if the key 200 is located in the non-transition area 312 of the left front door functional area, the vehicle 100 realizes the preset function corresponding to the functional area where the left front door function block 31 is located, such as unlocking the left front door. Thereafter, if the key 200 is moved to the transition area 311 of the left front door function block or the transition area 321 of the left rear door function block, the vehicle 100 will keep performing the previous function, that is, the vehicle 100 still performs the preset function corresponding to the functional area where the left front door function block 31 is located, that is, unlocking the left front door.

[0107] Please refer to Figure 7 , in some embodiments, periodically obtaining the current position of the key 200 relative to the vehicle 100 (step S10) includes:

[0108] S11: Periodically obtain the current distances between the key 200 and multiple UWB anchor modules 50 on the vehicle body of the vehicle 100 respectively. The multiple UWB anchors are located at different positions of the vehicle 100;

[0109] S12: Calculate the current position of the key 200 relative to the vehicle 100 based on the current distances between the current multiple keys 200 and the UWB anchors on the vehicle body.

[0110] The acquisition module 310 is configured to periodically acquire the current distances between multiple UWB anchor modules 50 on the vehicle body of the vehicle 100 and the key 200 respectively, and the multiple UWB anchors are located at different positions on the vehicle 100; the calculation module 320 is configured to calculate the current position of the key 200 relative to the vehicle 100 based on the current distances between the key 200 and the multiple UWB anchors on the vehicle body.

[0111] The controller 20 is configured to periodically acquire the current distances between multiple UWB anchor modules 50 on the vehicle body of the vehicle 100 and the key 200 respectively, and the multiple UWB anchors are located at different positions on the vehicle 100; and is configured to calculate the current position of the key 200 relative to the vehicle 100 based on the current distances between the key 200 and the multiple UWB anchors on the vehicle body.

[0112] In this way, through the multiple UWB anchor modules 50 of the vehicle 100, the current position of the key 200 can be obtained more accurately, and thus the functional area where the key 200 is located can be determined more accurately.

[0113] Specifically, the UWB technology based on relevant standards such as 802.15.4z is also called the security-enhanced ultra-wideband technology, which can be mainly applied to the digital key 200 system of the vehicle 100, and has the technical characteristics of anti-relay attack, high ranging and positioning accuracy; in terms of function, it can accurately identify the key 200 inside and outside the vehicle, and accurately position the vehicle outside. The accuracy can reach ±6-10 cm under non-occluded conditions and about ±30 cm under occluded conditions.

[0114] The digital key 200 system adopting the UWB technology can provide functions such as passive unlocking and passive starting ignition with good user experience. Exemplarily, by adopting the security-enhanced UWB technology based on 802.15.4Z, the low-power Bluetooth technology (BLE) and the near-field communication (NFC) technology, an electronic device such as a mobile phone can be used to achieve passive unlocking and starting of the vehicle, the digital key can be remotely shared conveniently, the vehicle can be shared with family members conveniently, and friends can be authorized to use the vehicle for a short time.

[0115] To implement step S10, step S11 can be taken. The controller 20 can periodically acquire the current distances between each UWB anchor module 50 among the multiple UWB anchor modules 50 on the vehicle 100 and the UWB module on the key 200. Among them, the multiple UWB anchor modules 50 can be set at different positions on the vehicle 100, for example, near the four corners (front left / back left / front right / back right) of the vehicle 100 and near the front and rear doors of the vehicle 100.

[0116] Then, step S12 can be taken to locate the relative position of the key 200 and the vehicle 100 according to the current distances between the current multiple keys 200 and the vehicle body UWB anchors obtained in step S11. By resolving the relative position, the functional area where the key 200 is located can be confirmed.

[0117] Exemplarily, it can be combined with Figure 8 For further understanding, during the signal connection and positioning process between the key 200 and the vehicle 100 based on UWB technology, the vehicle 100 can be equipped with a UWB positioning module (anchor point), a BLE (low power Bluetooth) communication module and a positioning module (anchor point), an ultrasonic module, and a vision assistance module. The key 200 can be equipped with a UWB module, a BLE low power Bluetooth module, an accelerometer, and other modules for positioning. The modules can include corresponding chips and modules. The low power Bluetooth module in the key 200 and the low power Bluetooth module in the vehicle 100 can achieve wireless communication and positioning based on the received signal strength RSSI. The UWB module in the key 200 performs ToF ranging with multiple UWB anchor modules 50 distributed in the vehicle 100, so as to obtain the current distance of the key 200.

[0118] Then, the ToF distance information and the received signal strength RSSI information between each of the multiple UWB anchor modules 50 on the vehicle 100 side and the UWB module of the key 200 can be sent to the controller 20 of the vehicle 100 for position resolution of the key 200, so as to obtain the relative position of the key 200. The information obtained by the accelerometer on the key 200, the ultrasonic module and the vision module of the vehicle body can also be used for assisting in the resolution of the relative position of the key 200. Then, the controller 20 further determines the functional area where the key 200 is located according to the relative position of the key 200 relative to the vehicle 100.

[0119] Please refer to Figure 9 , in some embodiments, in each cycle, calculating the number of times the key 200 is located in each functional area within a predetermined number of cycles (step S40) includes:

[0120] S41: In each cycle, increment the count of the functional area where the key 200 is located by one;

[0121] S42: In each cycle, confirm the number of times the key 200 is located in different functional areas within a predetermined number of cycles according to the counting result.

[0122] The calculation module 320 is used to increment the count of the functional area where the key 200 is located by one in each cycle; and is used to confirm the number of times the key 200 is located in different functional areas within a predetermined number of cycles according to the counting result in each cycle.

[0123] The controller 20 is configured to increment by one the count of the functional area where the key 200 is located in each cycle; and to confirm, in each cycle, the number of times the key 200 is located in different functional areas within a predetermined number of cycles based on the count result.

[0124] In this way, by using the shift register plus counter method, the states of the key 200 in different functional areas within a predetermined number of cycles can be recorded, and the cumulative number of times the key 200 is in different functional areas within a predetermined number of cycles can be obtained in each cycle, which is convenient for comparing the positioning of the key 200 between different functional areas and facilitating the judgment of subsequent steps.

[0125] Specifically, when the controller 20 performs step S40, it can first take step S41 to increment by one the count of the functional area where the key 200 confirmed in step S21 is located in each cycle within a predetermined number of cycles, and then the corresponding number of times the key 200 is in different functional areas confirmed within a predetermined number of cycles can be statistically obtained.

[0126] It can be further understood in combination with Figure 10 the embodiments of Figure 3 Taking the left front door function block 31 and the left rear door function block 32 shown in

[0127] as examples, when the key 200 is located at different positions from the boundary line of the two function blocks, the controller 20 in the vehicle 100 can execute step S40. Among them, the vehicle 100 can calculate the number of times of the predetermined number of cycles by using the sliding window counting method in software logic. Taking the sliding window shift register group as an example:

[0128] When the key 200 is in the left front door function block 31, located in the non-transition area 312 of the left front door function block and at a certain distance from the transition area, the positioning result of the key 200 is a normal distribution curve close to the left front door function block 31. At this time, the sliding window shift register group in the left front door function block 31 confirmed that the key 200 fell into the left front door function block 31 9 times within 10 preset number cycles, and the number of times accumulated by the counting accumulator at this time was 9 times. At the same time, the sliding window shift register group in the left rear door function block 32 confirmed that the key 200 fell into the left rear door function block 32 1 time within 10 preset number cycles. Therefore, the number of times of the accumulated result of the corresponding counting accumulator was 1 time.

[0129] At this time, the moving speed of the key 200 relative to the left front door function block 31 is V1, and the corresponding radial speed is v1. At this time, the number threshold in the figure can be adjusted to 7 times correspondingly, and the width of the non-transition area 312 of the left front door function block is adjusted to the corresponding width in the figure. The number of times accumulated by the counting accumulator in the left front door function block 31 is greater than 7 times. Therefore, according to step S50, the left front door function block 31 can be confirmed as the target function area, and then step S60 can be implemented to control the vehicle 100 to execute the preset function corresponding to the target function area. For example, unlocking the left front door.

[0130] Furthermore, as Figure 11 shown, when the key 200 is in the same position and the moving speed relative to the left front door function block 31 changes from V1 to V2, V1 > V2, and the corresponding radial speed v1 > v2. The radial speed decreases. At this time, the number threshold in the figure can be correspondingly increased to 8 times. The intersection line between the left front door function area and the left rear door function area is the boundary line that the key 200 is about to cross, and the widths of the transition areas 311 and 321 on both sides of this boundary line are appropriately increased; the width of the transition area 311 of the left front door function area and the width of the transition area 321 of the left rear door function area are appropriately increased. At this time, since the position of the key 200 remains unchanged, the sliding window shift register group in the left front door function block 31 still confirmed that the key 200 fell into the left front door function block 31 9 times within 10 preset number cycles, and the sliding window shift register group in the left rear door function block 32 only confirmed that the key 200 fell into the left rear door function block 32 1 time within 10 preset number cycles. Therefore, the number of times accumulated by the counting accumulator is 1 time.

[0131] The number of times accumulated by the counting accumulator in the left front door function block 31, which is 9, is greater than the number threshold 8. Therefore, the left front door function block 31 is confirmed as the target function area.

[0132] Still further, as Figure 12As shown, when the key 200 is in the same position and the moving speed relative to the left front door function block 31 changes from V1 to V3, where V3 is greater than V1, the corresponding radial speed v3 is greater than v1. As the radial speed increases, the number threshold in the figure can be correspondingly adjusted down to 6 times at this time. The intersection line between the left front door function area and the left rear door function area is the boundary line that the key 200 is about to cross, and the widths of the transition areas 311 and 321 on both sides of this boundary line are correspondingly reduced. At this time, since the position of the key 200 remains unchanged, the sliding window shift register group in the left front door function block 31 still confirms that the key 200 has fallen into the left front door function block 31 9 times within 10 preset number cycles, while the sliding window shift register group in the left rear door function block 32 only confirms that the key 200 has fallen into the left rear door function area 32 1 time within 10 preset number cycles.

[0133] The number 9 accumulated by the counting accumulator in the left front door function block 31 is greater than the number threshold of 6 times. Therefore, the left front door function block 31 is confirmed as the target function area, and the current key 200 is in the non-transition area 312 of the left front door function area 31, and the step S60 can be implemented to control the vehicle 100 to execute the preset function corresponding to the target function area. For example, unlocking the left front door.

[0134] In some embodiments, the preset number cycle is the latest preset number cycle intercepted continuously with the current moment.

[0135] In this way, the cycle of the latest number threshold for the preset number cycle can ensure that the confirmation and counting of the function area where the key 200 is located are in the latest state.

[0136] Please refer to Figure 13 , in some embodiments, the control method further includes:

[0137] S80: When the number of times the key 200 is in the same function area is less than or equal to the number threshold, keep the function currently executed by the vehicle 100 unchanged.

[0138] The control module 350 is used to keep the function currently executed by the vehicle 100 unchanged when the number of times the key 200 is in the same function area is less than or equal to the number threshold. The controller 20 is used to keep the function currently executed by the vehicle 100 unchanged when the number of times the key 200 is in the same function area is less than or equal to the number threshold.

[0139] In this way, when the number of times the key 200 is in the same function area is less than or equal to the number threshold, keeping the function currently executed by the vehicle 100 unchanged can reduce the ping-pong effect when the key 200 is near the boundary line and reduce the frequent switching between the preset functions of the function areas on both sides of the boundary line of the vehicle 100.

[0140] Specifically, when the controller 20 executes the control method up to step S40 and does not meet the condition of step S50, step S80 can be executed. 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 being executed by the vehicle 100 remains unchanged.

[0141] Combined Figure 14 For understanding, when the state of the key 200 changes from Figure 10 moves to Figure 14 position, the key 200 is still within the left front door function block 31 but located in the transition area 311 of the left front door function block. The positioning result of the key 200 is a normal distribution centered on the actual position in the transition area within the left front door function block 31. At this time, the sliding window shift register group in the left front door function block 31 confirmed that the key 200 fell into the left front door function block 31 seven times within 10 pre-set number cycles, so the number accumulated by the counting accumulator is 7 times. At the same time, the sliding window shift register group in the left rear door function block 32 only confirmed that the key 200 fell into the left rear door function block 32 three times within 10 pre-set number cycles. Among them, the number of times it fell into the transition area 321 of the left rear door function block is 3 times, so the number accumulated by the counting accumulator is 3 times.

[0142] At this time, the moving speed of the key 200 relative to the left front door function block 31 is V1, and the corresponding radial speed is v1. At this time, the number threshold in the figure can be adjusted to 6 times, the width of the non-transition area 312 of the left front door function block is adjusted to the corresponding width in the figure. The number accumulated by the counting accumulator in the left front door function block 31 is greater than 6 times, and the number accumulated by the counting accumulator in the left rear door function block 32 is less than 6 times. However, since the position of the key 200 is within the transition area 311 of the left front door function block, regardless of whether the result of the counting accumulator is greater than the pre-set number of 6 times, the previous function before entering the transition area remains unchanged. If the target function area previously executed by the vehicle 100 was the left front door unlocking of the left front door function block 31, the vehicle 100 still maintains the left front door unlocking state of the left front door function block 31 unchanged.

[0143] Furthermore, as Figure 15As shown, when the key 200 is in the same position and the moving speed relative to the left front door function block 31 changes from V1 to V2, where V1 > V2, the corresponding radial speed v1 > v2. The radial speed decreases, and at this time, the number threshold in the figure can be correspondingly increased to 8 times, and the widths of both the left front door function block transition area 311 and the left rear door function block transition area 321 increase. At this time, since the position of the key 200 remains unchanged, the sliding window shift register group in the left front door function block 31 still confirms that the key 200 has fallen into the left front door function block 31 7 times within 10 preset number cycles, while the sliding window shift register group in the left rear door function block 32 only confirms that the key 200 has fallen into the left rear door function block 32 3 times within 10 preset number cycles.

[0144] The number of times accumulated by the counting accumulators in both the left front door function block 31 and the left rear door function block 32 is less than the number threshold. Therefore, neither the left front door function block 31 nor the left rear door function block 32 will be confirmed as the target function area.

[0145] It can also be understood in combination with Figure 16 When the position of the key 200 moves from Figure 10 to Figure 16 When the key 200 is on the boundary line between the left front door function block 31 and the left rear door function block 32, the positioning result of the key 200 is a normal distribution centered on the boundary line. At this time, the sliding window shift register group in the left front door function block 31 confirms that the key 200 has fallen into the left front door function block 31 5 times within 10 preset number cycles, while the sliding window shift register group in the left rear door function block 32 confirms that the key 200 has fallen into the left rear door function block 32 5 times within 10 preset number cycles.

[0146] At this time, the moving speed of the key 200 relative to the left front door function block 31 is V1, and the corresponding radial speed is v1. At this time, the number threshold in the figure can be correspondingly adjusted to 6 times, and the widths of the left front door function block transition area 311 and the transition area of the left rear door function area are adjusted to the widths in the corresponding figure. The number of times accumulated by the counting accumulator in the left front door function block 31 is less than 6 times, and the number of times accumulated by the counting accumulator in the left front door function block 32 is also less than 6 times; and at this time, the key 200 is located within the transition area. Therefore, according to step S80, the vehicle 100 is controlled to maintain its previous state unchanged, that is, Figure 11 the preset function corresponding to the target function area executed in

[0147] Furthermore, as Figure 17As shown, when the key 200 is in the same position and the moving speed relative to the left front door function block 31 changes from V1 to V2, where V1 is greater than V2, the corresponding radial speed v1 is greater than v2. At this time, the number threshold in the figure can be correspondingly increased to 8 times, and the widths of the transition areas 311 of the left front door function block and 321 of the left rear door function area are appropriately increased. At this time, since the position of the key 200 remains unchanged, the sliding window shift register group in the left front door function block 31 still confirms that the key 200 has fallen into the left front door function block 31 5 times within 10 preset number cycles, and at the same time, the sliding window shift register group in the left rear door function block 32 confirms that the key 200 has fallen into the left rear door function block 32 5 times within 10 preset number cycles.

[0148] The number of times accumulated by the counting accumulators in both the left front door function block 31 and the left rear door function block 32 is less than the number threshold of 8, and at this time the key 200 is located within the transition area. Therefore, neither the left front door function block 31 nor the left rear door function block 32 will be confirmed as the target function area, and according to step S80, the vehicle 100 is controlled to maintain its previous state unchanged.

[0149] In some embodiments, the value of the number threshold is greater than half of the value of the preset number cycle.

[0150] In this way, the value of the number threshold being greater than half of the value of the preset number cycle can make the confirmation of the key 200 function area by the vehicle 100 conform to the actual situation.

[0151] Specifically, the value of the number threshold should be set to be greater than half of the value of the preset number cycle, that is, the value of the number threshold is more than 50% of the value of the preset number cycle. Preferably, the value of the number threshold can be 60% or more of the value of the preset number cycle.

[0152] Please refer to Figure 18 , in some embodiments, the control method includes:

[0153] S90: When the vehicle 100 executes the preset function corresponding to the target function area, control the vehicle 100 to stop executing the functions corresponding to other function areas.

[0154] In this way, it is possible to prevent the vehicle 100 from having a conflict with the functions executed by other function areas when executing the preset function of the target function area.

[0155] Specifically, in combination with Figure 3For the functional areas of vehicle 100, when the controller 20 of vehicle 100 executes the control method and confirms that the execution target functional area is the unlocking function of the left front door functional block 31, vehicle 100 will stop the functions executed by other functional areas except the target functional area, such as 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.

[0156] The non - volatile computer - readable storage medium storing the computer program according to the embodiment of the present application, when the computer program is executed by one or more processors, implements the control method of any of the above - mentioned embodiments. Specifically, the processor can execute any one of the steps in the control method.

[0157] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the technical field to which the embodiments of the present application belong.

[0158] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be regarded as an ordered list of executable instructions for implementing a logical function, and can be specifically implemented in any computer - readable medium for use by an instruction - execution system, apparatus, or device (such as a computer - based system, a system including a processing module, or other systems that can fetch and execute instructions from the instruction - execution system, apparatus, or device), or in combination with these instruction - execution systems, apparatus, or devices. For the purposes of this specification, a "computer - readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction - execution system, apparatus, or device. More specific examples (non - exhaustive list) of the computer - readable medium include the following: an electrical connection part (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read - only memory (ROM), an erasable programmable read - only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read - only memory (CDROM). Additionally, the computer - readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0159] The processor can be a Central Processing Unit (CPU), or can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0160] It should be understood that each part of the embodiments of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0161] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0162] In addition, in each embodiment of the present application, the functional units can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0163] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc.

[0164] In the description of this specification, the descriptions referring to terms such as "one embodiment", "certain embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the said embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0165] Although the embodiments of this application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, and the scope of this application is defined by the claims and their equivalents.

Claims

1. A control method for a vehicle function, for use in a vehicle, 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 the most recent predetermined number of periods; Calculating the radial velocity of the key relative to the boundary line of the upcoming functional area based on the current and past positions of the key and the period value, where the functional area is a preset specific functional area demarcated around the vehicle, the functional area includes a transition area and a non-transition area, and the transition area is a strip-shaped area within a certain range on the side of the boundary line of the functional area; when the key is within the transition area, the vehicle maintains the previously executed function unchanged; Adjusting the number threshold and the width of the transition area according to the radial velocity, where both the number threshold and the width of the transition area have an inverse adjustment relationship with the radial velocity; the number threshold is used to compare with the number of times the key is in the same functional area within a predetermined number of periods to determine whether the key is stably in the functional area; if the key is in the non-transition area and the number of times the key is in the same functional area within a predetermined number of periods is greater than the number threshold, then control the vehicle to execute the preset function of the functional area based on this result.

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

3. The control method according to claim 1, characterized in that The control method includes: When the key is in the transition area, controlling the vehicle to maintain the previous function unchanged.

4. The control method according to claim 1, characterized in that The periodically obtaining the current position of the key relative to the vehicle includes: Periodically obtaining the current distances between a plurality of UWB anchor modules on the vehicle body and the key respectively, and the plurality of UWB anchors are located at different positions on the vehicle; Calculating the current position of the key relative to the vehicle based on the current distances between the key and the plurality of UWB anchors on the vehicle body.

5. The control method according to claim 2, characterized in that The calculating, in each period, the number of times the key is in each functional area within a predetermined number of periods includes: In each period, incrementing the count of the functional area where the key is located by one; In each period, confirming the number of times the key is in different functional areas within a predetermined number of periods according to the counting result.

6. The control method according to claim 1, wherein The control method further includes: When the number of times the key is in the same functional area is less than or equal to the number threshold, keeping the function currently executed by the vehicle 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 periods.

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

9. A control device for an automotive function, for use in an automobile, characterized in that, The control device includes: An acquisition module for periodically obtaining the current position of the key relative to the vehicle and caching the key positions within the most recent predetermined number of periods; A calculation module, configured to calculate a radial velocity of the key relative to a boundary line of a functional area about to be crossed based on the position and the period value, where the functional area is a preset area with a specific function divided around the vehicle, the functional area includes a transition area and a non-transition area connected to the transition area, and the transition area is a strip-shaped area within a certain range on the side adjacent to the boundary line of the functional area; An adjustment module, configured to adjust a number threshold and a width of the transition area according to the radial velocity; wherein both the number threshold and the width of the transition area are in an inverse adjustment relationship with the radial velocity; A decision module, configured to use the number threshold for comparison with the number of times the key is located in the same functional area within a predetermined number of cycles. When the number of times the key is located in the same functional area within a predetermined number of cycles is greater than the number threshold, it is decided that the functional area becomes the current target functional area; and further, it is decided whether the key is in the non-transition area of the current target functional area according to the current key position coordinates; A control module, configured to control the vehicle to perform corresponding functions according to the decision result of the current target functional area of the key output by the decision module and the decision result of whether it is in the non-transition area of the current target functional area; when the number of times the key is located in the same functional area within a predetermined number of cycles is greater than the number threshold and the current position of the key is in the non-transition area of the functional area, control the vehicle to perform the preset function of the current functional area where it is located; otherwise, the vehicle maintains the previous function unchanged.

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

11. A non-volatile computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by one or more processors, the control method according to any one of claims 1-8 is implemented.

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