Vehicle control system, method, and storage medium

Abstract

The application provides a vehicle control system. The vehicle control system comprises: a plurality of ultra-wideband sensors distributed at a plurality of positions inside and / or outside the vehicle; a control unit communicatively connected to each of the ultra-wideband sensors and configured to: control at least one of the ultra-wideband sensors to acquire distance information from a user mobile terminal to determine a relative motion state of a corresponding user and the vehicle; in response to a determination that the user has left the vehicle, control a first ultra-wideband sensor inside the vehicle to send a sensor signal to a second ultra-wideband sensor inside the vehicle, and determine whether there is a living body inside the vehicle based on the sensor signal received by the second ultra-wideband sensor; and in response to a determination that there is a living body inside the vehicle, perform a safety process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle control system, a vehicle control method, and a computer readable storage medium. BACKGROUND

[0002] The mainstream solution in the market at present is to arrange one or more radar nodes (for example, ultrasonic radar / millimeter wave radar, etc.) in the vehicle to discover the living body left in the vehicle in a direct detection manner. However, this solution needs to additionally install the radar nodes. If further considering the blind area and coverage range, some vehicle models may need to install multiple radar nodes, which undoubtedly increases the hardware cost of the system.

[0003] In order to overcome the above-mentioned defects existing in the prior art, the technical field urgently needs a vehicle control technology for reducing the deployment cost of the in-vehicle living body detection function. SUMMARY

[0004] The following gives a brief overview of one or more aspects to provide a basic understanding of these aspects. This overview is not an extensive overview of all contemplated aspects, and is neither intended to identify key or critical elements of all aspects nor to delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description given later.

[0005] In order to overcome the above-mentioned defects existing in the prior art, the present application provides a vehicle control system, a vehicle control method, and a computer readable storage medium, which can reuse multiple ultra wide band (UWB) sensors of the UWB digital key function to realize the function of in-vehicle living body detection, so that no additional radar for detecting living bodies is needed, thereby reducing the hardware cost of deploying the in-vehicle living body detection function.

[0006] Specifically, the above-mentioned vehicle control system according to the first aspect of the present application comprises multiple UWB sensors and a control unit. The multiple UWB sensors can reuse the UWB sensors of the UWB digital key function and are distributed at multiple positions inside and / or outside the vehicle. The control unit is communicatively connected to each of the UWB sensors and is configured to: control at least one of the UWB sensors to obtain distance information from a user mobile terminal to determine the relative motion state of the corresponding user and the vehicle; in response to the determination result that the user leaves the vehicle, control a first UWB sensor inside the vehicle to send a sensor signal to a second UWB sensor inside the vehicle, and determine whether there is a living body inside the vehicle according to the sensor signal received by the second UWB sensor; and in response to the determination result that there is a living body inside the vehicle, perform safety processing.

[0007] Further, in some embodiments of the present application, the step of controlling at least one of the ultra-wideband sensors to acquire distance information from the user mobile terminal to determine the relative motion state of the user and the vehicle includes: controlling the first ultra-wideband sensor, the second ultra-wideband sensor and / or a third ultra-wideband sensor outside the vehicle to acquire distance information from the user mobile terminal at different times; determining a first distance of the user to the vehicle at a first time according to first distance information acquired by the first ultra-wideband sensor, the second ultra-wideband sensor and / or the third ultra-wideband sensor at the first time; determining a second distance of the user to the vehicle at a second time according to second distance information acquired by the first ultra-wideband sensor, the second ultra-wideband sensor and / or the third ultra-wideband sensor at the second time; and determining the relative motion state of the user and the vehicle according to the first distance and the second distance.

[0008] Further, in some embodiments of the present application, the step of determining the distance of the user to the vehicle according to the distance information acquired by the first ultra-wideband sensor, the second ultra-wideband sensor and / or the third ultra-wideband sensor includes: comparing the distance information acquired by the first ultra-wideband sensor and the second ultra-wideband sensor inside the vehicle with a critical distance to the edge of the vehicle; defining the distance of the user to the vehicle as zero in response to a comparison result that the actual distance indicated by the distance information is less than or equal to the critical distance; and determining the distance of the user to the vehicle according to the distance information acquired by the third ultra-wideband sensor outside the vehicle in response to a comparison result that the actual distance indicated by the distance information is greater than the critical distance.

[0009] Further, in some embodiments of the present application, the vehicle control system includes a plurality of the third ultra-wideband sensors, and each of the third ultra-wideband sensors is distributed at a plurality of positions outside the vehicle. The step of determining the distance of the user to the vehicle according to the distance information acquired by the third ultra-wideband sensor outside the vehicle includes: acquiring the distance information acquired by each of the third ultra-wideband sensors respectively, and determining the distance of the user to the vehicle according to the minimum distance information among the distance information.

[0010] Further, in some embodiments of the present application, the step of determining the relative motion state of the user and the vehicle according to the first distance and the second distance includes: determining that the user is approaching the vehicle in response to a first distance corresponding to a first time being greater than a second distance corresponding to a second time; and determining that the user is moving away from the vehicle in response to the first distance corresponding to the first time being less than the second distance corresponding to the second time.

[0011] Further, in some embodiments of the present application, the step of controlling at least one of the ultra-wideband sensors to acquire distance information from the user mobile terminal to determine the relative motion state of the corresponding user and the vehicle includes: acquiring information of the user mobile terminal bound to the vehicle to determine the number of user mobile terminals bound to the vehicle; and in response to the vehicle being bound to multiple user mobile terminals, starting multiple time-division multiplexing ranging sessions, and controlling at least one of the ultra-wideband sensors to acquire distance information from each of the user mobile terminals in turn to determine the relative motion state of each corresponding user and the vehicle in turn.

[0012] Further, in some embodiments of the present application, the step of determining whether there is a living body in the vehicle according to the sensor signal received by the second ultra-wideband sensor includes: analyzing the sensor signal received by the second ultra-wideband sensor to determine whether there is a periodic change in the signal amplitude of the sensor signal; in response to the signal amplitude of the sensor signal not having a periodic change, determining that there is no living body in the vehicle; and in response to the signal amplitude of the sensor signal having a periodic change, determining that there is a living body in the vehicle.

[0013] Further, in some embodiments of the present application, the vehicle control system includes three or more ultra-wideband sensors distributed inside the vehicle. The step of controlling the first ultra-wideband sensor inside the vehicle to send a sensor signal to the second ultra-wideband sensor inside the vehicle and determining whether there is a living body in the vehicle according to the sensor signal received by the second ultra-wideband sensor includes: defining one of the ultra-wideband sensors distributed inside the vehicle as the first ultra-wideband sensor and defining the remaining ultra-wideband sensors distributed inside the vehicle as the second ultra-wideband sensors; controlling the first ultra-wideband sensor to send a sensor signal to each of the second ultra-wideband sensors; in response to the signal amplitude of the sensor signal received by any of the second ultra-wideband sensors having a periodic change, determining that there is a living body in the vehicle; and in response to the signal amplitude of the sensor signal received by each of the second ultra-wideband sensors not having a periodic change, determining that there is no living body in the vehicle.

[0014] Further, in some embodiments of the present application, the step of determining that there is a living body in the vehicle in response to the signal amplitude of the sensor signal received by any of the second ultra-wideband sensors having a periodic change includes: in response to the signal amplitude of the sensor signal received by any of the second ultra-wideband sensors having a periodic change, determining whether the periodic change conforms to the breathing frequency of a living body; in response to the determination result that the periodic change conforms to the breathing frequency of a living body, determining that there is a living body in the vehicle; and in response to the determination result that the periodic change does not conform to the breathing frequency of a living body, determining that there is no living body in the vehicle.

[0015] Further, in some embodiments of the present application, the step of determining that there is no living body in the vehicle in response to the result that there is no periodic change in the signal amplitude of the sensor signal received by each of the second UWB sensors includes: in response to the result that there is no periodic change in the signal amplitude of the sensor signal received by each of the second UWB sensors, defining the current first UWB sensor as a second UWB sensor, defining another second UWB sensor as a first UWB sensor, and repeating the steps of sending the sensor signal and analyzing the sensor signal until a result of determining that there is a living body in the vehicle is obtained or the detection of the living body between each of the UWB sensors in the vehicle is completed; and in response to the completion of the detection of the living body between each of the UWB sensors in the vehicle, determining that there is no living body in the vehicle.

[0016] Further, in some embodiments of the present application, the step of performing the safety processing is selected from at least one of the following: controlling the flashing of the vehicle light, controlling the sounding of the vehicle horn, lowering the vehicle window, unlocking the vehicle door, and sending a safety reminder in the form of voice, image and / or text to the user mobile terminal.

[0017] Further, the vehicle control method according to the second aspect of the present application includes the following steps: controlling at least one UWB sensor to obtain distance information from a user mobile terminal to determine the relative motion state of the corresponding user and the vehicle, wherein the plurality of UWB sensors are distributed at a plurality of positions inside and / or outside the vehicle; in response to the result of determining that the user leaves the vehicle, controlling a first UWB sensor inside the vehicle to send a sensor signal to a second UWB sensor inside the vehicle, and determining whether there is a living body in the vehicle according to the sensor signal received by the second UWB sensor; and in response to the result of determining that there is a living body in the vehicle, performing safety processing.

[0018] Further, the computer readable storage medium according to the third aspect of the present application has computer instructions stored thereon. When the computer instructions are executed by a processor, the vehicle control method according to the second aspect of the present application is implemented. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above features and advantages of the present application can be better understood by reading the following detailed description of embodiments of the present application in conjunction with the drawings, in which: the components are not necessarily drawn to scale, and components of similar or identical function or features can have the same or similar reference label.

[0020] Figure 1 A structural schematic diagram of a vehicle control system according to some embodiments of the present application is shown.

[0021] Figure 2A flowchart of a vehicle control method according to some embodiments of the present application is shown.

[0022] Figure 3A A configuration diagram of a first ultra-wideband sensor according to some embodiments of the present application is shown.

[0023] Figure 3B A configuration diagram of a second ultra-wideband sensor according to some embodiments of the present application is shown.

[0024] Figure 3C A configuration diagram of a third ultra-wideband sensor according to some embodiments of the present application is shown.

[0025] Figure 4A A waveform diagram of a sensor signal in the absence of a living body according to some embodiments of the present application is shown.

[0026] Figure 4B A waveform diagram of a sensor signal in the presence of a living body according to some embodiments of the present application is shown.

[0027] Figure 5 A diagram of time-division multiplexing ranging sessions and living body detection sessions according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0028] The specific embodiments of the present application will be described hereinafter in conjunction with the drawings, which can illustrate preferred embodiments of the application. However, it will be apparent to those skilled in the art that the application can be practiced without such specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring the application. The following detailed description is not intended to limit the application, as claimed, but to provide a description of the presently preferred embodiments of the application, and of the manner and process of making and using them. It is also not intended to limit the scope of the application, as claimed, to the specific embodiments presented herein, but rather, just one of many possible embodiments.

[0029] In the description of the present application, it should be noted that unless otherwise explicitly defined and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] In addition, "upper", "lower", "left", "right", "top", "bottom", "horizontal", "vertical" used in the following description and shown in the drawings should be understood as the orientation shown in the drawing and relative to the article being described. These relative terms are used only to facilitate the description of the application and are not intended to limit the application to a particular orientation or configuration.

[0031] It will be understood that, although the terms "first", "second", "third", etc. can be used herein to describe various components, regions, layers and / or sections, these components, regions, layers and / or sections should not be limited by these terms. These terms are only used to distinguish one component, region, layer or section from another. Therefore, the first component, region, layer and / or section discussed below can be referred to as the second component, region, layer and / or section without departing from some embodiments of the application.

[0032] As described above, the vehicle-mounted radar-based in-vehicle living body detection technology is a function that has gradually gained attention in recent years, especially the child left-behind detection function. The current mainstream solution is to arrange one or more radar nodes (such as ultrasonic radar / millimeter wave radar, etc.) in the vehicle to directly detect the living body left behind in the vehicle. However, this solution requires additional installation of radar nodes. If further consideration is given to the blind area and coverage range, some vehicle models may also need to install multiple radar nodes, which undoubtedly increases the hardware cost of the system.

[0033] Ultra wide band (UWB) sensing technology has the characteristics of high ranging and positioning accuracy. Currently, it is gradually integrated into mobile phone manufacturers led by Apple, and automobile manufacturers have also begun to use UWB technology to design digital key products. The UWB digital key system usually installs several UWB nodes at multiple positions outside and inside the vehicle to measure the distance value of the user's mobile phone, and accurately locates the position of the mobile phone relative to the vehicle based on these distance values, thereby realizing the unlocking and locking functions of the vehicle.

[0034] In order to overcome the above-mentioned defects existing in the prior art, the present application provides a vehicle control system, a vehicle control method, and a computer readable storage medium, which can reuse multiple ultra wide band (UWB) digital key sensors of the UWB digital key function to realize the function of in-vehicle living body detection, so that no additional radar for detecting living bodies is needed, thereby reducing the hardware cost of deploying the in-vehicle living body detection function.

[0035] In some non-limiting embodiments, the above-mentioned vehicle control method provided by the second aspect of the present application can be implemented based on the above-mentioned vehicle control system provided by the first aspect of the present application. Specifically, the vehicle control system is configured with a memory and a processor. The memory can be selected from the above-mentioned computer readable storage medium provided by the third aspect of the present application, and the computer instructions are stored on the computer readable storage medium. The processor is connected to the memory and is configured to execute the computer instructions stored on the memory to implement the above-mentioned vehicle control method provided by the second aspect of the present application.

[0036] The working principle of the above-mentioned vehicle control system will be described below in combination with some embodiments of the vehicle control method. Those skilled in the art can understand that the embodiments of the vehicle control method are only some non-limiting embodiments provided by the present application, which are intended to clearly demonstrate the main concept of the present application and provide some specific schemes for facilitating the public to implement, rather than to limit the overall function or overall working mode of the vehicle control system. Similarly, the vehicle control system is also only a non-limiting embodiment provided by the present application, which does not limit the execution subject of each step in the vehicle control method.

[0037] First, please refer to Figure 1 , Figure 1 FIG. 1 shows a structural schematic diagram of a vehicle control system according to some embodiments of the present application.

[0038] As shown in Figure 1 , the above-mentioned vehicle control system provided by the first aspect of the present application is configured with a plurality of ultra-wideband (UWB) sensors 11-13 and a control unit (not shown). The plurality of UWB sensors 11-13 can be distributed at multiple positions inside and / or outside the vehicle, for transmitting and receiving sensor signals at corresponding in-vehicle nodes and / or out-of-vehicle nodes. The control unit is communicatively connected to each UWB sensor 11-13, and can be integrated into a vehicle control unit (Vehicle Control Unit), an in-vehicle infotainment (IVI) system, or other telematics system of the vehicle, or can be carried on the vehicle in the form of an electronic control unit (ECU), a micro control unit (MCU), a system on chip (SOC), etc.

[0039] Further, in some embodiments of the present application, the above-mentioned multiple ultra-wideband sensors 11-13 can be implemented by multiplexing the sensors of the UWB digital key system. Specifically, the present application can configure a living body detection application in the control unit, and configure the initiator mode for the ultra-wideband sensors 11 and 12 arranged in the vehicle, and the analysis function based on the sensor signal waveform, to realize the living body detection in the vehicle, thereby reducing the deployment cost of the living body detection function in the vehicle.

[0040] Please refer to Figure 2 and Figure 3A - 3C . Figure 2 A flowchart of a vehicle control method according to some embodiments of the present application is shown. Figure 3A A configuration diagram of a first ultra-wideband sensor according to some embodiments of the present application is shown. Figure 3B A configuration diagram of a second ultra-wideband sensor according to some embodiments of the present application is shown. Figure 3C A configuration diagram of a third ultra-wideband sensor according to some embodiments of the present application is shown.

[0041] As Figure 2 and Figure 3A - 3C shown, in the process of vehicle control, the control unit can first establish a ranging session via the ranging application, control one or more of the ultra-wideband sensors 11-13 to obtain distance information from the user's mobile terminal 20 to determine the relative motion state of the corresponding user and the vehicle.

[0042] Specifically, the user's mobile terminal 20 includes but is not limited to the UWB digital key, and electronic devices such as smart phones, smart bracelets, smart glasses with Bluetooth function. The ultra-wideband sensors 11-13 can form a UWB digital key system to provide UWB digital key services such as unlocking, keyless entry, keyless start, etc. for vehicle users. At the same time, the first ultra-wideband sensor 11 and the second ultra-wideband sensor 12 arranged in the vehicle can also be multiplexed to form a living body detection subsystem to provide services such as child left detection for users. Here, the first ultra-wideband sensor 11 and the second ultra-wideband sensor 12 are used for digital keys and also for in-vehicle living body detection, while the third ultra-wideband sensor 13 is only used for digital keys.

[0043] In the process of running the ranging session, the control unit 40 can first control the first UWB sensor 11, the second UWB sensor in the vehicle and / or the third UWB sensor 13 outside the vehicle to obtain distance information from the user mobile terminal 20 at time t1 and time t2 respectively. At this time, the user mobile terminal 20 integrated with the UWB chip plays the role of initiator (Initiator), while each UWB sensor 11-13 plays the role of responder (Responder).

[0044] After that, the control unit 40 can determine the first distance d1 of the user to the vehicle at time t1 according to the first distance information obtained by the first UWB sensor 11, the second UWB sensor 12 and / or the third UWB sensor 13 at time t1, and determine the second distance d2 of the user to the vehicle at time t2 according to the second distance information obtained by the first UWB sensor 11, the second UWB sensor 12 and / or the third UWB sensor 13 at time t2, and then determine the relative motion state of the user and the vehicle according to the change of the first distance d1 and the second distance d2 (i.e. Δd = d1-d2).

[0045] Further, in some embodiments, in the process of determining the above-mentioned first distance d1 and second distance d2, the control unit 40 can also preferably compare the distance information obtained by the first UWB sensor 11 in the vehicle with the critical distance to the edge of the vehicle. If the actual distance indicated by the obtained distance information is less than or equal to the critical distance, the control unit 40 can determine that the user is currently in the vehicle, thereby defining the distance of the user to the vehicle as zero. Similarly, the control unit 40 can also compare the distance information obtained by the second UWB sensor 12 in the vehicle with the critical distance to the edge of the vehicle. If the actual distance indicated by the obtained distance information is less than or equal to the critical distance, the control unit 40 can also define the distance of the user to the vehicle as zero.

[0046] On the contrary, if the distance information obtained by the first UWB sensor 11 and the second UWB sensor 12 in the vehicle is greater than the corresponding critical distance, the control unit 40 can determine that the user is currently outside the vehicle. At this time, the control unit 40 can determine the distance of the user to the vehicle according to the distance information obtained by the third UWB sensor 3 outside the vehicle. Specifically, for the embodiment shown in FIG. 1, the control unit 40 can obtain the distance information obtained by each third UWB sensor 13, and sort them according to their sizes. Then, the control unit 40 can determine the nearest point of the vehicle to the user according to the third UWB sensor 13 with the smallest distance, and determine the distance of the user to the vehicle according to the distance from the nearest point to the user (i.e. the smallest one in each distance information). Figure 1

[0047] ​Afterwards, the control unit 40 can determine the relative motion state of the user and the vehicle according to the change of the first distance d1 and the second distance d2 (i.e. Ad = d1-d2), and perform corresponding vehicle control.

[0048] Specifically, if the first distance d1 corresponding to the earlier time t1 is greater than the second distance d2 corresponding to the later time t2, the control unit 40 can determine that the user is approaching the vehicle, and thus there is no need to perform the in-vehicle living body detection. At this time, the control unit 40 can keep the living body detection application in the first UWB sensor 11 and the second UWB sensor 12 in a closed or dormant state to reduce energy consumption, and continue to run the ranging application and the ranging session to normally provide the related functions of the UWB digital key system. The specific operation principle of the UWB digital key system is not involved in the technical improvement of the present application, and is not described here.

[0049] On the contrary, if the first distance d1 corresponding to the earlier time t1 is less than the second distance d2 corresponding to the later time t2, the control unit 40 can determine that the user is moving away from the vehicle, and thus the in-vehicle living body detection needs to be performed. At this time, the control unit 40 can further run the living body detection application in the first UWB sensor 11 and the second UWB sensor 12 to establish a radar session while continuing to run the ranging application and the ranging session. Afterwards, the control unit 40 can adjust the first UWB sensor 11 to an initiator mode, send sensor signals to the second UWB sensor 12 in the vehicle via the first UWB sensor, and determine whether there is a living body in the vehicle according to the sensor signals received by the second UWB sensor 12 which remains in a responder mode. At this time, the first UWB sensor 11 plays the role of initiator in the in-vehicle living body detection subsystem and the role of responder in the digital key subsystem, the second UWB sensor 12 plays the role of responder in both the in-vehicle living body detection subsystem and the digital key subsystem, and each third UWB sensor 13 only plays the role of responder in the digital key subsystem.

[0050] Further, as Figure 3A - 3CAs shown, all the UWB sensors 11-13 can use the same UWB chip and firmware. The difference lies in that the first UWB sensor 11 runs a ranging application and simultaneously opens a ranging session and a radar session, in which it plays the role of a responder to implement ranging with the user mobile terminal 20 and plays the role of an initiator to serve as a transmitting end of the radar. The second UWB sensor 12 runs a ranging application and a living body detection application simultaneously and simultaneously opens a ranging session and a radar session, in which it plays the role of a responder to implement ranging with the user mobile terminal 20 and plays the role of a responder to serve as a receiving end of the radar. The third UWB sensor 13 only runs a ranging application and only opens a ranging session, in which it plays the role of a responder to implement ranging with the user mobile terminal 20.

[0051] Unlike the direct detection scheme implemented by radar nodes based on ultrasonic radar, millimeter wave radar, etc., the UWB sensor cannot directly determine whether there is a living body in the vehicle based on the received sensor signal, but needs to perform time domain analysis on the waveform of the received sensor signal to indirectly determine whether there is a living body in the vehicle.

[0052] Please refer to Figure 4A and Figure 4B . Figure 4A A waveform diagram of a sensor signal in the absence of a living body is shown according to some embodiments of the present application. Figure 4B A waveform diagram of a sensor signal in the presence of a living body is shown according to some embodiments of the present application.

[0053] As shown in Figure 4A and Figure 4B , in the process of determining whether there is a living body in the vehicle, the control unit 40 can first acquire the sensor signal received by the second UWB sensor 12 via the communication interface and determine the waveform of the signal amplitude with respect to time. Then, the control unit 40 can perform filtering and time domain analysis on the waveform to determine whether there is a periodic change in the signal amplitude. If the signal amplitude is in the form of environmental noise as shown in Figure 4A , and there is no periodic change, the control unit 40 can determine that there is no dynamic object between the first UWB sensor 11 and the second UWB sensor 12, and thus determine that there is no living body in the vehicle. On the contrary, the breathing action of the human body will periodically affect the signal reflection path and superimpose at the receiving end, thereby presenting a periodic change in the signal amplitude. If the signal amplitude presents a periodic change as shown in Figure 4B , the control unit 40 can determine that there is a periodically active dynamic object between the first UWB sensor 11 and the second UWB sensor 12, and thus determine that there is a living body in the vehicle.

[0054] Further, in response to the periodic change in the signal amplitude of the sensor signal received by the second UWB sensor 12, the control unit 40 can further determine whether the periodic change is consistent with the breathing frequency of a living body. If the periodic change is consistent with the breathing frequency of a living body (e.g., a human), the control unit 40 can further determine that the corresponding living body is present in the vehicle, thereby achieving a child left-behind detection function and the like. Conversely, if the periodic change is not consistent with the breathing frequency of a living body, the control unit 40 can determine that the specified living body (e.g., a child) is not present in the vehicle, thereby avoiding excessive disturbance to the user.

[0055] Further, in order to improve the accuracy of living body detection, three or more UWB sensors can be arranged in the vehicle interior. In this case, in determining whether a living body is present in the vehicle, the control unit 40 can first define one of the UWB sensors arranged in the vehicle interior as the first UWB sensor 11, and define the remaining UWB sensors arranged in the vehicle interior as the second UWB sensors 12, and control the first UWB sensor 11 to transmit sensor signals to each of the second UWB sensors 12 as described above. Thereafter, in response to the periodic change in the signal amplitude of the sensor signal received by any one of the second UWB sensors 12, the control unit 40 can determine that a living body is present between the first UWB sensor 11 and the second UWB sensor 12, and further determine that a living body is present in the vehicle. Conversely, in response to the absence of periodic change in the signal amplitude of the sensor signal received by each of the second UWB sensors 12, the control unit 40 can determine that no living body is present between the first UWB sensor 11 and each of the second UWB sensors 12, and further determine that no living body is present in the vehicle.

[0056] Further, in response to the determination result that the periodic change is not present in the signal amplitude of the sensor signal received by each of the second UWB sensors 12, the control unit 40 can further define the current first UWB sensor 11 as a second UWB sensor 12', and define another second UWB sensor 12 as a new first UWB sensor 11', and repeat the above-described steps of transmitting sensor signals and analyzing sensor signals until a determination result that a living body is present in the vehicle is obtained, or the living body detection between the UWB sensors in the vehicle interior is completed. Thereafter, in response to the determination result that the living body detection between the UWB sensors in the vehicle interior is completed, and the periodic change is not present in the signal amplitude of the sensor signal received by each of the second UWB sensors 12', the control unit 40 can more reliably determine that no living body is present in the vehicle.

[0057] In addition, for the application scenario of connecting multiple user mobile terminals 20 to the vehicle simultaneously, the control unit 40 can further obtain the information of the user mobile terminals bound to the vehicle from the vehicle side to determine the number of user mobile terminals bound to the vehicle. In response to the case that the vehicle is bound to multiple user mobile terminals, the control unit 40 can start multiple time-division multiplexing ranging sessions, control the ultra-wideband sensors 11, 12 and / or 13 to obtain distance information from each user mobile terminal 20 in turn, to determine the relative motion state of each corresponding user and the vehicle in turn, and perform subsequent vehicle control based on the relative motion state of each user and the vehicle.

[0058] For details, please refer to Figure 5 , Figure 5 A schematic diagram of time-division multiplexing ranging sessions and living body detection sessions provided according to some embodiments of the present application is shown.

[0059] As Figure 5 shown, assuming that the control unit 40 needs to serve two mobile phones 21 and 22 simultaneously, three sessions need to be started on the software of the control unit 40. At the session level, the three sessions are independent of each other, although they appear to be running in parallel, but at the MAC layer, they are actually in time-division multiplexing relationship. The ranging and radar transmission process of multiple sessions is completed in one session module. For example, in session module N, the control unit 40 can sequentially perform the ranging session of the mobile phone 21, the ranging session of the mobile phone 22 and the radar session to realize the sequential multiplexing of each session.

[0060] Those skilled in the art can understand that Figure 5 the sequential multiplexing mode shown is only one non-limiting embodiment provided by the present application, which is intended to clearly show the main idea of the present application and provide a specific scheme for facilitating the public to implement, rather than to limit the protection scope of the present application.

[0061] Alternatively, in other embodiments, those skilled in the art can also use other multiplexing relationships such as random multiplexing based on the above-mentioned concept provided by the present application to achieve the corresponding technical effects.

[0062] Then, as Figure 2 shown, in response to the determination result that there is a living body in the vehicle, the control unit 40 can perform corresponding safety processing. Here, the safety processing mode includes but is not limited to one or more of the following: continuous flashing of the vehicle lights, continuous honking of the vehicle; automatically dialing the driver's mobile phone or other devices for reminders; and active intervention measures such as lowering the vehicle window and unlocking the vehicle door.

[0063] In summary, the vehicle control system provided by the present application can reuse multiple ultra-wideband sensors 11-13 of the UWB digital key system to realize the function of in-vehicle living body detection, so that no additional radar for detecting living bodies needs to be installed, thereby reducing the hardware cost of deploying the in-vehicle living body detection function and reducing the wiring difficulty in the vehicle interior.

[0064] The foregoing description of the present disclosure has been provided for the purposes of illustrating and describing the present disclosure but is not intended to be limiting; modifications and alterations are readily apparent to a person skilled in the art from the present disclosure, which is intended to be patentable within the familiar art without departing from the spirit and scope of the present disclosure. Accordingly, the present disclosure is not intended to be limited to the examples and designs described herein, but should be given the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control system characterized by comprising: The method comprises: a control unit, which is communicatively connected to a plurality of ultra-wideband sensors of a UWB digital key system, wherein the plurality of ultra-wideband sensors at least include a first ultra-wideband sensor and a second ultra-wideband sensor distributed at a plurality of positions inside a vehicle, and the control unit is configured to: establish a plurality of time-division multiplexed sessions in a session module, wherein the plurality of time-division multiplexed sessions include a radar session and a ranging session; sequentially execute the ranging session and the radar session in each of the session modules, control at least one of the ultra-wideband sensors to acquire distance information from a user mobile terminal via the ranging session to determine a relative motion state of a corresponding user and the vehicle; in response to a determination result that the user leaves the vehicle, control the first ultra-wideband sensor to send a sensor signal to the second ultra-wideband sensor, and analyze the sensor signal received by the second ultra-wideband sensor to determine whether there is a living body inside the vehicle according to whether there is a periodic change; and in response to a determination result that there is a living body inside the vehicle, perform a safety process.

2. The vehicle control system of claim 1, wherein The plurality of ultra-wideband sensors further include a third ultra-wideband sensor distributed outside the vehicle, and the step of controlling at least one of the ultra-wideband sensors to acquire distance information from a user mobile terminal to determine a relative motion state of a corresponding user and the vehicle comprises: controlling the first ultra-wideband sensor, the second ultra-wideband sensor, and / or the third ultra-wideband sensor to acquire distance information from a user mobile terminal multiple times in a time-division manner; determining a first distance of the user to the vehicle at a first time according to first distance information acquired by the first ultra-wideband sensor, the second ultra-wideband sensor, and / or the third ultra-wideband sensor at the first time; determining a second distance of the user to the vehicle at a second time according to second distance information acquired by the first ultra-wideband sensor, the second ultra-wideband sensor, and / or the third ultra-wideband sensor at the second time; and determining a relative motion state of the user and the vehicle according to the first distance and the second distance.

3. The vehicle control system of claim 2, wherein The step of determining a distance of the user to the vehicle according to distance information acquired by the first ultra-wideband sensor, the second ultra-wideband sensor, and / or the third ultra-wideband sensor comprises: comparing distance information acquired by the first ultra-wideband sensor and the second ultra-wideband sensor inside the vehicle with a critical distance to an edge of the vehicle; in response to a comparison result that an actual distance indicated by the distance information is less than or equal to the critical distance, defining the distance of the user to the vehicle as zero; and in response to a comparison result that the actual distance indicated by the distance information is greater than the critical distance, determining the distance of the user to the vehicle according to distance information acquired by the third ultra-wideband sensor outside the vehicle.

4. The vehicle control system of claim 3, wherein The UWB digital key system includes a plurality of the third ultra-wideband sensors, wherein each of the third ultra-wideband sensors is distributed at a plurality of positions outside the vehicle, and the step of determining the distance of the user to the vehicle according to distance information acquired by the third ultra-wideband sensor outside the vehicle comprises: respectively acquiring distance information acquired by each of the third ultra-wideband sensors; and The distance from the user to the vehicle is determined according to the smallest of the distance information.

5. The vehicle control system of claim 2, wherein The step of determining the relative motion state between the user and the vehicle based on the first distance and the second distance includes: In response to a first distance corresponding to a previous first moment being greater than a second distance corresponding to a later second moment, determining that the user is approaching the vehicle; and In response to a first distance corresponding to a previous first moment being smaller than a second distance corresponding to a subsequent second moment, it is determined that the user is moving away from the vehicle.

6. The vehicle control system of claim 2, wherein The step of controlling at least one of the ultra-wideband sensors to obtain distance information from a user mobile terminal to determine the relative motion state between the corresponding user and the vehicle includes: Acquiring information of user mobile terminals bound to the vehicle to determine the number of user mobile terminals bound to the vehicle; and In response to the vehicle being bound to multiple user mobile terminals, multiple ranging sessions are established in the session module, and at least one ultra-wideband sensor is controlled to obtain distance information from each user mobile terminal in turn to determine the relative motion state of each corresponding user and the vehicle in turn.

7. The vehicle control system of claim 1, wherein The step of determining whether there is a living body in the vehicle based on whether there is a periodic change includes: In response to the absence of periodic changes in the signal amplitude of the sensor signal, determining that there is no living body in the vehicle; and In response to the periodic change in the signal amplitude of the sensor signal, it is determined that a living body exists in the vehicle.

8. The vehicle control system of claim 7, wherein The vehicle control system includes three or more ultra-wideband sensors distributed inside the vehicle, and the steps of controlling a first ultra-wideband sensor in the vehicle to send a sensor signal to a second ultra-wideband sensor in the vehicle, and analyzing the sensor signal received by the second ultra-wideband sensor to determine whether there is a living body in the vehicle based on whether the sensor signal has periodic changes include: defining one of the ultra-wideband sensors distributed inside the vehicle as the first ultra-wideband sensor, and defining the remaining plurality of ultra-wideband sensors distributed inside the vehicle as the second ultra-wideband sensors; controlling the first ultra-wideband sensor to send sensor signals to each of the second ultra-wideband sensors respectively; In response to periodic changes in the amplitude of the sensor signal received by any one of the second ultra-wideband sensors, determining that a living body exists in the vehicle; and In response to the fact that the signal amplitudes of the sensor signals received by each of the second ultra-wideband sensors do not have periodic changes, it is determined that there is no living body in the vehicle.

9. The vehicle control system of claim 8, wherein The step of determining the presence of a living body in the vehicle in response to periodic changes in the amplitude of the sensor signal received by any one of the second ultra-wideband sensors comprises: In response to a periodic change in the signal amplitude of the sensor signal received by any of the second ultra-wideband sensors, determining whether the periodic change is consistent with the breathing frequency of the living body; In response to a determination that the periodic variation matches the breathing frequency of the living body, determining that a living body is present in the vehicle; and In response to the determination result that the periodic change does not conform to the breathing frequency of the living body, it is determined that there is no living body in the vehicle.

10. The vehicle control system of claim 8, wherein, The step of determining that there is no living body in the vehicle in response to the absence of periodic changes in the signal amplitudes of the sensor signals received by each of the second UWB sensors includes: The step of determining that there is no living body in the vehicle in response to the absence of periodic changes in the signal amplitudes of the sensor signals received by each of the second UWB sensors includes: The step of determining that there is no living body in the vehicle in response to the absence of periodic changes in the signal amplitudes of the sensor signals received by each of the second UWB sensors includes:

11. The vehicle control system of claim 1, wherein, The step of performing safety processing includes at least one of the following: controlling the flashing of the vehicle lights, controlling the sounding of the vehicle horn, lowering the vehicle windows, unlocking the vehicle doors, and sending a safety reminder in the form of voice, image, and / or text to the user mobile terminal.

12. A vehicle control method characterized by, The method includes the following steps: Establishing a plurality of time-multiplexed sessions in the session module, wherein the plurality of time-multiplexed sessions includes a radar session and a ranging session; Sequentially executing the ranging session and the radar session in each of the session modules, controlling at least one UWB sensor to obtain distance information from a user mobile terminal via the ranging session to determine the relative motion state of the corresponding user and the vehicle, wherein the UWB sensor includes at least a first UWB sensor and a second UWB sensor distributed at multiple positions inside the vehicle; In response to the determination that the user has left the vehicle, controlling the first UWB sensor to send a sensor signal to the second UWB sensor and analyzing the sensor signal received by the second UWB sensor to determine whether there is a living body in the vehicle according to whether there are periodic changes in the signal amplitudes of the sensor signals; and In response to the determination that there is a living body in the vehicle, performing safety processing.

13. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions, when executed by the processor, implement the vehicle control method of claim 12. The computer instructions, when executed by the processor, implement the vehicle control method of claim 12.

Images