Vehicle and vehicle door control method and device thereof

Abstract

The invention provides a vehicle and a vehicle door control method and device thereof, and belongs to the field of vehicles. According to the scheme provided by the invention, the position information of the Bluetooth vehicle key can be determined through Bluetooth connection, and the first distance, detected through ultrasonic waves, between the vehicle and the Bluetooth vehicle key is determined according to the position information of the Bluetooth vehicle key. The precision of the first distance detected through the ultrasonic waves is high, so that the reliability is high when the vehicle door is unlocked or locked based on the first distance. Moreover, the method does not need to add a chip on the vehicle key, and only needs to ensure that the vehicle key has the Bluetooth communication function. Due to the fact that the degree of dependence on the performance of the car key is low, the application flexibility is effectively improved.

Description

Vehicle and door control method and device thereof Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a vehicle and a door control method and device thereof. Background Art

[0002] In order to increase the flexibility in controlling the vehicle doors and improve the user experience, vehicles generally have the function of automatic door unlocking.

[0003] Vehicles with automatic door unlocking typically include a Bluetooth positioning system and a door control system. The Bluetooth positioning system establishes a Bluetooth connection with a car key equipped with a Bluetooth module and uses this connection to detect the distance between the key and the vehicle. The door control system automatically unlocks the vehicle doors when the distance falls below a threshold.

[0004] However, due to the low positioning accuracy of Bluetooth, the reliability of unlocking the car door based on the above method is low.

[0005] Summary of the Invention

[0006] The present application provides a vehicle and a door control method and device thereof, which can solve the technical problem of low reliability when unlocking the door due to low Bluetooth positioning accuracy.

[0007] In a first aspect, a vehicle door control method is provided, applicable to a vehicle. The method includes determining the location information of a Bluetooth-enabled vehicle key through a Bluetooth connection with the vehicle key. Based on the Bluetooth-enabled vehicle key location information, a first distance between the vehicle and the Bluetooth-enabled vehicle key, as detected by ultrasonic wave detection, is then determined, and the vehicle door is unlocked or locked based on the first distance.

[0008] Because the first distance detected by ultrasound is highly accurate, unlocking or locking the vehicle door based on this first distance is highly reliable. Furthermore, since this method does not require a new chip in the vehicle key and only requires the key to have Bluetooth communication capabilities, it is less dependent on the key's performance and offers greater application flexibility.

[0009] Optionally, the process of unlocking or locking the vehicle doors based on the first distance may include: unlocking the vehicle doors if the first distance is less than a first threshold; and locking the vehicle doors if the first distance is greater than a second threshold, where the second threshold is greater than or equal to the first threshold.

[0010] The first threshold may be determined based on the size of the vehicle's unlocking area, and the second threshold may be determined based on the size of the vehicle's locking area. When the first distance is less than the first threshold, the vehicle may determine that the Bluetooth car key is within the unlocking area and thus unlock the vehicle doors; when the first distance is greater than the second threshold, the vehicle may determine that the Bluetooth car key is within the locking area and thus lock the vehicle doors.

[0011] Alternatively, the vehicle may include multiple ultrasonic sensors, each having a different detection range. In a first optional implementation, the location information includes a second distance between the Bluetooth car key and the vehicle, and determining the first ultrasonically detected distance between the vehicle and the Bluetooth car key based on the location information of the Bluetooth car key may include obtaining distances between the vehicle and multiple obstacles detected by the multiple ultrasonic sensors, and determining the distance closest to the second distance among the multiple distances detected by the multiple ultrasonic sensors as the first distance between the vehicle and the Bluetooth car key.

[0012] In a second optional implementation, the location information includes an area where the Bluetooth car key is located, and based on the location information of the Bluetooth car key, determining a first ultrasonically detected distance between the vehicle and the Bluetooth car key may include: detecting the first distance between the vehicle and the Bluetooth car key using at least one target ultrasonic sensor among the plurality of ultrasonic sensors. A detection range of the at least one target ultrasonic sensor overlaps with the area where the Bluetooth car key is located.

[0013] Since the ultrasonic waves emitted by the ultrasonic sensor may be reflected by the user carrying the Bluetooth car key, or by other surrounding obstacles (such as other vehicles or other pedestrians), the distance detected by the vehicle through multiple ultrasonic sensors may include not only the distance between the vehicle and the Bluetooth car key, but also the distance between the vehicle and other obstacles. In the above two implementations, since the vehicle can determine the first distance between the vehicle and the Bluetooth car key detected by ultrasound in combination with the location information of the Bluetooth car key determined based on the Bluetooth connection, it is possible to avoid interference from other obstacles and determine the accuracy of the detected first distance.

[0014] Optionally, the vehicle may include multiple Bluetooth nodes distributed at different locations on the vehicle body. Determining the location information of the Bluetooth car key through a Bluetooth connection with the Bluetooth car key may include determining an area where the Bluetooth car key is located based on Bluetooth signals detected by the multiple Bluetooth nodes. For example, the vehicle may determine the area where the Bluetooth car key is located using a three-point positioning method.

[0015] Optionally, the process of determining the first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information of the Bluetooth car key may include: if the second distance between the vehicle and the Bluetooth car key determined based on the location information is less than a third threshold, then determining the first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information.

[0016] The third threshold can be less than or equal to the upper limit of the effective positioning range of the vehicle's ultrasonic positioning system. That is, after the vehicle determines, via Bluetooth connection, that the Bluetooth car key is within the effective positioning range of the ultrasonic positioning system, it can then use ultrasonic wave detection to determine the first distance between itself and the Bluetooth car key. This ensures that the Bluetooth car key can be effectively detected via ultrasonic wave detection, thereby ensuring the reliability and accuracy of the determined first distance.

[0017] Optionally, the process of determining the first ultrasonically detected distance between the vehicle and the Bluetooth car key based on the location information of the Bluetooth car key may include: if the state of the vehicle satisfies a target state, determining the first ultrasonically detected distance between the vehicle and the Bluetooth car key based on the location information. The target state may include: no user is seated in the vehicle, and / or the vehicle door is closed.

[0018] When the vehicle detects that its state meets the target state, it can determine that no one is in the vehicle and / or that the doors are closed, and therefore determine that the vehicle needs to unlock or lock the doors. In this case, the first distance can be detected using ultrasound, and the doors can be unlocked or locked based on the first distance. This ensures the reliability and safety of unlocking or locking the doors.

[0019] Optionally, the method may also include: based on unlocking the vehicle door, performing at least one of the following operations: turning on the vehicle's welcome lights; playing a first prompt tone, the first prompt tone being used to indicate that the vehicle door has been unlocked; turning on the vehicle's air conditioner; starting the vehicle's engine; and sending the vehicle's status information to the Bluetooth car key via a Bluetooth connection.

[0020] Through the above operations, on the one hand, it is convenient for users to accurately know the door status and / or vehicle status; on the other hand, it can simplify the operations that users need to perform after getting on the vehicle, effectively improving the user experience.

[0021] Optionally, the method may also include: based on locking the vehicle doors, performing at least one of the following operations: closing the vehicle windows, lights and air conditioning; playing a second prompt tone, the second prompt tone being used to indicate that the vehicle doors are locked; if the vehicle is stopped and the vehicle's engine is in a non-starting state, starting the vehicle's parking system; and sending the vehicle's status information to the Bluetooth car key via a Bluetooth connection.

[0022] Through the above operations, on the one hand, it is convenient for the user to accurately know the door status and / or vehicle status, and on the other hand, it can effectively ensure the safety of the vehicle and reduce the energy consumption of the vehicle.

[0023] In a second aspect, a vehicle door control device is provided. The vehicle door control device may include at least one module. The at least one module may be used to implement the vehicle door control method provided in the first aspect.

[0024] In a third aspect, a vehicle door control device is provided, which may include: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle door control method provided in the first aspect above may be implemented.

[0025] In a fourth aspect, a computer-readable storage medium is provided, in which instructions are stored. The instructions are executed by a processor to implement the vehicle door control method provided in the first aspect.

[0026] In a fifth aspect, a computer program product comprising instructions is provided, wherein the instructions are executed by a processor to implement the vehicle door control method provided in the first aspect.

[0027] In a sixth aspect, a vehicle is provided, which may include a door and a door control device provided in any of the above aspects.

[0028] In the seventh aspect, a chip is provided, which can be used in the vehicle provided in the above aspect. The chip may include a programmable logic circuit and / or program instructions, and the chip is used to implement the door control method provided in the above first aspect.

[0029] In summary, this application provides a vehicle and its door control method and device. The solution provided by this application can determine the location information of a Bluetooth car key via a Bluetooth connection and, based on this Bluetooth car key's location information, determine a first distance between the vehicle and the Bluetooth car key, as detected by ultrasound. Because the first distance detected by ultrasound is highly accurate, unlocking or locking the vehicle door based on this first distance is highly reliable. Furthermore, because the solution provided by this application does not require a new chip in the car key and only requires ensuring that the car key has Bluetooth communication capabilities, it is less dependent on the car key's performance, effectively increasing application flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic diagram of an application scenario of a vehicle door control method provided by an embodiment of the present application;

[0031] FIG2 is a schematic diagram of an application scenario of another vehicle door control method provided by an embodiment of the present application;

[0032] FIG3 is a schematic structural diagram of a door control device provided in an embodiment of the present application;

[0033] FIG4 is a flow chart of a door control method provided by an embodiment of the present application;

[0034] FIG5 is a flow chart of another vehicle door control method provided by an embodiment of the present application;

[0035] FIG6 is a flow chart of another vehicle door control method provided by an embodiment of the present application;

[0036] FIG7 is a flow chart of another door control method provided by an embodiment of the present application;

[0037] FIG8 is a schematic structural diagram of another vehicle door control device provided in an embodiment of the present application;

[0038] FIG9 is a schematic structural diagram of another vehicle door control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The vehicle and its door control method and device provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0040] FIG1 is a schematic diagram of an application scenario of a vehicle door control method provided by an embodiment of the present application. As shown in FIG1 , the application scenario may include a vehicle 01 and a vehicle key 02. Vehicle 01 may be a new energy vehicle or a fuel vehicle, and the new energy vehicle may include a pure electric vehicle, a hybrid vehicle, a plug-in hybrid vehicle, and a fuel cell vehicle. Furthermore, vehicle 01 may be a car (such as a sedan or a bus), a tricycle, or other means of transportation with doors.

[0041] The car key 02 can be a Bluetooth car key with a Bluetooth module that can establish a Bluetooth connection with the Bluetooth module in the vehicle 01. Furthermore, the car key 02 can be a dedicated physical car key or a virtual digital car key. The digital car key can be carried by a mobile terminal equipped with a Bluetooth module, such as a mobile phone, tablet computer, laptop computer, or wearable device. The Bluetooth modules in both the vehicle 01 and the car key 02 can be Bluetooth low energy (BLE) modules.

[0042] To improve the efficiency of door unlocking and locking, and enhance the user experience, vehicle 01 is equipped with an automatic door control function. As shown in Figure 2, when a user approaches vehicle 01 with key 02, a Bluetooth connection can be established between key 02 and vehicle 01 when the distance between key 02 and vehicle 01 is less than the Bluetooth communication distance d1 (e.g., 50 meters). Vehicle 01 can then use this Bluetooth connection to detect the distance between key 02 and vehicle 01 in real time. When this distance is less than the welcome distance d2 (e.g., 8 meters), vehicle 01 can automatically turn on the welcome light. When this distance is less than the unlocking distance d4 (e.g., 2 meters), vehicle 01 can automatically unlock the doors. When the user moves away from vehicle 01 with key 02, vehicle 01 can also detect the distance between key 02 and vehicle 01 in real time via the Bluetooth connection. When this distance is greater than the locking distance d3 (e.g., 5 meters), vehicle 01 can automatically lock the doors.

[0043] However, due to the low positioning accuracy of Bluetooth, the distance between vehicle 01 and key 02 detected via Bluetooth is less accurate. When the actual distance between key 02 and vehicle 01 is greater than unlocking distance d4 and less than locking distance d3, vehicle 01 may repeatedly unlock and lock its doors due to errors in the detected distance. In other words, there is a ping-pong range between unlocking distance d4 and locking distance d3.

[0044] To avoid the problem of vehicle 01 repeatedly unlocking and locking the doors when key 02 is in the ping-pong zone, ultra-wideband (UWB) positioning technology can be used to locate key 02. However, this UWB positioning technology requires UWB chips to be installed on both vehicle 01 and key 02, which reduces its application flexibility and is costly.

[0045] The embodiments of the present application provide a vehicle that can solve the technical problem of low reliability when unlocking or locking vehicle doors based on Bluetooth positioning. Furthermore, the solution provided by the embodiments of the present application does not require a new chip on the vehicle key, resulting in high application flexibility and low cost. Figure 3 is a schematic diagram of the structure of a vehicle door control device provided in an embodiment of the present application. As shown in Figure 3, the vehicle door control device may include: a sensor fusion unit, a Bluetooth positioning system, an ultrasonic positioning system, and a vehicle body control system.

[0046] The Bluetooth positioning system may include: a Bluetooth positioning unit, a Bluetooth master node, and multiple Bluetooth slave nodes. The Bluetooth master node and multiple Bluetooth slave nodes may be distributed at different locations on the vehicle body, and each of them may be capable of detecting the distance between the vehicle and the Bluetooth car key. Each Bluetooth slave node may also report the detected distance to the Bluetooth master node. The Bluetooth master node may report each distance to the Bluetooth positioning unit so that the Bluetooth positioning unit can perform a preliminary coarse positioning of the Bluetooth car key. For example, the Bluetooth positioning unit may determine the distance between the Bluetooth car key and the vehicle based on the received distances, and determine the area where the Bluetooth car key is located.

[0047] The ultrasonic positioning system may include an ultrasonic positioning unit, an ultrasonic controller, and multiple ultrasonic probes. Each ultrasonic probe is also called an ultrasonic sensor (USS). The multiple ultrasonic probes have different detection ranges and are all capable of ultrasonically detecting the distance to the Bluetooth car key. Furthermore, each ultrasonic probe can report the detected distance to the ultrasonic controller, which can then report each distance to the ultrasonic positioning unit so that the ultrasonic positioning unit can accurately locate the Bluetooth car key.

[0048] The body control system may include a body control unit, a door control system, and a seat control system. The body control unit may be connected to the door control system and the seat control system via input / output (IO) interfaces. The door control system may provide the body control unit with door status information and a door lock operation interface. The seat control system may provide the body control unit with seat status information and seat belt information. The seat status information may indicate whether a vehicle seat is occupied, and the seat belt information may indicate whether the vehicle's seat belt buckle is inserted into the seat belt receptacle.

[0049] The perception fusion unit is connected to the Bluetooth positioning unit, the ultrasonic positioning unit, and the body control unit. Based on the Bluetooth positioning unit's positioning results for the Bluetooth car key, it determines whether to obtain the ultrasonic positioning system's positioning results. After obtaining the ultrasonic positioning system's positioning results for the Bluetooth car key, it can control the unlocking or locking of the vehicle doors based on the ultrasonic positioning system's positioning results. Furthermore, the perception fusion unit can combine the ultrasonic positioning system's positioning results with the door status, seat status, and / or seatbelt information obtained by the body control unit to accurately control the unlocking or locking of the vehicle doors.

[0050] It is understandable that the perception fusion unit, Bluetooth positioning unit, ultrasonic positioning unit and body control unit in the body control device can be integrated, for example, can be integrated into a car key perception fusion module.

[0051] Ultrasonic positioning offers higher accuracy than Bluetooth positioning, ensuring greater reliability when unlocking or locking the vehicle door. Bluetooth positioning generally has an accuracy of around 1 meter (m), while ultrasonic positioning typically achieves centimeter (cm) accuracy.

[0052] Furthermore, the solution provided by the embodiments of the present application does not require an additional chip on the car key, and is therefore effectively compatible with existing Bluetooth car keys, offering greater application flexibility. Furthermore, since the ultrasonic positioning system is relatively low-cost and can reuse the ultrasonic sensors already in the vehicle, it effectively avoids adding to the vehicle's costs.

[0053] FIG4 is a flow chart of a vehicle door control method provided by an embodiment of the present application. The method can be applied to the vehicle shown in FIG1 or FIG2. For example, the method can be applied to a vehicle door control device such as that shown in FIG3. As shown in FIG4, the method includes:

[0054] Step 101: Determine the location information of the Bluetooth car key through a Bluetooth connection with the Bluetooth car key.

[0055] In this embodiment of the present application, if the distance between the Bluetooth car key and the vehicle is less than the Bluetooth communication range, a Bluetooth connection can be established between the Bluetooth car key and the vehicle. The vehicle can then determine the location information of the Bluetooth car key through this Bluetooth connection. In other words, the vehicle can use Bluetooth positioning technology to perform a preliminary coarse positioning of the Bluetooth car key. This location information may include a second distance between the Bluetooth car key and the vehicle and / or the area where the Bluetooth car key is located.

[0056] For example, when the distance between the Bluetooth car key and the vehicle is less than the Bluetooth communication range, the Bluetooth car key can send an authentication request to the vehicle. The vehicle can then authenticate the Bluetooth car key and send the authentication result to the Bluetooth car key. If the vehicle determines that the Bluetooth car key is authenticated, it can establish a Bluetooth connection with the Bluetooth car key. If the vehicle determines that the Bluetooth car key fails authentication, it will not establish a Bluetooth connection with the Bluetooth car key and can record the authentication result in a log.

[0057] After the Bluetooth car key determines that authentication is successful based on the authentication result sent by the vehicle, it can send a positioning beacon frame to the vehicle. The vehicle can then determine the second distance between the vehicle and the Bluetooth car key based on the signal strength of the received positioning beacon frame. The second distance is inversely correlated with the signal strength.

[0058] Alternatively, referring to FIG3 , the vehicle may include multiple Bluetooth nodes (e.g., a Bluetooth master node and multiple Bluetooth slave nodes). The vehicle may detect the distance between the vehicle and the Bluetooth car key through each Bluetooth node, and may determine the area where the Bluetooth car key is located based on the distances detected by the multiple Bluetooth nodes. For example, the vehicle may determine the area where the Bluetooth car key is located using a three-point positioning method. The area where the Bluetooth car key is located may be represented by the coordinates of the Bluetooth car key in a preset coordinate system, which may be a vehicle coordinate system.

[0059] Step 102: Determine a first distance between the vehicle and the Bluetooth car key detected by ultrasound according to the location information of the Bluetooth car key.

[0060] Since the distance detected by ultrasound can include the distance between the vehicle and the Bluetooth car key, and can also include the distance between the vehicle and other obstacles (such as other vehicles or pedestrians), the vehicle can combine the location information of the Bluetooth car key determined through the Bluetooth connection to accurately determine the first distance between the vehicle and the Bluetooth car key detected by ultrasound.

[0061] Optionally, as shown in FIG3 , the vehicle may include multiple ultrasonic sensors, each having a different detection range. That is, the detection ranges of any two ultrasonic sensors do not completely overlap. Alternatively, any two ultrasonic sensors may have different sound wave emission directions and coverage ranges.

[0062] Each ultrasonic sensor is capable of emitting ultrasonic waves and receiving ultrasonic waves reflected by obstacles (i.e., reflected echoes). The distance between the vehicle and the obstacle can then be determined based on the time interval between emitting the ultrasonic wave and receiving the reflected echo, as well as the propagation speed of the ultrasonic wave. In this embodiment of the present application, the vehicle can accurately locate the Bluetooth car key using some or all of the multiple ultrasonic sensors.

[0063] As a first possible implementation method, the vehicle can first obtain the distances between the vehicle and multiple obstacles detected by the multiple ultrasonic sensors, and then determine the distance closest to the second distance among the multiple distances detected by the multiple ultrasonic sensors as the first distance between the vehicle and the Bluetooth car key.

[0064] In the first implementation, the vehicle can obtain multiple distances detected by multiple ultrasonic sensors and determine a first distance between the vehicle and the Bluetooth car key from the multiple detected distances. The first distance can be understood as the exact value of the second distance.

[0065] For example, assume a vehicle includes three ultrasonic sensors. These sensors detect three different obstacles at distances of 4.3m, 3m, and 5.8m, respectively. The vehicle also detects a second distance of 4m via Bluetooth. Because 4.3m and 4m are closest among the distances detected by the three ultrasonic sensors, the vehicle can determine the first distance to be 4.3m.

[0066] It is understandable that the ultrasonic waves emitted by the ultrasonic sensor may be reflected by the user carrying the Bluetooth car key, or by other surrounding obstacles (such as other vehicles or other pedestrians). Therefore, the distance detected by the vehicle through multiple ultrasonic sensors includes not only the distance between the vehicle and the Bluetooth car key, but also the distance between the vehicle and other obstacles. In this first implementation, since the vehicle can determine the distance closest to the second distance as the first distance, the accuracy of the detected first distance between the vehicle and the Bluetooth car key can be ensured.

[0067] It can also be understood that if the multiple ultrasonic sensors only detect the distance between the vehicle and one obstacle, the distance can be directly determined as the first distance between the vehicle and the Bluetooth car key.

[0068] As a second optional implementation, the vehicle may first identify at least one target ultrasonic sensor from the plurality of ultrasonic sensors, and then use the at least one target ultrasonic sensor to detect a first distance between the vehicle and the Bluetooth car key. The detection range of the at least one target ultrasonic sensor overlaps with the area where the Bluetooth car key is located.

[0069] In this second implementation, the vehicle may obtain only some of the distances detected by the target ultrasonic sensor and determine the first distance between the vehicle and the Bluetooth car key based on at least one distance detected by the target ultrasonic sensor. For example, the vehicle may determine the distance of the at least one distance that is closest to the second distance as the first distance, or may determine the average of the at least one distance as the first distance.

[0070] In the second implementation, since the vehicle can detect the first distance through a target ultrasonic sensor whose detection range overlaps with the area where the Bluetooth car key is located, interference from other obstacles can be avoided, thereby ensuring the accuracy of the detected first distance.

[0071] Step 103: Unlock or lock the vehicle door according to the first distance.

[0072] In this embodiment of the present application, after the vehicle detects a first distance between itself and the Bluetooth car key via ultrasound, the vehicle doors can be unlocked or locked based on the first distance. Because ultrasonic positioning accuracy can typically reach the centimeter level, the first distance detected via ultrasound is highly accurate, and unlocking or locking the vehicle doors based on the first distance is highly reliable.

[0073] Optionally, a first threshold and a second threshold are pre-stored in the vehicle. The first threshold may be determined based on the size of the vehicle's unlocked area, and the second threshold may be determined based on the size of the vehicle's locked area. The second threshold may be greater than or equal to the first threshold. For example, the first threshold may be 2 meters (m), and the second threshold may be 5 meters (m).

[0074] If the vehicle detects that the first distance is less than a first threshold, it can determine that the Bluetooth car key is in the unlocking area, and thus the vehicle doors can be automatically unlocked. If the vehicle detects that the first distance is greater than a second threshold, it can determine that the Bluetooth car key is in the locking area, and thus the vehicle doors can be automatically locked. If the vehicle detects that the first distance is not less than the first threshold and not greater than the second threshold, it can determine that the Bluetooth car key has not entered the unlocking area or the locking area, and thus can continue to perform the above step 102, that is, continue to determine the first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information of the Bluetooth car key.

[0075] Optionally, in step 102, after detecting that the vehicle's state satisfies a target state, the vehicle may further determine a first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information of the Bluetooth car key. The target state may include: no user is seated in the vehicle, and / or the vehicle door is closed.

[0076] If the vehicle detects that no one is sitting in a seat, it can be determined that no one is in the vehicle, and furthermore, it can be determined that the vehicle needs to unlock or lock the door. Therefore, the first distance can be detected by ultrasonic wave, so as to unlock or lock the door based on the first distance. If the vehicle detects that the door is closed, it can be determined that the door can be unlocked or locked. Therefore, the first distance can be detected by ultrasonic wave, and the door can be unlocked or locked based on the first distance.

[0077] Optionally, in step 102, when the vehicle detects that the second distance is less than a third threshold, the vehicle may further determine the first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information of the Bluetooth car key. The third threshold may be a distance value pre-stored in the vehicle and may be determined based on the effective positioning range of the ultrasonic positioning system in the vehicle. For example, the third threshold may be less than or equal to the upper limit of the effective positioning range. The effective positioning range refers to the distance range within which the ultrasonic positioning system can achieve accurate positioning.

[0078] Since the vehicle can detect the first distance between itself and the Bluetooth car key through ultrasound after determining that the Bluetooth car key is within the effective positioning range of the ultrasonic positioning system through Bluetooth connection, the reliability and accuracy of the first distance detected by ultrasound can be ensured.

[0079] In summary, the embodiments of the present application provide a vehicle door control method. This method can determine the location of a Bluetooth car key via a Bluetooth connection and, based on this Bluetooth car key location information, determine a first distance between the vehicle and the Bluetooth car key, as detected by ultrasonic waves. Because the first distance detected by ultrasonic waves is highly accurate, unlocking or locking the vehicle door based on this first distance is highly reliable.

[0080] Furthermore, this method does not require a new chip in the car key; it only requires the key to have Bluetooth communication capabilities. This reduces reliance on the key's performance, significantly increasing application flexibility. Furthermore, the vehicle's ultrasonic positioning system can reuse existing ultrasonic sensors, effectively avoiding additional structural complexity and cost.

[0081] FIG5 is a flow chart of another vehicle door control method provided by an embodiment of the present application. This method can be applied to the vehicle shown in FIG1 or FIG2. For example, it can be applied to a vehicle key sensing fusion module of a vehicle door control device such as that shown in FIG3. As shown in FIG5, this method includes:

[0082] Step 201: Determine the location information of the Bluetooth car key through a Bluetooth connection with the Bluetooth car key.

[0083] In an embodiment of the present application, after a Bluetooth connection is established between the Bluetooth car key and the vehicle, the vehicle can determine the location information of the Bluetooth car key through the Bluetooth connection. The location information may include the second distance between the Bluetooth car key and the vehicle and / or the area where the Bluetooth car key is located. In other words, the location information may include at least one of the second distance and the area where the Bluetooth car key is located.

[0084] Step 202: Detect whether the second distance is less than a third threshold.

[0085] If the location information includes a second distance, the vehicle can detect whether the second distance is less than a third threshold. The third threshold can be determined based on the effective positioning range of the vehicle's ultrasonic positioning system. For example, the third threshold can be less than or equal to the upper limit of the effective positioning range. Assuming the effective positioning range of the vehicle's ultrasonic positioning system is 15 cm to 5.5 m, the third threshold can be less than or equal to 5.5 m, for example, 5 m.

[0086] If the second distance is less than the third threshold, the vehicle can determine that the Bluetooth car key is already within the effective positioning range of the ultrasonic positioning system, and thus can continue to execute step 203.

[0087] If the second distance is not less than the third threshold, the vehicle can determine that the Bluetooth car key has not yet entered the effective positioning range of the ultrasonic positioning system. At this point, if the ultrasonic positioning system is used to detect the distance between the vehicle and the Bluetooth car key, the ultrasonic positioning system cannot yet detect the Bluetooth car key, and therefore the reliability of the detected distance cannot be guaranteed. Based on this, the vehicle can proceed to step 201, that is, continue to determine the location information of the Bluetooth car key via Bluetooth connection.

[0088] Step 203: Detect a first distance between the vehicle and the Bluetooth car key through ultrasonic waves.

[0089] If the second distance is less than the third threshold, the vehicle can use ultrasound to detect the first distance between the vehicle and the Bluetooth car key in order to accurately locate the Bluetooth car key. Based on this, the vehicle can accurately locate the Bluetooth car key through ultrasound on the basis of Bluetooth positioning.

[0090] For example, assuming that the third threshold is 5m, when the vehicle detects through the Bluetooth connection that the second distance between the vehicle and the Bluetooth car key is less than 5m, the first distance between the vehicle and the Bluetooth car key can be detected through ultrasound.

[0091] Optionally, as shown in FIG3 , the vehicle may include multiple ultrasonic sensors, each having a different detection range. That is, the detection ranges of any two ultrasonic sensors among the multiple ultrasonic sensors do not completely overlap, i.e., the sound waves emitted by any two ultrasonic sensors are emitted in different directions, but have the same coverage range.

[0092] As a first possible implementation, after the vehicle detects that the second distance is less than a third threshold, it may obtain the distances between the vehicle and the multiple obstacles detected by the multiple ultrasonic sensors. The vehicle may then determine the distance closest to the second distance among the multiple distances detected by the multiple ultrasonic sensors as the first distance between the vehicle and the Bluetooth car key.

[0093] As a second possible implementation, after the vehicle detects that the second distance is less than a third threshold, it may determine at least one target ultrasonic sensor from the multiple ultrasonic sensors and use the at least one target ultrasonic sensor to detect the first distance between the vehicle and the Bluetooth car key. The detection range of the at least one target ultrasonic sensor overlaps with the area where the Bluetooth car key is located. For example, the detection range of each target ultrasonic sensor can cover the area where the Bluetooth car key is located.

[0094] In the second implementation, the vehicle may determine the first distance as the distance closest to the second distance among the distances detected by the at least one target ultrasonic sensor. Alternatively, the vehicle may determine the first distance as the average of the distances detected by the at least one target ultrasonic sensor.

[0095] Step 204: If the first distance is less than a first threshold, unlock the vehicle door.

[0096] In the embodiment of the present application, a first threshold is pre-stored in the vehicle. The first threshold may be determined based on the size of the unlocking area of ​​the vehicle and may be smaller than the third threshold. For example, the first threshold may be 2 meters.

[0097] After the vehicle detects a first distance between itself and the Bluetooth car key via ultrasonic waves, it can determine whether the first distance is less than a first threshold. If the first distance is less than the first threshold, the vehicle can determine that the Bluetooth car key is already in the unlocking zone and can automatically unlock the vehicle doors. If the first distance is not less than the first threshold, the vehicle can determine that the Bluetooth car key has not yet entered the unlocking zone, so there is no need to unlock the vehicle doors and the vehicle can proceed to step 203, i.e., continue to detect the first distance between the vehicle and the Bluetooth car key via ultrasonic waves.

[0098] For example, assuming that the first threshold is 2m, the vehicle can automatically unlock the door when it detects through ultrasound that the first distance between it and the Bluetooth car key is less than 2m.

[0099] Step 205: Execute the first operation.

[0100] After the vehicle detects that the first distance is less than the first threshold, it may also perform a first operation. The first operation may include at least one of the following operations: turning on the vehicle's welcome light; playing a first prompt tone, the first prompt tone used to indicate that the vehicle door is unlocked; turning on the vehicle's air conditioning; starting the vehicle's engine; and sending vehicle status information to a Bluetooth car key via a Bluetooth connection.

[0101] The vehicle can play the first prompt tone via a horn or buzzer. The vehicle status information may include vehicle health status, remaining fuel, remaining battery power, and / or vehicle interior temperature. This first operation not only allows the user to accurately understand the door status and / or vehicle status, but also simplifies the operations required by the user after boarding the vehicle, effectively improving the user experience.

[0102] Step 206: If the first distance is greater than a second threshold, lock the vehicle door.

[0103] In this embodiment of the present application, a second threshold is also pre-stored in the vehicle. This second threshold can be determined based on the size of the vehicle's locking area. Furthermore, this second threshold can be greater than or equal to the first threshold and less than or equal to the third threshold. For example, this second threshold can be 5 meters.

[0104] After the vehicle detects the first distance between itself and the Bluetooth car key via ultrasonic waves, it can also determine whether the first distance is greater than a second threshold. If the first distance is greater than the second threshold, the vehicle can determine that the Bluetooth car key is already in the locking area and can automatically lock the vehicle doors. If the first distance is not greater than the second threshold, the vehicle can determine that the Bluetooth car key has not entered the locking area, so there is no need to lock the vehicle doors and the process can proceed to step 203, i.e., continue to detect the first distance between the vehicle and the Bluetooth car key via ultrasonic waves.

[0105] For example, assuming that the second threshold is 5m, when the vehicle detects through ultrasound that the first distance between it and the Bluetooth car key is greater than 5m, the door can be automatically locked.

[0106] Step 207: Execute the second operation.

[0107] After the vehicle detects that the first distance is greater than the second threshold, it can also perform a second operation, which may include at least one of the following operations: closing the vehicle's windows, lights and air conditioning; playing a second prompt sound, which is used to indicate that the door is locked; if the vehicle is stopped and the vehicle's engine is in the non-start state, starting the vehicle's parking system; sending the vehicle's vehicle status information to the Bluetooth car key via a Bluetooth connection.

[0108] The vehicle can play the second prompt tone through a horn or buzzer. Turning off the vehicle's windows, lights, and air conditioning can ensure safety and reduce vehicle energy consumption. When the vehicle is stopped and the engine is inactive, activating the vehicle's parking system can effectively prevent the vehicle from sliding and ensure safety. This second operation not only allows users to accurately understand the door status and / or vehicle status, but also effectively ensures vehicle safety and reduces vehicle energy consumption.

[0109] It is understood that, as a first possible example, before step 201, the Bluetooth car key is located outside the vehicle. Accordingly, as the user approaches the vehicle with the Bluetooth car key, the Bluetooth car key can establish a Bluetooth connection with the vehicle. Furthermore, in step 203, the first distance detected by the vehicle via ultrasonic waves gradually decreases. When the first distance is less than a first threshold, the vehicle automatically unlocks the door.

[0110] As a second possible example, before step 201, the Bluetooth car key is inside the vehicle, meaning that the Bluetooth car key inside the vehicle is able to establish a Bluetooth connection with the vehicle. Accordingly, in step 203, as the user moves away from the vehicle with the Bluetooth car key, the first distance detected by the vehicle via ultrasonic waves gradually increases. When the first distance exceeds a second threshold, the vehicle automatically locks the doors.

[0111] In this first example, to ensure detection reliability, in steps 202 and 203, the vehicle may detect the first distance again using ultrasound after detecting that the second distance decreases from a value greater than or equal to the third threshold to a value less than the third threshold. In other words, the vehicle may detect the first distance again using ultrasound after determining that the Bluetooth car key is gradually approaching the vehicle and is within the effective positioning range of the ultrasonic positioning system.

[0112] In this second example, to ensure reliable door locking, in step 203, the vehicle may ultrasonically detect the first distance between the vehicle and the Bluetooth car key when the vehicle detects that its state meets the target state. The target state may include: no user is sitting in the vehicle seat, and / or the door is closed.

[0113] All or some of the vehicle's seats may be equipped with seat sensors, which the vehicle can use to detect whether a user is seated. After determining that the seat is not occupied, the vehicle detects the first distance and locks the door based on the first distance, thereby avoiding safety hazards caused by locking the door while someone is inside. After determining that the door is closed, the vehicle detects the first distance and locks the door based on the first distance, thereby ensuring that the door is securely locked.

[0114] Optionally, in this second example, the vehicle may not need to execute the method shown in the above step 202, that is, the vehicle does not need to detect whether the second distance is less than the third threshold, but can execute step 203 when it detects that its state meets the target state.

[0115] It is understood that for the first example above, i.e., the scenario where the user approaches the vehicle with the car key, the vehicle does not need to detect whether the vehicle's state meets the target state. Of course, the vehicle can also use ultrasonic detection of the first distance between the vehicle and the Bluetooth car key when it detects that the vehicle's state meets the target state. This embodiment of the application is not limited to this.

[0116] It is also understood that in the first possible implementation, the ultrasonic positioning system in the vehicle can remain enabled at all times, i.e., the ultrasonic positioning system can detect the distance between the vehicle and the obstacle in real time. Accordingly, in step 203 above, after detecting that the second distance is less than the third threshold, the vehicle can directly obtain the distance detected by the ultrasonic positioning system and determine the first distance between the vehicle and the Bluetooth car key based on the location information of the Bluetooth car key.

[0117] In a second possible implementation, the ultrasonic positioning system can be in an off state or a low-frequency operating state by default. Accordingly, in step 203, after detecting that the second distance is less than a third threshold, the vehicle can first activate the ultrasonic positioning system or control the ultrasonic positioning system to operate at a preset operating frequency. The vehicle can then determine the first distance based on the distance detected by the ultrasonic positioning system. The preset operating frequency is higher than the frequency in the low-frequency operating state and may refer to the frequency at which the ultrasonic sensor transmits ultrasonic waves.

[0118] Furthermore, in this second implementation, the vehicle can also control the ultrasonic positioning system to return to a default state after the Bluetooth car key is located inside the vehicle, or when the distance between the Bluetooth car key and the vehicle exceeds a fourth threshold, or after the Bluetooth connection between the Bluetooth car key and the vehicle is disconnected. The fourth threshold can be greater than the third threshold, for example, 8 meters.

[0119] It is also understood that the order of the steps in the vehicle door control method provided in the embodiments of the present application can be adjusted appropriately, and the number of steps can be increased or decreased depending on the circumstances. For example, step 205 and / or step 207 can be deleted depending on the circumstances; or, step 205 can be executed simultaneously with step 204, and step 207 can be executed simultaneously with step 206; or, step 202 can be deleted depending on the circumstances, and step 203 can be executed when the vehicle detects that it has met the target state.

[0120] In summary, the embodiments of the present application provide a vehicle door control method. This method can determine the location of a Bluetooth car key via a Bluetooth connection and, based on this Bluetooth car key location information, determine a first distance between the vehicle and the Bluetooth car key, as detected by ultrasonic waves. Because the first distance detected by ultrasonic waves is highly accurate, unlocking or locking the vehicle door based on this first distance is highly reliable.

[0121] Furthermore, this method does not require a new chip in the car key; it only requires the key to have Bluetooth communication capabilities. This reduces reliance on the key's performance, significantly increasing application flexibility. Furthermore, the vehicle's ultrasonic positioning system can reuse existing ultrasonic sensors, effectively avoiding additional structural complexity and cost.

[0122] The following describes a method for automatically controlling a vehicle door when a user carrying a Bluetooth car key gradually approaches the vehicle. As shown in FIG6 , the vehicle door control method may include:

[0123] Step 301: The Bluetooth car key sends an authentication request to the vehicle's Bluetooth positioning system.

[0124] In an embodiment of the present application, as a user carrying a Bluetooth car key approaches a vehicle, if the distance between the Bluetooth car key and the vehicle is less than the Bluetooth communication range, the Bluetooth car key can send an authentication request to the vehicle's Bluetooth positioning system. For example, the Bluetooth car key can detect whether it has entered the vehicle's Bluetooth connection range by monitoring broadcast frames, that is, the distance between the Bluetooth car key and the vehicle is less than the Bluetooth communication range.

[0125] Step 302: The Bluetooth positioning system authenticates the Bluetooth car key and sends the authentication result to the Bluetooth car key.

[0126] After receiving the authentication request, the vehicle's Bluetooth positioning system can authenticate the Bluetooth car key and send the authentication result to the Bluetooth car key. If the vehicle determines that the Bluetooth car key is authenticated, it can establish a Bluetooth connection with the Bluetooth car key. If the vehicle determines that the Bluetooth car key is authenticated, it will not establish a Bluetooth connection with the Bluetooth car key.

[0127] Step 303: If the Bluetooth car key authentication is successful, a positioning beacon frame is sent to the Bluetooth positioning system.

[0128] After the Bluetooth car key determines that the authentication is successful based on the received authentication result, it can send a positioning beacon frame to the vehicle's Bluetooth positioning system.

[0129] Step 304: The Bluetooth positioning system detects a second distance between the vehicle and the Bluetooth car key based on the positioning beacon frame.

[0130] The vehicle's Bluetooth positioning system can determine a second distance between the vehicle and the Bluetooth car key based on the signal strength of the received positioning beacon frame. The second distance is inversely correlated with the signal strength. In other words, the stronger the signal strength, the closer the second distance.

[0131] Step 305: The Bluetooth positioning system sends the second distance to the perception fusion unit.

[0132] The Bluetooth positioning system can transmit the determined first distance to the sensing fusion unit. It is understood that in step 303 above, the Bluetooth car key can periodically transmit positioning beacon frames according to a preset transmission period. Accordingly, the Bluetooth positioning system can periodically update and report the second distance based on the received positioning beacon frames.

[0133] Step 306: If the sensing fusion unit detects that the second distance is less than the third threshold, it sends a detection instruction to the ultrasonic positioning system.

[0134] If the perception fusion unit detects that the second distance is less than the third threshold, it can be determined that the Bluetooth car key is already within the effective positioning range of the ultrasonic positioning system, and therefore a detection instruction can be sent to the ultrasonic positioning system.

[0135] Step 307: The ultrasonic positioning system sends ultrasonic waves.

[0136] The ultrasonic controller in the ultrasonic positioning system can control multiple ultrasonic sensors or at least one target ultrasonic sensor to transmit ultrasonic waves based on the received detection instructions.

[0137] Optionally, if the default state of multiple ultrasonic sensors in the ultrasonic positioning system is off, the ultrasonic controller may activate the multiple ultrasonic sensors or at least one target ultrasonic sensor based on the received detection instruction. If the default state of multiple ultrasonic sensors in the ultrasonic positioning system is low-frequency operation, the ultrasonic controller may control the multiple ultrasonic sensors or at least one target ultrasonic sensor to operate at a preset operating frequency based on the received detection instruction. If the default state of multiple ultrasonic sensors in the ultrasonic positioning system is normal operation, the ultrasonic positioning system may report the detected first distance between the vehicle and the Bluetooth car key to the perception fusion unit based on the detection instruction.

[0138] Step 308: The ultrasonic positioning system receives the reflected echo.

[0139] The ultrasonic waves emitted by the ultrasonic sensor are reflected when they encounter obstacles, and the ultrasonic positioning system can then receive the reflected echo from the obstacles. The obstacles can include users carrying Bluetooth car keys, other pedestrians, or vehicles.

[0140] Step 309: The ultrasonic positioning system detects a first distance between the vehicle and the Bluetooth car key.

[0141] In this embodiment of the present application, the ultrasonic positioning system can determine the first distance between the vehicle and the Bluetooth car key based on the time interval between transmitting the ultrasonic wave and receiving the reflected echo. The process of determining the first distance can be referred to the relevant description of step 102 or step 203 above and will not be repeated here.

[0142] Step 310: The ultrasonic positioning system sends the first distance to the sensing fusion unit.

[0143] The ultrasonic positioning system can transmit the determined first distance to the sensing fusion unit. It is understood that in step 307, the ultrasonic positioning system can periodically transmit ultrasonic waves according to a preset transmission period. Accordingly, the ultrasonic positioning system can periodically update and report the first distance based on the received reflected echoes.

[0144] It is also understood that the ultrasonic positioning system can also report the ultrasonically detected distance between the vehicle and the obstacle to the perception fusion unit, which can then combine the ultrasonically detected distance between the vehicle and the Bluetooth car key with the Bluetooth car key's location information to determine the first ultrasonically detected distance between the vehicle and the Bluetooth car key. In other words, step 309 can also be performed by the perception fusion unit.

[0145] Step 311: The perception fusion unit sends an unlocking or locking instruction to the door control system of the vehicle according to the first distance.

[0146] If the sensing fusion unit detects that the first distance is less than a first threshold, it can determine that the Bluetooth car key is within the unlocking area of ​​the vehicle, and thus can send an unlocking command to the vehicle's door control system to unlock the door. If the sensing fusion unit detects that the first distance is greater than a second threshold, it can determine that the Bluetooth car key is within the locking area of ​​the vehicle, and thus can send a locking command to the vehicle's door control system to lock the door.

[0147] Step 312: The door control system unlocks or locks the vehicle door based on the command.

[0148] If the door control system receives an unlock command, it can unlock the vehicle doors. If the door control system receives a lock command, it can lock the vehicle doors.

[0149] Optionally, after detecting that the first distance is less than a first threshold, the perception fusion unit may further control the vehicle body control system to perform a first operation. The first operation may include at least one of the following operations: turning on a welcome light of the vehicle; playing a first prompt tone indicating that a door has been unlocked; turning on the air conditioner of the vehicle; starting the engine of the vehicle; or sending vehicle status information to a Bluetooth car key based on a Bluetooth connection.

[0150] After detecting that the first distance is greater than a second threshold, the perception fusion unit may further control the vehicle body control system to perform a second operation. The second operation may include at least one of the following: closing the vehicle's windows, lights, and air conditioning; playing a second prompt tone indicating that the vehicle doors are locked; activating the vehicle's parking system if the vehicle is stopped and the engine is not started; and transmitting vehicle status information to a Bluetooth car key based on a Bluetooth connection.

[0151] The following describes a method for automatically controlling the vehicle's doors when a user carrying a Bluetooth car key leaves their seat and opens the door to leave the vehicle (or to charge or inspect the vehicle). As shown in Figure 7, the door control method may include:

[0152] Step 401: The Bluetooth car key sends an authentication request to the vehicle's Bluetooth positioning system.

[0153] Step 402: The Bluetooth positioning system authenticates the Bluetooth car key and sends the authentication result to the Bluetooth car key.

[0154] Step 403: If the Bluetooth car key authentication is successful, a positioning beacon frame is sent to the Bluetooth positioning system.

[0155] Step 404: The Bluetooth positioning system detects a second distance between the vehicle and the Bluetooth car key based on the positioning beacon frame.

[0156] Step 405: The Bluetooth positioning system sends the second distance to the perception fusion unit.

[0157] For the above steps 401 to 405 , reference may be made to the relevant descriptions of steps 301 to 305 in the embodiment shown in FIG6 , and will not be repeated here.

[0158] Step 406: The perception fusion unit obtains the seat status.

[0159] In this embodiment of the present application, the perception fusion unit can obtain a seat status through the seat control system, which can indicate whether a user is seated in the vehicle seat. Optionally, the perception fusion unit can also obtain seat belt information through the seat control system, which can indicate whether the vehicle's seat belt buckle is inserted into the seat belt receptacle.

[0160] Step 407: The door control system sends the door status to the perception fusion unit.

[0161] The perception fusion unit can obtain the door status of the vehicle through the door control system, and the door status can be one of an open state and a closed state.

[0162] Step 408: The sensing fusion unit sends a detection instruction to the ultrasonic positioning system.

[0163] In this embodiment of the present application, if the perception fusion unit determines that the vehicle's state meets the target state based on the acquired seat state, seat belt information, and door state, it can send a detection instruction to the ultrasonic positioning system. The target state may include: the vehicle seat is not occupied by a user and / or the door is closed.

[0164] Step 409: The ultrasonic positioning system sends ultrasonic waves based on the detection instruction.

[0165] Step 410: The ultrasonic positioning system receives the reflected echo.

[0166] Step 411: The ultrasonic positioning system detects a first distance between the vehicle and the Bluetooth car key.

[0167] Step 412: The ultrasonic positioning system sends the first distance to the perception fusion unit.

[0168] Step 413: The perception fusion unit sends an unlocking or locking instruction to the door control system of the vehicle according to the first distance.

[0169] Step 414 : The door control system unlocks or locks the vehicle door based on the command.

[0170] The implementation process of the above steps 409 to 413 can refer to the relevant description of steps 307 to 312 in the embodiment shown in Figure 6 above, and will not be repeated here.

[0171] FIG8 is a schematic diagram of the structure of a vehicle door control device provided by an embodiment of the present application. The vehicle door control device can be applied to a vehicle such as that shown in FIG1 or FIG2 and can implement the vehicle door control method provided by the above method embodiment. As shown in FIG8 , the vehicle door control device includes:

[0172] The first determining module 501 is configured to determine the location information of the Bluetooth car key through a Bluetooth connection with the Bluetooth car key. The implementation of the function of the first determining module 501 may refer to the relevant description of the above step 101 or step 201.

[0173] The second determining module 502 is configured to determine a first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information of the Bluetooth car key. The implementation of the second determining module 502 can refer to the description of step 102 or step 203 above.

[0174] The control module 503 is configured to unlock or lock the vehicle door according to the first distance. The function of the control module 503 can be implemented by referring to the description of step 103 above.

[0175] Optionally, the control module 503 may be configured to: unlock the vehicle door if the first distance is less than a first threshold; and lock the vehicle door if the first distance is greater than a second threshold. The second threshold is greater than or equal to the first threshold. The implementation of the functions of the control module 503 may also refer to the description of steps 204 and 206 above.

[0176] Alternatively, the vehicle may include a plurality of ultrasonic sensors, and the detection ranges of the plurality of ultrasonic sensors are different from each other.

[0177] As a first optional implementation, the location information may include a second distance between the Bluetooth car key and the vehicle. The second determination module 502 may be configured to obtain the distances between the vehicle and the plurality of obstacles detected by the plurality of ultrasonic sensors, and determine the distance closest to the second distance among the distances between the vehicle and the plurality of obstacles detected by the plurality of ultrasonic sensors as the first distance between the vehicle and the Bluetooth car key.

[0178] As a second optional implementation, the location information includes an area where the Bluetooth car key is located. The second determination module 502 may be configured to detect a first distance between the vehicle and the Bluetooth car key using at least one target ultrasonic sensor among the multiple ultrasonic sensors. The detection range of the at least one target ultrasonic sensor overlaps with the area where the Bluetooth car key is located.

[0179] Optionally, the vehicle includes multiple Bluetooth nodes, which are distributed at different positions on the vehicle body; the first determination module 501 can be used to determine the area where the Bluetooth car key is located based on the Bluetooth signals detected by the multiple Bluetooth nodes.

[0180] Optionally, the second determining module 502 may be configured to determine, based on the location information, a first distance between the vehicle and the Bluetooth car key through ultrasonic detection if the second distance between the vehicle and the Bluetooth car key determined based on the location information is less than a third threshold. The implementation of the second determining module 502 may also refer to the description of step 202 above.

[0181] Optionally, the second determining module 502 may be configured to determine a first distance between the vehicle and the Bluetooth car key detected by ultrasound based on the location information of the Bluetooth car key if the vehicle state satisfies a target state. The target state includes: no user is seated in the vehicle, and / or the vehicle door is closed.

[0182] Optionally, the control module 503 may also be configured to, upon unlocking the vehicle door, perform at least one of the following operations: turning on the vehicle's welcome light; playing a first prompt tone indicating that the vehicle door has been unlocked; turning on the vehicle's air conditioning; starting the vehicle's engine; or transmitting vehicle status information to the Bluetooth car key via the Bluetooth connection. The implementation of the functions of the control module 503 may also refer to the description of step 205 above.

[0183] Optionally, the control module 503 may also be configured to, upon locking the vehicle doors, perform at least one of the following operations: closing the vehicle windows, lights, and air conditioning; playing a second prompt tone indicating that the vehicle doors are locked; activating the vehicle parking system if the vehicle is stopped and the engine is not started; and transmitting vehicle status information to the Bluetooth car key via the Bluetooth connection. The implementation of the functions of the control module 503 may also refer to the description of step 207 above.

[0184] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the door control device and each module described above can refer to the corresponding processes in the aforementioned method embodiment and will not be repeated here.

[0185] It should be understood that the vehicle door control device provided in the embodiments of the present application can also be implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD). The PLD can be a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. In addition, the vehicle door control method provided in the above method embodiment can also be implemented by software. When the vehicle door control method provided in the above method embodiment is implemented by software, the various functional modules in the vehicle door control device can also be software modules.

[0186] Figure 9 is a schematic diagram of the structure of another vehicle door control device provided in an embodiment of the present application. This vehicle door control device can be applied to a vehicle such as that shown in Figure 1 or Figure 2 and can implement the vehicle door control method provided in the above method embodiment. Referring to Figure 9, the vehicle door control device includes: a processor 601, a memory 602, a network interface 603, and a bus 604.

[0187] Memory 602 stores a computer program 6021 for implementing various application functions. Processor 601 is configured to execute computer program 6021 to implement the vehicle door control method provided in the aforementioned method embodiment. For example, when processor 601 executes computer program 6021, it can implement the functions of the various modules shown in FIG. 8 .

[0188] The processor 601 may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), ASICs, FPGAs, graphics processing units (GPUs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0189] Memory 602 may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0190] There may be multiple network interfaces 603, and the network interfaces 603 are used to implement communication connections (which may be wired or wireless) with other devices. In the embodiment of the present application, the network interface 603 is used to send and receive messages. The other devices may be devices such as terminals, servers, VMs, or other network devices.

[0191] Bus 604 is used to connect processor 601, memory 602, and network interface 603. In addition to a data bus, bus 604 may also include a power bus, a control bus, and a status signal bus. However, for clarity, various buses are labeled as bus 604 in the figure.

[0192] An embodiment of the present application also provides a computer-readable storage medium, which stores instructions. The instructions are executed by a processor to implement the vehicle door control method provided by the above method embodiment.

[0193] An embodiment of the present application also provides a computer program product comprising instructions, which are executed by a processor to implement the vehicle door control method provided by the above method embodiment.

[0194] The present application also provides a chip that can be used in the vehicle door control device provided in the aforementioned aspects. The chip may include programmable logic circuits and / or program instructions, and is used to implement the vehicle door control method provided in the aforementioned method embodiment. For example, the chip may be the vehicle key sensing fusion module in the vehicle door control device shown in FIG3 .

[0195] The present application also provides a vehicle, which may include doors and a door control device as provided in the above embodiment. The door control device can implement the door control method provided in the above method embodiment, and the structure of the door control device can refer to Figure 3, Figure 8 or Figure 9.

[0196] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0197] In the embodiments of the present application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the embodiments of the present application, the term "at least one" means one or more, and "a plurality" means two or more.

[0198] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0199] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A vehicle door control method, characterized in that: Applied to a vehicle, the method comprises: Determine the location information of the Bluetooth car key through a Bluetooth connection with the Bluetooth car key; determining, according to the position information of the Bluetooth car key, a first distance between the vehicle and the Bluetooth car key detected by ultrasound; The vehicle doors are unlocked or locked according to the first distance.

2. The method according to claim 1, characterized in that The unlocking or locking the vehicle door according to the first distance includes: If the first distance is less than a first threshold, unlocking the vehicle door; If the first distance is greater than a second threshold, the vehicle door is locked, wherein the second threshold is greater than or equal to the first threshold.

3. The method according to claim 1 or 2, characterized in that The vehicle includes a plurality of ultrasonic sensors, and the detection ranges of the plurality of ultrasonic sensors are different from each other; the position information includes a second distance between the Bluetooth car key and the vehicle; The determining, based on the position information of the Bluetooth car key, a first distance between the vehicle and the Bluetooth car key detected by ultrasound, includes: obtaining distances between the vehicle and a plurality of obstacles detected by the plurality of ultrasonic sensors; Among the distances between the vehicle and the plurality of obstacles detected by the plurality of ultrasonic sensors, a distance closest to the second distance is determined as a first distance between the vehicle and the Bluetooth car key.

4. The method according to claim 1 or 2, characterized in that The vehicle includes a plurality of ultrasonic sensors, and the detection ranges of the plurality of ultrasonic sensors are different from each other; the location information includes an area where the Bluetooth car key is located; The determining, based on the position information of the Bluetooth car key, a first distance between the vehicle and the Bluetooth car key detected by ultrasound, includes: detecting a first distance between the vehicle and the Bluetooth car key by at least one target ultrasonic sensor among the plurality of ultrasonic sensors; The detection range of the at least one target ultrasonic sensor overlaps with the area where the Bluetooth car key is located.

5. The method according to claim 4, characterized in that The vehicle includes a plurality of Bluetooth nodes, and the plurality of Bluetooth nodes are distributed at different positions on the vehicle body; determining the location information of the Bluetooth car key through the Bluetooth connection with the Bluetooth car key includes: Based on the Bluetooth signals detected by the multiple Bluetooth nodes, an area where the Bluetooth car key is located is determined.

6. The method according to any one of claims 1 to 5, characterized in that: The determining, based on the position information of the Bluetooth car key, a first distance between the vehicle and the Bluetooth car key detected by ultrasound, includes: If the second distance between the vehicle and the Bluetooth car key determined based on the position information is less than a third threshold, the first distance between the vehicle and the Bluetooth car key detected by ultrasound is determined according to the position information.

7. The method according to any one of claims 1 to 6, characterized in that: The determining, based on the position information of the Bluetooth car key, a first distance between the vehicle and the Bluetooth car key detected by ultrasound, includes: If the state of the vehicle satisfies the target state, determining a first distance between the vehicle and the Bluetooth car key detected by ultrasound according to the position information; The target state includes: no user is sitting on the seat of the vehicle, and / or the vehicle door is in a closed state.

8. The method according to any one of claims 1 to 7, characterized in that: The method further includes, based on unlocking the vehicle door, performing at least one of the following operations: Turning on a welcome light of the vehicle; Playing a first prompt tone, wherein the first prompt tone is used to indicate that the vehicle door has been unlocked; turning on the air conditioning of the vehicle; starting the engine of the vehicle; The vehicle status information of the vehicle is sent to the Bluetooth car key via the Bluetooth connection.

9. The method according to any one of claims 1 to 7, characterized in that: The method further includes, based on locking the vehicle doors, performing at least one of the following operations: Turn off the windows, lights and air conditioning of said vehicle; Playing a second prompt tone, wherein the second prompt tone is used to indicate that the vehicle door is locked; If the vehicle is stopped and the engine of the vehicle is in an inactive state, activating a parking system of the vehicle; The vehicle status information of the vehicle is sent to the Bluetooth car key via the Bluetooth connection.

10. A vehicle door control device, characterized in that: Applied to a vehicle, the device comprises: A first determining module, configured to determine the location information of the Bluetooth car key through a Bluetooth connection with the Bluetooth car key; a second determining module, configured to determine a first distance between the vehicle and the Bluetooth car key detected by ultrasound according to the location information of the Bluetooth car key; A control module is configured to unlock or lock the doors of the vehicle according to the first distance.

11. The device according to claim 10, characterized in that The control module is used to: If the first distance is less than a first threshold, unlocking the vehicle door; If the first distance is greater than a second threshold, the vehicle door is locked, wherein the second threshold is greater than or equal to the first threshold.

12. The device according to claim 10 or 11, characterized in that The vehicle includes a plurality of ultrasonic sensors, and the detection ranges of the plurality of ultrasonic sensors are different from each other; the location information includes a second distance between the Bluetooth car key and the vehicle; and the second determination module is configured to: obtaining distances between the vehicle and a plurality of obstacles detected by the plurality of ultrasonic sensors; Among the distances between the vehicle and the plurality of obstacles detected by the plurality of ultrasonic sensors, a distance closest to the second distance is determined as a first distance between the vehicle and the Bluetooth car key.

13. The device according to claim 10 or 11, characterized in that The vehicle includes a plurality of ultrasonic sensors, and the detection ranges of the plurality of ultrasonic sensors are different from each other; the location information includes the area where the Bluetooth car key is located; and the second determination module is configured to: detecting a first distance between the vehicle and the Bluetooth car key by at least one target ultrasonic sensor among the plurality of ultrasonic sensors; The detection range of the at least one target ultrasonic sensor overlaps with the area where the Bluetooth car key is located.

14. The device according to claim 13, characterized in that The vehicle includes a plurality of Bluetooth nodes, and the plurality of Bluetooth nodes are distributed at different positions on the vehicle body; the first determining module is configured to: Based on the Bluetooth signals detected by the multiple Bluetooth nodes, an area where the Bluetooth car key is located is determined.

15. The device according to any one of claims 10 to 14, characterized in that The second determining module is configured to: If the second distance between the vehicle and the Bluetooth car key determined based on the position information is less than a third threshold, the first distance between the vehicle and the Bluetooth car key is determined by ultrasonic detection according to the position information.

16. The device according to any one of claims 10 to 15, characterized in that The second determining module is configured to: If the state of the vehicle satisfies the target state, determining a first distance between the vehicle and the Bluetooth car key detected by ultrasound according to the position information of the Bluetooth car key; The target state includes: no user is sitting on the seat of the vehicle, and / or the vehicle door is in a closed state.

17. The device according to any one of claims 10 to 16, characterized in that The control module is further configured to perform at least one of the following operations based on unlocking the vehicle door: Turning on a welcome light of the vehicle; Playing a first prompt tone, wherein the first prompt tone is used to indicate that the vehicle door has been unlocked; turning on the air conditioning of the vehicle; starting the engine of the vehicle; The vehicle status information of the vehicle is sent to the Bluetooth car key via the Bluetooth connection.

18. The device according to any one of claims 10 to 16, characterized in that The control module is further configured to perform at least one of the following operations based on locking the vehicle doors: Turn off the windows, lights and air conditioning of said vehicle; Playing a second prompt tone, wherein the second prompt tone is used to indicate that the vehicle door is locked; If the vehicle is stopped and the engine of the vehicle is in an inactive state, activating a parking system of the vehicle; The vehicle status information of the vehicle is sent to the Bluetooth car key via the Bluetooth connection.

19. A vehicle door control device, characterized in that: The vehicle door control device includes: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the method according to any one of claims 1 to 9 when executing the computer program.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and the instructions are executed by a processor to implement the method according to any one of claims 1 to 9.

21. A computer program product comprising instructions, characterized in that The instructions are executed by a processor to implement the method according to any one of claims 1 to 9.

22. A vehicle, characterized in that: The vehicle comprises: a vehicle door, and a vehicle door control device according to any one of claims 10 to 19.

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