Control method and device and vehicle

Abstract

The invention provides a control method and device and a vehicle, and can be applied to the field of intelligent vehicles. The method comprises the steps that signals sent by a mobile terminal are received through a master node and four slave nodes, the master node is located at the top of a vehicle, and the four slave nodes are located in a left front area, a left rear area, a right front area and a right rear area of the vehicle respectively, or the four slave nodes are located in the left front area of the top of the vehicle respectively; a left rear region, a right front region, and a right rear region; determining a first slave node and a second slave node from the four slave nodes according to the signal strength and / or the signal quality of the signal; determining an angle of arrival of the mobile terminal according to signals received by at least two of the master node, the first slave node and the second slave node; and controlling the vehicle to execute corresponding operation according to the arrival angle of the mobile terminal. The method can be applied to an intelligent automobile or an electric automobile, the precision of controlling the automobile to execute the corresponding operation can be improved, and therefore the user experience can be improved.

Description

Technical Field

[0001] The present application relates to the field of smart vehicles, and more specifically, to a control method, device and vehicle. Background Art

[0002] The digital key is a digital encrypted key stored on a mobile terminal (e.g., a mobile phone) through a physical key or a mobile phone application (APP). The vehicle verifies the digital key on the mobile phone through a secure communication protocol, thereby authorizing the mobile phone to control the vehicle. Currently common control methods include near field communication (NFC), Bluetooth, and ultra wide band (UWB). The function of the digital key is to automatically unlock the car when the user moves the mobile terminal authorized by the car key to the unlocking area; or to lock the car when the user moves the mobile terminal authorized by the car key to the locking area.

[0003] Bluetooth digital keys generally measure distance through received signal strength indication (RSSI), and use RSSI to determine the distance between the mobile terminal and the vehicle. Since the signal strength of the antenna is easily affected by hand holding, body or environmental occlusion in the use environment, the unlocking or locking accuracy is low, and occasionally the problem of being unable to unlock or lock occurs. Summary of the invention

[0004] The present application provides a control method, device and vehicle, which help to improve the accuracy of the vehicle when performing corresponding vehicle control operations, thereby helping to improve the user experience.

[0005] In a first aspect, a control method is provided, the method comprising: receiving a signal sent by a mobile terminal through a master node and four slave nodes, the master node being located on the top of a vehicle, the master node comprising at least one antenna array, the four slave nodes being respectively located in a left front area, a left rear area, a right front area and a right rear area of ​​the vehicle, or the four slave nodes being respectively located in a left front area, a left rear area, a right front area and a right rear area of ​​the top of the vehicle, each of the four slave nodes comprising at least one antenna array; determining a first slave node and a second slave node from the four slave nodes according to a signal strength and / or a signal quality of the signal; determining an arrival angle of the mobile terminal according to signals received by at least two of the master node, the first slave node and the second slave node; and controlling the vehicle to perform corresponding operations according to the arrival angle of the mobile terminal.

[0006] Based on the above technical solution, two slave nodes can be screened out from the four slave nodes through the signal strength and / or signal quality of the signals received by the master node and the four slave nodes on the vehicle. Then, the arrival angle of the mobile terminal is determined based on the signals received by the master node and at least two of the two slave nodes, and the vehicle is controlled to perform corresponding operations based on the arrival angle of the mobile terminal. In this way, there is no need to use RSSI to judge the distance between the mobile terminal and the vehicle, which avoids the influence of signal fluctuations, human body occlusion, different mobile phone holding methods, and different mobile phone powers on distance judgment, which helps to improve the accuracy of controlling the vehicle to perform corresponding operations, thereby helping to improve the user experience.

[0007] In some possible implementations, the signal strength may include a reference signal receiving power (RSRP) and / or RSSI, and the signal quality may include a reference signal receiving quality (RSRQ) and / or a signal to interference plus noise ratio (SINR).

[0008] In some possible implementations, the controlling the vehicle to perform corresponding operations includes: controlling the vehicle to perform operations such as unlocking, locking, turning on the headlights, turning on the welcome lights, or driving the doors.

[0009] The above mobile terminals may include mobile phones, watches, bracelets or car keys, etc.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the angle of arrival of the mobile terminal is determined based on signals received from at least two nodes among the master node, the first slave node and the second slave node, including: determining a first angle of arrival based on the signal received by the master node, and determining a second angle of arrival based on the signal received by the first slave node, and determining a third angle of arrival based on the signal received by the second slave node; wherein, controlling the vehicle to perform a corresponding operation based on the angle of arrival of the mobile terminal includes: determining a first position of the mobile terminal based on the first angle of arrival and the second angle of arrival, and determining a second position of the mobile terminal based on the second angle of arrival and the third angle of arrival, and determining a third position of the mobile terminal based on the first angle of arrival and the third angle of arrival; determining a fourth position of the mobile terminal based on the first position, the second position and the third position; and controlling the vehicle to perform a corresponding operation based on the fourth position.

[0011] Based on the above technical solution, the first arrival angle, the second arrival angle and the third arrival angle can be determined respectively through the signals received by the master node, the first slave node and the second slave node, and the position of a mobile terminal can be determined through any two of the arrival angles, thereby determining the positions of three mobile terminals, and the final position of the mobile terminal can be determined through the optimization algorithm. In this way, the accuracy of determining the position of the mobile terminal can be improved, which helps to improve the accuracy of controlling the vehicle to perform corresponding operations, thereby helping to improve the user experience.

[0012] In some possible implementations, the first position, the second position, and the third position may form a triangle, and the fourth position may be the center of the triangle.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the fourth position of the mobile terminal is determined based on the first position, the second position and the third position, including: when the vehicle is in a locked state, the position among the first position, the second position and the third position that is closest to the vehicle is determined as the fourth position; or, when the vehicle is in an unlocked state, the position among the first position, the second position and the third position that is farthest from the vehicle is determined as the fourth position.

[0014] Based on the above technical solution, when the vehicle is in a locked state, the position closest to the vehicle among the first position, the second position and the third position can be determined as the fourth position, so that the vehicle can be quickly unlocked when the mobile terminal approaches the vehicle. When the vehicle is in an unlocked state, the position farthest from the vehicle among the first position, the second position and the third position can be determined as the fourth position, so that the vehicle can be quickly locked when the mobile terminal is far away from the vehicle.

[0015] In some possible implementations, the vehicle is controlled to perform corresponding operations according to the fourth position, including: when the vehicle is in a locked state and the fourth position is located in an unlocked area, the vehicle is controlled to be unlocked (or, the vehicle is controlled to switch from a locked state to an unlocked state); or, when the vehicle is in an unlocked state and the fourth position is located in a locked area, the vehicle is controlled to be locked (or, the vehicle is controlled to switch from an unlocked state to a locked state).

[0016] In some possible implementations, the determining the arrival angle of the mobile terminal based on the signals received by at least two nodes among the master node, the first slave node and the second slave node includes: determining a first arrival angle based on the signal received by the master node, and determining a second arrival angle based on the signal received by the first slave node, and determining a third arrival angle based on the signal received by the second slave node; wherein, controlling the vehicle to perform a corresponding operation based on the arrival angle of the mobile terminal includes: determining a first position of the mobile terminal based on the first arrival angle and the second arrival angle, and determining a second position of the mobile terminal based on the second arrival angle and the third arrival angle, and determining a third position of the mobile terminal based on the first arrival angle and the third arrival angle; determining a first distance between the mobile terminal and the vehicle based on the first position; determining a second distance between the mobile terminal and the vehicle based on the second position, and determining a third distance between the mobile terminal and the vehicle based on the third position; determining a fourth distance based on the first distance, the second distance and the third distance; and controlling the vehicle to perform a corresponding operation based on the fourth distance.

[0017] The above distance between the mobile terminal and the vehicle can be understood as the vertical distance from the position of the mobile terminal to the side where the vehicle is located.

[0018] In some possible implementations, the vehicle is controlled to perform a corresponding operation based on the fourth distance, including: when the vehicle is in a locked state, determining the shortest distance among the first distance, the second distance, and the third distance as the fourth distance; or, when the vehicle is in an unlocked state, determining the longest distance among the first distance, the second distance, and the third distance as the fourth distance.

[0019] In some possible implementations, the vehicle is controlled to perform corresponding operations based on the fourth distance, including: when the vehicle is in a locked state and the fourth distance is less than or equal to a first preset distance, controlling the vehicle to unlock (or controlling the vehicle to switch from a locked state to an unlocked state); or, when the vehicle is in an unlocked state and the fourth distance is greater than or equal to a second preset distance, controlling the vehicle to lock (or controlling the vehicle to switch from an unlocked state to a locked state), wherein the first preset distance is less than the second preset distance.

[0020] In some possible implementations, the fourth distance is an average of the first distance, the second distance, and the third distance.

[0021] In combination with the first aspect, in some implementations of the first aspect, the first slave node and the second slave node are slave nodes close to the mobile terminal among the four slave nodes.

[0022] Since the smaller the arrival angle is, the higher the positioning accuracy of the mobile terminal is, based on the above technical solution, two slave nodes close to the mobile terminal can be selected from four slave nodes to measure the arrival angle of the mobile terminal. In this way, the positioning accuracy of the mobile terminal can be improved.

[0023] In a second aspect, a control device is provided, comprising: a receiving unit, for receiving a signal sent by a mobile terminal through a master node and four slave nodes, the master node being located on the top of a vehicle, the master node comprising at least one antenna array, the four slave nodes being respectively located in a left front area, a left rear area, a right front area and a right rear area of ​​the vehicle, or the four slave nodes being respectively located in a left front area, a left rear area, a right front area and a right rear area of ​​the top of the vehicle, each of the four slave nodes comprising at least one antenna array; a determining unit, for determining a first slave node and a second slave node from the four slave nodes according to a signal strength and / or a signal quality of the signal; the determining unit is further used to determine an arrival angle of the mobile terminal according to signals received by at least two of the master node, the first slave node and the second slave node; and the control unit, for controlling the vehicle to perform corresponding operations according to the arrival angle of the mobile terminal.

[0024] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is used to: determine a first arrival angle based on a signal received by the master node, and determine a second arrival angle based on a signal received by the first slave node, and determine a third arrival angle based on a signal received by the second slave node; determine a first position of the mobile terminal based on the first arrival angle and the second arrival angle, and determine a second position of the mobile terminal based on the second arrival angle and the third arrival angle, and determine a third position of the mobile terminal based on the first arrival angle and the third arrival angle; determine a fourth position of the mobile terminal based on the first position, the second position, and the third position; and control the vehicle to perform corresponding operations based on the fourth position.

[0025] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is used to: when the vehicle is in a locked state, determine the position among the first position, the second position and the third position that is closest to the vehicle as the fourth position; when the vehicle is in an unlocked state, determine the position among the first position, the second position and the third position that is farthest from the vehicle as the fourth position.

[0026] In combination with the second aspect, in some implementations of the second aspect, the first slave node and the second slave node are slave nodes close to the mobile terminal among the four slave nodes.

[0027] According to a third aspect, a positioning device is provided, which includes a master node and four slave nodes, wherein the master node is located on the top of a vehicle, and the master node includes at least one antenna array; the four slave nodes are respectively located in a left front area, a left rear area, a right front area and a right rear area of ​​the vehicle, or the four slave nodes are respectively located in a left front area, a left rear area, a right front area and a right rear area of ​​the top of the vehicle, and each of the four slave nodes includes at least one antenna array; the master node and at least two of the four slave nodes are used to acquire a signal sent by a mobile terminal and determine an arrival angle of the mobile terminal based on the signal.

[0028] Based on the above technical solution, by arranging at least one antenna array in the left front area, left rear area, right front area and right rear area of ​​the vehicle respectively, it helps to ensure the coverage range of the antenna (360° coverage), helps to reduce the angle error, and helps to improve the accuracy of measuring the position of the mobile terminal. At the same time, the top of the vehicle is less obstructed and the antenna is less affected by other substances (for example, metal). By arranging at least one antenna array on the top, it also helps to improve the accuracy of measuring the position of the mobile terminal.

[0029] In some possible implementations, the top of the vehicle includes a sunroof or skylight of the vehicle.

[0030] In combination with the third aspect, in certain implementations of the third aspect, each slave node includes an antenna array, and the angle between the antenna array in each slave node and the vehicle body direction is [0°, 90°].

[0031] Based on the above technical solution, the angle between the antenna array in each slave node and the vehicle body direction can be located at [0°, 90°]. Without increasing the number of antenna arrays or increasing costs, the antenna coverage can be guaranteed, which helps to improve the accuracy of measuring the position of the mobile terminal.

[0032] In combination with the third aspect, in certain implementations of the third aspect, the antenna arrays in the four slave nodes are respectively located on four sides of the vehicle.

[0033] In combination with the third aspect, in some implementations of the third aspect, each slave node includes multiple antennas, and the multiple antennas are located on different sides of the four sides of the vehicle.

[0034] Based on the above technical solution, multiple antennas in each slave node can be located on different sides of the vehicle, so that at least two antenna arrays can be arranged on the same side. By increasing the number of antenna arrays arranged on each side, the accuracy of measuring the position of the mobile terminal can be further improved.

[0035] In combination with the third aspect, in certain implementations of the third aspect, a spacing between antennas in the antenna array is [λ / 16, λ], where λ is a wavelength of a signal.

[0036] In combination with the third aspect, in certain implementations of the third aspect, the four slave nodes include a first antenna and a second antenna located on the same side of the vehicle, and the difference between the height of the first antenna from a preset plane and the height of the second antenna from the preset plane is less than or equal to a preset threshold.

[0037] Based on the above technical solution, the height difference between the antennas on the same side from the preset plane is less than the preset threshold, which helps to improve the accuracy of measuring the arrival angle of the mobile terminal.

[0038] In combination with the third aspect, in certain implementations of the third aspect, the layout of the antenna array in the master node includes a cross layout, a T-shaped layout, a separated layout, an X-shaped layout, an L-shaped layout, or a nine-square layout.

[0039] In combination with the third aspect, in certain implementations of the third aspect, the master node includes a first antenna array and a second antenna array, and an angle between the first antenna array and the second antenna array is [10°, 90°].

[0040] In combination with the third aspect, in certain implementations of the third aspect, the angle between the first antenna array and the vehicle body direction is [0°, 45°], and the angle between the second antenna array and the vehicle body direction is [0°, 45°].

[0041] Based on the above technical solution, the angle between the two antenna arrays in the main node is [10°, 90°], and the angle between each of the two antenna arrays and the vehicle body direction is [0°, 45°], which helps to ensure the coverage range of the antenna in the main node (360° coverage).

[0042] In a fourth aspect, a control device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform any possible control method in the first aspect.

[0043] In a fifth aspect, the present application provides a control system, which includes the above-mentioned positioning device and the above-mentioned control device.

[0044] In a sixth aspect, the present application provides a vehicle, comprising any possible control device in the second aspect or the fourth aspect, or comprising the positioning device described in the third aspect, or comprising the control system described in the fifth aspect.

[0045] In a seventh aspect, the present application provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any possible control method in the first aspect.

[0046] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.

[0047] In an eighth aspect, the present application provides a computer-readable medium storing a program code, and when the computer program code runs on a computer, the computer executes any possible control method in the first aspect.

[0048] In a ninth aspect, the present application provides a chip, the chip comprising a circuit, the circuit being used to execute any possible control method in the first aspect. For example, the chip comprises a Bluetooth chip and a vehicle control unit (VCU).

[0049] In the tenth aspect, the present application provides a Bluetooth chip, which includes: a receiving unit, used to receive a signal sent by a mobile terminal through a master node and four slave nodes, the master node is located on the top of a vehicle, the master node includes at least one antenna array, and the four slave nodes are respectively located in the left front area, left rear area, right front area and right rear area of ​​the vehicle, or the four slave nodes are respectively located in the left front area, left rear area, right front area and right rear area of ​​the top of the vehicle, each of the four slave nodes includes at least one antenna array; a determination unit, used to determine a first slave node and a second slave node from the four slave nodes according to the signal strength and / or signal quality of the signal; the determination unit is also used to determine the arrival angle of the mobile terminal according to the signals received by at least two nodes of the master node, the first slave node and the second slave node; the sending unit is used to send the arrival angle of the mobile terminal to the VCU. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a functional block diagram of a vehicle provided in an embodiment of the present application;

[0051] Figure 2 is a schematic diagram of identifying the orientation of a device through an antenna array provided in an embodiment of the present application;

[0052] Figure 3 is a schematic diagram of identifying the location of a device through an antenna array provided in an embodiment of the present application;

[0053] Figure 4is a schematic block diagram of a positioning device provided in an embodiment of the present application;

[0054] Figure 5 is a schematic diagram of determining the distance between a mobile phone and a vehicle provided in an embodiment of the present application;

[0055] Figure 6 is a schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0056] Figure 7 is another schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0057] Figure 8 is another schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0058] Fig. 9 is another schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0059] Fig.10 It is a schematic diagram of several layout methods of antenna arrays in a master node provided in an embodiment of the present application;

[0060] Fig.11 is a schematic diagram of antenna heights located on the same side provided in an embodiment of the present application;

[0061] Fig.12 is a schematic diagram of a monopole planar inverted-F antenna provided in an embodiment of the present application;

[0062] Fig.13 is a schematic flow chart of a control method provided in an embodiment of the present application;

[0063] Fig.14 It is a schematic block diagram of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that three relationships can exist, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0065] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0066] Figure 1 It is a functional block diagram of the vehicle 100 provided in an embodiment of the present application. The vehicle 100 may include a perception system 110 and a computing platform 120, wherein the perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include one or more collision sensors. For another example, the perception system 110 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. For another example, the perception system 110 may include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera device.

[0067] Some or all functions of the vehicle 100 may be controlled by the computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). The processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory, the memory is used to store instructions, and some or all of the processors 121 to 12n may call instructions in the memory to implement corresponding functions.

[0068] The vehicles involved in the embodiments of the present application are vehicles in a broad sense, which may be means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of the present application do not specifically limit the type of vehicles.

[0069] As mentioned earlier, the digital key is a digital encrypted key stored on the mobile phone through a physical key or a mobile phone APP. Through the protocol confirmation of secure communication, the car completes the verification of the digital key on the mobile phone, thereby authorizing the mobile phone to control the vehicle. The current common control methods include NFC, Bluetooth, and UWB. The function of the digital key is to automatically unlock when the user moves the mobile terminal authorized by the car key to the unlocking area; or, when the user moves the mobile terminal authorized by the car key to the locking area, the car can be locked. Bluetooth digital keys generally use RSSI ranging and judge the distance by RSSI strength. Because the signal strength of the antenna in the use environment is easily affected by hand holding, body or environmental occlusion, the unlocking accuracy is low, and occasionally the problem of being unable to unlock occurs.

[0070] In view of this, the embodiments of the present application provide a control method, device and vehicle. By setting up antenna arrays in nodes in different areas of the vehicle, the arrival angle of a mobile terminal (for example, a car key or a mobile phone) can be measured without the need to rely on the RSSI of the signal, which helps to improve the accuracy of positioning the mobile terminal.

[0071] Combine the following Figure 2 A schematic diagram for identifying the orientation of a device through an antenna array provided in an embodiment of the present application is introduced.

[0072] Figure 2 FIG. 1 is a schematic diagram showing a method of identifying the orientation of a device through an antenna array provided in an embodiment of the present application. Figure 2 As shown, device 1 has an antenna array (or device 1 has AOA calculation capability), device 1 can calculate the position of device 2, the antenna array of device 1 can receive the wireless signal of device 2, and calculate the position of device 2 according to formulas (1) and (2):

[0073] φ=(2πdcos(θ)) / λ (1)

[0074]

[0075] Where d is the distance between antenna 1 and antenna 2 in the antenna array of device 1, is the phase difference between the signals received by antenna 1 and antenna 2 in the antenna array of device 1, λ is the wavelength of the signal sent by device 2, and θ is the angle of arrival. The direction of device 2 can be determined by the angle of arrival θ.

[0076] The above device 1 calculates the orientation of device 2, which can also be understood as device 1 being able to calculate the orientation of the antenna array of device 1 and the antenna connection line of device 2.

[0077] Combine the following Figure 3The following is a schematic diagram of identifying the location of a device through an antenna array provided in an embodiment of the present application. Figure 3 As shown, device 1 includes antenna array 1 and antenna array 2, and device 1 can determine the arrival angle θ1 through the signal received by antenna array 1. Device 1 can determine the arrival angle θ2 through the signal received by antenna array 2. The position of device 2 can be the intersection point O of the two rays.

[0078] The above antenna array 1 and antenna array 2 may be Bluetooth antenna arrays.

[0079] Figure 4 FIG. 1 shows a schematic block diagram of a positioning device provided in an embodiment of the present application. Figure 4 As shown, the positioning device may include a master node 1, a slave node 2, a slave node 3, a slave node 4 and a slave node 5. The master node 1 is located on the top of the vehicle, and the master node 1 includes at least one antenna array; the slave nodes 2-5 are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the vehicle, and each of the slave nodes 2-5 includes at least one antenna array; the master node 1 and at least two of the slave nodes 2-5 are used to obtain a signal sent by a mobile terminal (for example, a mobile phone) and determine the arrival angle of the mobile terminal according to the signal.

[0080] above Figure 4 In the example, the slave nodes 2-5 are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the vehicle, but the embodiments of the present application are not limited thereto. For example, the slave nodes 2-5 may also be respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the top of the vehicle.

[0081] Exemplarily, the top of the vehicle may include a sunroof or skylight of the vehicle.

[0082] Figure 5 FIG. 1 is a schematic diagram showing a method for determining the distance between a mobile phone and a vehicle provided in an embodiment of the present application. Figure 5 As shown, the master node 1, the slave node 2 and the slave node 3 can respectively receive the interactive measurement frame sent by the mobile terminal. The arrival angle θ3 can be calculated by the antenna array in the master node 1, the arrival angle θ4 can be calculated by the antenna array in the slave node 2, and the arrival angle θ5 can be calculated by the antenna array in the slave node 3. The distance L1 between the master node 1 and the slave node 2, the distance L2 between the master node 1 and the slave node 3, the distance L3 between the slave node 2 and the slave node 3, the angle γ1 between the master node 1 and the slave node 2, and the angle γ2 between the master node 1 and the slave node 3 are all known constants.

[0083] Master node 1, slave node 2, and slave node 3 can form a triangular cone with the mobile phone. By solving the triangular cone, the distance L4 between the mobile phone and the vehicle can be calculated. In most application scenarios, master node 1, slave node 2, slave node 3, and the mobile phone are in the same plane. L4 can be calculated for any of the three triangles formed by four points. Three L4s are calculated from the three triangles, and the location of the mobile phone can be determined through the optimization algorithm.

[0084] When performing Bluetooth AOA positioning on a mobile phone, the smaller the angles θ4 and θ5 are, the higher the positioning accuracy is; the more antennas there are in the antenna arrays of the master node and the slave node, the higher the ranging accuracy is; when the spacing between antenna arrays is larger (within half a wavelength), the ranging accuracy is higher.

[0085] Optionally, each of the slave nodes 2 - 5 includes a plurality of antennas, and the plurality of antennas are located at different sides of the four sides of the vehicle.

[0086] Figure 6 A schematic structural diagram of a positioning device provided in an embodiment of the present application is shown. The positioning device may include a master node 1, a slave node 2, a slave node 3, a slave node 4, and a slave node 5. The outer contour of the vehicle may be approximately formed into a rectangle ABCD, wherein the antennas in the antenna array of the slave node 2 are respectively located on the side AB and the side AD; the antennas in the antenna array of the slave node 3 are respectively located on the side AD and the side CD; the antennas in the antenna array of the slave node 4 are respectively located on the side AB and the side BC; the antennas in the antenna array of the slave node 5 are respectively located on the side BC and the side CD. The master node 1 may be arranged on the skylight glass (for example, in the form of a glass antenna), and the layout of the master node 1 may be a cross-shaped layout.

[0087] In one embodiment, slave node 2 may be located on the left front body of the vehicle, slave node 3 may be located on the left rear body of the vehicle, slave node 4 may be located on the right front body of the vehicle, and slave node 5 may be located on the right rear body of the vehicle. Exemplarily, slave node 2 may be located on the left front bumper of the vehicle, slave node 3 may be located on the left rear bumper of the vehicle, slave node 4 may be located on the right front bumper of the vehicle, and slave node 5 may be located on the right rear bumper of the vehicle.

[0088] Taking slave node 2 as an example, the antenna array in slave node 2 may include antennas 1-5, wherein antennas 1-3 are located on edge AD, and antennas 3-5 are located on edge AB.

[0089] The above is explained by taking the example that the slave node 2 includes one antenna array, and the embodiments of the present application are not limited thereto. For example, the slave node 2 may also include two antenna arrays, for example, antenna array 1 and antenna array 2, wherein antenna array 1 may include antennas 1-3, and antenna array 2 may include antennas 3-5.

[0090] exist Figure 6 In the antenna layout scheme shown, each side has at least two antenna arrays, and the number of antennas arranged in a straight line on each side is more than two (for example, six).

[0091] Optionally, the antenna arrays in slave nodes 2-5 are located at four sides of the vehicle respectively.

[0092] Figure 7 FIG. 2 shows a schematic structural diagram of a positioning device provided in an embodiment of the present application. Figure 7 As shown, the antenna array in slave node 2 is located on edge AD, the antennas in the antenna array in slave node 3 are arranged on edge CD, the antennas in the antenna array in slave node 4 are arranged on edge AB, and the antennas in the antenna array in slave node 5 are arranged on edge BC. The master node 1 can be arranged on the skylight glass (for example, in the form of a glass antenna), and the layout of the master node 1 can be a cross-shaped layout.

[0093] exist Figure 7 In the antenna layout scheme shown, the antenna arrays in nodes 2-5 are respectively located on the four sides of the vehicle, or each side has at least one antenna array and the angle between the antenna array and the side where it is located can be 0°.

[0094] Optionally, each of the slave nodes 2-5 includes an antenna array, and the angle between the antenna array in each slave node and the vehicle body direction is [0°, 90°].

[0095] Figure 8 FIG. 2 shows a schematic structural diagram of a positioning device provided in an embodiment of the present application. Figure 8 As shown, the layout of the master node 1 can be a T-shaped layout. The antenna arrays in the slave nodes 2, 3, 4 and 5 are respectively located in the left front area, left and right areas, right front area and right rear area of ​​the vehicle. Among them, the angle between the antenna array in the slave node 2 and the x-axis direction of the vehicle body is β1, the angle between the antenna array in the slave node 3 and the x-axis direction of the vehicle body is β2, the angle between the antenna array in the slave node 4 and the x-axis direction of the vehicle body is β3, and the angle between the antenna array in the slave node 5 and the x-axis direction of the vehicle body is β4, wherein β1, β2, β3 and β4 are all greater than 0° and less than 90°.

[0096] The above vehicle body x-axis direction can also be understood as the vehicle driving direction.

[0097] Fig. 9 FIG. 2 shows a schematic structural diagram of a positioning device provided in an embodiment of the present application. Fig. 9As shown, the master node 1, the slave node 2, the slave node 3, the slave node 4 and the slave node 5 are all arranged on the canopy of the vehicle. Among them, the slave node 2, the slave node 3, the slave node 4 and the slave node 5 can be arranged in the left front area, the left rear area, the right front area and the right rear area of ​​the canopy respectively. The layout of the master node 1 can be a T-shaped layout.

[0098] In the above embodiments, the layout of the master node 1 is described as a cross layout or a T-shaped layout, but the embodiments of the present application are not limited thereto. For example, the layout of the master node can also be an L-shaped layout, a separated layout, an X-shaped layout, or a nine-square layout.

[0099] For example, Fig.10 A schematic diagram shows several layout methods of the antenna array in the master node provided in the embodiments of the present application.

[0100] For example, in a cross-shaped layout, antenna a, antenna b, antenna c, antenna d, and antenna e are arranged in a "cross" shape, with antenna b located at the center. The above antennas a, antenna b, antenna c, antenna d, and antenna e can form an antenna array, or they can also form two antenna arrays. For example, antenna a, antenna b, and antenna c form antenna array 1, and antenna d, antenna b, and antenna e form antenna array 2, and antenna array 1 and antenna array 2 are perpendicular to each other.

[0101] For another example, in a T-shaped layout, antenna a, antenna b, antenna c, antenna d, and antenna e are arranged in a "T" shape. The above antenna a, antenna b, antenna c, antenna d, and antenna e can form an antenna array, or can also form two antenna arrays. For example, antenna a, antenna b, and antenna c form antenna array 1, and antenna b, antenna d, and antenna e form antenna array 2, and antenna array 1 and antenna array 2 are perpendicular to each other.

[0102] For another example, in an L-shaped layout, antenna a, antenna b, antenna c, antenna d, and antenna e are arranged in an "L" shape. The above antenna a, antenna b, antenna c, antenna d, and antenna e can form an antenna array, or can also form two antenna arrays. For example, antenna a, antenna b, and antenna c form antenna array 1, and antenna e, antenna d, and antenna c form antenna array 2, and antenna array 1 and antenna array 2 are perpendicular to each other.

[0103] For another example, in an X-shaped layout, antenna a, antenna b, antenna c, antenna d, and antenna e are arranged in an "X" shape. The above antenna a, antenna b, antenna c, antenna d, and antenna e can form an antenna array, or they can also form two antenna arrays. For example, antenna a, antenna b, and antenna c form antenna array 1, and antenna d, antenna b, and antenna e form antenna array 2. The angle between antenna array 1 and antenna array 2 is [10°, 90°).

[0104] For another example, in the nine-square grid layout, antenna a, antenna c, antenna g, and antenna i are respectively located at the four vertices of the rectangle. Antenna b, antenna d, antenna h, and antenna f are respectively located at the midpoints of the sides of the rectangle, and antenna e is located at the center of the rectangle. The above antennas a, antenna b, antenna c, antenna d, antenna e, antenna f, antenna g, antenna h, and antenna i can form an antenna array; or, they can also form multiple antenna arrays. For example, antenna a, antenna b, and antenna c form antenna array 1, antenna d, antenna e, and antenna f form antenna array 2, and antenna g, antenna h, and antenna i form antenna array 3. For another example, line a, antenna d, and antenna g form antenna array 1, antenna b, antenna e, and antenna h form antenna array 2, and antenna c, antenna f, and antenna i form antenna array 3.

[0105] The above master node layout and slave node layout can be combined with each other. Figure 8 As shown, the angle between the antenna array in slave node 2, slave node 3, slave node 4 and slave node 5 and the x-axis direction of the vehicle body can be greater than 0° and less than 90°, and the layout of the master node 1 can be an L-shaped layout or a nine-square layout.

[0106] In one embodiment, the height difference between two antennas located on the same side of the vehicle among the four slave nodes and the ground is less than or equal to a preset threshold.

[0107] Exemplarily, the preset threshold is 50 cm.

[0108] Fig.11 Schematic diagram showing the height of antennas located on the same side provided by an embodiment of the present application. Fig.11 As shown, antenna 1, antenna 2 and antenna 3 in the antenna array of slave node 2 are located on one side of the main driving area of ​​the vehicle (or the above-mentioned side AD), and antenna 6, antenna 7 and antenna 8 in the antenna array of slave node 3 are also located on one side of the main driving area of ​​the vehicle. The height difference between any two antennas of antenna 1, antenna 2, antenna 3, antenna 6, antenna 7 and antenna 8 is less than or equal to 50 cm. In this way, the accuracy of positioning the mobile terminal can be improved.

[0109] In one embodiment, the spacing between any two adjacent antennas in each antenna array is [λ / 16, λ], where λ is the wavelength of the signal.

[0110] For example, Fig.12 The schematic diagram of the monopole planar inverted F-shaped antenna (PIFA) provided in the embodiment of the present application is shown. The phase center difference between antenna 1 and antenna 2 can be λ / 2.

[0111] Fig.12 The antenna form is a monopole PIFA as an example for illustration, and the embodiments of the present application are not limited thereto. For example, the antenna form can also be an inverted F-shaped antenna (IFA), a slot antenna, a patch antenna, linear polarization, cross polarization, etc.

[0112] With the above Figures 6 to 9 Taking the antenna layout shown as an example, it can be seen from the test that the angle measurement accuracy within 10 meters can be ±10°.

[0113] The above AOA-based positioning method will not be affected by signal fluctuations, and can ensure high measurement accuracy under human body occlusion, different mobile terminal holding conditions, and different mobile terminal powers.

[0114] Fig.13 The present application embodiment provides a schematic flow chart of a control method 1300. The method 1300 may be performed by Figure 1 The method 1300 may be performed by the vehicle 100 shown in the figure, or the method 1300 may be performed by the computing platform 120, or the method 1300 may be performed by a system consisting of the computing platform 120 and the positioning device, or the method 1300 may be performed by a system-on-chip (SoC) in the computing platform 120, or the method 1300 may be performed by a system consisting of a Bluetooth chip and a VCU. The method 1300 includes:

[0115] S1310, receiving a signal sent by a mobile terminal through a master node and four slave nodes.

[0116] Exemplarily, the master node is located on top of a vehicle, and the master node includes at least one antenna array.

[0117] Exemplarily, the four slave nodes are respectively located in the left front area, left rear area, right front area and right rear area of ​​the vehicle, or the four slave nodes are respectively located in the left front area, left rear area, right front area and right rear area of ​​the top of the vehicle, and each of the four slave nodes includes at least one antenna array.

[0118] Exemplarily, the interactive measurement frame sent by the mobile terminal may be received by the master node and the four slave nodes.

[0119] S1320: Determine a first slave node and a second slave node from the four slave nodes according to the signal strength and / or signal quality of the signal.

[0120] For example, Figure 4 As shown, the mobile terminal can send a signal to the vehicle in the process of approaching the vehicle, the signal received by the master node 1 is signal 1, the signal received by the slave node 2 is signal 2, the signal received by the slave node 3 is signal 3, the signal received by the slave node 4 is signal 4, and the signal received by the slave node 5 is signal 5. When it is detected that the signal strength of signal 2, the signal strength of signal 3, the signal strength of signal 1, the signal strength of signal 4, and the signal strength of signal 5 are successively reduced, it can be determined that the mobile terminal is located on the side of the main driving area (or the mobile terminal approaches the vehicle from the side of the main driving area). Therefore, node 2 and node 3 can be selected from the four slave nodes as nodes for determining the arrival angle of the mobile terminal.

[0121] Optionally, the signal strength may include RSRP and / or RSSI.

[0122] Optionally, the signal quality may include RSRQ and / or SINR.

[0123] Optionally, the first slave node and the second slave node are slave nodes close to the mobile terminal among the four slave nodes. Since the smaller the angle of arrival, the higher the positioning accuracy of the mobile terminal, based on the above technical solution, two slave nodes close to the mobile terminal can be selected from the four slave nodes to measure the angle of arrival of the mobile terminal. In this way, the positioning accuracy of the mobile terminal can be improved.

[0124] S1330: Determine the arrival angle of the mobile terminal according to signals received by at least two of the master node, the first slave node, and the second slave node.

[0125] Optionally, the determining the arrival angle of the mobile terminal according to the signals received by at least two of the master node, the first slave node and the second slave node includes: determining a first arrival angle according to the signal received by the master node, determining a second arrival angle according to the signal received by the first slave node, and determining a third arrival angle according to the signal received by the second slave node. In this way, by determining three arrival angles and determining the position of the mobile terminal according to the three arrival angles, the accuracy of positioning the mobile terminal can be improved.

[0126] Optionally, the determining the arrival angle of the mobile terminal according to the signals received by at least two of the master node, the first slave node and the second slave node includes: determining the second arrival angle according to the signal received by the first slave node and determining the third arrival angle according to the signal received by the second slave node. In this way, the position of the mobile terminal can be determined using only the signals received by the antenna arrays in the two slave nodes, which helps to reduce the power consumption of the vehicle when measuring the position of the mobile terminal.

[0127] The above S1310-S1330 may be executed by a Bluetooth chip.

[0128] S1340: Control the vehicle to perform corresponding operations according to the arrival angle of the mobile terminal.

[0129] Optionally, the vehicle is controlled to perform a corresponding operation based on the arrival angle of the mobile terminal, including: determining a first position of the mobile terminal based on the first arrival angle and the second arrival angle, and determining a second position of the mobile terminal based on the second arrival angle and the third arrival angle, and determining a third position of the mobile terminal based on the first arrival angle and the third arrival angle; determining a fourth position of the mobile terminal based on the first position, the second position and the third position; and controlling the vehicle to perform a corresponding operation based on the fourth position.

[0130] In some possible implementations, the first position, the second position, and the third position may form a triangle, and the fourth position may be the center of the triangle.

[0131] Optionally, the fourth position of the mobile terminal is determined based on the first position, the second position and the third position, including: when the vehicle is in a locked state, determining the position among the first position, the second position and the third position that is closest to the vehicle as the fourth position; or, when the vehicle is in an unlocked state, determining the position among the first position, the second position and the third position that is farthest from the vehicle as the fourth position.

[0132] Optionally, according to the fourth position, the vehicle is controlled to perform corresponding operations, including: when the vehicle is in a locked state and the fourth position is located in an unlocking area, controlling the vehicle to unlock; or, when the vehicle is in an unlocked state and the fourth position is located in a locking area, controlling the vehicle to lock.

[0133] Optionally, the angle of arrival of the mobile terminal is determined based on the signals received by at least two nodes among the master node, the first slave node and the second slave node, including: determining the first angle of arrival based on the signal received by the master node, and determining the second angle of arrival based on the signal received by the first slave node, and determining the third angle of arrival based on the signal received by the second slave node; wherein, according to the angle of arrival of the mobile terminal, the vehicle is controlled to perform a corresponding operation, including: determining a first position of the mobile terminal based on the first angle of arrival and the second angle of arrival, and determining a second position of the mobile terminal based on the second angle of arrival and the third angle of arrival, and determining a third position of the mobile terminal based on the first angle of arrival and the third angle of arrival; determining a first distance between the mobile terminal and the vehicle based on the first position; determining a second distance between the mobile terminal and the vehicle based on the second position, and determining a third distance between the mobile terminal and the vehicle based on the third position; determining a fourth distance based on the first distance, the second distance and the third distance; and controlling the vehicle to perform a corresponding operation based on the fourth distance.

[0134] The above process of determining the distance between the mobile terminal and the vehicle based on any two arrival angles can be referred to Figure 5 The process of solving the triangle will not be repeated here.

[0135] The distance between the position of the mobile terminal and the vehicle can be understood as the vertical distance from the position of the mobile terminal to the side where the vehicle is located.

[0136] Optionally, based on the fourth distance, the vehicle is controlled to perform a corresponding operation, including: when the vehicle is in a locked state, determining the shortest distance among the first distance, the second distance and the third distance as the fourth distance; or, when the vehicle is in an unlocked state, determining the longest distance among the first distance, the second distance and the third distance as the fourth distance.

[0137] Optionally, according to the fourth distance, the vehicle is controlled to perform corresponding operations, including: when the vehicle is in a locked state and the fourth distance is less than or equal to a first preset distance, controlling the vehicle to unlock; or, when the vehicle is in an unlocked state and the fourth distance is greater than or equal to a second preset distance, controlling the vehicle to lock, wherein the first preset distance is less than the second preset distance.

[0138] Optionally, the fourth distance is an average of the first distance, the second distance and the third distance.

[0139] Optionally, the vehicle is controlled to perform corresponding operations, including: when the mobile terminal is outside the vehicle cabin, the vehicle can be controlled to perform operations such as unlocking, locking, turning on the headlights, turning on the welcome lights or driving the car doors.

[0140] Optionally, the vehicle is controlled to perform corresponding operations, including: when the mobile terminal is located in the vehicle cabin, the vehicle can be controlled to perform seat adjustment, music switching, video streaming and other operations.

[0141] Exemplarily, at time T1, the master node and at least two of the four slave nodes can determine that the mobile terminal is located in the passenger area of ​​the vehicle, and detect that the user plays multimedia files through the passenger entertainment screen. At time T2 after time T1, the master node and at least two of the four slave nodes can determine that the mobile terminal is located in the second row left area of ​​the vehicle. At this time, the vehicle can control the second row left area to display multimedia files under the first progress, and the first progress is the playback progress when the mobile terminal leaves the passenger area.

[0142] Exemplarily, at time T3, the master node and at least two of the four slave nodes can determine that the mobile terminal is located in the passenger area of ​​the vehicle, and it is detected that the user has adjusted the seat in the passenger area (for example, the adjusted seat mode is mode 1). At time T4 after time T3, the master node and at least two of the four slave nodes can determine that the mobile terminal is located in the second row left area of ​​the vehicle. At this time, the vehicle can adjust the seat in the second row left area according to mode 1. In this way, it can avoid the user frequently adjusting the seat after changing the position in the cockpit.

[0143] The above S1340 can be executed by the VCU. Exemplarily, after determining the arrival angle of the mobile terminal, the Bluetooth chip can send the information of the arrival angle to the VCU. The VCU can control the vehicle to perform corresponding operations based on the arrival angle; or, after determining the arrival angle of the mobile terminal and determining the position of the mobile terminal or the distance between the mobile terminal and the vehicle based on the arrival angle, the Bluetooth chip can send the position of the mobile terminal or the distance between the mobile terminal and the vehicle to the VCU. The VCU can control the vehicle to perform corresponding operations based on the position of the mobile terminal or the distance between the mobile terminal and the vehicle.

[0144] Fig.14 14 shows a schematic block diagram of a control device 1400 provided in an embodiment of the present application, such as Fig.14As shown, the control device 1400 includes: a receiving unit 1410, which is used to receive a signal sent by a mobile terminal through a master node and four slave nodes, the master node is located on the top of the vehicle, the master node includes at least one antenna array, and the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the vehicle, or the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the top of the vehicle, each of the four slave nodes includes at least one antenna array; a determination unit 1420, which is used to determine a first slave node and a second slave node from the four slave nodes according to the signal strength and / or signal quality of the signal; the determination unit 1420 is also used to determine the arrival angle of the mobile terminal according to the signals received by at least two nodes of the master node, the first slave node and the second slave node; the control unit 1430 is used to control the vehicle to perform corresponding operations according to the arrival angle of the mobile terminal.

[0145] Optionally, the determination unit 1420 is used to: determine a first arrival angle based on the signal received by the master node, and determine a second arrival angle based on the signal received by the first slave node, and determine a third arrival angle based on the signal received by the second slave node; determine a first position of the mobile terminal based on the first arrival angle and the second arrival angle, and determine a second position of the mobile terminal based on the second arrival angle and the third arrival angle, and determine a third position of the mobile terminal based on the first arrival angle and the third arrival angle; determine a fourth position of the mobile terminal based on the first position, the second position and the third position; and perform the vehicle control operation based on the fourth position.

[0146] Optionally, the determination unit 1420 is used to: when the vehicle is in a locked state, determine the position among the first position, the second position and the third position that is closest to the vehicle as the fourth position; or, when the vehicle is in an unlocked state, determine the position among the first position, the second position and the third position that is farthest from the vehicle as the fourth position.

[0147] Optionally, the first slave node and the second slave node are slave nodes close to the mobile terminal among the four slave nodes.

[0148] For example, the receiving unit 1410 may be Figure 1 The computing platform or the processing circuit, processor or controller in the computing platform. Taking the receiving unit 1410 as the processor 121 in the computing platform as an example, the processor 121 can obtain the signal sent by the master node and the four slave nodes to receive the mobile terminal.

[0149] For another example, the determining unit 1420 may be Figure 1The computing platform in the computing platform or the processing circuit, processor or controller in the computing platform. Taking the determination unit 1420 as the processor 122 in the computing platform as an example, the processor 122 can determine the first slave node and the second slave node from the four slave nodes according to the signal obtained by the processor 121. The processor 122 can also determine the arrival angle of the mobile terminal according to the signals received by the master node, the first slave node and the second slave node.

[0150] For another example, the control unit 1430 may be Figure 1 The computing platform or the processing circuit, processor or controller in the computing platform. Taking the control unit 1430 as the processor 123 in the computing platform as an example, the processor 123 can control the vehicle to perform corresponding operations according to the arrival angle of the mobile terminal.

[0151] The functions implemented by the above receiving unit 1410, the functions implemented by the determination unit 1420, and the functions implemented by the control unit 1430 can be implemented by different processors, or can also be implemented by the same processor, or some functions can be implemented by the same processor. This embodiment of the application is not limited to this. For example, the functions implemented by the above processors 121 and 122 can be implemented by a Bluetooth chip, and the functions implemented by the processor 123 can be implemented by a VCU.

[0152] An embodiment of the present application also provides a Bluetooth chip, which includes: a receiving unit, used to receive a signal sent by a mobile terminal through a master node and four slave nodes, the master node is located on the top of a vehicle, the master node includes at least one antenna array, the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the vehicle, or the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the top of the vehicle, each of the four slave nodes includes at least one antenna array; a determination unit, used to determine a first slave node and a second slave node from the four slave nodes according to the signal strength and / or signal quality of the signal; the determination unit is also used to determine the arrival angle of the mobile terminal according to the signals received by at least two nodes of the master node, the first slave node and the second slave node; the sending unit is used to send the arrival angle of the mobile terminal to the VCU.

[0153] It should be understood that the division of the units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the units of the device, wherein the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory in the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD. Taking FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through the configuration file, so as to realize the functions of some or all of the above units. All units of the above device may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or partially in the form of a processor calling software and the rest in the form of a hardware circuit.

[0154] Each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0155] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of SoC. The SoC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0156] An embodiment of the present application also provides a device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes the method or steps executed by the above embodiment.

[0157] Alternatively, if the device is located in a vehicle, the processing unit may be Figure 1 Processors 121-12n are shown.

[0158] An embodiment of the present application also provides a control system, which includes the above-mentioned positioning device and the above-mentioned control device.

[0159] An embodiment of the present application also provides a chip system, which includes a Bluetooth chip and a VCU. The Bluetooth chip is used to execute the above steps S1310-S1330, and the VCU is used to execute the above step S1340.

[0160] An embodiment of the present application further provides a vehicle, which may include the above-mentioned device 1400, or include the above-mentioned positioning device, or include the above-mentioned control system.

[0161] The embodiment of the present application further provides a computer program product, which includes: a computer program code, and when the computer program code is executed on a computer, the computer executes the above control method.

[0162] The embodiment of the present application further provides a computer-readable medium, wherein the computer-readable medium stores a program code. When the computer program code is executed on a computer, the computer executes the above control method.

[0163] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in a processor for execution. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0164] It should be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0165] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0166] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0167] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0168] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0171] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0172] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered. Within the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method, characterized in that: include: The signal sent by the mobile terminal is received through a master node and four slave nodes, wherein the master node is located on the top of the vehicle, the master node includes at least one antenna array, and the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the vehicle, or the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the top of the vehicle, and each of the four slave nodes includes at least one antenna array; Determining a first slave node and a second slave node from the four slave nodes according to the signal strength and / or signal quality of the signal; determining an arrival angle of the mobile terminal according to signals received by at least two of the master node, the first slave node, and the second slave node; The vehicle is controlled to perform corresponding operations according to the arrival angle of the mobile terminal.

2. The method according to claim 1, characterized in that The determining the arrival angle of the mobile terminal according to the signals received by at least two of the master node, the first slave node and the second slave node comprises: Determine a first angle of arrival based on the signal received by the master node, determine a second angle of arrival based on the signal received by the first slave node, and determine a third angle of arrival based on the signal received by the second slave node; Wherein, controlling the vehicle to perform a corresponding operation according to the arrival angle of the mobile terminal includes: Determine a first position of the mobile terminal according to the first angle of arrival and the second angle of arrival, determine a second position of the mobile terminal according to the second angle of arrival and the third angle of arrival, and determine a third position of the mobile terminal according to the first angle of arrival and the third angle of arrival; Determining a fourth position of the mobile terminal according to the first position, the second position and the third position; According to the fourth position, the vehicle is controlled to perform a corresponding operation.

3. The method according to claim 2, characterized in that The determining, according to the first position, the second position and the third position, a fourth position of the mobile terminal includes: When the vehicle is in a locked state, the position closest to the vehicle among the first position, the second position and the third position is determined as the fourth position; or, When the vehicle is in an unlocked state, a position farthest from the vehicle among the first position, the second position and the third position is determined as the fourth position.

4. The method according to any one of claims 1 to 3, characterized in that The first slave node and the second slave node are slave nodes close to the mobile terminal among the four slave nodes.

5. A control device, characterized in that: include: A receiving unit, configured to receive a signal sent by a mobile terminal through a master node and four slave nodes, wherein the master node is located on the top of a vehicle, the master node includes at least one antenna array, and the four slave nodes are respectively located in a left front area, a left rear area, a right front area, and a right rear area of ​​the vehicle, or the four slave nodes are respectively located in a left front area, a left rear area, a right front area, and a right rear area of ​​the top of the vehicle, and each of the four slave nodes includes at least one antenna array; a determining unit, configured to determine a first slave node and a second slave node from the four slave nodes according to a signal strength and / or a signal quality of the signal; The determining unit is further configured to determine the arrival angle of the mobile terminal according to signals received by at least two of the master node, the first slave node and the second slave node; A control unit is used to control the vehicle to perform corresponding operations according to the arrival angle of the mobile terminal.

6. The device according to claim 5, characterized in that The determining unit is used for: Determine a first angle of arrival based on the signal received by the master node, determine a second angle of arrival based on the signal received by the first slave node, and determine a third angle of arrival based on the signal received by the second slave node; Determine a first position of the mobile terminal according to the first angle of arrival and the second angle of arrival, determine a second position of the mobile terminal according to the second angle of arrival and the third angle of arrival, and determine a third position of the mobile terminal according to the first angle of arrival and the third angle of arrival; Determining a fourth position of the mobile terminal according to the first position, the second position and the third position; According to the fourth position, the vehicle is controlled to perform a corresponding operation.

7. The device according to claim 6, characterized in that The determining unit is used for: When the vehicle is in a locked state, the position closest to the vehicle among the first position, the second position and the third position is determined as the fourth position; or, When the vehicle is in an unlocked state, a position farthest from the vehicle among the first position, the second position and the third position is determined as the fourth position.

8. The device according to any one of claims 5 to 7, characterized in that The first slave node and the second slave node are slave nodes close to the mobile terminal among the four slave nodes.

9. A positioning device, characterized in that: The positioning device includes a master node and four slave nodes. The master node is located on the top of the vehicle, and the master node includes at least one antenna array; The four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the vehicle, or the four slave nodes are respectively located in the left front area, the left rear area, the right front area and the right rear area of ​​the top of the vehicle, and each of the four slave nodes includes at least one antenna array; The master node and at least two of the four slave nodes are used to obtain a signal sent by a mobile terminal, and the signal is used to determine an arrival angle of the mobile terminal.

10. The device according to claim 9, characterized in that Each slave node includes an antenna array, and the angle between the antenna array in each slave node and the vehicle body direction is [0°, 90°].

11. The device according to claim 9 or 10, characterized in that The antenna arrays in the four slave nodes are respectively located at four sides of the vehicle.

12. The device according to claim 9, characterized in that Each of the slave nodes includes a plurality of antennas, and the plurality of antennas are located at different sides of the four sides of the vehicle.

13. The device according to any one of claims 9 to 12, characterized in that The spacing between antennas in the antenna array is [λ / 16, λ], where λ is the wavelength of the signal.

14. The device according to any one of claims 9 to 13, characterized in that The four slave nodes include a first antenna and a second antenna located on the same side of the vehicle, A difference between a height of the first antenna from a preset plane and a height of the second antenna from the preset plane is less than or equal to a preset threshold.

15. The device according to any one of claims 9 to 14, characterized in that The layout of the antenna array in the master node includes a cross layout, a T-shaped layout, a separated layout, an X-shaped layout, an L-shaped layout or a nine-square layout.

16. The device according to any one of claims 9 to 15, characterized in that The master node includes a first antenna array and a second antenna array, and the angle between the first antenna array and the second antenna array is [10°, 90°].

17. The device according to claim 16, characterized in that The included angle between the first antenna array and the vehicle body direction is [0°, 45°], and the included angle between the second antenna array and the vehicle body direction is [0°, 45°].

18. A vehicle, characterized in that: The vehicle comprises the control device according to any one of claims 5 to 8, or the vehicle comprises the positioning device according to any one of claims 9 to 17.

19. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 4 is implemented.

20. A chip, characterized in that: include: A circuit for executing the method according to any one of claims 1 to 4.

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