Advanced unlocking system for automobile

Abstract

The invention discloses an automobile early unlocking system, which belongs to the field of automobile intelligent control systems, and comprises a sensor module used for collecting distance data between a user and an automobile and moving direction data of the user; the data processing module comprises a data receiving unit, a probability calculation unit, a weight calculation unit and a probability adjustment unit; the decision module comprises a threshold value comparison unit and an unlocking control unit, the threshold value comparison unit compares the adjusted movement probability with a preset first threshold value and compares the distance data with a preset second threshold value, and the unlocking control unit unlocks the distance data; and when the adjusted moving probability is larger than the first threshold value and the distance is smaller than the second threshold value, the unlocking control unit sends an unlocking instruction to a vehicle central control system. Through accurate sensor data acquisition and complex probability calculation, the system can accurately judge the getting-on intention of a user when the user gets close to a vehicle, the vehicle door is unlocked in advance, and the waiting time of the user is shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile intelligent control systems, and in particular relates to an automobile early unlocking system. Background Art

[0002] In today's rapidly developing automotive industry, intelligent and user-friendly design has become a key factor in improving user experience and product competitiveness. Traditional car unlocking methods are often limited to users manually operating car keys and unlocking car doors by pressing buttons to transmit wireless signals. This method requires users to operate within a certain range near the vehicle, which lacks sufficient foresight and convenience.

[0003] With the continuous advancement of IoT technology and sensor technology, the car early unlocking system has emerged, aiming to provide users with a more convenient and efficient vehicle experience. Some early car early unlocking solutions mainly rely on simple distance detection technology, such as proximity detection based on Bluetooth signal strength or low-frequency radio waves. When the user is detected to enter the preset distance range, the vehicle unlocking command is triggered. However, this single-dimensional detection method has many disadvantages and is easily interfered by surrounding environmental factors, such as electromagnetic signals emitted by buildings and other electronic devices. It may lead to misinterpretation of locking or unlocking delays, and it is impossible to accurately judge whether the user really intends to get on the car, which has obvious defects in safety and practicality.

[0004] Subsequent improvements have introduced detection of the user's moving direction, attempting to more accurately determine their intention to get on the car by analyzing the user's movement trajectory. However, these existing systems have serious deficiencies in the probability calculation model. Most of them use fixed weights or simple empirical rules to integrate the two key factors of distance and moving direction, and fail to fully consider the complex and changing situations in actual scenarios. For example, under different environmental conditions, such as open parking lots, narrow streets, and areas blocked by obstacles, the relative position relationship and movement pattern between the user and the vehicle will vary greatly. The fixed weight distribution cannot adapt to these changes, resulting in inaccurate calculation of the probability of the user moving in the direction of the car. In addition, the user's behavioral habits themselves are also diverse. Some people may walk faster and have a more direct path, while others may stop briefly, change direction, or move slowly when approaching the vehicle. The existing system lacks the ability to effectively identify and dynamically adapt to these behavioral characteristics, making it difficult to accurately predict the user's intention to get on the car in all situations, which in turn affects the reliability of the car's early unlocking function and user satisfaction.

[0005] In summary, the existing car early unlocking technology has obvious limitations in terms of accuracy, dynamic adaptability and functional integration. There is an urgent need for a more advanced and intelligent solution to overcome these problems and meet users' growing demand for intelligent car control. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a car early unlocking system, which has the advantages of accurate sensor data collection and complex probability calculation. The system can accurately judge the user's intention to get on the vehicle when the user approaches the vehicle, thereby unlocking the door in advance and reducing the user's waiting time, thus solving the problems of the prior art.

[0007] The present invention is implemented as follows: a vehicle early unlocking system, comprising:

[0008] A sensor module is used to collect data on the distance between the user and the car and the user's moving direction;

[0009] The data processing module includes a data receiving unit, a probability calculation unit, a weight calculation unit and a probability adjustment unit, wherein the data receiving unit receives data from the sensor module, the probability calculation unit calculates the original probability of the user moving toward the car according to the moving direction data, the weight calculation unit calculates the comprehensive weight for adjusting the original probability, and the probability adjustment unit adjusts the original probability using the comprehensive weight to obtain an adjusted moving probability;

[0010] A decision module, comprising a threshold comparison unit and an unlocking control unit, wherein the threshold comparison unit compares the adjusted movement probability with a preset first threshold, and compares the distance data with a preset second threshold, and when the adjusted movement probability is greater than the first threshold and the distance is less than the second threshold, the unlocking control unit sends an unlocking instruction to the vehicle central control system;

[0011] User configuration module, used for users to set parameters related to system operation;

[0012] Communication module, used for data transmission between modules of the system.

[0013] As a preferred embodiment of the present invention, the sensor module includes a distance sensor and a direction sensor, the distance sensor adopts at least one of an ultrasonic sensor and a Bluetooth ranging module, and the direction sensor integrates an accelerometer, a gyroscope and a magnetometer.

[0014] As preferred embodiment of the present invention, the formula for calculating the original probability by the probability calculation unit is:

[0015] The accelerometer, gyroscope and magnetometer in the orientation sensor are used to collect the user's motion data at a certain frequency. The accelerometer measures the acceleration component a of the user in three-dimensional space. x (t),a y (t),a z (t), the gyroscope measures the angular velocity component ω x (t),ω y (t),ω z (t), the magnetometer provides orientation information;

[0016] By integrating the acceleration data over time, the user's velocity component v in three-dimensional space is calculated. x (t),v y (t),v z (t), and the pitch angle θ(t) and roll angle θ(t) obtained by the attitude solution and yaw angle ψ(t), project the velocity vector onto the horizontal plane to obtain a two-dimensional horizontal moving direction vector in

[0017] Knowing the position of the car in the coordinate system (x c ,y c ), calculate the vector between the car and the user's current position Where (x u (t), y u (t)) is the coordinate position of the user on the horizontal plane;

[0018] Calculate the moving direction vector With vector The angle α(t) is calculated using the vector dot product formula.

[0019] Define a sector area centered on the car as the effective area for users to move towards the car, and the angle range of the sector is θ min to θ max , when cosα(t)≥cosθ max , it is preliminarily determined that the user is moving towards the car, and the original probability is calculated at this time When cos α(t) <cos θ max hour, And average the original probability values ​​of the past n time steps to get the final original probability value Where is a positive integer.

[0020] As preferred embodiment of the present invention, the weight calculation unit includes:

[0021] The distance weight calculation subunit normalizes the distance data to the interval [0, 1] to obtain a normalized distance value According to the preset maximum effective distance d max The distance weight w is calculated by using the normalized distance value d , the distance weight calculation formula is:

[0022] The moving direction stability weight calculation subunit calculates the angle standard deviation σ of the moving direction data within a period of time. θ , and normalize it to the interval [0, 1] to obtain the normalized standard deviation According to the preset maximum acceptable standard deviation The normalized standard deviation is used to calculate the moving direction stability weight w θ , the calculation formula of the moving direction stability weight is:

[0023] The comprehensive weight adjustment subunit performs weighted summation on the distance weight and the moving direction stability weight according to preset coefficients a and b to obtain the comprehensive weight w. The comprehensive weight calculation formula is w=aw d +bw θ , where a+b=1.

[0024] As a preferred embodiment of the present invention, in the probability adjustment unit, the adjusted movement probability calculation formula is: in is the original probability, P base is the basic probability value, and w is the comprehensive weight.

[0025] As a preferred embodiment of the present invention, the parameters set by the user configuration module include a maximum effective distance, a maximum acceptable standard deviation of the moving direction angle, a comprehensive weight coefficient, a first threshold, a second threshold and parameters related to vehicle function control.

[0026] As a preferred embodiment of the present invention, the communication module uses at least one communication protocol of CAN bus, Bluetooth, and Wi-Fi for data transmission.

[0027] As preferred aspects of the present invention, described.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] Improve the convenience and comfort of user experience: Through precise sensor data collection and complex probability calculation, the system can accurately determine the user's intention to get on the vehicle when the user approaches the vehicle, unlock the door in advance, reduce the user's waiting time, and allow the user to quickly enter the vehicle without manually operating the car key, greatly improving the convenience of vehicle use. At the same time, the system can also intelligently decide whether to turn on the air conditioning, seat heating or ventilation functions in advance based on factors such as ambient temperature and vehicle battery power, creating a comfortable in-car environment for users. Whether in hot summer or cold winter, users can feel comfortable temperature and suitable seat status the moment they enter the vehicle, further enhancing the user experience and satisfaction.

[0030] Enhanced vehicle safety and intelligence: Compared with traditional car unlocking methods, this system uses a dynamic weighted probability calculation method, which fully considers multiple factors such as the distance between the user and the vehicle, the user's moving direction and its stability, avoiding the misinterpretation of the lock caused by a single factor, and effectively improving the safety and accuracy of vehicle unlocking. In addition, the intelligence of the system has been significantly improved, and it can automatically adjust the unlocking strategy and the control of related functions according to the user's behavior habits and actual usage scenarios, which not only provides users with more personalized services, but also makes the overall intelligent control system of the vehicle more complete and efficient, which is in line with the trend of modern automobile intelligent development, helps to improve the competitiveness of vehicles in the market, and brings potential economic benefits and brand value enhancement to automobile manufacturers. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural block diagram provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0033] The structure of the present invention is described in detail below in conjunction with the accompanying drawings.

[0034] like Figure 1 As shown, an embodiment of the present invention provides a vehicle early unlocking system, comprising:

[0035] A sensor module is used to collect data on the distance between the user and the car and the user's moving direction;

[0036] The data processing module includes a data receiving unit, a probability calculation unit, a weight calculation unit and a probability adjustment unit, wherein the data receiving unit receives data from the sensor module, the probability calculation unit calculates the original probability of the user moving toward the car according to the moving direction data, the weight calculation unit calculates the comprehensive weight for adjusting the original probability, and the probability adjustment unit adjusts the original probability using the comprehensive weight to obtain an adjusted moving probability;

[0037] A decision module, comprising a threshold comparison unit and an unlocking control unit, wherein the threshold comparison unit compares the adjusted movement probability with a preset first threshold, and compares the distance data with a preset second threshold, and when the adjusted movement probability is greater than the first threshold and the distance is less than the second threshold, the unlocking control unit sends an unlocking instruction to the vehicle central control system;

[0038] User configuration module, used for users to set parameters related to system operation;

[0039] Communication module, used for data transmission between modules of the system.

[0040] The specific implementation of the scheme is as follows:

[0041] Sensor Module:

[0042] Distance sensor: In this embodiment, a Bluetooth distance measurement module is used as a distance sensor, which is installed around the vehicle body and can measure the distance between the smart device carried by the user (such as a smart phone, which needs to be paired with the vehicle in advance) and the vehicle with high accuracy (for example, an accuracy of up to ±0.5 meters). The real-time distance between the user and the vehicle is calculated through parameters such as the intensity attenuation and transmission time of the Bluetooth signal, and the distance data is transmitted to the data processing module at a frequency of once per second.

[0043] Direction sensor: The accelerometer, gyroscope and magnetometer integrated in the smartphone constitute the direction sensor. The accelerometer can measure the acceleration component of the phone in three-dimensional space. For example, when the user accelerates forward while walking, the accelerometer can detect the corresponding change in acceleration value; the gyroscope measures the angular velocity of the phone to determine the rotation state of the phone. For example, when the user turns, the gyroscope can capture the rate of change of the angle; the magnetometer provides orientation information, and determines the orientation of the phone through the induction of the earth's magnetic field, thereby assisting in determining the user's moving direction. These sensor data are collected at a frequency of 10Hz and transmitted to the data processing module.

[0044] Data processing module:

[0045] Data receiving unit: This unit receives the distance and direction data from the sensor module, and performs preliminary format conversion and verification on the data to ensure the integrity and accuracy of the data. For example, it checks whether the received distance data is within a reasonable value range (such as 0-50 meters). If an abnormal value (such as outside this range) occurs, the data is marked and an attempt is made to correct the error through a data smoothing algorithm or by comparing it with previous data.

[0046] Probability calculation unit: Based on the data from the direction sensor, the original probability of the user moving towards the car is calculated according to a specific algorithm.

[0047] Weight calculation unit: Calculates the comprehensive weight used to adjust the original probability based on the characteristics of the distance data and the moving direction data. The calculation process involves multiple sub-steps, including the calculation of the distance weight and the moving direction stability weight, and the determination of the final comprehensive weight.

[0048] Probability adjustment unit: uses the comprehensive weight obtained by the weight calculation unit to adjust the original probability to obtain an adjusted movement probability that more accurately reflects the user's intention to move toward the car.

[0049] Decision module:

[0050] Threshold comparison unit: compares the adjusted movement probability output by the probability adjustment unit with the preset first threshold, and compares the distance data with the preset second threshold. These thresholds are determined through a large amount of experimental data and actual user behavior analysis. For example, the first threshold can be set to 0.4 and the second threshold can be set to 5 meters (the specific values ​​can be adjusted according to different vehicle models, usage scenarios and user needs).

[0051] Unlock control unit: When the adjusted movement probability is greater than the first threshold and the distance is less than the second threshold, the unlock control unit sends an unlock command to the vehicle's central control system. At the same time, the unit will also decide whether to start related vehicle functions according to the preset logic based on the vehicle's current status (such as battery power, interior temperature, etc.) and environmental information (such as outside temperature, humidity, etc.). For example, if the outside temperature is below 10°C and the vehicle's battery power is sufficient (greater than 50%), the seat heating function will be turned on while unlocking the vehicle to create a comfortable environment for users to get on the vehicle.

[0052] User configuration module:

[0053] An intuitive mobile application (APP) is provided as a user configuration interface. Users can log in to their vehicle account through the APP and enter the system settings page. In this page, users can set various parameters related to system operation, such as the maximum effective distance (for example, it can be adjusted between 10-50 meters), the maximum acceptable standard deviation of the moving direction angle (such as 10-30 degrees), the comprehensive weight coefficient (allocated according to the user's emphasis on distance and direction, such as the distance weight coefficient can be adjusted between 0.4-0.6, and the corresponding moving direction stability weight coefficient will also change accordingly), the first threshold and the second threshold (fine-tuned according to the user's usage habits and safety requirements), and the temperature conditions for air conditioning to start (such as automatically turning on cooling between 20-30℃ and automatically turning on heating between 10-20℃), the battery power threshold (such as prohibiting the automatic start of certain high-energy consumption functions when it is lower than 30%) and other parameters related to vehicle function control. The data set by the user will be transmitted to the vehicle's control system via Bluetooth communication and stored in the local memory so that the system can read and apply these personalized settings at any time during operation.

[0054] Communication module:

[0055] A communication method combining Bluetooth and CAN bus is adopted. Wireless data transmission is carried out between the sensor module and the data processing module via Bluetooth. This method has the characteristics of low power consumption and high convenience, and is suitable for short-distance and small-data-volume sensor data transmission. The data processing module communicates with the decision-making module, the vehicle central control system, and other vehicle electronic control units (ECUs) via the CAN bus. The CAN bus has the advantages of high speed, reliability, and strong anti-interference ability. It can ensure the stable operation of the system in the complex electronic environment of the vehicle, timely and accurately transmit various control instructions and data information, and ensure the collaborative work efficiency of the entire system.

[0056] Furthermore, the formula for calculating the original probability by the probability calculation unit is:

[0057] The accelerometer, gyroscope and magnetometer in the orientation sensor are used to collect the user's motion data at a certain frequency. The accelerometer measures the acceleration component a of the user in three-dimensional space. x (t),a y (t),a z (t), the gyroscope measures the angular velocity component ω x (t),ω y (t),ω z (t), the magnetometer provides orientation information;

[0058] By integrating the acceleration data over time, the user's velocity component v in three-dimensional space is calculated. x (t),vy (t),v z (t), and the pitch angle θ(t) and roll angle θ(t) obtained by the attitude solution and yaw angle ψ(t), project the velocity vector onto the horizontal plane to obtain a two-dimensional horizontal moving direction vector in

[0059] Knowing the position of the car in the coordinate system (x c ,y c ), calculate the vector between the car and the user's current position Where (x u (t), y u (t)) is the coordinate position of the user on the horizontal plane;

[0060] Calculate the moving direction vector With vector The angle α(t) is calculated using the vector dot product formula.

[0061] Define a sector area centered on the car as the effective area for users to move towards the car, and the angle range of the sector is θ min to θ max , when cosα(t)≥cosθ max , it is preliminarily determined that the user is moving towards the car, and the original probability is calculated at this time When cosα(t) <cosθ max hour, And average the original probability values ​​of the past n time steps to get the final original probability value Where is a positive integer.

[0062] Specifically, the weight calculation unit includes:

[0063] The distance weight calculation subunit normalizes the distance data to the interval [0,1] to obtain a normalized distance value According to the preset maximum effective distance d max The distance weight w is calculated by using the normalized distance value d , the distance weight calculation formula is:

[0064] The moving direction stability weight calculation subunit calculates the angle standard deviation σ of the moving direction data within a period of time. θ , and normalize it to the interval [0,1] to obtain the normalized standard deviation According to the preset maximum acceptable standard deviation The normalized standard deviation is used to calculate the moving direction stability weight w θ , the calculation formula of the moving direction stability weight is:

[0065] The comprehensive weight adjustment subunit performs weighted summation on the distance weight and the moving direction stability weight according to preset coefficients a and b to obtain the comprehensive weight w. The comprehensive weight calculation formula is w=aw d +bw θ , where a+b=1.

[0066] Furthermore, in the probability adjustment unit, the adjusted movement probability calculation formula is: in is the original probability, P base is the basic probability value, and w is the comprehensive weight.

[0067] The above example is as follows:

[0068] Example 1

[0069] Suppose a car is parked in a parking lot and a user walks towards the car with a smartphone (with relevant sensors integrated).

[0070] During the data collection phase:

[0071] The distance sensor (using the Bluetooth ranging module) collects the distance between the user and the car every 1 second. In the past 10 seconds, the collected distance values ​​(meters) are: 15, 14, 13, 12, 11, 10, 9, 8, 7, 6.

[0072] The orientation sensor (integrated accelerometer, gyroscope and magnetometer) collects motion data at a frequency of 10Hz. For example, at a certain moment, the acceleration component measured by the accelerometer (unit: m / s 2 ) is: a x =0.2,a y =0.1,a z =0.3; the angular velocity component measured by the gyroscope (unit: rad / s) is: ω x =0.05,ω y =0.03,ω z =0.02; the magnetometer provides azimuth information, and the attitude solution obtains the pitch angle θ=0.1rad, the roll angle φ=0.05rad, and the yaw angle ψ=0.08rad.

[0073] During the data processing phase:

[0074] Raw probability calculation:

[0075] By integrating the acceleration data over time (assuming that necessary error corrections are made during the integration process), the user's velocity component in three-dimensional space is calculated (unit: m / s): v x =0.5,v y =0.3,v z = 0.1. Calculate the horizontal moving direction vector by combining the attitude angle in

[0076] The position of the car in the coordinate system is known to be (x c =0,y c =0) (assuming that the coordinate system is established with the car as the origin), the user's current position coordinate (obtained by integrating the horizontal velocity) is (x u =2,y u =1), then the vector

[0077] Calculate the moving direction vector With vector The cosine of the angle α:

[0078] Assume that the angle range of the fan-shaped area is Since cosα=-0.8 <cosθ max At this time, the original probability of the user moving towards the car is preliminarily determined However, this is only the calculation result at a certain moment. As time goes by and the user continues to move, the original probability value will continue to be calculated and updated. For example, in the next few time steps, the user's movement direction gradually approaches the direction of the car, causing cosα to gradually increase. When cosα≥cosθ max When Calculate the original probability and average the original probability values ​​of the past 5 time steps (assuming that the cosα values ​​of these 5 time steps are 0.88, 0.9, 0.92, 0.94, and 0.95, respectively) to get the final original probability value Taking the first time step as an example, when cosα=0.88, Calculate the original probability values ​​of other time steps in turn and average them (the specific calculation process is omitted here). Assume that the final

[0079] Weight calculation:

[0080] Distance data normalization: The current distance is 6 meters, assuming the maximum effective distance d max = 20 meters, then the normalized distance value Distance weight wd =1-0.3 2 =0.91.

[0081] Movement direction stability weight calculation: Assuming that the standard deviation of the movement direction angle in the past 5 seconds is 10 degrees, the maximum acceptable standard deviation The normalized standard deviation Moving direction stability weight w θ =1-0.33 2 ≈0.89. Comprehensive weight adjustment: Assuming the preset coefficients a=0.6, b=0.4, the comprehensive weight w=0.6×0.91+0.4×0.89=0.902.

[0082] Probability Adjustment:

[0083] Assuming the basic probability value P base =0.1, according to the formula The adjusted movement probability is The system continues to monitor the sensor data and sends an unlocking command to the vehicle's central control system when the distance conditions are met. It also determines whether to turn on the air conditioning and other related functions based on the ambient temperature (for example, 28°C) and the vehicle's battery level (for example, 70%). (Assuming the air conditioning turn-on conditions are met, the air conditioning cooling will be turned on at the same time).

[0084] Example 2: A user walks towards his car in a relatively empty outdoor parking lot.

[0085] Data collection:

[0086] The distance sensor (this time using an ultrasonic sensor) obtains the distance every 0.8 seconds. The distance values ​​(meters) within 12 seconds are: 20, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8.

[0087] The direction sensor collects the accelerometer data at a certain moment (unit: m / s 2 ): a x =0.1,a y =0.05,a z =0.2; gyroscope data (unit: rad / s): ω x =0.03,ω y =0.02,ω z =0.01; the pitch angle θ calculated by the magnetometer is 0.05rad, the roll angle φ is 0.03rad, and the yaw angle ψ is 0.04rad.

[0088] Data processing:

[0089] Raw probability calculation:

[0090] Calculate the velocity component (unit: m / s): v x =0.3,v y =0.2,v z =0.1. Get the horizontal moving direction vector in

[0091] Assume the car position (x c =0,y c =0), user position (x u =3,y u =2), then

[0092] calculate set up at this time Subsequent user movement increases cosα. When the condition is met, the original probability is calculated and averaged. Assuming the past 4 time steps (cosα values ​​are 0.82, 0.84, 0.86, and 0.88), the calculation is

[0093] Weight calculation:

[0094] The distance is 8 meters, d max =25 meters, w d =1-0.32 2 =0.8976.

[0095] The standard deviation of the moving direction angle is 8 degrees, σ θmax =20 degrees, w θ =1-0.4 2 =0.84. Let a = 0.55, b = 0.45, w = 0.55 × 0.8976 + 0.45 × 0.84 = 0.8717.

[0096] Probability Adjustment:

[0097] Let P base =0.08,

[0098] In the decision module, let P th1 =0.35,d th2 =7 meters, at this time And the distance 8 meters is greater than d th2 The system continues to monitor and decides whether to turn on certain functions (assuming the seat heating is turned on) based on the ambient temperature (such as 25°C) and battery power (such as 60%), and unlocks the vehicle when the distance meets the conditions.

[0099] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0100] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A car early unlocking system, characterized in that: include: A sensor module is used to collect data on the distance between the user and the car and the user's moving direction; The data processing module includes a data receiving unit, a probability calculation unit, a weight calculation unit and a probability adjustment unit, wherein the data receiving unit receives data from the sensor module, the probability calculation unit calculates the original probability of the user moving toward the car according to the moving direction data, the weight calculation unit calculates the comprehensive weight for adjusting the original probability, and the probability adjustment unit adjusts the original probability using the comprehensive weight to obtain an adjusted moving probability; A decision module, comprising a threshold comparison unit and an unlocking control unit, wherein the threshold comparison unit compares the adjusted movement probability with a preset first threshold, and compares the distance data with a preset second threshold, and when the adjusted movement probability is greater than the first threshold and the distance is less than the second threshold, the unlocking control unit sends an unlocking instruction to the vehicle central control system; User configuration module, used for users to set parameters related to system operation; Communication module, used for data transmission between modules of the system.

2. The vehicle early unlocking system according to claim 1, characterized in that: The sensor module includes a distance sensor and a direction sensor. The distance sensor adopts at least one of an ultrasonic sensor and a Bluetooth distance measurement module. The direction sensor integrates an accelerometer, a gyroscope and a magnetometer.

3. The vehicle early unlocking system according to claim 1, characterized in that: The formula for calculating the original probability by the probability calculation unit is: The accelerometer, gyroscope and magnetometer in the orientation sensor are used to collect the user's motion data at a certain frequency. The accelerometer measures the acceleration component a of the user in three-dimensional space. x (t),a y (t),a z (t), the gyroscope measures the angular velocity component ω x (t),ω y (t),ω z (t), the magnetometer provides orientation information; By integrating the acceleration data over time, the user's velocity component v in three-dimensional space is calculated. x (t),v y (t),v z (t), and the pitch angle θ(t) and roll angle θ(t) obtained by the attitude solution and yaw angle ψ(t), project the velocity vector onto the horizontal plane to obtain a two-dimensional horizontal moving direction vector in Knowing the position of the car in the coordinate system (x c ,y c ), calculate the vector between the car and the user's current position Where (x u (t), y u (t)) is the coordinate position of the user on the horizontal plane; Calculate the moving direction vector With vector The angle α(t) is calculated using the vector dot product formula. Define a sector area centered on the car as the effective area for users to move towards the car, and the angle range of the sector is θ min to θ max , when cosα(t)≥cosθ max , it is preliminarily determined that the user is moving towards the car, and the original probability is calculated at this time When cos α(t) <cos θ max hour, And average the original probability values ​​of the past n time steps to get the final original probability value Where is a positive integer.

4. The vehicle early unlocking system according to claim 1, characterized in that: The weight calculation unit comprises: The distance weight calculation subunit normalizes the distance data to the interval [0, 1] to obtain a normalized distance value According to the preset maximum effective distance d max The distance weight w is calculated by using the normalized distance value d , the distance weight calculation formula is: The moving direction stability weight calculation subunit calculates the angle standard deviation σ of the moving direction data within a period of time. θ , and normalize it to the interval [0, 1] to obtain the normalized standard deviation According to the preset maximum acceptable standard deviation The normalized standard deviation is used to calculate the moving direction stability weight w θ , the calculation formula of the moving direction stability weight is: The comprehensive weight adjustment subunit performs weighted summation on the distance weight and the moving direction stability weight according to preset coefficients a and b to obtain the comprehensive weight w. The comprehensive weight calculation formula is w=aw d +bw θ , where a+b=1.

5. The vehicle early unlocking system according to claim 1, characterized in that: In the probability adjustment unit, the adjusted movement probability calculation formula is: in is the original probability, P base is the basic probability value, and w is the comprehensive weight.

6. The vehicle early unlocking system according to claim 1, characterized in that: The parameters set by the user configuration module include the maximum effective distance, the maximum acceptable standard deviation of the moving direction angle, the comprehensive weight coefficient, the first threshold, the second threshold and parameters related to vehicle function control.

7. The vehicle early unlocking system according to claim 1, characterized in that: The communication module uses at least one communication protocol among CAN bus, Bluetooth and Wi-Fi for data transmission.

Images