Vehicle control method and device based on in-vehicle positioning

Abstract

The invention discloses a vehicle control method and device based on in-vehicle positioning, and provides a method for iteratively optimizing the initial positioning result of a vehicle control device in a vehicle, and the method can achieve the precise positioning of the vehicle control device in a static or moving state in a small-space scene in the vehicle. Therefore, the positioning result after iterative optimization is more accurate, so that the switching error during the subsequent switching of the vehicle control functions according to the subareas is effectively avoided. Besides, on the basis of an accurate positioning result obtained after iterative optimization, the movable vehicle control device can be adaptively and accurately switched to each controllable function associated with the current in-vehicle control area, so that intelligentization and automation of zoning function control in the vehicle by using the same vehicle control device are realized; and different requirements of different passengers on vehicle function control in different in-vehicle areas or in the same in-vehicle area can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a vehicle control method and a control device based on in-vehicle positioning. Background Art

[0002] Existing movable vehicle control devices usually use a car key as a carrier, and evaluate the approximate position of the car key relative to the vehicle through positioning technology to achieve basic function control such as unlocking, locking, and starting of the vehicle. For example, when the distance between the car key and the vehicle is lower than a threshold distance, it is automatically sensed and unlocked, and when it is more than a preset threshold distance away from the vehicle, it is automatically sensed and locked.

[0003] The above-mentioned existing movable vehicle control devices have the following technical defects: The application scenario of vehicle function control based on positioning for the function control device is outside the vehicle, and the vehicle control functions that can be realized are limited, usually basic functions such as unlocking and locking of the vehicle, and more functions such as the air conditioner, windows, and entertainment of the vehicle that are usually executed in the in-vehicle scenario cannot be controlled based on the positioning result.

[0004] Currently, for controlling various functions of a vehicle inside the vehicle, control devices with fixed positions are usually adopted, such as custom control buttons. However, control devices with fixed positions are difficult to meet the flexible function control needs of users. For example, it is very inconvenient for rear-seat passengers to operate the control device with a fixed position. Moreover, the function control requirements of passengers in different seats inside the vehicle may be different. For example, rear-seat passengers usually only focus on controlling the air outlet temperature of the rear air conditioner, while the co-pilot is more concerned about controlling the related functions of the vehicle audio-visual system. Therefore, there is an expectation in the art for a movable vehicle control device that can execute the same or different vehicle function controls in different areas inside the vehicle. However, to achieve this goal, the following technical problems need to be overcome: How to achieve precise positioning of a static or moving vehicle control device in a small in-vehicle space scenario, or overcome the influence of obstacles such as seats and human bodies on the positioning accuracy of the device, so that the vehicle control device moving to the corresponding area can accurately switch to the corresponding partition control function, thereby meeting the same or different vehicle control functions of different passengers in different areas. Summary of the Invention

[0005] The present invention aims to achieve precise positioning of a movable vehicle control device inside the vehicle, so as to achieve partition function control of the vehicle inside the vehicle through the movable vehicle control device, and provides a vehicle control method and a control device based on in-vehicle positioning.

[0006] To achieve this purpose, the present invention adopts the following technical solutions: Provide a vehicle control method based on in-vehicle positioning, including the steps: S1. Iteratively optimize the initial positioning result of the movable vehicle control device under the condition of multi-point layout of base station nodes, and output the positioning result of the vehicle control device in the vehicle interior space. S2. Switch the controllable functions of the vehicle control device to the respective controllable functions associated with the vehicle interior control area designated by the positioning result. Preferably, the method for generating the initial positioning result includes the steps of: A1. Arrange a plurality of base station nodes at different positions around the vehicle edge forming the vehicle interior space. A2. Solve the initial positioning result of the vehicle control device equipped with the tag node in the vehicle interior according to the relative distance relationship between the tag node and each base station node.

[0007] Preferably, the number of base station nodes arranged is 4, which are respectively arranged on the left and right sides of the vehicle head and the left and right sides of the vehicle tail enclosing the vehicle interior space.

[0008] Preferably, in step A2, the method for solving the initial positioning result includes the steps of: A21. Construct the world coordinate system with a specified base station node as the origin of the world coordinate system, and the vehicle width direction, vehicle length direction, and vehicle height direction as the horizontal coordinate, vertical coordinate, and z-axis coordinate of the world coordinate system respectively. A22. Calculate the radio frequency transceiver duration between the tag node and each base station node ; A23. Calculate the distance between the tag node and each base station node ; , and realize the initial positioning of the space position of the tag node in the constructed world coordinate system through the straight-line distance between the tag node and each base station node ; represents the propagation speed of radio frequency signals in the air.

[0009] Preferably, the method for iteratively optimizing the initial positioning result includes the steps of: B1. Let the true position coordinates of the vehicle control device at the current moment be , the true position coordinates of the vehicle control device at the previous moment of the current moment be , As the initial state , then calculate the residual term and the Jacobian matrix and update increments , They are The The residuals, ; B2, let ,in, for , for .

[0010] As a preference, the residual term The Residuals The calculation method of is expressed by the following formula (1):

[0011] In formula (1), Indicates The position coordinates of each of the base station nodes in the constructed world coordinate system; Indicates that the vehicle control device is The straight-line distance between the base station nodes; in, , Respectively represent the vehicle control device at the current The horizontal axis coordinate value, the vertical axis coordinate value and the z-axis coordinate value in the world coordinate system at the moment; Respectively represent The horizontal axis coordinate value, the vertical axis coordinate value and the z-axis coordinate value of the base station node in the world coordinate system.

[0012] As a preference, the residual term About optimal variables Derivative, calculate the Jacobian matrix , the calculation method is expressed by the following formula (2):

[0013] represents the Jacobian matrix The OK.

[0014] Preferably, update the increment The method is expressed by the following formula (3):

[0015] In formula (3), represents the Jacobian matrix The transpose of The update of continues until it is less than a preset increment threshold or the maximum number of iterations is reached.

[0016] Preferably, before performing step S1, first determine whether the movable vehicle control device is inside the vehicle. The determination method includes the steps: C1. Define a vertex list of the polygon formed by directly connecting each of the base station nodes, denoted as: , represents the number of vertices of the polygon, represents the th vertex, respectively represent the th vertex's horizontal axis coordinate value and vertical axis coordinate value in the plane coordinate system; C2. Triggered from the vehicle control device, define a ray parallel to the x-axis of the plane coordinate system; C3. Traverse each side of the polygon, extract the sides that intersect with the ray, and obtain the horizontal axis coordinate values of the intersection points; C4. Determine whether the number of intersection points that satisfy the condition that the horizontal axis coordinate value of the intersection point is greater than the horizontal axis coordinate value of the vehicle control device is odd; If so, determine that the vehicle control device is currently inside the vehicle; If not, determine that the vehicle control device is currently outside the vehicle.

[0017] Preferably, step S2 specifically includes the steps: S21. Calculate the in-vehicle control area where the vehicle control device currently falls. The calculation method is: Determine whether the true position coordinates of the vehicle control device in the plane coordinate system at the current moment are satisfies and . If so, determine that the vehicle control device is in the th in-vehicle control area. If no predefined in-vehicle control area is matched, determine that the vehicle control device falls into the invalid area; respectively represent the th in-vehicle control area's lower boundary and upper boundary of the horizontal axis coordinate; respectively represent the th in-vehicle control area's lower boundary and upper boundary of the vertical axis coordinate; S22. Taking the determination result of step S21 as an instruction, switch the controllable functions of the vehicle control device to the Each controllable function bound to the in-vehicle control area, or switch to the default function bound to the invalid area where it falls, or control the function switch to the invalid area where it falls to be disabled.

[0018] Preferably, when different passengers are sitting in the same in-vehicle control area, the same or different controllable functions bound to the same in-vehicle control area are the same; In step S2, after calculating the in-vehicle control area where the vehicle control device currently falls according to the positioning result, first identify the identity characteristics of the passengers sitting in the in-vehicle control area, then match each controllable function preset by the identified passengers for the in-vehicle control area where they fall, and then switch the controllable functions of the vehicle control device to the matched controllable functions.

[0019] The present invention also provides a vehicle control device based on in-vehicle positioning, which can implement the vehicle control method based on in-vehicle positioning, including: A positioning module for iteratively optimizing the initial positioning result generated for the movable vehicle control device under the condition of multi-point layout of base station nodes, and outputting the positioning result of the vehicle control device in the in-vehicle space; A function switching module, connected to the positioning module, for switching the controllable functions of the vehicle control device to each controllable function associated with the in-vehicle control area indicated by the positioning result.

[0020] The present invention has the following beneficial effects: 1. Provide a method for iteratively optimizing the initial positioning result of a vehicle control device in a vehicle. This method can achieve accurate positioning of a static or moving vehicle control device in a small in-vehicle space scenario, making the iteratively optimized positioning result more accurate, thereby effectively avoiding switching errors when switching vehicle control functions according to partitions later.

[0021] 2. Based on the accurate positioning result obtained after iterative optimization, the movable vehicle control device can adaptively and accurately switch to each controllable function associated with the in-vehicle control area where it currently falls, thus realizing the intelligence and automation of the partition function control in the vehicle using the same vehicle control device, and being able to meet the different needs of passengers for vehicle function control in different in-vehicle areas or different passengers in the same in-vehicle area. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is the implementation step diagram of the vehicle control method based on in-vehicle positioning provided by the embodiments of the present invention; Figure 2 is an example diagram of the base station nodes arranged on the vehicle. Detailed implementation manners

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation manners.

[0025] Among them, the accompanying drawings are only for illustrative purposes, showing only schematic diagrams, rather than physical diagrams, and should not be construed as a limitation of this patent; in order to better illustrate the embodiments of the present invention, some components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the dimensions of actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0026] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and should not be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] In the description of the present invention, unless otherwise clearly specified and limited, if terms such as "connection" are used to indicate the connection relationship between components, this term should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] The vehicle control method based on in-vehicle positioning provided by the embodiments of the present invention is used to enable users to achieve non-intrusive, intelligent, and high-precision interaction with the vehicle through a movable vehicle control device in the automotive cockpit. As Figure 1As shown, in the first aspect, this embodiment provides a method for precisely positioning a movable vehicle control device inside a vehicle; in the second aspect, after achieving precise positioning of the movable vehicle control device inside the vehicle, according to the specific area of the vehicle control device located inside the vehicle, the controllable functions of the vehicle control device are automatically switched to the controllable functions associated with the located area.

[0029] The following specifically describes the method for precisely positioning a movable vehicle control device inside a vehicle provided in this embodiment.

[0030] This embodiment uses a method of iteratively optimizing the initial positioning result generated by a movable vehicle control device under the condition of multi-point layout of base station nodes to achieve precise positioning of the movable vehicle control device in the vehicle space.

[0031] The method for generating an initial positioning result for a vehicle control device moving in the vehicle space includes the steps of: A1. Around the vehicle edge forming the vehicle space, at least 3 base station nodes are arranged at different positions; as Figure 2 shown, one base station node 1 is arranged on each of the left and right sides in front of the vehicle and the left and right sides behind the vehicle, and the tag node 2 is arranged on the movable vehicle control device that needs to be initially positioned. The layout strategy of the base station nodes can be a three-point layout, a four-point layout, or other types of multi-point layouts. In this embodiment, a four-point layout is preferably adopted, and they are respectively arranged on the left and right sides in front of the vehicle and the left and right sides behind the vehicle.

[0032] A2. According to the relative distance relationship between the tag node and each base station node, the initial positioning result of the vehicle control device installed with this tag node inside the vehicle is solved. The specific method includes the steps of: A21. Construct a vehicle coordinate system. The construction method is: In this embodiment, since the base station nodes are fixed on the vehicle, the pose of the base station nodes relative to the vehicle and the pose between the base station nodes remain unchanged. Therefore, the vehicle coordinate system is used as the world coordinate system, and the origin of this world coordinate system can be Figure 2 the position where the base station node P1 is located in

[0033] A22. Calculate the radio frequency transceiver duration between the tag node and each base station node , which is the duration experienced from the tag node sending a radio frequency signal to the base station node , and returning this radio frequency signal from this base station node to this tag node. A23. Calculate the tag node and each base station node Distance , represents the propagation speed of the radio frequency signal in the air; By , the straight-line distance between the tag node and each base station node is obtained , realizing the initial positioning of the vehicle control device provided with the tag node in the spatial position in the constructed vehicle coordinate system.

[0034] However, the initial positioning method for the vehicle control device provided in steps A21 - A23 usually has errors. Especially when the vehicle control device is moving continuously, it may cause drift in the continuously acquired initial positioning data. To solve this problem, the present embodiment provides the following method to iteratively optimize the initial positioning result, which specifically includes the steps: B1. Let the true position coordinates of the vehicle control device at the current moment be denoted as , and the true position coordinates of the vehicle control device at the previous moment of the current moment be . As the initial state , then calculate the residual term , the Jacobian matrix and the update increment ; are respectively the th residual in ; B2. Let , where is , is .

[0035] In step B1, the calculation method of the th residual in the residual term is expressed by the following formula (1):

[0036] In formula (1), represents the position coordinates of the th base station node in the constructed world coordinate system; represents the straight-line distance between the vehicle control device and the th base station node; Among them, , respectively represent the horizontal axis coordinate value, vertical axis coordinate value, and z-axis coordinate value of the vehicle control device in the world coordinate system at the current moment; respectively represent the horizontal axis coordinate value, vertical axis coordinate value, and z-axis coordinate value of the

[0037] th base station node in the world coordinate system. The calculation method of the Jacobian matrix in step B1 is as follows: Derive the residual term with respect to the optimization variable to calculate the Jacobian matrix

[0038] denotes the th row in the Jacobian matrix

[0039] In step B1, the method for updating the increment is expressed by the following formula (3):

[0040] In formula (3), denotes the transpose of the Jacobian matrix ; Update until is less than the preset increment threshold or the maximum number of iterations is reached. The increment threshold is preferably .

[0041] Through the above method, the true coordinate position of the optimized tag node, which is the movable vehicle control device , is obtained. Compared with directly using the initial positioning result, the optimized positioning result can significantly reduce the positioning error.

[0042] In this embodiment, before performing the above step S1, it is first determined whether the movable vehicle control device is inside the vehicle. The determination method includes the steps: C1. Define the vertex list of the polygon formed by directly connecting each base station node, denoted as: , represents the number of vertices of the polygon, represents the th vertex, respectively represent the horizontal axis coordinate value and vertical axis coordinate value of the C2, triggered by the vehicle control device, define a ray parallel to the x-axis of the planar coordinate system; C3, traverse each side of the polygon, extract the sides that intersect with the ray, and obtain the abscissa values of the intersection points; C4, determine whether the number of intersection points that satisfy the condition that the abscissa value of the intersection point is greater than the abscissa value of the vehicle control device is odd; If so, it is determined that the vehicle control device is currently inside the vehicle; If not, it is determined that the vehicle control device is currently outside the vehicle.

[0043] It should be emphasized here that in this embodiment, the base station nodes are preferably arranged in 4 points, that is, the polygon is preferably a quadrilateral.

[0044] After determining that the vehicle control device is inside the vehicle and obtaining the specific positioning coordinates of the vehicle control device inside the vehicle through step S1, the method for step S2 to switch the controllable function of the vehicle control device to each control function associated with the in-vehicle control area indicated by the positioning result includes the steps: S21, calculate the in-vehicle control area where the vehicle control device currently falls; In this embodiment, the in-vehicle control area can be a circular area, a rectangular area, a polygonal area or any other two-dimensional area, or it can be a three-dimensional area, preferably a rectangular cube area in three-dimensional space.

[0045] The method for calculating the in-vehicle control area where the vehicle control device currently falls is: Define the center coordinates of the th control area inside the vehicle as , respectively as the abscissa value, ordinate value and z-axis coordinate value in three-dimensional space. The length, width and height of this control area are respectively denoted as , the th control area's lower and upper boundary values on the abscissa coordinate respectively correspond to , ; the th control area's lower and upper boundary values on the ordinate coordinate respectively correspond to , ; the th control area's lower and upper boundary values on the z-axis coordinate respectively correspond to , .

[0046] Then judge whether the true position coordinates of the vehicle control device at the current moment are satisfy and And If so, it is determined that the vehicle control device is within the th in-vehicle control area. If no predefined in-vehicle control area is matched, it is determined that the vehicle control device has fallen into an invalid area, and the switching of controllable functions is refused or switched to the default function.

[0047] In addition, it should be noted that when different passengers are sitting in the same in-vehicle control area, the same or different controllable functions are bound to the same in-vehicle control area; In step S2, after calculating the in-vehicle control area where the vehicle control device currently falls according to the positioning result, first identify the identity characteristics of the passengers sitting in the in-vehicle control area, then match the controllable functions preset by the identified passengers for the in-vehicle control area where they fall, and then switch the controllable functions of the vehicle control device to the matched controllable functions.

[0048] In this embodiment, the in-vehicle control area is preferably divided according to the seating area. For example, it can be divided into the driver's area, the front passenger's area, the left rear area, the middle rear area, the right rear area, etc. In different control areas, the vehicle control device performs the same or different control functions. For example, in the driver's area, the device can control the driver's side window, the driver's seat, the air conditioner, etc.; in the front passenger's area, the device can control the front passenger's side window, seat, air conditioner and other functions. If the in-vehicle control area is divided according to different types of control objects, for example, it can be divided into the central control area, the seating window area, the seating seat area, the rear air conditioner area, the front air conditioner area, etc.

[0049] This embodiment also provides a vehicle control device based on in-vehicle positioning, which can implement the above-mentioned vehicle control method based on in-vehicle positioning. The device includes: A positioning module for iteratively optimizing the initial positioning result generated for the movable vehicle control device under the condition of multi-point layout of base station nodes, and outputting the positioning result of the vehicle control device in the in-vehicle space; A function switching module, connected to the positioning module, for switching the controllable functions of the vehicle control device to the controllable functions associated with the in-vehicle control area indicated by the positioning result.

[0050] How the positioning module specifically realizes the accurate positioning of the vehicle control device through iterative optimization has been described in detail in the above steps A1 - A2 and steps B1 - B2, and will not be repeated here. On the basis of accurate positioning, how the function switching module specifically realizes the adaptive function switching has also been described in detail in the above steps S21 - S22, and will not be repeated here.

[0051] In summary, the present invention provides a method for iteratively optimizing the initial positioning result of a vehicle control device in a vehicle interior. This method can achieve precise positioning of the vehicle control device in a static or moving state in a small interior space scenario, making the positioning result after iterative optimization more accurate, thereby effectively avoiding switching errors during subsequent vehicle control function switching according to zones. Additionally, based on the precise positioning result obtained after iterative optimization, the movable vehicle control device can adaptively and accurately switch to the controllable functions associated with the current vehicle interior control zone it enters, thus realizing the intelligent and automated control of zoned functions in the vehicle interior using the same vehicle control device, and meeting the different needs of passengers for vehicle function control in different vehicle interior areas or for different passengers in the same vehicle interior area.

[0052] It should be noted that the above specific embodiments are only the preferred embodiments of the present invention and the applied technical principles. Those skilled in the art should understand that various modifications, equivalent replacements, changes, etc. can be made to the present invention. However, as long as these transformations do not deviate from the spirit of the present invention, they should be within the protection scope of the present invention. Additionally, some terms used in the specification and claims of this application are not restrictive, but are only for the convenience of description.

Claims

1. A vehicle control method based on in-vehicle positioning, characterized in that: Includes steps: S1, iteratively optimizing an initial positioning result of a movable vehicle control device under a multi-point layout of base station nodes, and outputting a positioning result of the vehicle control device in the vehicle interior space; S2, switching the controllable functions of the vehicle control device to the controllable functions associated with the in-vehicle control area indicated by the positioning result.

2. The vehicle control method based on in-vehicle positioning according to claim 1, characterized in that: The method for generating the initial positioning result comprises the steps of: A1, arranging a plurality of base station nodes at different positions around the edge of the vehicle forming the interior space; A2, according to the relative distance relationship between the tag node and each of the base station nodes, solve the initial positioning result of the vehicle control device installed with the tag node in the vehicle.

3. The vehicle control method based on in-vehicle positioning according to claim 2, characterized in that: The number of the base station nodes arranged is 4, which are arranged respectively on the left and right sides of the front of the vehicle and the left and right sides of the rear of the vehicle which enclose the interior space of the vehicle.

4. The vehicle control method based on in-vehicle positioning according to claim 2, characterized in that: In step A2, the method for solving the initial positioning result includes the steps of: A21, taking the designated base station node as the origin of the world coordinate system, and taking the width direction of the car, the length direction of the car, and the height direction of the car as the horizontal axis coordinate, the vertical axis coordinate, and the z-axis coordinate of the world coordinate system respectively, to construct the world coordinate system; A22, calculate the label node and each base station node RF transmission and reception time ; A23, calculate the label node and each base station node Distance , through the label node and each base station node Straight line distance , realizing the initial positioning of the spatial position of the label node in the constructed world coordinate system, Indicates the speed at which radio frequency signals propagate through air.

5. The vehicle control method based on in-vehicle positioning according to any one of claims 1 to 4, characterized in that: The method for iteratively optimizing the initial positioning result comprises the steps of: B1, the vehicle control device is set to The actual position coordinates at the moment are , the vehicle control device is currently The previous moment The actual position coordinates at the moment are , As Initial state , and then calculate the residual term , Jacobian matrix and update increments , They are The The residuals, ; B2, let ,in, for , for .

6. The vehicle control method based on in-vehicle positioning according to claim 5, characterized in that: Residual The Residuals The calculation method is expressed by the following formula (1): In formula (1), Indicates The position coordinates of each of the base station nodes in the constructed world coordinate system; Indicates that the vehicle control device is The straight-line distance between the base station nodes; in, , Respectively represent the vehicle control device at the current The horizontal axis coordinate value, the vertical axis coordinate value and the z-axis coordinate value in the world coordinate system at the moment; Respectively represent The horizontal axis coordinate value, the vertical axis coordinate value and the z-axis coordinate value of the base station node in the world coordinate system.

7. The vehicle control method based on in-vehicle positioning according to claim 6, characterized in that: The residual term About optimal variables Derivative, calculate the Jacobian matrix , the calculation method is expressed by the following formula (2): represents the Jacobian matrix The OK.

8. The vehicle control method based on in-vehicle positioning according to claim 5, characterized in that: Update the increment The method is expressed by the following formula (3): In formula (3), represents the Jacobian matrix The transpose of right Updates until Less than the preset increment threshold or the maximum number of iterations is reached.

9. The vehicle control method based on in-vehicle positioning according to claim 5, characterized in that: Before executing step S1, first determine whether the movable vehicle control device is in the vehicle, and the determination method includes the steps of: C1, defines the vertex list of the polygon formed by directly connecting each of the base station nodes, which is recorded as: , represents the number of vertices of the polygon, Indicates Vertices, Respectively represent The horizontal and vertical coordinate values ​​of each vertex in the plane coordinate system; C2, triggered from the vehicle control device, defines a ray parallel to the x-axis of the plane coordinate system; C3, traverse each edge of the polygon, extract the edges intersecting with the ray, and obtain the horizontal axis coordinate value of each intersection point; C4, determining whether the number of intersection points satisfying the condition that the horizontal axis coordinate value of the intersection point is greater than the horizontal axis coordinate value of the vehicle control device is an odd number; If so, determining that the vehicle control device is currently in the vehicle; If not, it is determined that the vehicle control device is currently outside the vehicle.

10. The vehicle control method based on in-vehicle positioning according to claim 9, characterized in that: Step S2 specifically includes the following steps: S21, calculating the in-vehicle control area where the vehicle control device currently falls, the calculation method is: judging the vehicle control device in the current The real position coordinates in the plane coordinate system at the moment are Is it satisfied? and If so, it is determined that the vehicle control device is in the If the in-vehicle control area is not matched to any predefined in-vehicle control area, it is determined that the vehicle control device falls into an invalid area; Respectively represent The lower limit boundary and the upper limit boundary of the in-vehicle control area on the horizontal axis coordinate; Respectively represent The lower limit boundary and the upper limit boundary of the in-vehicle control area on the vertical axis coordinate; S22, taking the determination result of step S21 as an instruction, switching the controllable function of the vehicle control device to the controllable function of the vehicle control device that falls into the first Each controllable function bound to the in-vehicle control area is switched, or switched to the default function bound to the invalid area, or the function switching of the invalid area is disabled.

11. The vehicle control method based on in-vehicle positioning according to claim 1 or 10, characterized in that: When different passengers are in the same in-car control area, the same in-car control area is bound to the same or different controllable functions; In step S2, after calculating the in-vehicle control area where the vehicle control device currently falls according to the positioning result, the identity characteristics of the passengers riding in the in-vehicle control area are first identified, and then the controllable functions preset by the identified passengers for the in-vehicle control area are matched, and then the controllable functions of the vehicle control device are switched to the matched controllable functions.

12. A vehicle control device based on in-vehicle positioning, capable of implementing the vehicle control method based on in-vehicle positioning as claimed in any one of claims 1 to 11, characterized in that: include: A positioning module, used for iteratively optimizing an initial positioning result of a movable vehicle control device under a multi-point layout of base station nodes, and outputting a positioning result of the vehicle control device in the vehicle interior space; A function switching module is connected to the positioning module and is used to switch the controllable functions of the vehicle control device to the controllable functions associated with the in-vehicle control area indicated by the positioning result.

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