Vehicle control method and control device based on in-vehicle positioning

Abstract

The present invention discloses a vehicle control method and a control device based on in-vehicle positioning. First, a method for iteratively optimizing the initial positioning result of the vehicle control device in the vehicle is provided. This method can achieve precise positioning of the vehicle control device in a static or moving state in a small in-vehicle space scenario, making the positioning result after iterative optimization more accurate, thereby effectively avoiding switching errors when switching vehicle control functions according to zones subsequently. In addition, based on the precise 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 currently entered, 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

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly relates 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 of the vehicle, such as unlocking, locking, starting, etc. 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 existing movable vehicle control devices have the following technical defects:

[0004] 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 of the vehicle such as air conditioning, windows, and entertainment that are usually executed in the in-vehicle scenario cannot be controlled based on the positioning result.

[0005] Currently, for controlling various functions of the vehicle inside the vehicle, control devices with fixed positions are usually used, 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-row air conditioner, while the co-pilot is more concerned about controlling the related functions of the vehicle audio-visual system. Therefore, the field expects to have 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:

[0006] How to achieve precise positioning of the static or moving vehicle control device in the 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 zone control function, thereby meeting the same or different vehicle control functions of different passengers in different areas. Summary of the Invention

[0007] The present invention aims to achieve precise positioning of the movable vehicle control device inside the vehicle, so as to achieve zone 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.

[0008] To achieve this purpose, the present invention adopts the following technical solutions:

[0009] Provided is a vehicle control method based on in-vehicle positioning, including the steps of:

[0010] S1. Iteratively optimize the initial positioning result generated for 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 in-vehicle space;

[0011] S2. Switch the controllable functions of the vehicle control device to the respective controllable functions associated with the in-vehicle control area indicated by the positioning result.

[0012] Preferably, the method for generating the initial positioning result includes the steps of:

[0013] A1. Arrange a plurality of base station nodes at different positions around the vehicle edge forming the in-vehicle space;

[0014] A2. Solve the initial positioning result of the vehicle control device equipped with the tag node in the vehicle according to the relative distance relationship between the tag node and each base station node.

[0015] 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 in-vehicle space.

[0016] Preferably, in step A2, the method for solving the initial positioning result includes the steps of:

[0017] A21. Take the specified base station node as the origin of the world coordinate system, and take the vehicle width direction, vehicle length direction, and vehicle height direction as the horizontal axis coordinate, vertical axis coordinate, and z-axis coordinate of the world coordinate system respectively to construct the world coordinate system;

[0018] A22. Calculate the radio frequency transceiver duration between the tag node and each base station node ; ;

[0019] 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 ; , where represents the propagation speed of radio frequency signals in the air.

[0020] Preferably, the method for iteratively optimizing the initial positioning result includes the steps of:

[0021] B1. Let the vehicle control device be in the current The true position coordinates at the moment are , and the vehicle control device is at the current previous moment The true position coordinates at the moment are , As the initial state of , then calculate the residual term , the Jacobian matrix and the update increment , are respectively the th residual in ;

[0022] B2, let , where is , is .

[0023] Preferably, the calculation method of the th residual in the residual term is expressed by the following formula (1): In formula (1),

[0024]

[0025] In formula (1), represents the position coordinates of the th base station node in the constructed world coordinate system;

[0026] represents the straight-line distance between the vehicle control device and the th base station node;

[0027] 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 th base station node in the world coordinate system.

[0028] Preferably, the residual term is differentiated with respect to the optimization variable to calculate the Jacobian matrix , and the calculation method is expressed by the following formula (2):

[0029]

[0030] Denote the Jacobian matrix in the row.

[0031] Preferably, the method for updating the increment is expressed by the following formula (3):

[0032]

[0033] In formula (3), denotes the transpose of the Jacobian matrix ;

[0034] The update of continues until is less than a preset increment threshold or the maximum number of iterations is reached.

[0035] Preferably, before performing step S1, first determine whether the movable vehicle control device is inside the vehicle. The determination method includes the steps of:

[0036] 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 horizontal axis coordinate value and the vertical axis coordinate value of the th vertex in the plane coordinate system;

[0037] C2. Triggered from the vehicle control device, define a ray parallel to the x-axis of the plane coordinate system;

[0038] C3. Traverse each side of the polygon, extract the sides intersecting with the ray, and obtain the horizontal axis coordinate values of the intersection points;

[0039] C4. Determine 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 odd;

[0040] If so, determine that the vehicle control device is currently inside the vehicle;

[0041] If not, determine that the vehicle control device is currently outside the vehicle.

[0042] Preferably, step S2 specifically includes the steps of:

[0043] S21. Calculate the in-vehicle control area where the vehicle control device currently falls. The calculation method is: Determine the vehicle control device at the current The real position coordinates of the moment in the plane coordinate system are Whether it satisfies and , if so, it is determined that the vehicle control device is in the th interior control area. If no predefined interior control area is matched, it is determined that the vehicle control device falls into the invalid area; respectively represent the lower boundary and the upper boundary of the th interior control area on the horizontal axis coordinate; respectively represent the lower boundary and the upper boundary of the th interior control area on the vertical axis coordinate;

[0044] S22. Taking the determination result of step S21 as an instruction, switch the controllable functions of the vehicle control device to the controllable functions bound to the th interior control area where it falls, or switch to the default function bound to the invalid area where it falls, or control that the function switching to the invalid area where it falls is not enabled.

[0045] Preferably, when different passengers are sitting in the same interior control area, the same interior control area is bound with the same or different controllable functions;

[0046] In step S2, after calculating the interior 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 interior control area, then match the controllable functions preset by the identified passengers for the interior control area where they fall, and then switch the controllable functions of the vehicle control device to the matched controllable functions.

[0047] The present invention 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, including:

[0048] A positioning module, which is used to iteratively optimize the initial positioning result generated for 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 in-vehicle space;

[0049] A function switching module, connected to the positioning module, which is used to switch the controllable functions of the vehicle control device to the controllable functions associated with the interior control area indicated by the positioning result.

[0050] The present invention has the following beneficial effects:

[0051] 1. A method for iteratively optimizing the initial positioning result of a vehicle control device in a vehicle interior is provided. 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 when subsequently switching vehicle control functions according to zones.

[0052] 2. Based on the precise positioning result obtained after iterative optimization, the movable vehicle control device can adaptively and accurately switch to each controllable function associated with the vehicle control area currently entered, thereby realizing the intelligence and automation of zone function control in the vehicle interior using the same vehicle control device, and being able to meet the different needs of passengers for vehicle function control in different interior areas or for different passengers in the same interior area. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention will be briefly introduced below. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0054] Figure 1 It is a flowchart showing the implementation steps of the vehicle control method based on in-vehicle positioning provided by the embodiment of the present invention;

[0055] Figure 2 It is an example diagram of the arrangement of base station nodes on a vehicle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The technical solutions of the present invention will be further described below with reference to the drawings and through specific embodiments.

[0057] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not 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 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 drawings may be omitted.

[0058] In the 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, they are based on the orientation or positional relationship shown in the drawings. This 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. Therefore, the terms used to describe the positional relationship in the drawings are only for illustrative purposes and cannot 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.

[0059] 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 or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it 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.

[0060] The vehicle control method based on in-vehicle positioning provided by the embodiments of the present invention is used to enable the user to achieve a non-intrusive, intelligent, and high-precision interaction with the vehicle through a movable vehicle control device in the automotive cockpit. As Figure 1 shown, in the first aspect, this embodiment provides a precise positioning method for a movable vehicle control device in the vehicle; in the second aspect, after achieving the precise positioning of the movable vehicle control device in the vehicle, according to the specific area of the vehicle control device located in the vehicle, the controllable functions of the vehicle control device are automatically switched to the respective controllable functions associated with the located area.

[0061] The following specifically describes the method for precisely positioning a movable vehicle control device in the vehicle provided by this embodiment.

[0062] This embodiment adopts 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.

[0063] The method for generating an initial positioning result for a vehicle control device moving in the vehicle space includes the steps:

[0064] A1. Around the vehicle edge forming the vehicle space, at least 3 base station nodes are arranged at different positions; as Figure 2As shown in the figure, a base station node 1 is arranged on each of the left and right sides in front of the vehicle and on 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 arrangement 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 on the left and right sides behind the vehicle.

[0065] 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:

[0066] A21. Construct a vehicle coordinate system. The construction method is as follows:

[0067] 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 the figure. The horizontal axis coordinate of this world coordinate system is the vehicle width direction, the vertical axis coordinate is the vehicle length direction, and the z-axis coordinate is the vehicle height direction.

[0068] A22. Calculate the radio frequency transceiver duration between the tag node and each base station node , is the duration from the tag node sending a radio frequency signal to the base station node , and from this base station node returning this radio frequency signal to this tag node.

[0069] A23. Calculate the distance between the tag node and each base station node , represents the propagation speed of the radio frequency signal in the air;

[0070] By , the straight-line distance between the tag node and each base station node is obtained , and the initial positioning of the space position of the vehicle control device provided with this tag node in the constructed vehicle coordinate system is realized.

[0071] However, the initial positioning method provided in steps A21 - A23 for the vehicle control device usually has errors. Especially when the vehicle control device is moving continuously, it may cause the initial positioning data obtained continuously to drift. To solve this problem, the following method is provided in this embodiment to iteratively optimize the initial positioning result, which specifically includes the steps:

[0072] B1. Let the real position coordinates of the vehicle control device at the current moment be denoted as , the real position coordinates of the vehicle control device at the previous moment of the current moment are , and , as the initial state , then calculate the residual term , the Jacobian matrix and the update increment ; are respectively the th residual in ;

[0073] B2, let , where is , is .

[0074] In step B1, the calculation method of the th residual in the residual term is expressed by the following formula (1):

[0075]

[0076] In formula (1), represents the position coordinates of the th base station node in the constructed world coordinate system;

[0077] represents the straight-line distance between the vehicle control device and the th base station node;

[0078] where , 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 th base station node in the world coordinate system.

[0079] The calculation method of the Jacobian matrix in step B1 is:

[0080] Derive the residual term with respect to the optimization variable to calculate the Jacobian matrix , and the calculation method is expressed by the following formula (2):

[0081]

[0082] Denote the Jacobian matrix in the row.

[0083] In step B1, the method for updating the increment is expressed by the following formula (3):

[0084]

[0085] In formula (3), denotes the transpose of the Jacobian matrix ;

[0086] The update of continues until is less than a preset increment threshold or the maximum number of iterations is reached. The increment threshold is preferably .

[0087] Through the above method, the true coordinate position of the optimized label node of the movable vehicle control device is obtained , and the optimized positioning result can significantly reduce the positioning error compared with directly using the initial positioning result.

[0088] 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:[[]]

[0089] C1. Define a 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 the vertical axis coordinate value of the th vertex in the plane coordinate system;

[0090] C2. Triggered from the vehicle control device, define a ray parallel to the x-axis of the plane coordinate system;

[0091] C3. Traverse each side of the polygon, extract the sides intersecting the ray, and obtain the horizontal axis coordinate values of the intersection points;

[0092] C4. Determine 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 odd;

[0093] If so, it is determined that the vehicle control device is currently inside the vehicle;

[0094] Otherwise, it is determined that the vehicle control device is currently outside the vehicle.

[0095] It should be emphasized here that in this embodiment, the base station nodes are preferably arranged in a 4-point layout, that is, the polygon is preferably a quadrilateral.

[0096] 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 functions of the vehicle control device to the respective control functions associated with the in-vehicle control area indicated by the positioning result includes the steps:

[0097] S21, calculate the in-vehicle control area where the vehicle control device currently falls;

[0098] 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 also be a three-dimensional area, preferably a rectangular cube area in three-dimensional space.

[0099] The method for calculating the in-vehicle control area where the vehicle control device currently falls is as follows:

[0100] Define the center coordinates of the th control area inside the vehicle as , which are respectively the horizontal axis coordinate value, the vertical axis coordinate value and the z-axis coordinate value in three-dimensional space. The length, width and height of this control area are respectively denoted as , the lower boundary and the upper boundary of the th control area on the horizontal axis coordinate correspond to and respectively; the lower boundary and the upper boundary of the th control area on the vertical axis coordinate correspond to and respectively; the lower boundary and the upper boundary of the th control area on the z-axis coordinate correspond to and respectively.

[0101] Then judge whether the real position coordinates of the vehicle control device at the current moment are and 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 falls into the invalid area, and the switching of the controllable function is refused or switched to the default function.

[0102] 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.

[0103] 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 of 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.

[0104] 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.

[0105] 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:

[0106] A positioning module, which is used to iteratively optimize the initial positioning result generated for 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 in-vehicle space;

[0107] A function switching module, connected to the positioning module, which is used to switch the controllable functions of the vehicle control device to each of the controllable functions associated with the in-vehicle control area indicated by the positioning result.

[0108] 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 elaborated 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 elaborated here either.

[0109] In summary, the present invention provides a method for iteratively optimizing the initial positioning result of a vehicle control device in the vehicle interior. This method can achieve precise positioning of the vehicle control device in a static or moving state in a small space scenario inside the vehicle, making the positioning result after iterative optimization more accurate, thereby effectively avoiding switching errors when switching vehicle control functions according to zones subsequently. Additionally, based on the precise positioning result obtained after iterative optimization, the movable vehicle control device can adaptively and accurately switch to each controllable function associated with the vehicle control area currently entered, thus realizing the intelligent and automatic control of the zoned functions in the vehicle interior using the same vehicle control device, and being able to meet the different needs of passengers for vehicle function control in different vehicle interior areas or among different passengers in the same vehicle interior area.

[0110] It should be noted that the above specific embodiments are merely preferred embodiments of the present invention and the technical principles applied. 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 description and claims of this application are not restrictive and are only for convenience of description.

Claims

1. A vehicle control method based on in-vehicle positioning, characterized in that, Including the steps: S1. Iteratively optimize the initial positioning result generated for 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 interior space of the vehicle; S2. Switch the controllable functions of the vehicle control device to the controllable functions associated with the interior control area indicated by the positioning result; The method for generating the initial positioning result includes the steps: A1. Arrange a number of base station nodes at different positions around the vehicle edge forming the interior space of the vehicle; A2. Solve the initial positioning result of the vehicle control device equipped with the tag node in the vehicle according to the relative distance relationship between the tag node and each base station node; The method for iteratively optimizing the initial positioning result includes the steps: B1, let the vehicle control device be at the current true position coordinates at the moment be , and the true position coordinates of the vehicle control device at the previous moment be . As the initial state of , then calculate the residual term , the Jacobian matrix and the update increment . They are respectively the th residual in .​ B2, let , where is , is ; Residual term The -th residual in is calculated by the following formula (1): In formula (1), represents the position coordinates of the th base station node in the constructed world coordinate system; Indicates the straight-line distance between the vehicle control device and the ith base station node; Among them, , respectively represent the abscissa coordinate value, ordinate coordinate value, and z-axis coordinate value of the vehicle control device in the world coordinate system at the current moment; respectively represent the abscissa coordinate value, ordinate coordinate value, and z-axis coordinate value of the th base station node in the world coordinate system; Regarding the residual term with respect to the optimal variable take the derivative to calculate the Jacobian matrix , and the calculation method is expressed by the following formula (2): Denotes the Jacobian matrix in the row; Update the increment The method is expressed by the following formula (3): In formula (3), represents the transpose of the Jacobian matrix ; For update until the maximum number of iterations is reached.

2. The vehicle control method based on in-vehicle positioning according to claim 1, wherein 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 interior space of the vehicle.

3. The vehicle control method based on in-vehicle positioning according to claim 1, characterized in that, In step A2, the method for solving the initial positioning result includes the steps: A21. Take the specified base station node as the origin of the world coordinate system, and take the vehicle width direction, vehicle length direction, and vehicle height direction as the horizontal axis coordinate, vertical axis coordinate, and z-axis coordinate of the world coordinate system respectively to construct the world coordinate system; A22, calculate the radio frequency transceiver duration of the label node and each base station node ; ; A23, calculate the distance between the tag node and each base station node distance , through the straight-line distance between the tag node and each base station node straight-line distance , realize the initial positioning of the spatial position of the tag node in the constructed world coordinate system, represents the propagation speed of radio frequency signals in the air.

4. The vehicle control method based on in-vehicle positioning according to claim 1, characterized in that, Before executing 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 abscissa value and the ordinate value of the th vertex in the plane coordinate system; C2. Starting 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 intersecting with the ray, and obtain the horizontal axis coordinate values of the intersection points; C4. Determine 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 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.

5. The vehicle control method based on in-vehicle positioning according to claim 4, wherein Step S2 specifically includes the steps: S21, calculate the in-vehicle control area where the vehicle control device currently falls. The calculation method is as follows: Determine whether the true position coordinates of the vehicle control device in the plane coordinate system at the current moment are such that it satisfies and . If so, determine that the vehicle control device is in the th in-vehicle control area. If no pre-defined in-vehicle control area is matched, determine that the vehicle control device falls into the invalid area; respectively represent the lower and upper boundary limits of the horizontal axis coordinates of the th in-vehicle control area; respectively represent the lower and upper boundary limits of the vertical axis coordinates of the th in-vehicle control area; S22, taking the determination result of step S21 as an instruction, switch the controllable functions of the vehicle control device to each controllable function bound to the vehicle interior control area where it falls, or switch to the default function bound to the invalid area where it falls, or control the function switching of the invalid area where it falls to be disabled.

6. The vehicle control method based on in-vehicle positioning according to claim 1 or 5, characterized in that, When different passengers are in the same interior control area, the same or different controllable functions are bound to the same interior control area; In step S2, after calculating the interior control area where the vehicle control device currently falls according to the positioning result, first identify the identity characteristics of the passengers in the interior control area, then match the controllable functions preset by the identified passengers for the interior control area where they fall, and then switch the controllable functions of the vehicle control device to the matched controllable functions.

7. A vehicle control device based on in-vehicle positioning, which can implement the vehicle control method based on in-vehicle positioning according to any one of claims 1-6, characterized in that, Including: A positioning module, which is used to iteratively optimize the initial positioning result generated for 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 interior space of the vehicle; A function switching module, connected to the positioning module, which is used to switch the controllable functions of the vehicle control device to the controllable functions associated with the interior control area indicated by the positioning result.

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