Automobile unlocking control method

Abstract

The embodiment of the invention discloses an automobile unlocking control method, which comprises the following steps of: arranging a plurality of low-power-consumption Bluetooth modules on an automobile, combining phase distance measurement and round-trip time distance measurement technologies to obtain higher-precision spatial distance information between a user and the automobile, and meanwhile, carrying out weighted fusion processing on distance data measured by each module, so that the unlocking accuracy of the automobile is improved. Therefore, the final distance judgment result is more stable, and the anti-interference performance is higher. Compared with a single module or a single distance measurement mode in the prior art, the scheme can effectively eliminate distance measurement errors caused by shielding, reflection or angle deviation, thereby remarkably improving the positioning accuracy between the user terminal equipment and the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle door lock control, and in particular to a vehicle unlocking control method. Background Art

[0002] With the development of smart cars, traditional mechanical keys and common wireless remote control keys are gradually failing to meet users' dual needs for convenience and security. Common keyless entry systems in existing technologies primarily rely on radio frequency identification (RFID) or Bluetooth Low Energy (BLE) communications. When a user approaches the vehicle with a smart key or mobile phone, the system triggers the vehicle to unlock via Bluetooth connection or radio frequency signals. However, regardless of which method is used, the positioning of the remote control key or mobile phone is not accurate, resulting in large variations in the remote control distance. Summary of the Invention

[0003] Based on this, the present invention provides a car unlocking control method to solve the problem of inaccurate positioning of the two during remote control, resulting in large changes in the remote control distance in the existing car unlocking control solution.

[0004] In a first aspect, a method for controlling vehicle unlocking is provided, the method comprising:

[0005] Installing a low-power Bluetooth module on a car and initializing the low-power Bluetooth module;

[0006] Establish an encrypted pairing connection with the user terminal device and generate a session key;

[0007] Measuring the distance between the user terminal device and the car based on phase ranging technology and round-trip time ranging technology;

[0008] Verifying the identity through the session key and comparing the distance information with a preset threshold to determine whether to trigger an unlock instruction to achieve unlock control;

[0009] When the judgment result is that the unlocking condition is met, the unlocking actuator on the vehicle is controlled to perform the unlocking operation and the execution result is fed back.

[0010] Optionally, installing a low-power Bluetooth module on a car and initializing the low-power Bluetooth module includes:

[0011] Install the Bluetooth low energy modules at preset locations in the car and output the coordinates of the installation locations of each module, where the preset locations include the center console, the front of the car, and the rear of the car;

[0012] Connecting the power interface of each of the low-power Bluetooth modules to the vehicle power bus, and performing communication interface mapping using the installation location coordinates as input;

[0013] Execute initialization of each of the low-power Bluetooth modules and output availability identifiers of each module, wherein the initialization includes reading the module serial number of each of the low-power Bluetooth modules and configuring the communication frequency band and functional status.

[0014] Optionally, establishing an encrypted pairing connection with the user terminal device and generating a session key includes:

[0015] The user terminal device sends a pairing request and a unique identifier of the terminal device to the low-power Bluetooth module of the car's central control, and outputs a request message;

[0016] The low-power Bluetooth module of the central control receives the request message, transmits the unique identifier to the ECU, and outputs the identity upload parameters;

[0017] Based on the identity upload parameters, the ECU generates a session key and sends it to the user terminal device through the low-power Bluetooth module of the central control, outputting the session key status.

[0018] Optionally, the measuring of the distance information between the user terminal device and the car based on the phase ranging technology and the round-trip time ranging technology includes:

[0019] Each Bluetooth low energy module collects phase ranging signal parameters based on phase ranging technology and outputs the original phase data of phase ranging;

[0020] Each Bluetooth low energy module collects round-trip delay signal parameters based on round-trip time ranging technology and outputs the original round-trip delay data;

[0021] The ECU performs weighted fusion calculation on the original phase data and the original time delay data, and outputs distance information between the user terminal device and the car.

[0022] Optionally, each of the Bluetooth low energy modules collects phase ranging signal parameters based on phase ranging technology and outputs raw phase data of phase ranging, including:

[0023] Each Bluetooth low energy module sends a ranging signal on N predefined frequencies and outputs a frequency list;

[0024] The user terminal device returns the reflected signal to the low-power Bluetooth module of the central control according to the frequency list, and analyzes the output reflected signal parameters;

[0025] The low-power Bluetooth module of the central control calculates and records the phase difference at each frequency and outputs the original phase difference data.

[0026] Optionally, each of the Bluetooth low energy modules collects round-trip delay signal parameters based on round-trip time ranging technology and outputs raw round-trip time delay data, including:

[0027] Each Bluetooth low energy module sends a scrambled encrypted data packet and starts an internal timer, outputting a timing start flag;

[0028] Each low-power Bluetooth module receives a reflected data packet returned by the user terminal device based on the scrambled encrypted data packet, stops the internal timer, and outputs the original value of the round-trip delay;

[0029] Noise filtering is performed on the original round-trip delay value to output original delay data.

[0030] Optionally, the ECU performs weighted fusion calculation on the original phase data and the original time delay data, and outputs distance information between the user terminal device and the car, including:

[0031] The ECU calculates the initial distance between each Bluetooth low energy module and the user terminal device based on the original phase difference data and the original delay data, and outputs an initial distance list;

[0032] The initial distance list is weighted according to the module signal quality, and weighted distance data is output;

[0033] Perform Kalman filtering fusion on the weighted distance data and output distance information between the user terminal device and the car.

[0034] Optionally, verifying the identity by using the session key and comparing the distance information with a preset threshold to determine whether to trigger an unlock instruction includes:

[0035] Perform hash signature verification on the distance information using the session key, and output a verification result;

[0036] Comparing the verification result with a preset safety threshold and outputting the comparison result;

[0037] An unlocking decision is generated based on the comparison result, and an unlocking decision instruction is output.

[0038] Optionally, using the session key to perform hash signature verification on the distance information and outputting a verification result includes:

[0039] Generate a MAC message authentication code for the distance information using the session key, and output the MAC code;

[0040] Compare the MAC code with the MAC code calculated by the ECU side and output the comparison result;

[0041] When the comparison result is consistent, an identity authentication success mark is output.

[0042] Optionally, when the judgment result is that the unlocking condition is met, controlling the unlocking actuator on the vehicle to perform the unlocking operation and feeding back the execution result includes:

[0043] When the unlock decision instruction is unlock, the ECU sends an unlock instruction to the designated door actuator and outputs an unlock command;

[0044] The door actuator receives the unlock command and moves the unlocking mechanism, outputting a mechanism feedback signal;

[0045] The ECU receives the feedback signal from the mechanism and feeds back the unlocking success message to the user terminal device through the low-power Bluetooth module, and outputs the feedback status.

[0046] The aforementioned vehicle unlocking control method, by installing multiple low-power Bluetooth modules on the vehicle and combining phase ranging (PBR) and round-trip time ranging (RTT) technologies, obtains more accurate spatial distance information between the user and the vehicle. The distance data measured by each module is weighted and fused, making the final distance determination more stable and more resistant to interference. Compared with the existing single-module or single-distance measurement methods, this solution can effectively eliminate ranging errors caused by occlusion, reflection, or angle deviation, thereby significantly improving the positioning accuracy between the user terminal device and the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A schematic flow chart of a method for controlling a rental vehicle provided by an embodiment of the present invention;

[0049] Figure 2 Another flowchart of a method for controlling a rental vehicle provided by an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of the location of the Bluetooth low energy module installed on a car according to an embodiment of the present invention;

[0051] Figure 4 This is a basic structural block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0053] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The serial numbers of the operations, such as S110, S120, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit "first" and "second" to be different types.

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0055] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to achieve the best results.

[0056] Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interaction systems, and mechatronics. AI software technologies primarily encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0057] The present invention provides a car unlocking control method, which is based on low-power Bluetooth technology and uses phase-based ranging (PBR) and round-trip time (RTT) technology to achieve high-precision positioning and secure identity verification of user terminal devices, thereby completing intelligent keyless unlocking control. Figure 1 As shown, the first embodiment of the car unlocking method provided in this embodiment includes the following steps:

[0058] Step S110: Installing a low-power Bluetooth module in the car and initializing the low-power Bluetooth module;

[0059] Multiple BLE (Bluetooth Low Energy) modules are installed in key locations such as the vehicle's center console, front, and rear. Spatial position calibration is performed using the vehicle's three-dimensional coordinate system to generate spatial coordinate information for each module. These BLE modules are connected to the vehicle's power system, with power supply parameters configured based on the vehicle's power bus voltage level. Power health checks are also performed to ensure stable power supply.

[0060] During the initialization process, the vehicle control system (ECU) reads the unique serial number of each BLE module and configures its communication band and function mode (such as broadcast, receive, ranging, etc.). After initialization is complete, each module reports its availability status to the ECU to form a Bluetooth module mapping table.

[0061] Step S120: Establishing an encrypted pairing connection with the user terminal device and generating a session key;

[0062] In BLE module scanning mode, the vehicle identification information is broadcast periodically and the response signal of the surrounding Bluetooth devices is monitored. If a legitimate user terminal (such as a paired mobile phone) is identified, the central control BLE module sends an encrypted challenge signal containing a timestamp and a random number to the terminal. The terminal signs the challenge signal with a private key and returns a response.

[0063] The ECU receives the response information through the BLE module and performs identity verification based on the device certificate, public key, and other data. If the verification is successful, the ECU generates a session key and caches it on both the vehicle and mobile device sides for data encryption and identity verification during subsequent communications.

[0064] Step S130: measuring the distance between the user terminal device and the car based on phase ranging technology and round-trip time ranging technology;

[0065] It should be noted that phase ranging involves multiple Bluetooth low energy modules transmitting ranging signals to user terminals on N frequency channels. The user terminals reflect the signals at different frequencies, and the Bluetooth modules receive them and calculate the relative distance between the devices based on the phase differences corresponding to each frequency. This method exploits the high sensitivity of phase differences to distance, enabling centimeter-level precision measurement.

[0066] Round-trip time ranging: The Bluetooth module sends a scrambled, encrypted signal to the user's terminal device and simultaneously starts a high-precision internal timer. Upon receiving the return data packet, the timer is stopped to determine the signal's round-trip time. By multiplying the round-trip time by the speed of light and dividing by two, a separate distance value is obtained.

[0067] Finally, the ECU fuses the distance measurement results of the two subsystems, uses confidence weighting and Kalman filtering algorithms to eliminate abnormal data, and outputs stable and reliable distance information.

[0068] In actual applications, the central control BLE module exchanges ranging signals with the terminal device on multiple frequency channels (no less than 3) and measures the phase difference corresponding to each channel to calculate the initial PBR ranging value. At the same time, the BLE module sends a scrambled encrypted data packet to the terminal device and starts a local timer. After receiving the reflected packet, it records the signal round-trip time and calculates the RTT ranging value.

[0069] The ECU fuses the PBR and RTT raw data uploaded by multiple modules, weights them according to signal strength and ranging confidence, and uses a Kalman filter to correct the impact of ambient temperature and channel state changes on the ranging results, thereby obtaining high-precision distance information between the terminal and the vehicle.

[0070] In another embodiment, the Bluetooth Low Energy module first transmits ranging signals at multiple predefined frequencies. After the user terminal returns the reflected signal, the module generates raw phase data by analyzing the phase differences at each frequency. Simultaneously, the Bluetooth Low Energy module transmits a scrambled encrypted data packet and records its round-trip time. After noise filtering, the module generates raw delay data. The ECU calculates the initial distance for each type of data and then dynamically weights it based on the signal quality parameters of each module. For example, when the signal-to-noise ratio of the phase ranging signal falls below a preset threshold, the weight coefficient is reduced. The weighted data is then fused using a Kalman filter algorithm, ultimately outputting the precise distance between the user terminal and the vehicle.

[0071] Step S140: Verify the identity using the session key and compare the distance information with a preset threshold to determine whether to trigger an unlock instruction to implement unlock control;

[0072] The ECU uses the session key to perform a hash signature check on the identity data carried during the ranging process to ensure that the current terminal is an authorized and legitimate user. The ECU then compares the actual distance after fusion with the preset unlocking threshold (such as 0.8 meters).

[0073] If the current distance is less than the threshold and the identity verification is successful, the unlocking conditions are determined to be met. To enhance system security, the ECU will also check the current vehicle status (such as parking status, gear status, and door status) before unlocking. If all of these meet the unlocking requirements, the next step will be taken.

[0074] Step S150: When the unlocking condition is determined to be met, the unlocking actuator on the vehicle is controlled to perform the unlocking operation and the execution result is fed back.

[0075] When the ECU determines that the unlocking condition is met, it immediately sends an unlocking command to the electronically controlled locking mechanism of the corresponding door. After receiving the command, the door controller drives the unlocking mechanism to complete the physical unlocking process.

[0076] At the same time, the door controller feeds back the execution status to the ECU, and the ECU synchronously sends the unlocking result to the user terminal APP through the BLE module, prompting the user of the "unlocking successful" status and updating the vehicle's current lock control record.

[0077] In another feasible implementation, the number of low-power Bluetooth modules installed in the car can be increased according to actual needs, such as Figure 3 It is understandable that when multiple low-power Bluetooth modules are set up, there is actually only one main control unit, and then the effect of multiple low-power Bluetooth modules is achieved by setting up multiple antennas.

[0078] If only one low-power Bluetooth module is set up, a BLE module is set up near the central controller and is only used to detect whether the user terminal is within the communication range. This solution is suitable for scenarios with low distance accuracy requirements. It only realizes short-range communication pairing and basic identity authentication functions and does not support high-precision positioning, such as Figure 3 As shown in (a).

[0079] If two low-power Bluetooth modules are set up, one BLE module is set up in the center console and one in the rear of the vehicle to expand the front and rear coverage range and improve the accuracy of distance determination. This configuration can improve the robustness of the judgment after the user approaches the vehicle through dual-point ranging, and is suitable for small vehicle scenarios, such as Figure 3 (b) shown.

[0080] If four low-power Bluetooth modules are installed, they are respectively placed at the center console, front, rear and left door positions to build a local multi-point positioning network. Through the fusion calculation of four-point PBR and RTT, it is possible to more accurately determine which door the user is approaching and implement directional unlocking control. It is suitable for mid-to-high-end models that require fast response and direction determination, such as Figure 3 (c) shown.

[0081] If N+1 low-power Bluetooth modules are set up, N BLE modules are deployed in key parts of the car (such as four doors, luggage compartment, center console, A-pillar, B-pillar, etc.), and a master BLE module is configured to coordinate communication. Through multi-point coverage, a high-precision distance measurement map for the entire car is established, which can support multi-functional linkage control such as distance measurement that changes dynamically with the user's position, sensorless unlocking and remote operation. It is suitable for high-end models or customized vehicle safety systems, such as Figure 3 (d) shown.

[0082] It should be noted that the main control unit of the low-power Bluetooth module is set on the central controller, while the antenna is set in other locations.

[0083] By implementing the above-mentioned method, low-cost, low-power Bluetooth digital key control is achieved while ensuring high system security and high positioning accuracy, significantly improving user experience and the overall vehicle intelligence level.

[0084] See also Figure 2 , which is a second embodiment of the vehicle unlocking control method provided by the present invention. This embodiment takes the low-power Bluetooth module using BLE6.0 as an example and includes the following steps:

[0085] S210: Install a low-power Bluetooth module in the car and initialize the low-power Bluetooth module.

[0086] Bluetooth Low Energy module initialization refers to the process of installing multiple modules in different locations in the vehicle and configuring communication parameters. This can be achieved by reading the module serial number, allocating the communication frequency band, and detecting the functional status. Its role is to ensure that multiple modules work together to cover the space around the vehicle.

[0087] Specifically, the low-power Bluetooth modules are installed at preset positions of the car respectively, and the installation position coordinates of each module are output, where the preset positions include the central control, the front of the car and the rear of the car; the power interface of each low-power Bluetooth module is connected to the car power bus, and the communication interface mapping is performed with the installation position coordinates as input; the initialization of each low-power Bluetooth module is executed, and the availability identification of each module is output, where the initialization is to read the module serial number of each low-power Bluetooth module, configure the communication frequency band and functional status.

[0088] It should be noted that the preset position refers to the pre-set installation point inside the vehicle, which can be specifically implemented by using the center console, the inside of the front bumper and the bottom of the trunk lid as the installation area. This layout can cover different directions of the vehicle to achieve multi-angle ranging. Communication interface mapping refers to establishing a correspondence between the physical installation coordinates and the communication address of the Bluetooth module. Specifically, it can be implemented by using a coordinate encoding algorithm to convert the three-dimensional space coordinates into a logical communication address. This mapping relationship provides a spatial reference for subsequent multi-module collaborative ranging. The module availability identifier refers to a parameter that reflects the working status of the Bluetooth module. Specifically, it can be implemented by reading the hardware self-test results and the communication test feedback to generate a status code. This identifier is used to screen modules that can normally participate in ranging.

[0089] In practice, Bluetooth low-power modules are deployed in designated locations at the front, center, and rear of the vehicle, such as inside the center console, behind the front grille, and above the rear license plate frame. Each module's power supply is directly connected to the vehicle's power bus, ensuring its operating voltage is synchronized with the vehicle's electrical system. After installation, the system automatically collects the physical coordinates of each module and generates a corresponding logical communication address, such as converting the coordinates of the front module to a communication channel with a specific frequency band. During initialization, the system sequentially reads the serial number of each module to verify hardware legitimacy, configures a unified communication frequency band to avoid signal interference, and uses a self-test program to check the functional integrity of the module. Finally, it generates a binary status code representing the availability of each module.

[0090] S220: Establish an encrypted pairing connection with the user terminal device and generate a session key.

[0091] Specifically, the user terminal device sends a pairing request and a unique identifier of the terminal device to the low-power Bluetooth module of the car's central control, and outputs a request message; the low-power Bluetooth module of the central control receives the request message, and transmits the unique identifier to the ECU, and outputs the identity upload parameters; based on the identity upload parameters, the ECU generates a session key, and sends it to the user terminal device through the low-power Bluetooth module of the central control, and outputs the session key status.

[0092] Among them, the user terminal device refers to a mobile device with Bluetooth communication function, which can be implemented by a smartphone or smart watch, and is used to initiate a pairing request to the vehicle and receive the encryption key.

[0093] A pairing request is an initialization instruction to establish a communication connection, which can be sent via the Bluetooth broadcast protocol to trigger the authentication process.

[0094] The unique identifier of the terminal device refers to the device identity code, which can be implemented using the IMEI code or MAC address, and is used to verify the legitimacy of the device on the vehicle side.

[0095] ECU refers to an on-board electronic control unit, which can be implemented using an embedded processor and is used to generate dynamic encryption keys based on device identification.

[0096] A session key is a temporary encryption key used for communication. It can be generated using the AES-128 algorithm and is used to encrypt and protect subsequent communication data.

[0097] It's understandable that when a user approaches a vehicle with a smartphone, the phone sends a pairing request containing the device's MAC address to the central control module via Bluetooth. The central control module transmits the received MAC address to the ECU, which then matches it against a locally stored list of authorized devices. If the match is successful, the ECU uses an encryption algorithm to generate a random session key and encrypts the key for transmission to the user's phone via the central control module. After receiving the key, the phone stores it in a security chip for subsequent encrypted verification of communication data. Throughout the entire process, key generation and transmission are completed within an encrypted channel, avoiding security risks associated with plaintext transmission.

[0098] S230: Each Bluetooth low energy module collects phase ranging signal parameters based on the phase ranging technology and outputs original phase data of the phase ranging.

[0099] In this embodiment, each low-power Bluetooth module sends a ranging signal at N predefined frequencies and outputs a frequency list; the user terminal device returns the reflected signal to the low-power Bluetooth module of the central control according to the frequency list, and parses and outputs the reflected signal parameters; the low-power Bluetooth module of the central control calculates and records the phase difference at each frequency, and outputs the original phase difference data.

[0100] The N predefined frequencies refer to multiple non-interfering communication frequencies, which can be implemented using multiple frequencies within the 2.4 GHz band with intervals greater than 80 MHz. This prevents phase measurement errors caused by environmental interference on a single frequency signal.

[0101] The reflected signal parameters refer to the characteristic data of the ranging signal returned by the user terminal device. They can be extracted by analyzing the signal amplitude, frequency offset and waveform distortion, and are used to reflect the attenuation and interference during the signal propagation process.

[0102] Phase difference refers to the phase offset difference when the same ranging signal is sent and received at different frequencies. It can be obtained by calculating the phase angle difference between the transmitted signal and the reflected signal. It is used to eliminate ranging errors caused by multipath effects.

[0103] When initiating ranging, the Bluetooth Low Energy module first transmits a ranging signal in the order of a preset frequency list. For example, the frequency list may include three different frequencies, each separated by at least 80 MHz. After receiving the ranging signal, the user terminal device transmits the reflected signal parameters back through the central control module. The central control module measures the phase angle between the transmitted and reflected signals at each frequency, recording the phase difference at different frequencies. By collecting phase difference data at multiple frequencies, it can effectively distinguish between direct and reflected path signals, thereby reducing the impact of environmental multipath interference on ranging accuracy.

[0104] Specifically, each BLE module transmits a continuous wave signal in three or more frequency bands, establishes a frequency list, and transmits it to the terminal device. After receiving the frequency list, the user terminal responds to each frequency separately, returning the modulated reflected signal to the vehicle-side BLE module. The BLE module analyzes the phase difference between the returned signal and the original transmitted signal, calculates the phase difference values ​​at multiple frequencies, and outputs the raw phase difference data as input for subsequent ranging calculations. This process can resist channel multipath interference and improve ranging stability, making it particularly suitable for complex electromagnetic environments inside or outside the vehicle.

[0105] S240 , each Bluetooth low energy module collects round-trip delay signal parameters based on the round-trip time ranging technology, and outputs raw round-trip time delay data.

[0106] In this step, each low-power Bluetooth module sends a scrambled encrypted data packet and starts an internal timer, outputting a timing start flag; each low-power Bluetooth module receives a reflected data packet returned by the user terminal device based on the scrambled encrypted data packet, stops the internal timer, and outputs the original round-trip delay value; the original round-trip delay value is subjected to noise filtering and outputs the original delay data.

[0107] Among them, scrambling encrypted data packets means adding random codes to the data packets and encrypting them. Specifically, this can be achieved by using a pseudo-random sequence generator combined with the AES encryption algorithm. By randomly disrupting the data content and encrypting it, the signal can be prevented from being eavesdropped or forged.

[0108] The internal timer refers to a timing device used to accurately measure signal transmission time. It can be implemented using a high-precision clock chip. By recording the time difference between sending and receiving data packets, the round-trip delay of the signal is calculated.

[0109] Noise filtering refers to eliminating interference from the original time delay data. It can be implemented by using a sliding average filter or a wavelet transform algorithm. It improves ranging accuracy by filtering out delay fluctuations caused by environmental noise.

[0110] Specifically, the Bluetooth Low Energy module starts its internal timer when sending a scrambled, encrypted data packet. Upon receiving the scrambled, encrypted data packet, the user terminal device immediately returns a reflected data packet. Upon receiving the reflected data packet, the Bluetooth Low Energy module stops the timer and obtains the original round-trip delay value. Because wireless signals may be affected by multipath or environmental interference during transmission, the original delay value contains random errors. Therefore, a noise filtering algorithm is used to smooth the raw data and ultimately output stable and reliable raw delay data. For example, during the filtering stage, a sliding window can be used to average multiple consecutive delay values ​​to eliminate the impact of sudden interference.

[0111] In practice, each BLE module sends an encrypted data packet with a scrambled code to the terminal device, instantly starting a nanosecond timer. The user terminal immediately sends back a response data packet, which the vehicle receives, then stops the timer and records the original round-trip time. The system preprocesses this raw data, including noise removal, filtering, and delay correction, to generate standardized RTT data for input into the ECU. RTT path verification further prevents man-in-the-middle attacks and enhances the security of the digital key transmission link.

[0112] At step S250 , the ECU performs weighted fusion calculation on the original phase data and the original time delay data, and outputs the distance information between the user terminal device and the vehicle.

[0113] In this step, the ECU performs weighted fusion calculations on the original phase data and the original time delay data, and outputs the distance information between the user terminal device and the car. This includes the ECU calculating the initial distance between each low-power Bluetooth module and the user terminal device based on the original phase difference data and the original time delay data, and outputting an initial distance list; weighting the initial distance list based on the module signal quality, and outputting weighted distance data; and performing Kalman filtering fusion on the weighted distance data to output the distance information between the user terminal device and the car.

[0114] It should be noted that weighted fusion calculation refers to the weighted distribution and integration of the raw data obtained by different ranging technologies. Specifically, it can be achieved by dynamically adjusting the weight coefficient according to the signal strength or signal-to-noise ratio. It is used to solve the problem of insufficient accuracy of a single ranging method due to environmental interference or hardware errors.

[0115] Kalman filter fusion refers to the use of the Kalman filter algorithm to suppress noise and estimate the state of weighted data. Specifically, it can be achieved by iteratively optimizing multi-source data using a linear Kalman filter to eliminate random noise and short-term fluctuations in the ranging process and improve the stability and reliability of distance information.

[0116] As you can understand, the ECU first obtains raw data from each Bluetooth Low Energy module based on phase ranging and round-trip time ranging, such as phase difference data and round-trip delay. It then assigns weights to the initial distances of different modules based on each module's signal quality metrics, such as signal strength or signal-to-noise ratio. For example, a weight of 0.6 is set for modules with higher signal quality, while a weight of 0.4 is set for modules with lower signal quality. This weighted distance data is then fed into a Kalman filter for fusion. The Kalman filter then gradually refines the distance estimate through prediction and update steps, ultimately outputting accurate distance information.

[0117] Specifically, the ECU calculates the initial distances from multiple BLE modules to the user's terminal device based on PBR and RTT data, compiling them into a list of initial distances. Based on each module's RSSI strength, signal-to-noise ratio, and ranging stability, it assigns confidence weights to each ranging result and calculates a weighted average distance. The weighted results are input into a Kalman filter model, and based on the system's state prediction and measurement update mechanism, the fused and corrected terminal position is obtained. This multi-source ranging fusion solution improves ranging robustness and stability in dynamic scenarios, adapting to complex usage environments such as dynamic user approach, rotation, and weak signal obstruction.

[0118] S260, verifying the identity through the session key and comparing the distance information with a preset threshold to determine whether to trigger an unlocking instruction to implement unlocking control.

[0119] In this embodiment, the session key is used to perform hash signature verification on the distance information and the verification result is output; the verification result is compared with the preset security threshold and the comparison result is output; an unlocking decision is generated based on the comparison result and an unlocking decision instruction is output.

[0120] It should be noted that the session key refers to a temporary encryption key generated during the encryption pairing connection process. Specifically, it can be implemented by using the elliptic curve encryption algorithm to generate a dynamic key pair to ensure the authenticity of the identities of the communicating parties and the confidentiality of data transmission.

[0121] Hash signature verification refers to the process of using cryptographic hash functions to generate a message authentication code for distance information. Specifically, it can be implemented by using the HMAC-SHA256 algorithm combined with a session key to generate a MAC code to verify data integrity and source reliability.

[0122] The preset safety threshold refers to a pre-set benchmark value used to determine whether the unlocking conditions are met. The threshold range can be dynamically adjusted according to the vehicle safety level or the degree of environmental interference to prevent false triggering due to signal fluctuations or external interference.

[0123] As you can understand, after the distance between the user terminal device and the car is measured, the system first hashes the distance information using the session key to generate a MAC code. This MAC code is then compared with the MAC code independently calculated by the ECU. If the two match, the authentication is considered successful. The verification result is then logically compared with the preset security threshold. For example, if the verification result meets the preset security level requirements and the distance information is less than the threshold, the system generates an unlock decision instruction, triggering the door actuator to operate. If the verification fails or the distance exceeds the threshold, the door remains locked.

[0124] In another feasible implementation, the use of the session key to perform hash signature verification on the distance information and output the verification result includes using the session key to generate a MAC message authentication code for the distance information and outputting the MAC code; comparing the MAC code with the MAC code calculated on the ECU side and outputting the comparison result; when the comparison result is consistent, outputting an identity authentication success mark.

[0125] Among them, the session key refers to a temporary encryption key generated through an encrypted pairing connection, which can be implemented using the ECDH key exchange algorithm. It is used to encrypt and authenticate data during communication to prevent information from being stolen or tampered with.

[0126] A MAC message authentication code (MAC) is a message authentication code generated based on a hash function and a session key. It can be implemented using the HMAC-SHA256 algorithm to verify data integrity and source authenticity, ensuring that distance information has not been tampered with.

[0127] The comparison result refers to the output status of the consistency check between the MAC code generated by the user terminal and the MAC code generated locally by the ECU. It can be achieved through bit-by-bit comparison or hash value matching algorithm to confirm the legitimacy of the user identity.

[0128] Specifically, after the user terminal device and the vehicle complete cryptographic pairing and generate a session key, when the user terminal device sends distance information, it uses the session key to generate a MAC code for this information and appends it to the data packet. Upon receiving the data packet, the ECU recalculates the MAC code for the distance information using the same session key and algorithm and compares it with the received MAC code. If the two match, authentication is considered successful, allowing the subsequent unlocking process. If they do not match, authentication is considered a failure, preventing the unlocking operation. This process, through a bidirectional MAC code verification mechanism, effectively prevents man-in-the-middle attacks or data tampering, ensuring that only authorized users can trigger unlocking within the preset distance.

[0129] In some specific implementations, the MAC code generation and verification process can be further optimized. For example, a timestamp or random number can be introduced as a dynamic factor when generating the MAC code to enhance resistance to replay attacks. During the verification process, a fault tolerance threshold can be set to account for minor data deviations during transmission and avoid misjudgments caused by signal interference.

[0130] S270: When the unlocking condition is determined to be met, the unlocking actuator on the vehicle is controlled to perform the unlocking operation and the execution result is fed back.

[0131] When the unlock decision instruction is to unlock, the ECU sends an unlock instruction to the designated door actuator and outputs an unlock command; the door actuator receives the unlock command and moves the unlock mechanism, outputting a mechanism feedback signal; the ECU receives the mechanism feedback signal and feeds back an unlock success message to the user terminal device through the low-power Bluetooth module, outputting a feedback status.

[0132] Among them, the ECU sending an unlocking command to the designated door actuator means that the electronic control unit generates a control signal according to the unlocking decision command. Specifically, the CAN bus communication protocol can be used to transmit the unlocking command to the actuator of the target door to ensure the real-time and accuracy of the command transmission.

[0133] The door actuator receives the unlock command and moves the unlocking mechanism, which means that the actuator drives the mechanical components to complete the unlocking action according to the received electrical signal. Specifically, it can be implemented by a micro motor or an electromagnetic lock structure, which is used to convert the electrical signal into mechanical displacement to release the door lock state.

[0134] The mechanism feedback signal refers to the confirmation signal generated by the actuator after completing the action. Specifically, a position sensor or current detection circuit can be used to collect the motion state of the actuator to verify whether the unlocking operation is successfully executed.

[0135] Feedback of the unlock success message to the user terminal device through the low-power Bluetooth module means sending the execution result to the user device in the form of an encrypted data packet. Specifically, BLE broadcast or point-to-point communication mode can be used to inform the user of the unlock status in real time.

[0136] It's understandable that when the ECU determines that the unlocking conditions are met, the unlocking command is sent to the actuator of the target door, which then drives the mechanical components to complete the unlocking action. Subsequently, the sensor within the mechanism detects the unlocking status and generates a feedback signal. This signal is received by the ECU, which then encrypts and transmits the unlocking result to the user's terminal device via a low-power Bluetooth module. For example, if the door is successfully unlocked, the user's phone will display an "Unlock Successful" prompt. If the actuator fails to complete the action due to a malfunction, the feedback signal will trigger the ECU to resend the command or initiate an abnormality alarm process.

[0137] In summary, this method installs and initializes a low-power Bluetooth module in the vehicle, establishes an encrypted pairing connection with the user terminal, generates a session key, measures the distance between the terminal and the vehicle using phase ranging and round-trip time ranging techniques, verifies identity using the session key, compares the distance information with a preset threshold to determine whether to trigger the unlock command, and ultimately controls the unlocking actuator to complete the operation and provide feedback. This method accurately determines the actual distance between the user terminal and the vehicle, stably triggers the unlocking operation in complex environments, and ensures the security of the communication process through a dynamic encryption mechanism, effectively addressing the high false trigger rate and insufficient security protection issues in traditional solutions.

[0138] To address the above technical issues, embodiments of the present invention further provide a chip, which can be either a general-purpose or dedicated processor. The chip includes a processor configured to support a terminal in executing the aforementioned steps, such as loading and running a computer program from a memory, enabling the device in which the chip is installed to execute the program, thereby implementing the vehicle unlocking control methods described in the various embodiments described above.

[0139] Optionally, in some examples, the chip further includes a transceiver, which is used to receive control from the processor and to support the terminal in executing the above-mentioned related steps to implement the car unlocking control method in each of the above-mentioned embodiments.

[0140] Optionally, the chip may further include a storage medium.

[0141] It should be noted that the chip can be implemented using the following circuits or devices: one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits that can perform the various functions described throughout this application.

[0142] The present invention also provides a terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the vehicle unlocking control method provided in the above embodiment are implemented.

[0143] Please refer to the following for details: Figure 4 , Figure 4The following is a basic block diagram of the structure of a terminal, which includes a processor, a non-volatile storage medium, a memory, and a network interface connected via a system bus. The non-volatile storage medium of the terminal stores an operating system, a database, and computer-readable instructions. The database may store a control information sequence. When the computer-readable instructions are executed by the processor, the processor can implement a method for controlling vehicle unlocking. The processor of the terminal is used to provide computing and control capabilities to support the operation of the entire terminal. The memory of the terminal may store computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor can implement a method for controlling vehicle unlocking. The network interface of the terminal is used to connect and communicate with the terminal. Those skilled in the art will understand that the structure shown in the figure is only a block diagram of a portion of the structure related to the solution of the present application and does not constitute a limitation on the terminal to which the solution of the present application is applied. A specific terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0144] It will be understood by those skilled in the art that the terms "terminal" and "terminal device" as used herein include both devices having a wireless signal receiver, which are devices having only a wireless signal receiver without transmission capability, and devices having receiving and transmitting hardware, which are electronic devices having receiving and transmitting hardware capable of performing two-way communication over a two-way communication link. Such electronic devices may include: cellular or other communication devices having a single-line display, a multi-line display, or a cellular or other communication device without a multi-line display; a PCS (Personal Communications Service) which may combine voice, data processing, fax, and / or data communication capabilities; a PDA (Personal Digital Assistant) which may include a radio frequency receiver, a pager, Internet / Intranet access, a web browser, a notepad, a calendar, and / or a GPS (Global Positioning System) receiver; and conventional laptop and / or palmtop computers or other devices having and / or including a radio frequency receiver. As used herein, the terms "terminal" or "terminal device" may be portable, transportable, installed in a vehicle (air, sea, and / or land), or adapted and / or configured to operate locally, and / or in a distributed manner, at any other location on Earth and / or in space. The terms "terminal" or "terminal device" as used herein may also refer to a communication terminal, an Internet terminal, or a music / video playback terminal, such as a PDA, an MID (Mobile Internet Device), and / or a mobile phone with music / video playback capabilities, or a smart TV, a set-top box, or other device.

[0145] The present invention also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the vehicle unlocking control method described in any of the above embodiments.

[0146] This embodiment also provides a computer program that can be distributed on a computer-readable medium and executed by a computing device to implement at least one step of the gait-based identity recognition method introduced above; and in some cases, at least one of the steps shown or described can be executed in an order different from that described in the above embodiment.

[0147] This embodiment further provides a computer program product, including a computer-readable device, on which the computer program shown above is stored. In this embodiment, the computer-readable device includes the computer-readable storage medium shown above.

[0148] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0149] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0150] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for controlling vehicle unlocking, characterized in that: The method comprises: Installing a low-power Bluetooth module on a car and initializing the low-power Bluetooth module; Establish an encrypted pairing connection with the user terminal device and generate a session key; Measuring the distance between the user terminal device and the car based on phase ranging technology and round-trip time ranging technology; Verifying the identity through the session key and comparing the distance information with a preset threshold to determine whether to trigger an unlock instruction to achieve unlock control; When the judgment result is that the unlocking condition is met, the unlocking actuator on the vehicle is controlled to perform the unlocking operation and the execution result is fed back.

2. The vehicle unlocking control method according to claim 1, characterized in that: The step of installing a low-power Bluetooth module on a car and initializing the low-power Bluetooth module includes: Install the Bluetooth low energy modules at preset locations in the car and output the coordinates of the installation locations of each module, where the preset locations include the center console, the front of the car, and the rear of the car; Connecting the power interface of each of the low-power Bluetooth modules to the vehicle power bus, and performing communication interface mapping using the installation location coordinates as input; Execute initialization of each of the low-power Bluetooth modules and output availability identifiers of each module, wherein the initialization includes reading the module serial number of each of the low-power Bluetooth modules and configuring the communication frequency band and functional status.

3. The vehicle unlocking control method according to claim 1, characterized in that: The step of establishing an encrypted pairing connection with the user terminal device and generating a session key includes: The user terminal device sends a pairing request and a unique identifier of the terminal device to the low-power Bluetooth module of the car's central control, and outputs a request message; The low-power Bluetooth module of the central control receives the request message, transmits the unique identifier to the ECU, and outputs the identity upload parameters; Based on the identity upload parameters, the ECU generates a session key and sends it to the user terminal device through the low-power Bluetooth module of the central control, outputting the session key status.

4. The vehicle unlocking control method according to any one of claims 1 to 3, characterized in that: The measuring of the distance information between the user terminal device and the car based on the phase ranging technology and the round-trip time ranging technology includes: Each Bluetooth low energy module collects phase ranging signal parameters based on phase ranging technology and outputs the original phase data of phase ranging; Each Bluetooth low energy module collects round-trip delay signal parameters based on round-trip time ranging technology and outputs the original round-trip delay data; The ECU performs weighted fusion calculation on the original phase data and the original time delay data, and outputs distance information between the user terminal device and the car.

5. The vehicle unlocking control method according to claim 4, characterized in that: Each of the low-power Bluetooth modules collects phase ranging signal parameters based on phase ranging technology and outputs raw phase data of phase ranging, including: Each Bluetooth low energy module sends a ranging signal on N predefined frequencies and outputs a frequency list; The user terminal device returns the reflected signal to the low-power Bluetooth module of the central control according to the frequency list, and analyzes the output reflected signal parameters; The low-power Bluetooth module of the central control calculates and records the phase difference at each frequency and outputs the original phase difference data.

6. The vehicle unlocking control method according to claim 4, characterized in that: Each Bluetooth low energy module collects round-trip delay signal parameters based on round-trip time ranging technology and outputs raw round-trip delay data, including: Each Bluetooth low energy module sends a scrambled encrypted data packet and starts an internal timer, outputting a timing start flag; Each Bluetooth low energy module receives a reflected data packet returned by the user terminal device based on the scrambled encrypted data packet, stops the internal timer, and outputs the original value of the round-trip delay; Noise filtering is performed on the original round-trip delay value to output original delay data.

7. The method according to claim 4, characterized in that The ECU performs weighted fusion calculation on the original phase data and the original time delay data, and outputs distance information between the user terminal device and the car, including: The ECU calculates the initial distance between each Bluetooth low energy module and the user terminal device based on the original phase difference data and the original delay data, and outputs an initial distance list; The initial distance list is weighted according to the module signal quality, and weighted distance data is output; Perform Kalman filtering fusion on the weighted distance data and output distance information between the user terminal device and the car.

8. The vehicle unlocking control method according to claim 1, characterized in that: The verifying the identity by using the session key and comparing the distance information with a preset threshold to determine whether to trigger an unlock instruction includes: Perform hash signature verification on the distance information using the session key, and output a verification result; Comparing the verification result with a preset safety threshold and outputting the comparison result; An unlocking decision is generated based on the comparison result, and an unlocking decision instruction is output.

9. The vehicle unlocking control method according to claim 8, characterized in that: The performing hash signature verification on the distance information using the session key and outputting the verification result includes: Generate a MAC message authentication code for the distance information using the session key, and output the MAC code; Compare the MAC code with the MAC code calculated by the ECU side and output the comparison result; When the comparison result is consistent, an identity verification success mark is output.

10. The bicycle unlocking control method according to claim 8, characterized in that: When the judgment result shows that the unlocking condition is met, the unlocking actuator on the vehicle is controlled to perform the unlocking operation and the execution result is fed back, including: When the unlock decision instruction is unlock, the ECU sends an unlock instruction to the designated door actuator and outputs an unlock command; The door actuator receives the unlock command and moves the unlocking mechanism, outputting a mechanism feedback signal; The ECU receives the feedback signal from the mechanism and feeds back the unlocking success message to the user terminal device through the low-power Bluetooth module, and outputs the feedback status.

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