Ping-pong effect prevention blocking control method and device, control equipment and storage medium

Abstract

This invention discloses a locking control method to prevent the ping-pong effect, comprising: acquiring positioning information between the digital key anchor point on the vehicle-mounted terminal and the digital key; determining the current area of ​​the digital key based on the positioning information; analyzing the positioning information to determine whether a target event has been identified, and analyzing the current movement trend of the user based on the positioning information; the target event being an unexpected change in the area where the digital key is located; when the vehicle-mounted terminal is in an unlocked state, if the target event is identified, determining a delay duration based on the target event; within the delay duration, when the area where the digital key is currently located is a locked area, controlling the vehicle-mounted terminal to remain in an unlocked state; after the delay duration is reached, determining whether to lock based on the movement trend, thereby reducing unintended locking / unlocking operations without affecting normal locking / unlocking, and improving the user experience.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of digital key, and particularly relate to a lock control method and device for preventing ping-pong effect, a control device and a storage medium. BACKGROUND

[0002] Bluetooth Low Energy (BLE) and Ultra Wide Band (UWB) technologies are widely used in the field of digital keys, but due to the signal characteristics of the two being easily affected, the positioning area is misjudged, so in actual use, ping-pong effect is easily generated. Among them, the UWB signal may be affected by the human body, physical obstacles, walls or other interference sources, resulting in distance measurement jumping or failing to obtain effective distance measurement value; and the RSSI of the BLE signal may produce a large jump after being blocked, resulting in incorrect positioning. Therefore, ping-pong effect has become a common problem in the use of digital keys. For example, when the user is chatting near the vehicle and is not far away from the vehicle, but after turning around, the vehicle is immediately locked, and after turning around to face the vehicle, the vehicle is immediately unlocked, which affects the user experience. Therefore, how to improve the ping-pong effect without affecting the normal unlocking and locking has become a technical problem to be solved in the field. SUMMARY

[0003] Embodiments of the present application provide a lock control method and device for preventing ping-pong effect, a control device and a storage medium, which intelligently delay the lock by recognizing the turning event and the user's walking trend, so as to reduce the unlocking and locking operation not intended by the user and improve the user experience without affecting the normal unlocking and locking.

[0004] In a first aspect, embodiments of the present application provide a lock control method for preventing ping-pong effect, acquiring positioning information between a digital key anchor point of a vehicle machine end and a digital key;

[0005] determining a region where the digital key is currently located according to the positioning information;

[0006] analyzing the positioning information to determine whether a target event is recognized, and analyzing a walking trend of the user at present according to the positioning information; the target event is an unexpected change in the region where the digital key is located;

[0007] when the state of the vehicle machine end is an unlocking state, if the target event is recognized, determining a delay time length according to the target event;

[0008] within the delay time length, when the region where the digital key is currently located is a locking region, controlling the vehicle machine end to remain in the unlocking state, and after the delay time length is reached, determining whether to lock according to the walking trend.

[0009] As an embodiment, the target event comprises: the user is turning around to face away from the vehicle direction, no turning around;

[0010] The delay duration determined according to the target event is a delay duration after the turning around ends, and the delay duration determined according to the target event comprises:

[0011] The delay duration before the turning around is determined according to the positioning information before the user is turning around to face away from the vehicle direction and a preset rule;

[0012] The turning duration is obtained according to the positioning information;

[0013] The difference between the delay duration before the turning around and the turning duration is taken as the delay duration after the turning around ends;

[0014] Correspondingly, the unlocking duration after the turning around ends is accumulated;

[0015] In a case where the unlocking duration after the turning around ends is within the delay duration after the turning around ends, and the area where the digital key is currently located is a closed area, the car machine end is controlled to remain in the unlocked state;

[0016] The method further comprises:

[0017] The car machine end is controlled to remain in the unlocked state when the area where the digital key is currently located is a closed area before the target event ends.

[0018] As an embodiment, the turning duration obtained according to the positioning information comprises:

[0019] If the UWB ranging value is valid during the turning around, an initial turning duration TimeTurnBack is obtained, and if the TimeTurnBack is greater than a turning duration threshold, a modified duration obtained according to the difference between the TimeTurnBack and the turning duration threshold is taken as the turning duration;

[0020] Or

[0021] If the UWB ranging value is invalid during the turning around, the turning duration is obtained according to a prediction duration of one-step state prediction of a preset Kalman filtering algorithm.

[0022] As an embodiment, the delay duration before the turning around is determined according to the positioning information before the user is turning around to face away from the vehicle direction and a preset rule, comprising:

[0023] when the positioning information is a UWB ranging value and the UWB ranging value corresponding to the start of the target event is valid, obtaining the delay time length before the turning according to the UWB ranging value corresponding to the start of the target event and a corresponding relationship between distance and delay time; or

[0024] if the UWB ranging value at the start of the target event is invalid, obtaining the delay time length before the turning according to the last valid UWB ranging value at the start of the target event and a preset moving speed; or

[0025] when the positioning information is RSSI, setting the delay time length before the turning as a preset time length.

[0026] As an embodiment, the method further comprises:

[0027] if the target event is not identified, determining the delay time length according to preset positioning information after entering the current unlocked state.

[0028] As an embodiment, the method further comprises:

[0029] if an exit condition is detected after the start of the target event, returning to determine the delay time length according to preset positioning information after entering the current unlocked state.

[0030] As an embodiment, the determining whether to lock according to the walking trend comprises:

[0031] when the walking trend is away from the vehicle, controlling the vehicle terminal to be locked;

[0032] when the walking trend is no walking, if within a preset secondary delay time length, controlling the vehicle terminal to remain in the unlocked state, if the secondary delay time length is exceeded and the walking trend remains no walking, controlling the vehicle terminal to be locked;

[0033] when the walking trend is approaching the vehicle terminal, controlling the vehicle terminal to remain in the unlocked state.

[0034] In a second aspect, an embodiment of the present application provides a lock control device for preventing ping-pong effect, comprising:

[0035] an acquisition module configured to acquire positioning information between a digital key anchor point of a vehicle terminal and a digital key;

[0036] a region determination module configured to determine a region in which the digital key is currently located according to the positioning information;

[0037] The trend identification module is configured to analyze the positioning information to determine whether a target event is identified, and to analyze a current trend of the user according to the positioning information; the target event is an unexpected change in the area where the digital key is located.

[0038] The delay estimation module is configured to, when the state of the car machine end is the unlocked state, determine a delay duration according to the target event if the target event is identified.

[0039] The delay locking control module is configured to, within the delay duration, control the car machine end to remain in the unlocked state when the area where the digital key is currently located is the locked area, and to determine whether to lock according to the trend after the delay duration is reached.

[0040] In a third aspect, an embodiment of the present application provides a positioning device, including a memory and a processor.

[0041] The memory is configured to store a computer program; and the processor is configured to read the computer program in the memory and implement the anti-ping effect locking control method as described above when the program is executed.

[0042] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the anti-ping effect locking control method as described in the first aspect.

[0043] Compared with the prior art, the technical scheme provided by the embodiment of the present application at least has the following positive effects:

[0044] In the technical scheme of the embodiment of the present application, by obtaining the positioning information between the digital key anchor point of the car machine end and the digital key, determining the area where the digital key is currently located according to the positioning information, analyzing the positioning information to determine whether a target event is identified, and analyzing a current trend of the user according to the positioning information, the target event is an unexpected change in the area where the digital key is located, when the state of the car machine end is the unlocked state, determining a delay duration according to the target event if the target event is identified, within the delay duration, controlling the car machine end to remain in the unlocked state when the area where the digital key is currently located is the locked area, and determining whether to lock according to the trend after the delay duration is reached, the ping effect is effectively identified and intelligent delay locking control is performed, so that the responsiveness of the digital key can be ensured while effectively avoiding frequent unlocking and locking of non-user intention. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0046] Figure 1 The flowchart of the anti-bounce effect latching control method provided for the first embodiment of the present application;

[0047] Figure 2 The structural diagram of the anti-bounce effect latching control device provided for the second embodiment of the present application;

[0048] Figure 3 The structural diagram of the control device provided for the third embodiment of the present application. DETAILED DESCRIPTION

[0049] The present application will be further described in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0050] Figure 1 The flowchart of the anti-bounce effect latching control method provided for the embodiments of the present application can be applied to digital key latching control, and is used to prevent frequent latching and unlatching caused by bounce effect. The method can be executed by an anti-bounce effect latching control device provided by the embodiments of the present application, the device can be realized in software and / or hardware mode, and is configured in the control device of the vehicle terminal. As shown in the figure, the anti-bounce effect latching control method of the present application includes the following steps: Figure 1

[0051] Step 101: Obtain the positioning information between the digital key anchor point of the vehicle terminal and the digital key.

[0052] Step 102: Determine the area where the digital key is currently located according to the positioning information.

[0053] Step 103: Analyze the positioning information to determine whether a target event is recognized, and analyze the current trend of the user according to the positioning information; the target event is that the area where the digital key is located changes unexpectedly.

[0054] Step 104: When the state of the vehicle terminal is the unlocking state, if the target event is recognized, determine the delay time length according to the positioning information corresponding to the target event.

[0055] ​Step 105: controlling the head unit to keep the unlocking state when the digital key is currently located in the closed area during the time delay duration, and determining whether to close according to the walking trend after the time delay duration is reached.

[0056] The steps 101-105 of the embodiment are described in detail below.

[0057] Step 101: obtaining positioning information between the digital key anchor point of the head unit and the digital key.

[0058] The digital key anchor point can be a BLE single-mode anchor point, a UWB single-mode anchor point, or a UWB / BLE dual-mode anchor point, and the obtained positioning information can include a single UWB ranging value, a single RSSI, or a UWB ranging value and an RSSI. The number, type, and deployment of the anchor points are not limited in the embodiment.

[0059] In order to improve the subsequent positioning accuracy, the obtained positioning information can be pre-processed by filtering, etc. For example, when N BLE signal strengths RSSI[N] are obtained, sliding average, low-pass filtering, etc. can be performed to obtain filtered N RSSI_f[N]. When M UWB ranging values DIST[M] are obtained, Kalman filtering, adaptive filtering, etc. can be performed to obtain filtered M ranging values DIST_f[M]. When there are M1 (M1<=M) invalid ranging values of the anchor points, the filter can be used to determine whether the ranging value of the UWB anchor point i (1<=i<=M1) at the current time can be predicted as the ranging prediction value of the anchor point i, and whether each filtered ranging value in DIST_f[M] is a predicted value. When the prediction flag bit AllPredictFlag of all UWB anchor points is 1, it means that all the ranging values are predicted values, and when AllPredictFlag is 0, it means that at least one UWB ranging value is valid.

[0060] Step 102: determining the area where the digital key is currently located according to the positioning information.

[0061] According to the digital key protocol, the functional areas of the digital key can include PS, PE (i.e., UNLOCK), LOCK, WELCOME, and CONNECT. Among them, when the digital key is located in the PE area, the vehicle should be unlocked; when the digital key is located in the WELCOME area, the vehicle should be locked, and the unlocking and locking conditions of the vehicle are not specifically limited in this embodiment. When the digital key is a UWB / BLE dual anchor point, an out-of-vehicle area positioning method using UWB ranging value as the main and RSSI as the auxiliary can be used to obtain the out-of-vehicle area. The current area where the digital key is located can be obtained according to the filtered RSSI_f[N], or the current area where the digital key is located can be obtained according to DIST_f[M], or the current area where the digital key is located can be obtained according to DIST_f[M] and RSSI_f[N]. The method for determining the area where the digital key is located according to the measurement information of the anchor point is not specifically limited in this embodiment.

[0062] Step 103: Analyzing the positioning information to determine whether a target event is recognized, and analyzing the current walking trend of the user according to the positioning information.

[0063] The target event is that the area where the digital key is located changes unexpectedly. For example, the digital key is located at a distance of 2 meters from the vehicle (PE) at the previous moment, and is located at a distance of 5 meters (WELCOME) at the current moment, so that the area where the digital key is located jumps from the unlocking area to the locking area, thereby causing the ping-pong effect. The reasons for causing the ping-pong effect include turning around and shielding, etc. Illustratively, the target event can include the user turning around to face away from the vehicle, at which time the signal quality of the digital key with the user during the process of turning around from facing the vehicle to facing away from the vehicle deteriorates rapidly, causing the area positioning result to change abruptly, such as from the unlocking area to the locking area, for example, from PE to LOCK, WELCOME, or CONNECT. When the user turns around from facing away from the vehicle to facing the vehicle, the area determination result can change from the locking area to the unlocking area. It can be understood that the causes of the target event are not specifically limited in this embodiment, as long as the area positioning result of the digital key is likely or possible to cause the ping-pong effect, for example, when the user is shielded by a human body, the signal change of the positioning information can also be identified as the target event.

[0064] The obtained RSSI[N] is stored in the RSSI history sliding window, i.e., the RSSI sequence is obtained, wherein the value of N can be determined according to the signal transmission and reception period and the duration of the turning action, for example, N can be 4. The turning flag TurnFlag_RSSI of the user at the current moment and the walking trend flag TrendFlag_RSSI of the user are obtained by analyzing the data in the RSSI history sliding window.

[0065] The DIST[M] is stored in the DIST history sliding window, that is, the DIST sequence is obtained, and the value of M can be the same as N, for example. The turn flag TurnFlag_DIST of the user at the current time and the trend flag TrendFlag_DIST of the user are obtained by analyzing the data in the DIST history sliding window.

[0066] When the positioning information contains the RSSI and the UWB ranging value, the final turn flag TurnFlag can be obtained in combination with the results of the TurnFlag_RSSI and the TurnFlag_DIST and the respective confidence degrees. When only the RSSI or the UWB ranging value is available, the TurnFlag can be obtained according to the TurnFlag_RSSI or the TurnFlag_DIST.

[0067] The turn flag can have three results, for example, when the TurnFlag = NONE, it indicates that the user does not turn around; when the TurnFlag = FORWARD, it indicates that the user is turning around to face the vehicle; and when the TurnFlag = BACK, it indicates that the user is turning around to face away from the vehicle. It can be understood that when the TurnFlag changes from the NONE to the BACK, it indicates that the target event is recognized, and when the TurnFlag changes from the BACK to the NONE, it indicates that the BACK turn is over. The start time of the BACK and the duration of the BACK, that is, the length of the BACK turn, can be determined according to the history sliding window data in which the BACK is recognized.

[0068] It should be noted that the method for recognizing the target event and the method for analyzing the trend direction of the embodiment of the present application are not specifically limited, and the target event and the trend direction can be recognized and obtained according to the threshold detection, the time series analysis, the machine learning and the like. For example, the trend direction can be obtained according to the increasing or decreasing trend of the characteristic sequence of the RSSI or the ranging value, and the increasing or decreasing trend can be obtained by calculating the slope of the characteristic sequence. When it is not the increasing or decreasing trend, it can be recognized as the trend direction of the NONE. The change rate of the characteristic value of the characteristic sequence, the RSSI or the ranging value can be calculated, the BACK can be recognized according to the change rate threshold, and when it does not conform to the BACK mode, it can be recognized as the turn of the NONE.

[0069] The digital key being blocked can also be regarded as turning around to face away from the vehicle, for example, turning around with the digital key in the hand or in the pocket, and a person or an obstructing signal feature is placed between the digital key and the vehicle, which is similar to the digital key, and similar events are uniformly referred to as turning around in this paper for the convenience of description.

[0070] Step 104: When the state of the vehicle machine end is the unlocking state, if the target event is recognized, the delay duration is determined according to the target event.

[0071] The target event includes: the user is turning around in the direction of facing away from the vehicle in sequence, no turning around.

[0072] The delay time length determined according to the target event in step 104 is the delay time length after the turning around ends, and determining the delay time length according to the target event includes the following sub-steps 1041-1043:

[0073] Sub-step 1041: determining the delay time length before turning around according to the positioning information before the user is turning around in the direction of facing away from the vehicle and a preset rule.

[0074] When the positioning information is a UWB ranging value and the UWB ranging value corresponding to the start of the target event is valid, the delay time length before turning around is obtained according to the UWB ranging value corresponding to the start of the target event and the corresponding relationship between distance and delay time. Specifically, an example of the corresponding relationship between distance and delay time is as follows:

[0075] When ShortestDist<DistThrsld_0 (2m), T=HoldTimeThrsld_0 (4s);

[0076] When ShortestDist<DistThrsld_1 (3m), T=HoldTimeThrsld_1 (3s);

[0077] When ShortestDist<DistThrsld_2 (4m), T=HoldTimeThrsld_2 (2s).

[0078] ShortestDist can be the shortest UWB ranging value corresponding to the start of the target event, and T is the corresponding delay time length, which is the delay time length before turning around. It can be understood that the delay time length corresponding to other ranging values can also be obtained according to the corresponding relationship between distance and delay time. DistThrsld_0-2 are multi-level ranging value thresholds, and HoldTimeThrsld_0-2 are corresponding multi-level delay time lengths. Through the multi-level ranging values and their corresponding delay time lengths, the delay time length can be intelligently adjusted according to the intention, which can effectively avoid the ping-pong effect while ensuring the responsiveness of the digital key.

[0079] If the UWB ranging value at the start of the target event is invalid, the delay time length before turning around is obtained according to the last valid UWB ranging value at the start of the target event and a preset moving speed, for example, the speed of the user walking quickly, that is, the time length to reach the locking distance is calculated as the delay time length before turning around according to the last UWB valid ranging value at the start of this turning around, the speed of the user walking quickly.

[0080] When the positioning information is RSSI, the delay time length before turning around is a preset time length, for example, 2s.

[0081] If the three conditions are not met, the delay time length can be 0.

[0082] Sub-step 1042: obtaining the turning duration according to the positioning information.

[0083] If the UWB ranging value is valid during the turning, the initial turning duration TimeTurnBack is accumulated, and if TimeTurnBack is greater than the turning duration threshold TimeThrsld, the modified duration obtained according to the difference between TimeTurnBack and the turning duration threshold is taken as the turning duration. Specifically, when TimeTurnBack>TimeThrsld, for example, 1s, the turning duration dT=TimeTurnBack-TimeThrsld is calculated; if TimeTurnBack is less than or equal to TimeThrsld, the turning duration dT=0. Due to the instability of UWB signal during turning, TimeTurnBack may be longer, and by correcting the longer TimeTurnBack, the error can be reduced. The ping-pong effect starts from the turning action itself, and has little to do with the turning duration, so as long as the turning action is captured, the next step can be performed.

[0084] If the UWB ranging value is invalid during the turning, i.e., AllPredictFlag=1, the turning duration is obtained according to the prediction time length of one-step state prediction by a preset Kalman filtering algorithm, i.e., the accumulated prediction time length TimeTurnPred is taken as the turning duration. The preset Kalman filtering algorithm can adopt the ranging value filtering method disclosed in the invention patent with publication date of November 11, 2025 and publication number of CN120935763A, and the invention name is digital key ranging value filtering method, which is not described here.

[0085] Sub-step 1043: taking the difference between the delay time length before turning and the turning duration as the delay time length after turning.

[0086] Specifically, the difference between the delay time length before turning obtained in sub-step 1041 and the turning duration in sub-step 1042 can be taken as the delay time length after turning. For example, when the delay time length before turning is greater than dT, the difference between the two is taken as the delay time length after turning, otherwise, when the delay time length before turning is less than or equal to dT, the delay time length after turning is 0. For example, the delay time length before turning is 4s, and the turning duration dT is 0.5s, so the delay time length after turning is 3.5s.

[0087] When the delay time before turning is greater than TimeTurnPred, the difference between the two is taken as the delay time after turning is over. When the delay time before turning is less than or equal to TimeTurnPred, the delay time after turning is over is taken as 0. For example, the delay time before turning is 3s, and the duration of turning TimeTurnPred is 0.5s, then the delay time after turning is over is 2.5s.

[0088] Correspondingly, the duration of unlocking after turning is accumulated. When the turning flag TurnFlag changes from BACK to NONE, it indicates that the current turning action has been completed, and the duration of turning done TimeTurnDone since then is taken as the duration of unlocking after turning is over.

[0089] When the duration of unlocking after turning is over is within the delay time after turning is over, and the area where the digital key is currently located is a closed area, it is determined that there is a ping-pong effect, and the car machine end is controlled to remain in the unlocked state at this time.

[0090] It should be noted that the car machine end is controlled to remain in the unlocked state when the area where the digital key is currently located is a closed area before the target event is over. For example, when TurnFlag=BACK, when accumulating TimeTurnBack or TimeTurnPred, when the area where the digital key is currently located is a closed area (WELCOME or further), no closed instruction is sent, and the operation at the next moment is directly entered.

[0091] In this embodiment, if the exit condition is detected after the target event starts, the delay time is determined according to the preset position information after entering the current unlocked state described below. Specifically, when any of the following conditions is met, steps 104-105 do not need to be executed, and after resetting the relevant time counters in step 104, the step 104, step 105 is directly jumped out.

[0092] 1) When the UWB ranging value of the digital key at the current time is invalid, the area where the digital key is located is obtained according to the UWB ranging value and RSSI, and the shortest ranging value ShortestDist at the time closest to the current time with valid ranging value is greater than or equal to DistThrsld_2 (4m);

[0093] 2) When the area where the digital key is located is obtained according to the UWB ranging value and AllPredictFlag=0, that is, there is at least one valid UWB ranging value.

[0094] Step 105: controlling the vehicle terminal to keep the unlocked state when the digital key is currently in the closed area during the delay time length, and determining whether to lock according to the walking trend after the delay time length is reached.

[0095] Determining whether to lock according to the walking trend can include:

[0096] When the walking trend is LEAVE, controlling the vehicle terminal to lock;

[0097] When the walking trend is NONE, if within a preset secondary delay time length, controlling the vehicle terminal to keep the unlocked state, and if the secondary delay time length is reached and the walking trend remains in the NONE state, controlling the vehicle terminal to lock;

[0098] When the walking trend is APPROACH, controlling the vehicle terminal to keep the unlocked state.

[0099] Specifically, according to the unlocked duration TimeTurnDone after the turn is completed and the delay time length T after the turn is completed, and the walking trend, the locking is controlled.

[0100] When TimeTurnDone < T, and the area where the digital key is currently located is WELCOME or further, it is determined that this is a ping-pong, and the vehicle is controlled to keep the unlocked state.

[0101] When TimeUnlock >= T and the area where the digital key is currently located is WELCOME or further:

[0102] 1) When TrendFlag = LEAVE, immediately send a lock command;

[0103] 2) When TrendFlag = NONE, delay HoldTimeThrsld_2 (2s) again, and if TrendFlag remains unchanged during the delay, send a lock command after HoldTimeThrsld_2 is reached;

[0104] 3) When TrendFlag = APPROACH, controlling the vehicle to keep the unlocked state.

[0105] In this embodiment, the locking control method further includes: if the target event is not recognized, determining the delay time length according to preset positioning information after entering the current unlocked state.

[0106] When the vehicle is in the unlocked state and no turn event occurs or is far away from the vehicle, the locking is controlled according to the following steps:

[0107] ① Record the duration TimeUnlock of the current unlocked state;

[0108] ②Estimate the delay duration T, the delay duration T can be obtained according to the correspondence between the distance and the delay time, and the ranging value can be the ranging value when the vehicle enters the unlocking state;

[0109] ③When TimeUnlock<T, the area where the digital key currently locates is WELCOME or further, it is judged that there is ping-pong effect at this time, and the vehicle is controlled to keep the unlocking state.

[0110] ④When TimeUnlock>=T and the area where the digital key currently locates is WELCOME or further, the closing is controlled according to the walking trend, which is the same as described above, and will not be described here.

[0111] The anti-ping-pong effect closing control method of the embodiment of the application is randomly tested by a user in a BLE single mode, a UWB single mode and a UWB / BLE dual mode digital key system, and the ping-pong effect is significantly improved. Among them, the ping-pong effect is improved better in the BLE / UWB dual mode system.

[0112] Compared with the prior art, the anti-ping-pong effect closing control method of the embodiment of the application obtains the positioning information between the digital key anchor point of the vehicle machine end and the digital key, determines the area where the digital key currently locates according to the positioning information, analyzes the positioning information to determine whether a target event is recognized, and analyzes the walking trend of the user according to the positioning information. The target event is that the area where the digital key locates changes unexpectedly, when the state of the vehicle machine end is the unlocking state, if the target event is recognized, the delay duration is determined according to the target event, and when the area where the digital key currently locates is the closing area, the vehicle machine end is controlled to keep the unlocking state within the delay duration. After the delay duration is reached, whether to close is determined according to the walking trend. By effectively identifying the ping-pong effect and intelligently controlling the delay closing, the responsiveness of the digital key can be ensured while effectively avoiding the frequent unlocking and closing of the non-user intention.

[0113] The second embodiment of the application provides an anti-ping-pong effect closing control device, which is configured in a control equipment of a digital key system. As shown in the figure, the control device 200 includes an acquisition module 201, an area judgment module 202, a trend identification module 203, a delay estimation module 204 and a delay closing control module 205. Figure 2

[0114] The acquisition module 201 is used for acquiring the positioning information between the digital key anchor point of the vehicle machine end and the digital key.

[0115] The area judgment module 202 is used for determining the area where the digital key currently locates according to the positioning information.

[0116] ​The trend identification module 203 is configured to analyze the positioning information to determine whether a target event is identified, and to analyze a current walking trend of the user according to the positioning information; the target event is an unexpected change in a region where the digital key is located.

[0117] The delay estimation module 204 is configured to, when the state of the vehicle terminal is the unlocked state, determine a delay duration according to the target event if the target event is identified.

[0118] The delay locking control module 205 is configured to control the vehicle terminal to keep the unlocked state when the digital key is currently located in a locking region within the delay duration, and to determine whether to lock according to the walking trend after the delay duration is reached.

[0119] Optionally, the target event can include: the user is turning around in the direction away from the vehicle in sequence, and no turning around. The delay estimation module 204 can include:

[0120] A pre-turning duration calculation sub-module is configured to determine a pre-turning delay duration according to the positioning information before the user is turning around in the direction away from the vehicle and a preset rule;

[0121] A duration calculation sub-module is configured to obtain a turning duration according to the positioning information;

[0122] A post-turning duration calculation sub-module is configured to take a difference between the pre-turning delay duration and the turning duration as a post-turning delay duration after the turning is completed;

[0123] Correspondingly, the delay locking control module 205 can include:

[0124] A post-turning unlocking duration accumulation sub-module is configured to accumulate an unlocking duration after the turning is completed;

[0125] A locking control sub-module is configured to control the vehicle terminal to keep the unlocked state when the digital key is currently located in the locking region and the unlocking duration after the turning is completed is within the post-turning delay duration.

[0126] The delay estimation module 204 can also be configured to control the vehicle terminal to keep the unlocked state when the digital key is currently located in the locking region before the target event is completed.

[0127] Optionally, the duration calculation sub-module is specifically configured to:

[0128] If the UWB ranging value is valid during the turning, an initial turning duration TimeTurnBack is accumulated, and if the TimeTurnBack is greater than a turning duration threshold, a modified duration obtained according to a difference between the TimeTurnBack and the turning duration threshold is taken as the turning duration;

[0129] or

[0130] If the UWB ranging value is invalid during the turning process, a turning duration is obtained according to a prediction duration of a state step prediction according to a preset Kalman filtering algorithm.

[0131] Optionally, the turning-before duration calculation submodule is specifically configured to:

[0132] When the positioning information is a UWB ranging value and the UWB ranging value corresponding to the start of the target event is valid, a delay duration before turning is obtained according to the UWB ranging value corresponding to the start of the target event and a corresponding relationship between distance and delay time; or

[0133] If the UWB ranging value at the start of the target event is invalid, a delay duration before turning is obtained according to the last valid UWB ranging value at the start of the target event and a preset moving speed; or

[0134] When the positioning information is RSSI, the delay duration before turning is a preset duration.

[0135] Optionally, the delay estimation module 204 is further configured to, if the target event is not identified, determine the delay duration according to preset positioning information after entering the current unlocked state.

[0136] Optionally, the delay estimation module 204 is further configured to, if the exit condition is detected after the start of the target event, return to determine the delay duration according to the preset positioning information after entering the current unlocked state.

[0137] Optionally, the delay lock control module 205 is specifically configured to:

[0138] When the walking trend is away from the vehicle, the vehicle terminal is controlled to be locked;

[0139] When the walking trend is no walking, if it is within a preset secondary delay duration, the vehicle terminal is controlled to remain in an unlocked state, if the secondary delay duration is exceeded and the walking trend remains no walking, the vehicle terminal is controlled to be locked;

[0140] When the walking trend is walking towards the vehicle terminal, the vehicle terminal is controlled to remain in an unlocked state.

[0141] Compared with the prior art, the anti-ping effect locking control device of the embodiment of the present application acquires the positioning information between the digital key anchor point of the vehicle machine end and the digital key, determines the region where the digital key is currently located according to the positioning information, analyzes the positioning information to determine whether a target event is recognized, and obtains the trend of the user's movement according to the analysis of the positioning information, the target event is that the region where the digital key is located changes unexpectedly, when the state of the vehicle machine end is the unlocking state, if the target event is recognized, the delay duration is determined according to the target event, and when the region where the digital key is currently located is the locking region, the vehicle machine end is controlled to remain in the unlocking state within the delay duration, and after the delay duration is reached, whether to lock is determined according to the trend, the ping effect is effectively recognized, and intelligent delay locking control is performed, so that the responsiveness of the digital key can be ensured while effectively avoiding frequent unlocking and locking of non-user intention.

[0142] Figure 3 The control device 30 provided in the third embodiment of the present application includes a memory 31 and a processor 32.

[0143] The memory 31 is used for storing a computer program, and the processor 32 is used for reading the computer program in the memory 31 and implementing the anti-ping effect locking control method as described in the foregoing embodiments when the program is executed.

[0144] The fourth embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is used for executing the technical solution of any method embodiment when executed by a computer processor.

[0145] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by software and necessary general hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the parts that contribute to the prior art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH, a hard disk or an optical disk, etc., including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in various embodiments of the present application.

[0146] It is worth noting that in the above-mentioned embodiments of the device, each unit and module included is only divided according to functional logic, but is not limited to the above-mentioned division, as long as the corresponding functions can be implemented; in addition, the specific names of each functional unit are only for the convenience of mutual differentiation, and are not used to limit the protection scope of the present application.

[0147] It is noted that the above are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method of ping-pong prevention latching control, characterized by, The method comprises: acquiring positioning information between a digital key anchor point of a vehicle terminal and a digital key; determining a region where the digital key is currently located according to the positioning information; analyzing the positioning information to determine whether a target event is recognized, and analyzing a current walking trend of a user according to the positioning information; the target event is that the region where the digital key is located changes unexpectedly; when the state of the vehicle terminal is an unlocked state, if the target event is recognized, a delay duration is determined according to the target event; within the delay duration, when the region where the digital key is currently located is a closed region, the vehicle terminal is controlled to remain in the unlocked state, and after the delay duration is reached, whether to be closed is determined according to the walking trend.

2. The method of claim 1, wherein, The target event comprises: the user is turning around in a direction away from the vehicle in sequence, and no turning around. The delay duration determined according to the target event is a delay duration after the turning around ends, and the delay duration determined according to the target event comprises: determining a delay duration before the turning around according to the positioning information before the user is turning around in the direction away from the vehicle and a preset rule; obtaining a turning duration according to the positioning information; taking the difference between the delay duration before the turning around and the turning duration as the delay duration after the turning around ends; correspondingly, accumulating an unlocked duration after the turning around ends; when the unlocked duration after the turning around ends is within the delay duration after the turning around ends, and the region where the digital key is currently located is a closed region, the vehicle terminal is controlled to remain in the unlocked state. The method further comprises: controlling the vehicle terminal to remain in the unlocked state when the region where the digital key is currently located is a closed region before the target event ends.

3. The method of claim 2, wherein, The method further comprises: if the UWB ranging value is valid during the turning around, an initial turning duration TimeTurnBack is accumulated, and if the TimeTurnBack is greater than a turning duration threshold, a modified duration obtained according to the difference between the TimeTurnBack and the turning duration threshold is taken as the turning duration; or if the UWB ranging value is invalid during the turning around, the turning duration is obtained according to a prediction duration of one-step prediction of a state according to a preset Kalman filtering algorithm.

4. The method of claim 2, wherein, The method further comprises: when the positioning information is a UWB ranging value and the UWB ranging value corresponding to the start of the target event is valid, the delay duration before the turning around is obtained according to the UWB ranging value corresponding to the start of the target event and a corresponding relationship between distance and delay time; or if the UWB ranging value at the start of the target event is invalid, the delay duration before the turning around is obtained according to the last valid UWB ranging value at the start of the target event and a preset moving speed; or when the positioning information is RSSI, the delay duration before the turning around is a preset duration.

5. The method of claim 1, wherein, The method further comprises: If the target event is not identified, a preset positioning information after entering the current unlocking state is determined to determine a delay time length.

6. The method of claim 5, wherein, The method further comprises: If an exit condition is detected after the target event starts, a preset positioning information after entering the current unlocking state is determined to determine a delay time length.

7. The method of claim 1, wherein, The determination of whether to lock according to the walking trend comprises: When the walking trend is away from the vehicle, the vehicle terminal is controlled to be locked; When the walking trend is no walking, if within a preset secondary delay time length, the vehicle terminal is controlled to remain in the unlocking state, if the secondary delay time length is exceeded and the walking trend remains no walking, the vehicle terminal is controlled to be locked; When the walking trend is walking towards the vehicle terminal, the vehicle terminal is controlled to remain in the unlocking state.

8. A bounce prevention latching control device, characterized by, Comprise: An acquisition module is configured to acquire positioning information between a digital key anchor point of a vehicle terminal and a digital key; A region determination module is configured to determine a region in which the digital key currently locates according to the positioning information; A trend identification module is configured to analyze the positioning information to determine whether a target event is identified, and to determine a walking trend of a user according to the positioning information; The target event is an unexpected change in the region in which the digital key locates; A delay estimation module is configured to, when a state of the vehicle terminal is an unlocking state, determine a delay time length according to the target event if the target event is identified; A delay lock control module is configured to, when the digital key currently locates in a lock region, control the vehicle terminal to remain in the unlocking state within the delay time length, and to determine whether to lock according to the walking trend after the delay time length is reached.

9. A control device characterized by comprising: Comprise a memory and a processor; The memory is configured to store a computer program, and the processor is configured to read the computer program in the memory and implement the anti-ping effect lock control method according to any one of claims 1-7 when the program is executed.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the anti-ping effect lock control method according to any one of claims 1-7.

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