Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium. The method is applied to a vehicle, and comprises the following steps: when a Bluetooth module of the vehicle is in a first positioning mode, establishing Bluetooth connection with a mobile terminal in response to detection of a Bluetooth broadcast signal sent by the mobile terminal; receiving a Bluetooth broadcast signal sent by the mobile terminal, and determining a first distance between the mobile terminal and the vehicle according to the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal; if the first distance is smaller than the first preset distance, the Bluetooth module is controlled to be switched to a second positioning mode; when the Bluetooth module is in a second positioning mode, performing channel detection signal interaction with the mobile terminal through the Bluetooth module, and determining a second distance between the mobile terminal and the vehicle and first azimuth information of the mobile terminal relative to the vehicle; and if the second distance meets the preset unlocking condition, the corresponding vehicle door is controlled to execute unlocking operation according to the first azimuth information. The positioning precision can be improved, and the accuracy of vehicle unlocking and locking control is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle, and storage medium. Background Technology

[0002] In the field of smart cars, contactless unlocking and locking technology has become a key feature for enhancing user experience. Users can bring a Bluetooth device (such as a smartphone, smartwatch, or physical Bluetooth key) near the vehicle to automatically unlock and lock the doors via wireless communication, without having to manually operate the key.

[0003] In related technologies, during automatic locking and unlocking, the vehicle establishes a Bluetooth connection with the Bluetooth device, estimates the distance between the Bluetooth device and the vehicle by detecting the signal strength of the Bluetooth signal sent by the Bluetooth device, and triggers the corresponding locking and unlocking operation based on the distance between the Bluetooth device and the vehicle.

[0004] However, this ranging method based on Bluetooth signal strength typically has a positioning accuracy of only 1-2 meters, which is relatively low. It is also susceptible to interference from external environmental factors (such as wall obstruction and multipath effects), which can easily lead to misjudgments and affect the user experience. Summary of the Invention

[0005] This application provides a vehicle control method, device, vehicle, and storage medium, which can improve positioning accuracy and enhance the accuracy of vehicle locking / unlocking control.

[0006] In a first aspect, embodiments of this application provide a vehicle control method applied to a vehicle. The method includes: when the vehicle's Bluetooth module is in a first positioning mode, establishing a Bluetooth connection with the mobile terminal in response to detecting a Bluetooth broadcast signal sent by the mobile terminal; receiving the Bluetooth broadcast signal sent by the mobile terminal and determining a first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal; if the first distance is less than a first preset distance, controlling the Bluetooth module to switch to a second positioning mode; when the Bluetooth module is in the second positioning mode, interacting with the mobile terminal via channel detection signals through the Bluetooth module to determine a second distance between the mobile terminal and the vehicle and a first orientation information of the mobile terminal relative to the vehicle; if the second distance meets a preset unlocking condition, controlling the corresponding door to perform an unlocking operation based on the first orientation information.

[0007] In one possible implementation, multiple Bluetooth antenna anchor points are arranged on the vehicle. The vehicle interacts with the mobile terminal via a Bluetooth module to perform channel detection signal interaction, and determines a second distance between the mobile terminal and the vehicle and a first orientation information of the mobile terminal relative to the vehicle. This includes: interacting with the mobile terminal via multiple Bluetooth antenna anchor points to perform channel detection signal interaction, and determining the distance from the mobile terminal to each Bluetooth antenna anchor point; and determining the second distance and the first orientation information based on the distance from the mobile terminal to each Bluetooth antenna anchor point.

[0008] In one possible implementation, the above-mentioned interaction with the mobile terminal via multiple Bluetooth antenna anchors to determine the distance from the mobile terminal to each Bluetooth antenna anchor includes: sending a probe request signal to the mobile terminal through a first Bluetooth antenna anchor and receiving a probe response signal returned by the mobile terminal, wherein the first Bluetooth antenna anchor is any one of the multiple Bluetooth antenna anchors; sending a first probe signal to the mobile terminal through the first Bluetooth antenna anchor and receiving a second probe signal returned by the mobile terminal; and determining the distance from the mobile terminal to the first Bluetooth antenna anchor based on the round-trip time between the probe response signal and the probe request signal, and / or the phase difference between the second probe signal and the first probe signal.

[0009] In one possible implementation, multiple Bluetooth antenna anchor points are arranged on the vehicle. Before the Bluetooth module switches to the second positioning mode, the method further includes: determining the second orientation information of the mobile terminal relative to the vehicle based on the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point; selecting at least two second Bluetooth antenna anchor points from the multiple Bluetooth antenna anchor points based on the second orientation information; the above-mentioned interaction between the Bluetooth module and the mobile terminal to determine the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle through channel detection signal interaction includes: interacting with the mobile terminal through at least two second Bluetooth antenna anchor points to determine the second distance and the first orientation information.

[0010] In one possible implementation, determining the second location information of the mobile terminal relative to the vehicle based on the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point includes: determining the second location information by comparing the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point and the changing trend of the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point.

[0011] In one possible implementation, determining the first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal includes: receiving acceleration data from the mobile terminal; and determining the first distance based on the acceleration data and the received signal strength of the Bluetooth broadcast signal.

[0012] In one possible implementation, the aforementioned vehicle cycle area can be divided into a locking zone, a buffer zone, and an unlocking zone. The method further includes: when the Bluetooth module supports a first positioning mode but does not support a second positioning mode, determining the area where the mobile terminal is located based on the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal; if the area where the mobile terminal is located moves from the buffer zone into the unlocking zone, then controlling the corresponding door to perform an unlocking operation.

[0013] In one possible implementation, the preset unlocking condition includes at least one of the following: the second distance is less than the second preset distance; the second distance is less than the second preset distance, and the duration of the distance being less than the second preset distance is greater than the preset duration.

[0014] In one possible implementation, after controlling the corresponding door to perform the unlocking operation based on the first location information, the method further includes: controlling the Bluetooth module to switch to low power mode after the vehicle is powered on.

[0015] Secondly, embodiments of this application provide a vehicle control device configured in a vehicle, comprising:

[0016] The communication module is used to establish a Bluetooth connection with the mobile terminal in response to detecting a Bluetooth broadcast signal sent by the mobile terminal when the vehicle's Bluetooth module is in the first positioning mode.

[0017] The first positioning module is used to receive the Bluetooth broadcast signal sent by the mobile terminal and determine the first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal.

[0018] The switching module is used to control the Bluetooth module to switch to the second positioning mode if the first distance is less than the first preset distance;

[0019] The second positioning module is used to determine the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle by interacting with the mobile terminal via the channel detection signal through the Bluetooth module when the Bluetooth module is in the second positioning mode.

[0020] The control module is used to control the corresponding door to perform an unlocking operation based on the first orientation information if the second distance meets the preset unlocking conditions.

[0021] Thirdly, embodiments of this application provide a vehicle, including: a memory and a processor;

[0022] The memory stores instructions that the computer executes;

[0023] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0024] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0025] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0026] In this embodiment, during the far-field positioning stage, a first positioning mode is activated to locate the mobile terminal. When the mobile terminal is in the near-field area, the second positioning mode is switched to locate the mobile terminal by interacting with the channel detection signal through the Bluetooth module. Based on the distance and orientation of the mobile terminal relative to the vehicle, the corresponding door is controlled to perform the unlocking operation. This improves the positioning accuracy, ensures the accuracy of the locking and unlocking control, and reduces the power consumption of the device. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0028] Figure 1 This is a schematic diagram illustrating an application scenario of the vehicle control method according to an embodiment of this application;

[0029] Figure 2 A schematic diagram of the architecture of a vehicle control system provided in an embodiment of this application;

[0030] Figure 3 A schematic diagram of the distribution of Bluetooth antenna anchor points provided in an embodiment of this application;

[0031] Figure 4 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0033] Figure 6 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0034] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0035] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0036] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0037] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0038] The term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0039] In the field of smart cars, contactless unlocking and locking technology has become a key feature for enhancing user experience. Users can bring a Bluetooth device (such as a smartphone, smartwatch, or physical Bluetooth key) near the vehicle to automatically unlock and lock the doors via wireless communication, without having to manually operate the key.

[0040] In some embodiments, the vehicle establishes a Bluetooth connection with a Bluetooth device, and estimates the distance between the Bluetooth device and the vehicle by detecting the received signal strength indication (RSSI) of the Bluetooth signal sent by the Bluetooth device, and triggers the corresponding unlocking and locking operation based on the distance between the Bluetooth device and the vehicle.

[0041] However, this RSSI-based positioning method typically has a positioning accuracy of only 1-2 meters, which is relatively low. It is also susceptible to interference from external environmental factors (such as wall obstruction and multipath effects), which can easily lead to misjudgments and affect the user experience.

[0042] In view of this, the present application provides a vehicle control method. In the far-field positioning stage, a first positioning mode is activated to locate the mobile terminal. When the mobile terminal is in the near-field area, the method switches to a second positioning mode and uses a Bluetooth module to interact with the mobile terminal via channel detection signals to locate the mobile terminal. Based on the distance and orientation of the mobile terminal relative to the vehicle, the corresponding door is controlled to perform an unlocking operation. This improves positioning accuracy, ensures the accuracy of locking and unlocking control, and reduces device power consumption.

[0043] Before introducing the vehicle control method provided in the embodiments of this application, the application scenarios of the vehicle control method will be explained first.

[0044] The implementation environment of this vehicle control method may include a vehicle and a mobile terminal. Both the vehicle and the mobile terminal are equipped with wireless communication modules, such as Bluetooth modules. The vehicle establishes a wireless communication connection with the mobile terminal through the wireless communication module, and determines the distance and orientation of the mobile terminal relative to the vehicle. Based on the distance and orientation of the mobile terminal relative to the vehicle, automatic unlocking and locking are achieved.

[0045] In this application embodiment, "mobile terminal" generally refers to a device with wireless communication (such as Bluetooth communication) functionality. For example, a mobile terminal may include, but is not limited to, smartphones, tablets, wearable devices, vehicle keys, etc.

[0046] Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle control method according to an embodiment of this application.

[0047] Taking a smartphone as the mobile terminal and a Bluetooth module as the wireless communication module as an example, when the smartphone 10 is within the Bluetooth connection range of the vehicle 20, the vehicle 20 establishes a Bluetooth connection with the smartphone 10. After successfully establishing the Bluetooth connection, the vehicle enters the far-field wake-up phase. The Bluetooth module of the vehicle 20 determines the distance between the smartphone 10 and the vehicle 20 based on the received signal strength (RSSI value) of the connection signal (i.e., the Bluetooth broadcast signal). When the distance between the smartphone 10 and the vehicle 20 is less than a preset distance threshold (i.e., the first preset distance), the vehicle enters the near-field positioning phase. In the near-field positioning phase, the vehicle 20 and the smartphone 10 perform Bluetooth channel detection. By analyzing the phase and round-trip time, the vehicle determines the distance and orientation of the smartphone 10 relative to the vehicle 20. Based on the distance and orientation of the smartphone 10 relative to the vehicle 20, the vehicle performs corresponding unlocking and locking operations.

[0048] In this embodiment, the vehicle control method is applied to a vehicle control system. For example... Figure 2As shown, the vehicle control system may include a Bluetooth antenna anchor point (i.e., a Bluetooth antenna node) 201, a Bluetooth module (i.e., a Bluetooth chip) 202, and a vehicle body domain controller 203. The Bluetooth antenna anchor point 201 is deployed on the vehicle body and is used to transmit and receive signals, such as Bluetooth broadcast signals or channel detection signals. The Bluetooth module 202 controls the operation of the Bluetooth antenna anchor point 201 based on a positioning mode. The Bluetooth module 202 is also used to establish a communication connection with a mobile terminal and determine the distance and orientation of the mobile terminal relative to the vehicle through interaction with the mobile terminal. Based on the distance and orientation of the mobile terminal relative to the vehicle, the vehicle body domain controller 203 determines whether the unlocking / locking conditions are met. If the unlocking / locking conditions are met, it controls the corresponding door 204 to perform unlocking or locking operations via an in-vehicle communication network (such as a CAN bus).

[0049] In some examples, multiple Bluetooth antenna anchor points are distributed across the vehicle 20. For example, such as... Figure 3 As shown, four Bluetooth antenna anchor points are distributed on vehicle 20. Bluetooth antenna anchor point 201a is located at the center of the front bumper, Bluetooth antenna anchor point 201b is located inside the left rearview mirror, Bluetooth antenna anchor point 201c is located inside the right rearview mirror, and Bluetooth antenna anchor point 201d is located at the center of the rear bumper. Additionally, as... Figure 3 As shown, the Bluetooth module 202 can be deployed inside the vehicle body.

[0050] In some examples, Bluetooth module 202 can support Bluetooth 6.0. Bluetooth 6.0 has two positioning modes: a first positioning mode (RSSI positioning mode) and a second positioning mode (channel sounding positioning mode). In the first positioning mode, Bluetooth module 202 receives Bluetooth broadcast signals sent by the mobile terminal through Bluetooth antenna anchor 201. Based on the received signal strength (RSSI value) of the Bluetooth broadcast signal, it determines the distance and orientation of the mobile terminal relative to the vehicle, thus achieving positioning of the mobile terminal. In the second positioning mode, Bluetooth module 202 schedules Bluetooth antenna anchor 201 to interact with the mobile terminal using channel sounding signals, fusing phase-based ranging (PBR) and round-trip time (RTT) ranging to achieve positioning of the mobile terminal.

[0051] Of course, in this embodiment, the Bluetooth module of the mobile terminal can also support Bluetooth 6.0. It should be noted that when both the vehicle's Bluetooth module and the mobile terminal's Bluetooth module support Bluetooth 6.0, when the mobile terminal is far from the vehicle, the Bluetooth module operates in the first positioning mode, that is, it locates the mobile terminal using the RSSI value of the Bluetooth broadcast signal sent by the mobile terminal. When the mobile terminal is closer to the vehicle, the Bluetooth module switches to the second positioning mode, and the vehicle and mobile terminal interact through signal detection signals to locate the mobile terminal.

[0052] In some embodiments, if the vehicle's Bluetooth module and / or the mobile terminal's Bluetooth module does not support Bluetooth 6.0, the Bluetooth module operates in a first positioning mode, locating the mobile terminal using the RSSI value of the Bluetooth broadcast signal sent by the mobile terminal.

[0053] In addition, the mobile terminal may include an accelerometer to detect its motion. Based on the Bluetooth connection between the mobile terminal and the vehicle, the mobile terminal can transmit its acceleration data to the vehicle. The vehicle's Bluetooth module can then use this acceleration data to locate the mobile terminal.

[0054] The vehicle control method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings and application scenarios.

[0055] Figure 4 This is a schematic flowchart illustrating a vehicle control method provided in an embodiment of this application. Figure 4 As shown, the vehicle control method may include the following steps:

[0056] S401, when the vehicle's Bluetooth module is in the first positioning mode, establishes a Bluetooth connection with the mobile terminal in response to detecting a Bluetooth broadcast signal sent by the mobile terminal.

[0057] When the vehicle's Bluetooth module is in the first positioning mode, the Bluetooth module listens to the surrounding environment. In response to detecting a Bluetooth broadcast signal sent by the mobile terminal, it authenticates the mobile terminal based on the device identifier carried in the Bluetooth broadcast signal. After successful authentication, the vehicle and the mobile terminal establish a Bluetooth connection.

[0058] For example, the Bluetooth module in the vehicle periodically sends Bluetooth broadcast signals to the outside through the Bluetooth antenna anchor point. When the mobile terminal receives the Bluetooth broadcast signal and scans the vehicle within the communication range, the mobile terminal can initiate a Bluetooth connection request to the Bluetooth module in the vehicle, and then establish a Bluetooth connection with the Bluetooth module in the vehicle.

[0059] In some embodiments, after establishing a Bluetooth connection with the mobile terminal, the vehicle can obtain the device information of the mobile terminal's Bluetooth module. Based on this device information, the vehicle can determine whether the mobile terminal's Bluetooth module supports a first positioning mode and a second positioning mode, i.e., whether the mobile terminal's Bluetooth module supports Bluetooth 6.0. The device information of the mobile terminal's Bluetooth module can be version information.

[0060] S402 receives the Bluetooth broadcast signal sent by the mobile terminal and determines the first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal.

[0061] In the first positioning mode, the vehicle's Bluetooth module determines the distance of the mobile terminal relative to the vehicle based on the received signal strength (i.e., RSSI value) of the detected Bluetooth broadcast signal, thus achieving positioning of the mobile terminal.

[0062] It is understandable that the stronger the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal, the closer the mobile terminal is to the vehicle; the weaker the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal, the farther the mobile terminal is from the vehicle.

[0063] Specifically, a mapping relationship between received signal strength (RSSI value) and distance can be pre-established. After receiving a Bluetooth broadcast signal from a mobile terminal, the received signal strength (RSSI value) of the Bluetooth broadcast signal is detected, and the initial distance between the mobile terminal and the vehicle is determined based on the mapping relationship between received signal strength and distance.

[0064] For example, when multiple Bluetooth antenna anchor points are distributed on a vehicle, the received signal strength of the Bluetooth broadcast signal from the same mobile terminal varies at different locations. The closer the Bluetooth antenna anchor point is to the mobile terminal, the stronger the received signal strength of the Bluetooth broadcast signal.

[0065] Therefore, in some examples, for scenarios where multiple Bluetooth antenna anchor points are distributed across a vehicle, the initial distance between the mobile terminal and the vehicle can be determined based on the received signal strength of the Bluetooth broadcast signal received at each Bluetooth antenna anchor point. In this way, the RSSI measurements from multiple Bluetooth antenna anchor points, using the trilateration principle or selecting the data from the anchor point with the strongest signal, can yield a more accurate initial distance.

[0066] In some examples, for scenarios where multiple Bluetooth antenna anchor points are distributed on a vehicle, the second location information of the mobile terminal relative to the vehicle can be determined based on the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point.

[0067] The second orientation information indicates the current position of the mobile terminal relative to the vehicle. For example, the second orientation information could be either the left or right side of the vehicle. It is understood that the second orientation information is used to distinguish it from the first orientation information detected during subsequent positioning processes.

[0068] For example, determining the second location information of the mobile terminal relative to the vehicle based on the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point includes: determining the second location information by comparing the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point and the changing trend of the received signal strength of the Bluetooth broadcast signal received by each Bluetooth antenna anchor point.

[0069] For example, with Figure 3 Taking a vehicle with four Bluetooth antenna anchor points as an example, the signal strength of the Bluetooth broadcast signal received by the symmetrically arranged Bluetooth antenna anchor points (such as the Bluetooth antenna anchor points inside the left and right rearview mirrors) is compared. If the signal strength of the Bluetooth broadcast signal received by the Bluetooth antenna anchor point inside the left rearview mirror is greater than that received by the Bluetooth antenna anchor point inside the right rearview mirror, then the mobile terminal is determined to be located on the left side of the vehicle; otherwise, the mobile terminal is determined to be located on the right side of the vehicle.

[0070] After obtaining the second location information of the mobile terminal relative to the vehicle, at least two second Bluetooth antenna anchor points are selected from a plurality of Bluetooth antenna anchor points based on the second location information. These second Bluetooth antenna anchor points are used for transmitting and receiving signals in a subsequent second positioning mode.

[0071] For example, if it is determined that the mobile terminal (i.e. the user) is located on the left side of the vehicle, the vehicle's Bluetooth module can pre-wake up the Bluetooth antenna anchor point on the left side (such as the left rearview mirror anchor point).

[0072] In this way, based on the second location information, at least two second Bluetooth antenna anchors are selected from multiple Bluetooth antenna anchors. The vehicle's Bluetooth module can pre-wake up the second Bluetooth antenna anchors for subsequent channel detection (CS) positioning, while keeping the other Bluetooth antenna anchors in a dormant state. This achieves channel detection positioning while reducing power consumption. For example, waking up only the two anchors on the side where the mobile terminal is located can reduce the power consumption of the CS module (i.e., the Bluetooth antenna anchors) by more than 50%.

[0073] In some embodiments, the mobile terminal may further include an accelerometer for detecting acceleration data of the mobile terminal. After the mobile terminal establishes a Bluetooth connection with the vehicle, it can send the acceleration data of the mobile terminal to the vehicle. The vehicle's Bluetooth module receives the acceleration data of the mobile terminal and determines a first distance based on the acceleration data and the received signal strength of the Bluetooth broadcast signal.

[0074] Specifically, acceleration data is analyzed to identify the motion state of the mobile terminal (i.e., the user) (such as stationary, walking, or running), and to estimate the mobile terminal's speed and direction of movement. Combining the mobile terminal's speed and direction of movement with the received Bluetooth broadcast signal strength, a first distance is determined. This multi-source information verification reduces the risk of misjudgment due to signal fluctuations or brief obstructions, improving positioning robustness. Furthermore, by combining motion state and direction, the user's intention to approach the vehicle can be predicted more quickly and reliably, providing a more accurate basis for subsequent mode switching and resource scheduling decisions.

[0075] In some embodiments, after acquiring the acceleration data of the mobile terminal, the motion state of the mobile terminal is determined based on the acceleration data, and the broadcast frequency of the Bluetooth broadcast signal (i.e., the BLE broadcast frequency) is adjusted based on the motion state of the mobile terminal, which can reduce the power consumption of the Bluetooth module.

[0076] For example, when acceleration data indicates that the mobile terminal is running, the BLE broadcast frequency is increased to 0.5 seconds / time; when acceleration data indicates that the mobile terminal is stationary, the BLE broadcast frequency is decreased to 2 seconds / time.

[0077] S403, if the first distance is less than the first preset distance, control the Bluetooth module to switch to the second positioning mode.

[0078] The first preset distance is used to determine whether the mobile terminal (i.e., the user) is close to the vehicle. For example, the first preset distance can be 15 meters. Of course, the first preset distance can be set according to actual needs, and this application embodiment does not specifically limit it.

[0079] After acquiring the first distance between the mobile terminal and the vehicle in real time, the first distance is compared with a first preset distance. If the first distance is less than the first preset distance, it indicates that the mobile terminal is close to the vehicle, meaning the mobile terminal is in the near-field area of ​​the vehicle. At this time, the control Bluetooth module switches to the second positioning mode. Additionally, the vehicle sends a switching command to the mobile terminal via Bluetooth, instructing the mobile terminal's Bluetooth module to switch to the second positioning mode.

[0080] Understandably, if both the vehicle and the mobile terminal's Bluetooth modules support Bluetooth 6.0, and the first distance is less than the first preset distance, the Bluetooth module will be controlled to switch to the second positioning mode.

[0081] S404, when the Bluetooth module is in the second positioning mode, interacts with the mobile terminal via the Bluetooth module to exchange channel detection signals, and determines the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle.

[0082] In other words, during the near-field positioning phase, the Bluetooth module switches to the second positioning mode. In the second positioning mode, the Bluetooth module schedules the Bluetooth antenna anchor point to interact with the mobile terminal through channel sounding signals, fusing phase ranging and round-trip time ranging to achieve positioning of the mobile terminal.

[0083] Specifically, by using multiple Bluetooth antenna anchor points at different locations on the vehicle body, collaborative channel detection is performed with the mobile terminal. By integrating phase ranging and round-trip time ranging technologies, the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle are obtained.

[0084] In some examples, S404 may include: interacting with the mobile terminal via channel sounding signals through multiple Bluetooth antenna anchors to determine the distance from the mobile terminal to each Bluetooth antenna anchor; and determining a second distance and a first azimuth information based on the distance from the mobile terminal to each Bluetooth antenna anchor.

[0085] The following example illustrates the process of determining the distance from the mobile terminal to the Bluetooth antenna anchor point.

[0086] For example, the process of determining the distance from the mobile terminal to the Bluetooth antenna anchor point includes the following steps:

[0087] S501 sends a probe request signal to the mobile terminal through the first Bluetooth antenna anchor point and receives a probe response signal returned by the mobile terminal.

[0088] Specifically, after activating the second positioning mode, the first Bluetooth antenna anchor point sends a probe request signal to the mobile terminal and records the transmission time t1 of the probe request signal. The mobile terminal receives the probe request signal and returns a probe response signal to the first Bluetooth antenna anchor point. After receiving the probe response signal, the first Bluetooth antenna anchor point records the reception time t2 of the probe response signal. Based on the transmission time t1 and the reception time t2, the round-trip time Δt between the probe response signal and the probe request signal is calculated.

[0089] S502 sends a first detection signal to the mobile terminal through the first Bluetooth antenna anchor point and receives a second detection signal returned by the mobile terminal.

[0090] Specifically, after activating the second positioning mode, the first Bluetooth antenna anchor point can send a first detection signal at a preset frequency to the mobile terminal. Upon receiving the first detection signal, the mobile terminal returns it unchanged, i.e., sends the same second detection signal back to the first Bluetooth antenna anchor point. After receiving the second detection signal, the first Bluetooth antenna anchor point determines the phase difference between the second and first detection signals.

[0091] Optionally, the first Bluetooth antenna anchor point can transmit multiple first detection signals at different frequencies. For any given first detection signal, after receiving it, the mobile terminal returns the first detection signal as is, i.e., sends the same second detection signal back to the first Bluetooth antenna anchor point. In this way, for each frequency, the phase difference between the first detection signal and the corresponding second detection signal can be determined, thereby allowing the distance from the mobile terminal to the first Bluetooth antenna anchor point to be located.

[0092] S503, based on the round-trip time between the detection response signal and the detection request signal, and / or the phase difference between the second detection signal and the first detection signal, determine the distance from the mobile terminal to the first Bluetooth antenna anchor point.

[0093] Specifically, after determining the phase difference between the second and first detection signals, the phase ranging distance can be obtained based on this phase difference. After obtaining the round-trip time between the detection response signal and the detection request signal, the RTT ranging distance can be determined based on the round-trip time and the speed of light. Combining the phase ranging distance and the RTT ranging distance, the distance from the mobile terminal to the first Bluetooth antenna anchor point is determined.

[0094] In this embodiment, phase ranging offers higher accuracy than RTT ranging, achieving centimeter-level positioning. However, phase ranging has a maximum unambiguous distance, making it unable to determine the approximate range of the true distance. While RTT ranging is not as accurate as phase ranging, it accurately determines the approximate range of the true distance (i.e., the absolute reference distance). Therefore, combining phase ranging and RTT ranging to determine the distance from the mobile terminal to the first Bluetooth antenna anchor point can include: using the RTT ranging distance as the absolute reference distance, determining the precise distance (e.g., centimeter-level distance) based on the phase ranging distance, and then determining the distance from the mobile terminal to the first Bluetooth antenna anchor point based on both the absolute reference distance and the precise distance. Combining phase ranging and RTT ranging helps phase ranging eliminate distance ambiguity and improve positioning accuracy.

[0095] In this embodiment of the application, after determining the distance from the mobile terminal to each Bluetooth antenna anchor point, a second distance and a first azimuth information can be determined based on the distance from the mobile terminal to each Bluetooth antenna anchor point.

[0096] Specifically, based on the distance from the mobile terminal to each Bluetooth antenna anchor point, the coordinate information of the mobile terminal is determined, and based on the coordinate information of the mobile terminal, the second distance and the first orientation information are determined.

[0097] For example, with Figure 3 Taking the example of four Bluetooth antenna anchor points distributed on the vehicle shown, the distance d from the mobile terminal to these four Bluetooth antenna anchor points is obtained. i(i=1, 2, 3, 4), combining the known coordinates of each Bluetooth antenna anchor point in the vehicle coordinate system, the three-dimensional coordinates (i.e., coordinate information) of the mobile terminal in this coordinate system are calculated using a polygonal positioning algorithm (such as the least squares method). The Euclidean distance from the three-dimensional coordinates to the vehicle reference point is used as the second distance. And the first orientation information is determined based on the lateral component of the three-dimensional coordinates.

[0098] In this embodiment, during the near-field positioning phase, the system switches to a second positioning mode. The Bluetooth module schedules the Bluetooth antenna anchor point to interact with the mobile terminal via channel detection signals, fusing phase ranging and round-trip time ranging to achieve positioning of the mobile terminal, thereby improving the accuracy of positioning and consequently improving the accuracy of unlocking and de-locking control.

[0099] Optionally, in the first positioning mode, the second orientation information of the mobile terminal relative to the vehicle is acquired, and based on the second orientation information, at least two second Bluetooth antenna anchor points are selected from a plurality of Bluetooth antenna anchor points. Thus, when the Bluetooth module switches to the second positioning mode, channel sounding signal interaction is performed with the mobile terminal through at least two second Bluetooth antenna anchor points to determine the second distance and the first orientation information.

[0100] In this embodiment, based on the second azimuth information, at least two second Bluetooth antenna anchor points are selected from multiple Bluetooth antenna anchor points. The vehicle's Bluetooth module can pre-wake up the second Bluetooth antenna anchor points for subsequent channel detection (CS) positioning phases, while keeping the other Bluetooth antenna anchor points in a dormant state. This achieves channel detection positioning while reducing power consumption.

[0101] It should be noted that the specific implementation method of using at least two second Bluetooth antenna anchor points to interact with the mobile terminal through channel detection signals to determine the second distance and the first azimuth information can be found in the specific implementation method of S404 above, and will not be repeated here.

[0102] S405, if the second distance meets the preset unlocking conditions, then control the corresponding door to perform the unlocking operation according to the first position information.

[0103] For example, the preset unlock conditions include at least one of the following:

[0104] The second distance is less than the second preset distance;

[0105] The second distance is less than the second preset distance, and the duration of the distance being less than the second preset distance is greater than the preset duration.

[0106] For example, the second preset distance can be 2 meters. The preset duration can be 0.5 seconds. In this embodiment, the second preset distance and preset duration can be set according to actual conditions.

[0107] In practice, after obtaining the second distance between the mobile terminal and the vehicle, the second distance is compared with the second preset distance. If the second distance is less than the second preset distance and the duration of the distance being less than the second preset distance is greater than the preset duration, it is determined that the mobile terminal (i.e., the user) is close to the vehicle. At this time, based on the first location information, the door to be controlled is determined and the corresponding door is unlocked.

[0108] In this embodiment, during the far-field positioning stage, a first positioning mode is activated to locate the mobile terminal. When the mobile terminal is in the near-field area, the second positioning mode is switched to locate the mobile terminal by interacting with the channel detection signal through the Bluetooth module. Based on the distance and orientation of the mobile terminal relative to the vehicle, the corresponding door is controlled to perform the unlocking operation. This improves the positioning accuracy, ensures the accuracy of the locking and unlocking control, and reduces the power consumption of the device.

[0109] In some embodiments, when the Bluetooth module of the mobile terminal supports a first positioning mode but does not support a second positioning mode, the first distance and second orientation information of the mobile terminal relative to the vehicle are determined based on the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal, and the corresponding door is controlled to perform an unlocking operation based on the first distance and second orientation information of the mobile terminal relative to the vehicle.

[0110] In some examples, the area around the vehicle is divided into a locking zone, a buffer zone, and an unlocking zone. The area farther from the vehicle is designated as the locking zone, for example, an area greater than 10 meters away. The area closer to the vehicle is designated as the buffer zone, for example, an area between 5 and 10 meters away. The area immediately adjacent to the vehicle is designated as the unlocking zone, for example, an area less than 5 meters away.

[0111] Specifically, the area where the mobile terminal is located is determined based on the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal; if the area where the mobile terminal is located moves from the buffer zone into the unlocking zone, the corresponding door is controlled to perform the unlocking operation.

[0112] Similarly, after the vehicle is powered off, it receives Bluetooth broadcast signals sent by the mobile terminal and determines the area where the mobile terminal is located based on the received signal strength of the Bluetooth broadcast signals sent by the mobile terminal; if the area where the mobile terminal is located moves from the locking zone to the buffer zone, it controls the corresponding door to perform a locking operation.

[0113] In this embodiment, when the Bluetooth module version is low, the location of the mobile terminal can be determined by the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal, thereby controlling the corresponding door to perform unlocking and locking operations. Furthermore, based on the distance to the vehicle, an unlocking zone, a buffer zone, and a locking zone are defined, and the unlocking and locking operations are performed according to changes in the area where the mobile terminal is located, improving control accuracy. Additionally, this embodiment ensures that devices with different hardware capabilities (such as high-end devices supporting CS and ordinary devices supporting only RSSI) can obtain positioning strategies matching their capabilities, avoiding redundant power consumption of high-precision positioning technology in low-end device scenarios, while also avoiding the performance limitations of low-end devices in high-precision scenarios, significantly improving system compatibility and user satisfaction.

[0114] In some embodiments, after controlling the corresponding door to perform an unlocking operation based on the first location information, the method further includes: controlling the Bluetooth module to switch to a low-power mode after the vehicle is powered on.

[0115] In other words, once the system detects that the user has entered the vehicle and started the engine, it automatically disables the external positioning function and enters a low-power monitoring mode, maintaining only basic BLE listening functions.

[0116] The vehicle control method provided in this application will be illustrated below with specific examples.

[0117] Example 1 (Bluetooth module supports Bluetooth 6.0)

[0118] When a mobile device enters the vehicle's Bluetooth connection range, a Bluetooth connection is established between the vehicle and the mobile device. The vehicle's Bluetooth module receives Bluetooth broadcast signals sent by the mobile device and calculates the first distance and second orientation information of the mobile device relative to the vehicle in real time based on the received signal strength of the Bluetooth broadcast signals.

[0119] Based on the second location information of the mobile terminal relative to the vehicle, at least two second Bluetooth antenna anchors are selected from multiple Bluetooth antenna anchors, and at least two second Bluetooth antenna anchors are activated.

[0120] When the first distance is less than the first preset distance (e.g., 15 meters), the Bluetooth module switches to the second positioning mode, that is, activates the CS positioning mode. At this time, the Bluetooth module interacts with the mobile terminal through channel detection signals to determine the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle.

[0121] If the second distance meets the preset unlocking conditions, then the corresponding door will be controlled to perform the unlocking operation based on the first position information.

[0122] After unlocking, once the vehicle is powered on, the external positioning function is automatically turned off, that is, the Bluetooth module is controlled to enter low power monitoring mode, maintaining only basic BLE listening function.

[0123] Example 2 (Bluetooth module does not support Bluetooth 6.0)

[0124] When a mobile device enters the vehicle's Bluetooth connection range, a Bluetooth connection is established between the vehicle and the mobile device. The vehicle's Bluetooth module receives Bluetooth broadcast signals sent by the mobile device and calculates the initial distance between the mobile device and the vehicle in real time based on the received signal strength (RSSI value) of the Bluetooth broadcast signal, i.e., the area where the mobile device is located. When the system detects that the Bluetooth positioning area (i.e., the area where the mobile device is located) has transitioned from the buffer zone to the unlock zone, it determines that the user has a clear intention to unlock the door and controls the corresponding door to perform the unlocking operation.

[0125] In this embodiment, for scenarios where the vehicle is parked for extended periods, CS positioning is activated only when the distance is less than 15m, resulting in a significant reduction in power consumption compared to traditional CS positioning solutions. For everyday use scenarios, CS positioning is activated only within a range of approximately 15m from the vehicle during each approach to unlocking or moving away from the locking mechanism, and is deactivated after the vehicle is unlocked. If walking at a constant speed, assuming a full range of 30m, CS positioning is activated only 50% of the time. Therefore, from the perspective of CS positioning, power consumption is reduced by approximately 50%, significantly lower than traditional CS positioning solutions.

[0126] This application also provides a vehicle control device. For example... Figure 5 As shown, the vehicle control device 500 includes a communication module 501, a first positioning module 502, a switching module 503, a second positioning module 504, and a control module 505. The communication module 501, when the vehicle's Bluetooth module is in the first positioning mode, establishes a Bluetooth connection with the mobile terminal in response to detecting a Bluetooth broadcast signal sent by the mobile terminal. The first positioning module 502 receives the Bluetooth broadcast signal sent by the mobile terminal and determines a first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal. The switching module 503 controls the Bluetooth module to switch to the second positioning mode if the first distance is less than a first preset distance. The second positioning module 504, when the Bluetooth module is in the second positioning mode, interacts with the mobile terminal via channel detection signals to determine a second distance between the mobile terminal and the vehicle and a first orientation information of the mobile terminal relative to the vehicle. The control module 505, if the second distance meets a preset unlocking condition, controls the corresponding door to perform an unlocking operation based on the first orientation information.

[0127] The vehicle provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0128] Figure 6 This is a structural diagram of the vehicle provided in this application. Figure 6 As shown, the vehicle 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the vehicle 60 also includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0129] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0130] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0131] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0132] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0133] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0134] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0135] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0136] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0137] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0138] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0139] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0140] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0141] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0142] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0143] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, Applied to vehicles, the method includes: When the vehicle's Bluetooth module is in the first positioning mode, in response to detecting a Bluetooth broadcast signal sent by the mobile terminal, a Bluetooth connection is established with the mobile terminal; The system receives a Bluetooth broadcast signal sent by the mobile terminal and determines a first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal. If the first distance is less than the first preset distance, then control the Bluetooth module to switch to the second positioning mode; When the Bluetooth module is in the second positioning mode, the Bluetooth module interacts with the mobile terminal via channel detection signals to determine the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle. If the second distance meets the preset unlocking conditions, then the corresponding door is controlled to perform the unlocking operation based on the first orientation information.

2. The method according to claim 1, characterized in that, The vehicle is equipped with multiple Bluetooth antenna anchor points. The process involves interacting with the mobile terminal via the Bluetooth module to perform channel detection signals, determining a second distance between the mobile terminal and the vehicle, and a first orientation information of the mobile terminal relative to the vehicle. This includes: Through the multiple Bluetooth antenna anchor points, channel detection signals are exchanged with the mobile terminal to determine the distance from the mobile terminal to each Bluetooth antenna anchor point; The second distance and the first azimuth information are determined based on the distance from the mobile terminal to each of the Bluetooth antenna anchor points.

3. The method according to claim 2, characterized in that, The step of interacting with the mobile terminal via channel sounding signals through the plurality of Bluetooth antenna anchor points to determine the distance from the mobile terminal to each of the Bluetooth antenna anchor points includes: A probe request signal is sent to the mobile terminal through the first Bluetooth antenna anchor point, and a probe response signal is received from the mobile terminal. The first Bluetooth antenna anchor point is any one of the plurality of Bluetooth antenna anchor points. A first detection signal is sent to the mobile terminal through the first Bluetooth antenna anchor point, and a second detection signal is received from the mobile terminal. The distance from the mobile terminal to the first Bluetooth antenna anchor point is determined based on the round-trip time between the detection response signal and the detection request signal, and / or the phase difference between the second detection signal and the first detection signal.

4. The method according to claim 1, characterized in that, The vehicle is equipped with multiple Bluetooth antenna anchor points. Before controlling the Bluetooth module to switch to the second positioning mode, the method further includes: Based on the received signal strength of the Bluetooth broadcast signal received at each Bluetooth antenna anchor point, the second orientation information of the mobile terminal relative to the vehicle is determined; Based on the second orientation information, at least two second Bluetooth antenna anchor points are selected from the plurality of Bluetooth antenna anchor points; The step of interacting with the mobile terminal via the Bluetooth module to perform channel detection signal exchange, and determining the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle, includes: Through the at least two second Bluetooth antenna anchor points, channel detection signals are exchanged with the mobile terminal to determine the second distance and the first azimuth information.

5. The method according to claim 4, characterized in that, The step of determining the second location information of the mobile terminal relative to the vehicle based on the received signal strength of the Bluetooth broadcast signal received at each Bluetooth antenna anchor point includes: The second azimuth information is determined by comparing the received signal strength of the Bluetooth broadcast signal at each Bluetooth antenna anchor point and the changing trend of the received signal strength of the Bluetooth broadcast signal at each Bluetooth antenna anchor point.

6. The method according to claim 1, characterized in that, Determining the first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal includes: Receive acceleration data from the mobile terminal; The first distance is determined based on the acceleration data and the received signal strength of the Bluetooth broadcast signal.

7. The method according to claim 1, characterized in that, The vehicle cycle area can be divided into a locking zone, a buffer zone, and an unlocking zone, and the method further includes: If the Bluetooth module supports the first positioning mode but does not support the second positioning mode, the area where the mobile terminal is located is determined based on the received signal strength of the Bluetooth broadcast signal sent by the mobile terminal. If the area where the mobile terminal is located moves from the buffer zone into the unlocking zone, the corresponding door is controlled to perform an unlocking operation.

8. The method according to claim 1, characterized in that, The preset unlocking conditions include at least one of the following: The second distance is less than the second preset distance; The second distance is less than the second preset distance, and the duration of the distance being less than the second preset distance is greater than the preset duration.

9. The method according to claim 1, characterized in that, After controlling the corresponding car door to perform an unlocking operation based on the first location information, the method further includes: After the vehicle is powered on, the Bluetooth module is controlled to switch to low power mode.

10. A vehicle control device, characterized in that, Configured in a vehicle, including: A communication module is configured to establish a Bluetooth connection with the mobile terminal in response to detecting a Bluetooth broadcast signal sent by the mobile terminal when the Bluetooth module of the vehicle is in a first positioning mode. The first positioning module is used to receive the Bluetooth broadcast signal sent by the mobile terminal and determine the first distance between the mobile terminal and the vehicle based on the received signal strength of the Bluetooth broadcast signal. A switching module is used to control the Bluetooth module to switch to a second positioning mode if the first distance is less than a first preset distance; The second positioning module is used to, when the Bluetooth module is in the second positioning mode, interact with the mobile terminal via the Bluetooth module to perform channel detection signal interaction, and determine the second distance between the mobile terminal and the vehicle and the first orientation information of the mobile terminal relative to the vehicle. The control module is used to control the corresponding door to perform an unlocking operation based on the first orientation information if the second distance meets the preset unlocking conditions.

11. A vehicle, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-9.

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