Vehicle trunk control methods, vehicles, storage media, and software products

Abstract

This disclosure relates to a vehicle trunk control method, a vehicle, a storage medium, and a program product. The vehicle trunk control method includes: responding to a smart device equipped with a digital key entering a distribution area of ​​the vehicle trunk; acquiring two-dimensional positioning data of the smart device in the distribution area of ​​the vehicle trunk, the two-dimensional positioning data including two-dimensional positioning coordinates sorted by positioning time; generating a two-dimensional trajectory of the smart device in the distribution area of ​​the vehicle trunk based on the two-dimensional positioning data; and controlling the vehicle trunk based on the two-dimensional trajectory. This vehicle trunk control method, vehicle, storage medium, and program product can improve the security of contactless control of the vehicle trunk, reduce the hardware cost, software implementation difficulty, and false trigger rate of contactless control of the vehicle trunk, thereby improving the user experience.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle intelligent control technology, specifically to a vehicle trunk control method, a vehicle, a storage medium, and a program product. Background Technology

[0002] With the development of intelligent vehicle control technology, intelligent control of the vehicle trunk can be achieved through some seamless control methods. These seamless control methods include technologies such as radar-enabled foot-operated controls, facial recognition, and voice recognition for intelligent vehicle control. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle trunk control method, vehicle, storage medium, and program product that can improve the security of contactless control of the vehicle trunk, reduce the hardware cost, software implementation difficulty, and false trigger rate of contactless control of the vehicle trunk, thereby improving the user experience.

[0004] To achieve the above objectives, in a first aspect, this disclosure provides a vehicle trunk control method, comprising: responding to a smart device equipped with a digital key entering a vehicle trunk distribution area, acquiring two-dimensional positioning data of the smart device in the vehicle trunk distribution area, the two-dimensional positioning data including two-dimensional positioning coordinates sorted according to positioning time; generating a two-dimensional trajectory of the smart device in the vehicle trunk distribution area based on the two-dimensional positioning data; and controlling the vehicle trunk based on the two-dimensional trajectory.

[0005] Optionally, controlling the vehicle trunk based on the two-dimensional trajectory includes: determining two-dimensional trajectory features based on the two-dimensional trajectory; determining the trunk control intention of the user carrying the smart device based on the two-dimensional trajectory features; and controlling the vehicle trunk based on the trunk control intention.

[0006] Optionally, determining the trunk control intention of the user carrying the smart device based on the two-dimensional trajectory features includes: determining a target preset trajectory feature that matches the two-dimensional trajectory feature from at least one preset trajectory feature, wherein the at least one preset trajectory feature is a trajectory feature pre-configured with a corresponding trunk control intention; and determining the trunk control intention of the user carrying the smart device based on the trunk control intention corresponding to the target preset trajectory feature.

[0007] Optionally, the two-dimensional trajectory is an elliptical trajectory, and the two-dimensional trajectory features include the semi-major axis and eccentricity of the elliptical trajectory. The at least one preset trajectory feature includes a preset elliptical trajectory feature corresponding to the trunk opening intention. The preset elliptical trajectory feature includes a preset semi-major axis range and a preset eccentricity range. Determining a target preset trajectory feature that matches the two-dimensional trajectory feature from the at least one preset trajectory feature includes: in response to the semi-major axis of the elliptical trajectory being within the preset semi-major axis range and the eccentricity of the elliptical trajectory being within the preset eccentricity range, determining the preset elliptical trajectory feature as the target preset trajectory feature.

[0008] Optionally, generating a two-dimensional trajectory of the smart device in the distribution area of ​​the vehicle trunk based on the two-dimensional positioning data includes: determining distance information based on the two-dimensional positioning data, wherein the distance information includes: the distance between a first positioning coordinate in the two-dimensional positioning data and each other two-dimensional positioning coordinate except the first positioning coordinate, the first positioning coordinate being the two-dimensional positioning coordinate with the latest positioning time; and performing trajectory fitting on the two-dimensional positioning data based on the distance information to obtain the two-dimensional trajectory.

[0009] Optionally, the step of fitting a trajectory to the two-dimensional positioning data based on the distance information to obtain the two-dimensional trajectory includes: determining a second positioning coordinate based on the distance information, wherein the second positioning coordinate is the two-dimensional positioning coordinate farthest from the first positioning coordinate; determining the distance between the first positioning coordinate and a third positioning coordinate based on the distance information, wherein the third positioning coordinate is a two-dimensional positioning coordinate whose sorting in the two-dimensional positioning data satisfies a preset condition; and fitting an elliptical trajectory to the two-dimensional positioning data to obtain the two-dimensional trajectory when the second positioning coordinate is within a preset coordinate range and the distance between the first positioning coordinate and the third positioning coordinate is less than a preset coordinate distance.

[0010] Optionally, obtaining the two-dimensional positioning data of the smart device in the distribution area of ​​the vehicle trunk includes: periodically positioning the smart device to obtain multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle trunk; and sorting the multiple two-dimensional positioning coordinates according to the positioning time in response to the number of the multiple two-dimensional positioning coordinates reaching a preset number to obtain the two-dimensional positioning data.

[0011] Optionally, the digital key is a UWB digital key. The step of periodically locating the smart device to obtain multiple two-dimensional positioning coordinates of the smart device within the vehicle's trunk distribution area includes: in any of the multiple positioning cycles, measuring the distance to the smart device using multiple UWB ranging anchor points on the vehicle to obtain multiple ranging results. These multiple UWB ranging anchor points include anchor points distributed inside the vehicle and anchor points distributed at different locations outside the vehicle; determining the two-dimensional positioning coordinates of the smart device within that positioning cycle based on the multiple ranging results and the UWB positioning algorithm; and determining multiple two-dimensional positioning coordinates of the smart device within the vehicle's trunk distribution area based on the two-dimensional positioning coordinates of the smart device in each positioning cycle.

[0012] Optionally, the method further includes: in response to the smart device moving from the vehicle trunk distribution area to a target area or the vehicle cabin, obtaining the state of the vehicle trunk, wherein the distance between the target area and the vehicle trunk distribution area is greater than a preset area distance; and controlling the vehicle trunk according to the state of the vehicle trunk.

[0013] Optionally, controlling the vehicle trunk based on its state includes: when the vehicle trunk is open, controlling the vehicle trunk to close based on the time the smart device spends in the target area or the vehicle cabin.

[0014] Optionally, the method further includes: in response to the vehicle trunk being in the open state for a duration less than a preset duration, not controlling the vehicle trunk to close.

[0015] Optionally, the method further includes: in response to the smart device entering the area surrounding the vehicle, locating the smart device to obtain two-dimensional positioning coordinates of the smart device; and in response to the two-dimensional positioning coordinates of the smart device being located within the distribution area of ​​the vehicle's trunk, determining that the smart device has entered the distribution area of ​​the vehicle's trunk.

[0016] In a second aspect, this disclosure provides a vehicle, comprising: a memory storing a computer program thereon; and a processor for executing the computer program in the memory to implement the vehicle trunk control method described in the first aspect.

[0017] Thirdly, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle trunk control method described in the first aspect.

[0018] Fourthly, this disclosure provides a computer program product that, when executed by a processor, implements the vehicle trunk control method described in the first aspect.

[0019] The above technical solution locates smart devices equipped with digital keys and achieves seamless control of the vehicle's trunk through two-dimensional trajectory analysis. Specifically, when a smart device enters the trunk's distribution area, it is located, and its two-dimensional trajectory within the trunk is determined. Since this trajectory represents the user's behavior, trunk control can be implemented based on it. Two-dimensional trajectory analysis, compared to radar, facial recognition, and voice recognition, has lower hardware costs and is easier to implement in software. Furthermore, it only targets smart devices equipped with digital keys, is unaffected by external factors, and has a lower false trigger rate, improving user experience. It also does not infringe on user privacy, requiring only device location, thus ensuring high security. Therefore, this technical solution improves the security of seamless trunk control, reduces hardware costs, software implementation difficulty, and false trigger rate, thereby enhancing the user experience.

[0020] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a vehicle trunk control method according to an exemplary embodiment.

[0022] Figure 2A This is an example diagram illustrating a first vehicle trunk control scenario according to an exemplary embodiment.

[0023] Figure 2B This is an example diagram illustrating a second vehicle trunk control scenario according to an exemplary embodiment.

[0024] Figure 3 This is a schematic diagram illustrating an anchor point installation position according to an exemplary embodiment.

[0025] Figure 4 This is a schematic diagram illustrating a trajectory projection according to an exemplary embodiment.

[0026] Figure 5This is a schematic diagram illustrating a regional relationship according to an exemplary embodiment.

[0027] Figure 6 This is a schematic diagram illustrating a trunk control process according to an exemplary embodiment.

[0028] Figure 7 This is a block diagram illustrating a vehicle trunk control device according to an exemplary embodiment.

[0029] Figure 8 This is a functional block diagram of a vehicle according to an exemplary embodiment. Detailed Implementation

[0030] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0031] In this disclosure, unless otherwise stated, directional terms such as "up," "down," "left," "right," "front," and "back" are used only for the convenience of describing this disclosure and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0032] As mentioned in the background section, intelligent control of the vehicle trunk can be achieved through some seamless methods. Among the relevant technologies, common ones include touch-sensitive control methods for the vehicle trunk using algorithms such as radar-enabled foot kick, facial recognition, and voice recognition.

[0033] These contactless control methods have the following drawbacks: It requires support from high-cost hardware devices, such as radar modules, cameras, and voice recognition modules.

[0034] Software algorithms are difficult to implement. For example, kicking requires radar algorithms, while face recognition and speech recognition require deep learning and other algorithms.

[0035] There is a false trigger rate, resulting in a poor user experience. For example, the radar is easily interfered with by metal reflections or other pedestrians passing by, which may cause the unlock to be triggered by mistake; facial recognition: because the camera is behind the rear of the car, it is easily blocked or dirty by dust, which may cause facial recognition to fail; voice recognition: the recognition rate is low in noisy environments.

[0036] The security level is not high enough. For example, the radar will unlock the trunk if it detects any movement near the trunk, and it cannot distinguish whether the user needs to open the trunk. Facial and voice recognition are prone to leaking personal privacy.

[0037] It can be seen that the relevant vehicle trunk control solutions have problems such as low security, poor user experience, high hardware costs, and difficulty in implementing software algorithms.

[0038] Based on this, this disclosure provides a technical solution for locating a smart device equipped with a digital key and achieving seamless control of the vehicle's trunk through two-dimensional trajectory analysis of the smart device. Specifically, when the smart device enters the distribution area of ​​the vehicle's trunk, the smart key equipped with the digital key is located to determine the two-dimensional trajectory of the smart device within the distribution area of ​​the vehicle's trunk. Since the two-dimensional trajectory of the smart device within the distribution area of ​​the vehicle's trunk can characterize the user behavior of carrying the smart device, control of the vehicle's trunk can be achieved based on the two-dimensional trajectory.

[0039] Among them, two-dimensional trajectory analysis has lower hardware costs and is easier to implement in software compared to radar, facial recognition, and voice recognition. In addition, two-dimensional trajectory analysis only targets smart devices equipped with digital keys, is not affected by external factors, has a low false trigger rate, and can improve user experience. Furthermore, two-dimensional trajectory analysis does not involve user privacy, only requires the location of smart devices, and has high security.

[0040] Furthermore, this technical solution can improve the security of contactless control of the vehicle trunk, reduce the hardware cost, software implementation difficulty, and false trigger rate of contactless control of the vehicle trunk, thereby enhancing the user experience.

[0041] Figure 1 This is a flowchart illustrating a vehicle trunk control method according to an exemplary embodiment. This vehicle trunk control method can be applied to vehicles, such as... Figure 1 As shown, the method includes the following steps: Step S11: In response to a smart device equipped with a digital key entering the distribution area of ​​the vehicle's trunk, two-dimensional positioning data of the smart device in the distribution area of ​​the vehicle's trunk is obtained. The two-dimensional positioning data includes two-dimensional positioning coordinates sorted by positioning time.

[0042] Step S12: Based on the two-dimensional positioning data, generate a two-dimensional trajectory of the smart device in the distribution area of ​​the vehicle's trunk.

[0043] Step S13: Control the vehicle's trunk according to the two-dimensional trajectory.

[0044] In step S11, the smart device configured with the digital key can be a mobile terminal such as a mobile phone, a physical device configured based on the digital key, a smartwatch, or other smart wearable devices.

[0045] In some embodiments, the digital key may be a UWB (Ultra Wide Band) digital key, an NFC (Near Field Communication) digital key, a Bluetooth digital key, etc.

[0046] In some embodiments, the location of a smart device can be achieved based on the communication function of a digital key.

[0047] Taking a UWB digital key as an example, the UWB communication function of a smart device can be reused to achieve device location tracking. Similarly, taking a Bluetooth digital key as an example, the Bluetooth communication function of a smart device can be reused to achieve device location tracking. And taking an NFC digital key as an example, the NFC communication function of a smart device can be reused to achieve device location tracking.

[0048] Among them, locating smart devices equipped with UWB digital keys based on UWB positioning technology has the following advantages: Low hardware cost: UWB positioning technology and UWB digital key function are reused in hardware. The vehicle does not need to use additional hardware such as radar, camera, NFC to locate smart devices. It only needs to reuse the UWB digital key function and add a trunk control algorithm at the vehicle control algorithm level, which can effectively reduce hardware costs.

[0049] UWB exhibits strong resistance to multipath effects and can be stably triggered even in complex environments. By identifying unintentional approaches through trajectory recognition, the false trigger rate is reduced by 90%. UWB continues to operate reliably in extreme weather conditions such as heavy rain and dense fog. Covering a wide range of operating scenarios, UWB can still function at a signal-to-noise ratio of -90dBm, far exceeding Bluetooth's -70dBm and Wi-Fi's -80dBm.

[0050] UWB can prevent relay attacks, which require attackers to forward information within 3ns, making it technically difficult to achieve. Therefore, using UWB is more secure.

[0051] Therefore, based on the needs for controlling the vehicle trunk in the corresponding scenario, the location of smart devices equipped with UWB digital keys can be achieved using UWB positioning technology.

[0052] Regarding UWB positioning technology, positioning can be achieved through the following two ranging methods: ToF (Time of Flight): Measures the round-trip time of a signal from the tag to the anchor point and calculates the absolute distance. It is suitable for small-scale, high-precision scenarios.

[0053] TDoA (Time Difference of Arrival): The tag location is calculated by the time difference between receiving the same signal from multiple anchor points. It is suitable for large-scale deployment and has lower power consumption.

[0054] In this embodiment of the disclosure, the positioning of smart devices can be achieved based on the ToF method, wherein the tag can be understood as the smart device side and the anchor point can be understood as the vehicle side.

[0055] It is understandable that when users have a need to control the trunk, they can bring smart devices to the area where the trunk is located and then use the smart devices to achieve seamless control of the trunk.

[0056] The area where the vehicle's trunk is located can be the area where the vehicle's trunk is situated.

[0057] Figure 2A This is an example diagram illustrating a first vehicle trunk control scenario according to an exemplary embodiment, such as... Figure 2A As shown, users can get out of the car and go to the trunk area (i.e., the trunk area in the picture). Then, users can use a handheld smart device to perform corresponding actions to control the trunk.

[0058] Figure 2B This is an example diagram illustrating a second vehicle trunk control scenario according to an exemplary embodiment, such as... Figure 2B As shown, the user travels from a distance to the area where the vehicle's trunk is located (i.e., the trunk area in the figure). Then, the user performs corresponding actions in the trunk area using a handheld smart device to control the trunk.

[0059] Among them, the actions performed by the user's handheld smart device can be predefined / prescribed actions, which can represent the need for corresponding contactless control of the vehicle's trunk.

[0060] As an example, a predefined trunk opening behavior could be: the user holds a smart device and turns their arm once. During this process, the smart device will generate a corresponding trajectory, and the trunk can be controlled by analyzing the trajectory of the smart device.

[0061] Therefore, the method may further include: in response to the smart device entering the area surrounding the vehicle, locating the smart device to obtain the two-dimensional positioning coordinates of the smart device; in response to the two-dimensional positioning coordinates of the smart device being located within the distribution area of ​​the vehicle's trunk, determining that the smart device has entered the distribution area of ​​the vehicle's trunk.

[0062] In this implementation, the location of the smart device begins as soon as it enters the area surrounding the vehicle, allowing for analysis of the smart device's trajectory within the vehicle's trunk area as soon as it enters the trunk area.

[0063] In some embodiments, a distance range corresponding to the area around the vehicle can be pre-configured. When the distance between the smart device and the vehicle is detected to be within this distance range, it can be determined that the smart device has entered the area around the vehicle.

[0064] As an example, the distance range corresponding to the area around the vehicle can be 0.5m to 1m, but no limit is specified here.

[0065] In some embodiments, taking UWB positioning as an example, when a user enters the area surrounding a vehicle with a smart device, the vehicle's anchor point can receive signals from the smart device's UWB module and simultaneously send signals to the smart device's UWB module. Based on UWB positioning technology, the distance between the smart device and the vehicle can be measured, thereby determining whether the smart device has entered the area surrounding the vehicle. Furthermore, through distance measurement, the two-dimensional positioning coordinates of the smart device can be further determined.

[0066] The specific positioning process of UWB positioning technology can be found in mature technologies in this field, and will not be described in detail here.

[0067] In some embodiments, after a smart device enters the area surrounding a vehicle, the smart device can be continuously located. If the coordinates obtained from the location are within the distribution area of ​​the vehicle's trunk, it can be determined that the smart device has entered the distribution area of ​​the vehicle's trunk.

[0068] In this embodiment of the disclosure, the vehicle can be equipped with multiple ranging anchor points, and higher precision positioning of intelligent devices can be achieved through multiple ranging anchor points.

[0069] The multiple distance measuring anchor points can include anchor points distributed inside the vehicle and anchor points distributed at different locations outside the vehicle. This anchor point distribution method enables omnidirectional distance measuring, avoiding situations where distance measuring is impossible at certain specific locations.

[0070] It is understandable that ranging anchor points can be: UWB ranging anchor points, Bluetooth ranging anchor points, etc., depending on the positioning technology used.

[0071] Figure 3 This is a schematic diagram illustrating an anchor point installation position according to an exemplary embodiment, such as... Figure 3 As shown, the vehicle can be equipped with 5 anchor points, which can be distributed at the four corners of the vehicle body and the center of the vehicle interior.

[0072] Specifically, Figure 3 The five anchor points shown are A1 to A5. Among them, A1 is the main controller anchor point, located in the center of the vehicle. A2 to A5 are external anchor points, installed at the four corners of the front and rear sides of the vehicle, respectively. All five anchor points can perform UWB ranging.

[0073] As an example, the vehicle has a width of W and a length of L. Anchor point A1 is located at the geometric center of the four anchor points outside the vehicle. With A1 as the origin O, the direction of the vehicle's front is the positive Y-axis, and the direction perpendicular to A3 and A5 is the positive X-axis. Therefore, the coordinates of the four anchor points outside the vehicle are A2: (-W / 2, L / 2), A3: (W / 2, L / 2), A4: (-W / 2, -L / 2), and A5: (W / 2, -L / 2).

[0074] Therefore, as an optional implementation method, positioning the smart device to obtain its two-dimensional positioning coordinates includes: measuring the distance to the smart device using multiple UWB ranging anchor points to obtain multiple ranging results; and determining the two-dimensional positioning coordinates of the smart device based on the multiple ranging results and the UWB positioning algorithm.

[0075] In some embodiments, the mean filtering of multiple ranging results can be performed first to obtain the target ranging result, and then the two-dimensional positioning coordinates of the smart device can be determined based on the target ranging result and the UWB positioning algorithm.

[0076] In some embodiments, the location of a smart device can be real-time or periodic.

[0077] Regarding periodic positioning, for example, the five anchor points measure the distance every 20ms and output the distance value. Then, the vehicle controller determines the two-dimensional positioning coordinates of the smart device based on the distance values ​​of the five anchor points.

[0078] In some embodiments, the two-dimensional positioning coordinates of the smart device can also be filtered. For example, invalid coordinates can be removed.

[0079] Furthermore, in step S11, the two-dimensional positioning data can be data obtained by performing multiple positioning operations on the smart device, including two-dimensional positioning coordinates sorted by positioning time. That is, the two-dimensional positioning data can be understood as a two-dimensional coordinate sequence, and each two-dimensional positioning coordinate in the two-dimensional coordinate sequence is distributed in the distribution area of ​​the vehicle's trunk.

[0080] In some embodiments, if the positioning of the smart device is real-time, the two-dimensional positioning coordinates obtained at each time point are sorted according to the positioning time to obtain the two-dimensional positioning data.

[0081] If the positioning of a smart device is periodic, then the two-dimensional positioning coordinates obtained from each positioning cycle can be sorted according to the positioning time to obtain the two-dimensional positioning data.

[0082] It is understandable that the same positioning method can be used to locate smart devices at different times or in different positioning cycles.

[0083] In some embodiments, considering that it takes a certain amount of time for the user to complete the trunk control behavior, in the implementation of periodic positioning, the number of two-dimensional positioning coordinates in the two-dimensional positioning data needs to meet certain requirements; or, in the implementation of real-time positioning, the time length covered by the two-dimensional positioning data needs to meet certain requirements.

[0084] Taking the trunk control behavior as an example where the handheld smart device rotates its arm once, the time to complete this behavior can be within 300ms to 1500ms. If the time length is a requirement, the time length covered by the two-dimensional positioning data can also be within 300ms to 1500ms. If the number of two-dimensional positioning coordinates is a requirement, and the positioning cycle is once every 20ms, then the number of two-dimensional positioning coordinates can be between 15 and 75.

[0085] Therefore, as an optional implementation, step S11 includes: periodically locating the smart device to obtain multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle trunk; in response to the number of multiple two-dimensional positioning coordinates reaching a preset number, sorting the multiple two-dimensional positioning coordinates according to the positioning time to obtain two-dimensional positioning data.

[0086] In this implementation, since the smart device is periodically located, multiple two-dimensional positioning coordinates are sorted according to positioning time to obtain two-dimensional positioning data, provided that the number of two-dimensional positioning coordinates meets the corresponding quantity requirements.

[0087] As an example, if the positioning cycle is once every 20ms, and the time to complete one control action is within 300ms to 1500ms, then the preset quantity can be within the range of 15 to 75.

[0088] As an optional implementation, the smart device is periodically located to obtain multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle's trunk. This includes: in any one of the multiple positioning cycles, measuring the distance to the smart device using multiple UWB ranging anchor points on the vehicle to obtain multiple ranging results. The multiple UWB ranging anchor points include anchor points distributed inside the vehicle and anchor points distributed at different locations outside the vehicle; determining the two-dimensional positioning coordinates of the smart device within the positioning cycle based on the multiple ranging results and the UWB positioning algorithm; and determining multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle's trunk based on the two-dimensional positioning coordinates of the smart device in each positioning cycle.

[0089] In this implementation, the multi-anchor point implementation method described in the foregoing embodiments is used to achieve UWB positioning.

[0090] In each positioning cycle, multiple UWB ranging anchor points can be used to measure the distance to the smart device, obtaining multiple ranging results. Then, the average of these multiple ranging results is filtered to obtain the target ranging result. Next, based on the target ranging result and the UWB positioning algorithm, the two-dimensional positioning coordinates of the smart device in each positioning cycle can be determined.

[0091] Furthermore, based on the two-dimensional positioning coordinates of the smart device in each positioning cycle, filtering can be performed, such as removing invalid coordinates (e.g., coordinates that are significantly deviated from the distribution area of ​​the vehicle's trunk), thereby determining the two-dimensional positioning coordinates obtained after filtering as multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle's trunk.

[0092] In step S12, based on the two-dimensional positioning data, a two-dimensional trajectory of the smart device in the distribution area of ​​the vehicle's trunk can be generated.

[0093] As an optional implementation, step S12 includes: determining distance information based on the two-dimensional positioning data, wherein the distance information includes: the distance between the first positioning coordinate in the two-dimensional positioning data and each of the other two-dimensional positioning coordinates, wherein the first positioning coordinate is the two-dimensional positioning coordinate with the latest positioning time; and performing trajectory fitting on the two-dimensional positioning data based on the distance information to obtain a two-dimensional trajectory.

[0094] In this implementation, the two-dimensional positioning data is fitted with a trajectory based on the distance between the two-dimensional positioning coordinates with the latest positioning time and the other two-dimensional coordinates to obtain a two-dimensional trajectory.

[0095] The two-dimensional positioning coordinates with the latest positioning time can be the coordinates obtained from the most recent positioning.

[0096] In some embodiments, distance information can be used to determine whether the trajectory of the smart device in the distribution area of ​​the vehicle trunk is a closed trajectory and whether it has similar characteristics to the corresponding trajectory. If so, trajectory fitting is further performed to generate a two-dimensional trajectory.

[0097] This implementation method is applicable when the trajectory of the smart device corresponding to the predefined trunk control behavior is a closed trajectory. For example, in a scenario where the two-dimensional trajectory of the smart device corresponding to the predefined trunk control behavior is an elliptical trajectory, this method of generating two-dimensional trajectories can be used.

[0098] It is understandable that if the trajectory of the smart device corresponding to the predefined trunk control behavior is not a closed trajectory, then there is no need to determine whether it is a closed trajectory. Instead, the corresponding processing logic is formulated based on the specific trajectory situation.

[0099] Figure 4 This is a schematic diagram illustrating a trajectory projection according to an exemplary embodiment, such as... Figure 4 As shown, the predefined trunk control behavior is that the user holds the smart device and rotates their arm in any direction for one full circle. In this case, the three-dimensional trajectory of the smart device is approximately circular. Projecting this three-dimensional trajectory onto a two-dimensional plane, the resulting two-dimensional trajectory is an ellipse.

[0100] Therefore, to simplify the calculation and recognition of coordinate trajectories in three-dimensional space, the three-dimensional problem is transformed into planar trajectory calculation. Verification calculations show that the planar position can be obtained by calculating the X and Y coordinates of the XOY plane. Thus, using the UWB algorithm to calculate two-dimensional coordinates is simpler and more accurate.

[0101] Therefore, in this scenario, we can first determine whether the two-dimensional positioning data satisfies the closure of the elliptical trajectory and the characteristics similar to an ellipse. If so, we can then perform trajectory fitting to obtain the two-dimensional trajectory.

[0102] In some embodiments, a two-dimensional trajectory is obtained by fitting the two-dimensional positioning data with distance information, including: determining a second positioning coordinate based on the distance information, wherein the second positioning coordinate is the two-dimensional positioning coordinate farthest from the first positioning coordinate; determining the distance between the first positioning coordinate and a third positioning coordinate based on the distance information, wherein the third positioning coordinate is the two-dimensional positioning coordinate whose sorting in the two-dimensional positioning data meets a preset condition; and fitting an elliptical trajectory to the two-dimensional positioning data to obtain the two-dimensional trajectory when the second positioning coordinate is within a preset coordinate range and the distance between the first positioning coordinate and the third positioning coordinate is less than the preset coordinate distance.

[0103] In this implementation, it is necessary to determine the two-dimensional positioning coordinate that is furthest from the coordinate with the latest positioning time, and to determine the two-dimensional positioning coordinate that meets the preset conditions in the sorting of the two-dimensional positioning data. By combining these two types of two-dimensional positioning coordinates and the two-dimensional positioning coordinate with the latest positioning time, it is determined whether the trajectory is closed and has similar characteristics to an ellipse.

[0104] In some embodiments, the preset condition may be that the sorting of the two-dimensional positioning coordinates is within a preset sorting range. As an example, if the number of two-dimensional positioning coordinates is 75, then the preset sorting range may be 5 to 15. Therefore, the sorting of the third positioning coordinate in the two-dimensional positioning data will be within this range of 5 to 15.

[0105] As an example, if the first positioning coordinate is P0, and the resulting sequence of two-dimensional coordinates (i.e., two-dimensional positioning data) is (P0, P1…P15, P16…P75), then the distance between P0 and Pj (5≤j≤15) can be determined. Furthermore, based on the distances between P0 and each coordinate, the two-dimensional positioning coordinate furthest from P0 can be determined.

[0106] Furthermore, the condition for trajectory closure can be that the distance between the first and third positioning coordinates is less than a preset coordinate distance. The preset coordinate distance can be set according to different application scenarios; as an example, the preset coordinate distance can be 20cm.

[0107] In some embodiments, the preset coordinate range can be: , where i represents the coordinate point i that is farthest from P0, and its two-dimensional positioning coordinates are Pi.

[0108] It is understandable that if the second positioning coordinate is not within the preset coordinate range, and the distance between the first positioning coordinate and the third positioning coordinate is greater than or equal to the preset coordinate distance, the subsequent elliptical trajectory fitting operation can be omitted, and the trunk can be controlled accordingly.

[0109] The general equation of an ellipse can be expressed as:

[0110] Here, A, B, C, D, E, and F are the parameters of the ellipse equation. Therefore, the fitting process of the ellipse trajectory can be understood as the fitting and solving process of the ellipse equation.

[0111] Through the An ellipse is fitted using two-dimensional coordinate data, and the ellipse is solved using the least squares method, specifically as follows:

[0112] By performing parametric partial derivative calculations on this formula, we can obtain:

[0113] Based on this formula, A, B, C, D, E, and F can be calculated, and the fitted ellipse equation can then be obtained.

[0114] In some embodiments, it can also be verified whether the ellipse satisfies the corresponding ellipse properties. If it does, it conforms to an elliptical trajectory; otherwise, it does not conform to an elliptical trajectory.

[0115] The elliptic property can be verified using the following inequality:

[0116] It is understandable that if the above inequality is satisfied, then the trajectory is determined to be an elliptical trajectory.

[0117] Furthermore, in step S13, the vehicle's trunk can be controlled based on the two-dimensional trajectory.

[0118] As an optional implementation, step S13 includes: determining two-dimensional trajectory features based on the two-dimensional trajectory; determining the trunk control intention of the user carrying the smart device based on the two-dimensional trajectory features; and controlling the vehicle trunk based on the trunk control intention.

[0119] In this implementation, the two-dimensional trajectory features can characterize the trunk control intent. Therefore, feature extraction can be performed based on the two-dimensional trajectory to obtain the two-dimensional trajectory features.

[0120] As an alternative implementation, when the two-dimensional trajectory is an elliptical trajectory, the two-dimensional trajectory features can be the semi-major axis and eccentricity of the elliptical trajectory, which can be determined by calculation.

[0121] In some embodiments, the rotation angle θ of the ellipse satisfies:

[0122] Based on this rotation angle, rotating the ellipse, the equation of the resulting ellipse can be expressed as:

[0123] in, .

[0124] By eliminating linear terms, we can obtain:

[0125] Define the following three parameters to represent:

[0126] Therefore, the standard equation of an ellipse can be expressed as:

[0127] Furthermore, the elliptical feature parameters can be obtained:

[0128] Among them, the long half-shaft and eccentricity can be used to determine the control intention of the trunk.

[0129] In some embodiments, determining the trunk control intention of a user carrying a smart device based on two-dimensional trajectory features includes: determining a target preset trajectory feature that matches the two-dimensional trajectory feature from at least one preset trajectory feature, wherein the at least one preset trajectory feature is a trajectory feature pre-configured with a corresponding trunk control intention; and determining the trunk control intention of the user carrying the smart device based on the trunk control intention corresponding to the target preset trajectory feature.

[0130] It's understandable that if one type of trunk control behavior is predefined, then there will only be one preset trajectory feature. If multiple trunk control behaviors are predefined, then there will also be multiple preset trajectory features.

[0131] For example, if the trunk opening behavior is defined in advance as the user holding a smart device and rotating their arm once, then the preset trajectory feature can be a preset elliptical trajectory feature, and the corresponding trunk control intent is the trunk opening intent.

[0132] Based on the trunk control requirements in different application scenarios, trunk control behavior can be flexibly defined, and at least one preset trajectory feature can be configured. Different preset trajectory features can correspond to different trunk control intentions.

[0133] For example, the preset trajectory features can also be features of trajectories in the shape of rectangles, squares, or irregularities, and these trajectory features can correspond to different trunk control intentions.

[0134] As an optional implementation, the preset elliptical trajectory features include: a preset range of the major semi-axis and a preset range of eccentricity.

[0135] Then, from at least one preset trajectory feature, a target preset trajectory feature that matches the two-dimensional trajectory feature is determined, including: in response to the fact that the major semi-axis of the elliptical trajectory is within a preset major semi-axis range and the eccentricity of the elliptical trajectory is within a preset eccentricity range, the preset elliptical trajectory feature is determined as the target preset trajectory feature.

[0136] In this implementation, if the major semi-axis of the elliptical trajectory is within a preset range of the major semi-axis and the eccentricity of the elliptical trajectory is within a preset range of the eccentricity, it indicates that the trajectory features satisfy the preset elliptical trajectory features. Therefore, it can be determined that the trunk control intention is the trunk opening intention corresponding to the preset elliptical trajectory features.

[0137] Therefore, in step S13, the trunk can be opened based on the intention to open the trunk.

[0138] In some embodiments, the preset range of the major semi-axis can be adapted to different types of trunk control scenarios. As an example, the major semi-axis of the ellipse can be related to the length of a human arm; the arm length of different types of users, such as children and adults, is between 0.4m and 1.0m. Therefore, the preset range of the major semi-axis can be 0.4m to 1.0m.

[0139] In some embodiments, the preset eccentricity range can be adapted to different types of trunk control scenarios. As an example, the eccentricity of the ellipse can be related to the height of the person and the direction of arm rotation. Therefore, for people of different heights rotating their arms in different directions, the corresponding eccentricity of the ellipse trajectory will be between 0.5 and 0.8. Thus, the preset eccentricity range can be 0.5 to 0.8.

[0140] By adaptively adjusting the elliptical trajectory features, it is possible to support the analysis of control intentions for most user groups, such as users with different heights and arm lengths.

[0141] In this embodiment of the disclosure, the trunk can also be closed based on a trunk locking strategy.

[0142] Therefore, as an optional implementation, the method further includes: in response to the smart device moving from the distribution area of ​​the vehicle trunk to the target area or the vehicle cabin, obtaining the state of the vehicle trunk, wherein the distance between the target area and the distribution area of ​​the vehicle trunk is greater than a preset area distance; and controlling the vehicle trunk according to the state of the vehicle trunk.

[0143] In this implementation, when the location of the smart device is moved to the target area or inside the vehicle cabin, it can be based on the vehicle trunk. In some embodiments, the target area can be understood as a locked area. After the smart device enters the locked area, it can control the trunk to close even when the trunk is open.

[0144] In some embodiments, the preset area distance can be 2m to 3m.

[0145] It's understandable that as long as the smart device is within the location-detectable range, it will be continuously located. Therefore, if the distance between the smart device's current location coordinates and the distribution area in the vehicle's trunk is greater than a preset area distance, the smart device is considered to have moved to the target area. Similarly, if the smart device is not detected within the location-detectable range, it is also considered to have moved to the target area.

[0146] Correspondingly, if the current location coordinates of the smart device are within the vehicle cabin distribution area, it is considered that the smart device has moved into the vehicle cabin.

[0147] Figure 5 This is a schematic diagram illustrating a regional relationship according to an exemplary embodiment. Figure 5 The diagram shows the distribution area and locking area of ​​the vehicle's trunk. It can be seen that the area outside the circular region centered on the center of the trunk distribution area can be considered the locking area. The radius of this circular region can be called the locking radius, and its length can be 3 meters.

[0148] In some embodiments, controlling the vehicle trunk according to its state includes: when the vehicle trunk is open, controlling the vehicle trunk to close based on the time the smart device spends in the target area or the vehicle cabin.

[0149] In this implementation, the smart device needs to stay in the target area or vehicle cabin for a certain period of time before triggering the closing control of the vehicle trunk. In this way, it can play a protective role for the user, such as preventing the user from being caught in the car door or trunk door.

[0150] In some embodiments, in addition to this locking protection strategy, the method may further include: not controlling the closing of the vehicle trunk in response to the duration of the vehicle trunk being in the open state being less than a preset duration.

[0151] In this implementation, the trunk will not be closed if the trunk has not been open for the required duration, thus providing thermal protection for the trunk and preventing the user from being pinched by the trunk door.

[0152] The preset duration can be 3s to 5s, and is not limited here.

[0153] Figure 6 This is a schematic diagram illustrating a trunk control process according to an exemplary embodiment. Figure 6 In this example, a smartphone is used as the smart device, and the predefined trunk control behavior is trunk opening. The user needs to hold the phone and rotate their arm in a full circle to trigger the trunk opening control. For example... Figure 6 As shown, the control flow includes the following steps: Distance was measured using five anchor points, and the results were filtered by mean.

[0154] UWB positioning is performed based on the ranging results obtained by mean filtering to solve the mobile phone's position coordinates, and the solved position coordinates are then filtered.

[0155] Based on the location coordinates of the mobile phone, it is determined whether the user (i.e. the mobile phone) has entered the trunk area (i.e. the area where the vehicle's trunk is located).

[0156] If the user enters the backup area, check if the number of coordinate points in the backup area is greater than 15. If the user enters the backup area, check if the trajectory curve returns to a closed loop. If the trajectory curve does not return to a closed loop, return to the step of determining whether the user entered the backup area.

[0157] If the trajectory curve returns to a closed loop, then elliptical trajectory recognition is performed. The ellipse parameters are then verified to determine whether the trunk needs to be opened. If the trunk needs to be opened, it is opened, and a 3-second trunk thermal lock protection is activated, meaning the trunk will not close within 3 seconds of being opened. If the trunk does not need to be opened, the process returns to the step of determining whether the user has entered the trunk area.

[0158] If the user does not enter the storage area, then determine whether the user has entered the locked area or the vehicle. If the user has not entered the locked area or the vehicle, return to the step of determining whether the user has entered the storage area.

[0159] If the user enters the locked area or the vehicle, it checks whether the trunk is open. If the trunk is not open, no control is executed. If the trunk is open, it checks whether the trunk is in thermal protection mode. If so, it returns to the step of checking whether the trunk is open; otherwise, the trunk is closed.

[0160] Figure 7 This is a block diagram illustrating a vehicle trunk control device 700 according to an exemplary embodiment, such as... Figure 7 As shown, the device includes: The acquisition module 701 is used to acquire two-dimensional positioning data of the smart device in the distribution area of ​​the vehicle trunk in response to the smart device being configured with a digital key entering the distribution area of ​​the vehicle trunk. The two-dimensional positioning data includes two-dimensional positioning coordinates sorted by positioning time.

[0161] The generation module 702 is used to generate a two-dimensional trajectory of the smart device in the distribution area of ​​the vehicle trunk based on the two-dimensional positioning data.

[0162] The control module 703 is used to control the vehicle trunk according to the two-dimensional trajectory.

[0163] Optionally, the control module 703 is further configured to: determine two-dimensional trajectory features based on the two-dimensional trajectory; determine the trunk control intention of the user carrying the smart device based on the two-dimensional trajectory features; and control the vehicle trunk based on the trunk control intention.

[0164] Optionally, the control module 703 is further configured to: determine a target preset trajectory feature that matches the two-dimensional trajectory feature from at least one preset trajectory feature, wherein the at least one preset trajectory feature is a trajectory feature pre-configured with a corresponding trunk control intention; and determine the trunk control intention of the user carrying the smart device based on the trunk control intention corresponding to the target preset trajectory feature.

[0165] Optionally, the control module 703 is further configured to: in response to the fact that the major semi-axis of the elliptical trajectory is within the range of the preset major semi-axis and the eccentricity of the elliptical trajectory is within the range of the preset eccentricity, determine the preset elliptical trajectory feature as the target preset trajectory feature.

[0166] Optionally, the generation module 702 is further configured to: determine distance information based on the two-dimensional positioning data, wherein the distance information includes: the distance between a first positioning coordinate in the two-dimensional positioning data and each other two-dimensional positioning coordinate except the first positioning coordinate, the first positioning coordinate being the two-dimensional positioning coordinate with the latest positioning time; and perform trajectory fitting on the two-dimensional positioning data based on the distance information to obtain the two-dimensional trajectory.

[0167] Optionally, the generation module 702 is further configured to: determine a second positioning coordinate based on the distance information, wherein the second positioning coordinate is the two-dimensional positioning coordinate farthest from the first positioning coordinate; determine the distance between the first positioning coordinate and a third positioning coordinate based on the distance information, wherein the third positioning coordinate is a two-dimensional positioning coordinate whose sorting in the two-dimensional positioning data satisfies a preset condition; and, when the second positioning coordinate is within a preset coordinate range and the distance between the first positioning coordinate and the third positioning coordinate is less than a preset coordinate distance, perform elliptical trajectory fitting on the two-dimensional positioning data to obtain the two-dimensional trajectory.

[0168] Optionally, the acquisition module 701 is further configured to: periodically locate the smart device to obtain multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle trunk; and, in response to the number of the multiple two-dimensional positioning coordinates reaching a preset number, sort the multiple two-dimensional positioning coordinates according to the positioning time to obtain the two-dimensional positioning data.

[0169] Optionally, the acquisition module 701 is further configured to: in any one of the multiple positioning cycles, measure the distance to the smart device using multiple UWB ranging anchor points of the vehicle to obtain multiple ranging results, wherein the multiple UWB ranging anchor points include: anchor points distributed inside the vehicle and anchor points distributed at different locations outside the vehicle; determine the two-dimensional positioning coordinates of the smart device within the positioning cycle based on the multiple ranging results and the UWB positioning algorithm; and determine multiple two-dimensional positioning coordinates of the smart device in the distribution area of ​​the vehicle's trunk based on the two-dimensional positioning coordinates of the smart device in each positioning cycle.

[0170] Optionally, the control module 703 is further configured to: in response to the intelligent device moving from the distribution area of ​​the vehicle trunk to a target area or the vehicle cabin, acquire the state of the vehicle trunk, wherein the distance between the target area and the distribution area of ​​the vehicle trunk is greater than a preset area distance; and control the vehicle trunk according to the state of the vehicle trunk.

[0171] Optionally, the control module 703 is further configured to: when the vehicle trunk is in an open state, control the closing of the vehicle trunk based on the time the smart device spends in the target area or the vehicle cabin.

[0172] Optionally, the control module 703 is further configured to: in response to the vehicle trunk being in the open state for a duration less than a preset duration, not to control the vehicle trunk to be closed.

[0173] Optionally, the acquisition module 701 is further configured to: in response to the smart device entering the area surrounding the vehicle, locate the smart device and obtain the two-dimensional positioning coordinates of the smart device; in response to the two-dimensional positioning coordinates of the smart device being located within the distribution area of ​​the vehicle's trunk, determine that the smart device has entered the distribution area of ​​the vehicle's trunk.

[0174] The implementation methods of each module of the device can be referred to the aforementioned method embodiments, and will not be repeated here.

[0175] Figure 8 This is a functional block diagram of a vehicle 800 according to an exemplary embodiment. The vehicle 800 may include various subsystems, such as an infotainment system 810, a perception system 820, a decision control system 830, a drive system 840, and a computing platform 850. The vehicle 800 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 800 can be interconnected via wired or wireless means.

[0176] In some embodiments, the infotainment system 810 may include a communication system, an entertainment system, and a navigation system, etc.

[0177] The perception system 820 may include several sensors for sensing information about the environment surrounding the vehicle 800. For example, the perception system 820 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0178] The decision control system 830 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0179] The drive system 840 may include components that provide powered motion to the vehicle 800. In one embodiment, the drive system 840 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0180] Some or all of the functions of the vehicle 800 are controlled by a computing platform 850. The computing platform 850 may include at least one processor 851 and a memory 852, the processor 851 being able to execute instructions 853 stored in the memory 852.

[0181] The processor 851 can be any conventional processor, such as a commercially available CPU. The processor may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems on chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0182] The memory 852 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.

[0183] In addition to instruction set 853, memory 852 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 852 can be used by computing platform 850.

[0184] In this embodiment of the disclosure, processor 851 may execute instruction 853 to complete all or part of the steps of the above-described vehicle trunk control method.

[0185] In another exemplary embodiment, a controller is also provided, which may be part of the aforementioned vehicle. The controller may be an integrated circuit (IC) or a chip, wherein the integrated circuit may be a single IC or a collection of multiple ICs; the chip may include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip), etc. The aforementioned integrated circuit or chip may be used to execute executable instructions (or code) to implement the aforementioned vehicle trunk control method. The executable instructions may be stored in the integrated circuit or chip, or obtained from other devices or equipment; for example, the integrated circuit or chip may include a processor, memory, and an interface for communicating with other devices. The executable instructions can be stored in the memory, and when the executable instructions are executed by the processor, the above-mentioned control method for rail transit vehicles can be implemented; or, the integrated circuit or chip can receive the executable instructions through the interface and transmit them to the processor for execution to implement the above-mentioned control method for the vehicle trunk.

[0186] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle trunk control method provided in this disclosure.

[0187] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle trunk control method when executed by the programmable device.

[0188] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0189] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0190] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for controlling a vehicle's trunk, characterized in that, include: In response to a smart device equipped with a digital key entering the distribution area of ​​the vehicle's trunk, two-dimensional positioning data of the smart device in the distribution area of ​​the vehicle's trunk is obtained, the two-dimensional positioning data including two-dimensional positioning coordinates sorted by positioning time; Based on the two-dimensional positioning data, a two-dimensional trajectory of the smart device is generated in the distribution area of ​​the vehicle trunk. The vehicle's trunk is controlled based on the two-dimensional trajectory.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle trunk based on the two-dimensional trajectory includes: Based on the two-dimensional trajectory, determine the characteristics of the two-dimensional trajectory; Based on the two-dimensional trajectory features, the trunk control intention of the user carrying the smart device is determined; The vehicle's trunk is controlled according to the stated trunk control intent.

3. The method according to claim 2, characterized in that, The step of determining the trunk control intention of the user carrying the smart device based on the two-dimensional trajectory features includes: From at least one preset trajectory feature, a target preset trajectory feature that matches the two-dimensional trajectory feature is determined, wherein the at least one preset trajectory feature is a trajectory feature pre-configured with a corresponding trunk control intention; Based on the trunk control intent corresponding to the preset trajectory features of the target, the trunk control intent of the user carrying the smart device is determined.

4. The method according to claim 3, characterized in that, The two-dimensional trajectory is an elliptical trajectory, and the two-dimensional trajectory features include the semi-major axis and eccentricity of the elliptical trajectory. The at least one preset trajectory feature includes: a preset elliptical trajectory feature corresponding to the trunk opening intention, and the preset elliptical trajectory feature includes: a preset semi-major axis range and a preset eccentricity range. Determining a target preset trajectory feature that matches the two-dimensional trajectory feature from the at least one preset trajectory feature includes: In response to the fact that the semi-major axis of the elliptical trajectory is within the range of the preset semi-major axis and the eccentricity of the elliptical trajectory is within the range of the preset eccentricity, the preset elliptical trajectory feature is determined as the target preset trajectory feature.

5. The method according to claim 1, characterized in that, The step of generating a two-dimensional trajectory of the smart device in the distribution area of ​​the vehicle trunk based on the two-dimensional positioning data includes: Based on the two-dimensional positioning data, distance information is determined, wherein the distance information includes: the distance between the first positioning coordinate in the two-dimensional positioning data and each of the other two-dimensional positioning coordinates except the first positioning coordinate, and the first positioning coordinate is the two-dimensional positioning coordinate with the latest positioning time; Based on the distance information, the two-dimensional positioning data is fitted with a trajectory to obtain the two-dimensional trajectory.

6. The method according to claim 5, characterized in that, The step of fitting a trajectory to the two-dimensional positioning data based on the distance information to obtain the two-dimensional trajectory includes: Based on the distance information, a second positioning coordinate is determined, which is the two-dimensional positioning coordinate that is farthest from the first positioning coordinate; Based on the distance information, the distance between the first positioning coordinate and the third positioning coordinate is determined, wherein the third positioning coordinate is a two-dimensional positioning coordinate in the two-dimensional positioning data whose sorting satisfies a preset condition; When the second positioning coordinate is within the preset coordinate range and the distance between the first positioning coordinate and the third positioning coordinate is less than the preset coordinate distance, the two-dimensional positioning data is fitted with an elliptical trajectory to obtain the two-dimensional trajectory.

7. The method according to claim 1, characterized in that, The step of acquiring the two-dimensional positioning data of the smart device in the distribution area of ​​the vehicle trunk includes: The intelligent device is periodically located to obtain multiple two-dimensional positioning coordinates of the intelligent device in the distribution area of ​​the vehicle trunk; In response to the number of the plurality of two-dimensional positioning coordinates reaching a preset number, the plurality of two-dimensional positioning coordinates are sorted according to positioning time to obtain the two-dimensional positioning data.

8. The method according to claim 7, characterized in that, The digital key is a UWB digital key. The periodic positioning of the smart device to obtain multiple two-dimensional positioning coordinates of the smart device within the distribution area of ​​the vehicle's trunk includes: In any one of the multiple positioning cycles, the smart device is measured by multiple UWB ranging anchor points of the vehicle to obtain multiple ranging results. The multiple UWB ranging anchor points include: anchor points distributed inside the vehicle and anchor points distributed in different directions outside the vehicle. Based on multiple ranging results and the UWB positioning algorithm, the two-dimensional positioning coordinates of the smart device within the positioning period are determined; Based on the two-dimensional positioning coordinates of the intelligent device in each positioning cycle, multiple two-dimensional positioning coordinates of the intelligent device in the distribution area of ​​the vehicle trunk are determined.

9. The method according to claim 1, characterized in that, The method further includes: In response to the smart device moving from the distribution area of ​​the vehicle trunk to the target area or the vehicle cabin, the state of the vehicle trunk is obtained, wherein the distance between the target area and the distribution area of ​​the vehicle trunk is greater than a preset area distance. The vehicle trunk is controlled according to its state.

10. The method according to claim 9, characterized in that, The step of controlling the vehicle trunk based on its state includes: When the vehicle trunk is open, the system controls the closing of the vehicle trunk based on the time the smart device spends in the target area or the vehicle cabin.

11. The method according to claim 1 or 10, characterized in that, The method further includes: If the duration of the vehicle trunk being in the open state is less than a preset duration, the vehicle trunk will not be closed.

12. The method according to claim 1, characterized in that, The method further includes: In response to the smart device entering the area surrounding the vehicle, the smart device is located to obtain its two-dimensional positioning coordinates; In response to the fact that the two-dimensional positioning coordinates of the smart device are located within the distribution area of ​​the vehicle's trunk, it is determined that the smart device has entered the distribution area of ​​the vehicle's trunk.

13. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to execute the executable instructions to implement the steps of the method according to any one of claims 1 to 12.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 12.

15. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1 to 12.

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