A bluetooth interconnection-based intelligent control interaction method for vehicle machine

Abstract

The present application relates to the field of car Bluetooth interaction technology, and particularly relates to a car intelligent control interaction method based on Bluetooth interconnection. A plurality of vehicle-side Bluetooth receiving ends arranged at different spatial positions of a vehicle receive a Bluetooth broadcast signal sent by an authorized mobile terminal, generate a channel fusion signal value; the signal change relationship between the plurality of vehicle-side Bluetooth receiving ends generates a common change signal feature and a receiving end relative signal relationship, and determines a user behavior state; when a continuous approaching state is detected, an approaching space trajectory sequence corresponding to a current interaction period is established; when a signal change process of enhancement, weakening and then recovery of enhancement is detected, a candidate signal inversion event is generated, and it is judged whether the candidate signal inversion event is a real U-turn event; and a vehicle control instruction is executed according to the real U-turn event judgment result. The purpose is to reduce the misjudgment caused by human body shielding, terminal posture change and wireless propagation environment change, and improve the reliability of car intelligent control interaction.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted Bluetooth interaction technology, and specifically to a vehicle-mounted intelligent control and interaction method based on Bluetooth interconnection. Background Technology

[0002] Currently, vehicles can establish a communication connection between a mobile terminal and the vehicle's Bluetooth module. The system determines the user's position relative to the vehicle based on changes in the Bluetooth signal strength transmitted by the mobile terminal, enabling vehicle unlocking, locking, and welcome control. For example, Chinese Patent Publication No. CN109466506A, filed on 2018-09-18, entitled "A Vehicle Keyless Control System and Method Based on Multiple Bluetooth Signal Strengths," discloses a method that uses multiple Bluetooth modules at different locations within the vehicle to collect the Bluetooth signal strength transmitted by the virtual key. The system determines the virtual key's position relative to the vehicle based on the signal strength relationships between the Bluetooth modules at different locations, and then sends corresponding control commands to the vehicle control system based on the determination results, improving the accuracy of user position determination during keyless vehicle control. However, this vehicle control method based on multiple Bluetooth signal strengths primarily focuses on determining the user's current position relative to the vehicle. It typically determines the user's location on a certain side or within a certain distance of the vehicle based on the signal strength relationships between multiple Bluetooth modules, without analyzing the spatial change trends during continuous user movement.

[0003] In practical applications, a user may approach a vehicle with a mobile device, and then temporarily change direction, turn around, move sideways, or have the device obstructed by their body. This alters the Bluetooth propagation path, causing a brief drop in signal strength detected by multiple Bluetooth receivers. The signal strength then strengthens again as the obstruction is removed or the device's posture returns to normal. This Bluetooth signal change process may exhibit a pattern of strengthening-weakening-strengthening. This process is similar to the actual backtracking process of a user approaching and leaving a vehicle, then approaching again, making it difficult for the vehicle to determine whether a genuine backtracking has occurred based solely on Bluetooth signal strength changes. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, this invention provides a vehicle-mounted intelligent control and interaction method based on Bluetooth interconnection. This method effectively solves the problem that existing technologies, which rely on a single signal change trend, cannot reflect the user's actual spatial movement process, leading to the misjudgment of human body occlusion, changes in terminal posture, or changes in the wireless propagation environment as user turning back.

[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a vehicle-mounted intelligent control and interaction method based on Bluetooth interconnection, comprising at least: The vehicle-side Bluetooth receiver receives the Bluetooth broadcast signal sent by the terminal and the corresponding received signal strength, determines the channel fusion signal value of the corresponding vehicle-side Bluetooth receiver, and establishes a Bluetooth dataset. Based on the changes in the channel fusion signal value corresponding to the continuous sampling time, common changing signal features are generated, and relative signal relationships between receivers are generated based on the magnitude of the channel fusion signal value corresponding to the Bluetooth receivers on different vehicle sides at the same sampling time. The user behavior state is determined based on the characteristics of the common changing signal. When the user behavior state is a continuous approach state, the approach trajectory nodes are generated based on the channel fusion signal value corresponding to the continuous sampling time in the current interaction cycle and the relative signal relationship of the receiver. Multiple approach trajectory nodes are arranged in the order of sampling time to form an approach spatial trajectory sequence. When the common change signal features are detected to change from a common enhancement change state to a common weakening change state, and then change back to a common enhancement change state, candidate signal reversal events are identified, and a candidate reversal event dataset is generated. The reverse trajectory change results are determined based on the reverse descent phase data and the near-space trajectory sequence in the candidate reverse event dataset; the recovery trajectory matching results are determined based on the reverse recovery phase data and the near-space trajectory sequence in the candidate reverse event dataset. Based on the reverse trajectory change results, the recovered trajectory matching results, and the time change characteristics corresponding to the candidate signal reversal event, determine whether the candidate signal reversal event is a real reversal event or a pseudo reversal event, update the user behavior state, and generate control commands.

[0006] Furthermore, the method for determining user behavior state based on common change signal characteristics is as follows: Obtain the channel fusion signal values ​​corresponding to the current sampling time and the previous sampling time, and subtract the channel fusion signal value corresponding to the previous sampling time from the channel fusion signal value corresponding to the current sampling time to obtain the signal change difference; If the signal change difference is greater than the preset enhancement change threshold, the corresponding vehicle-side Bluetooth receiver is in an enhancement change state. When the signal change difference is less than the preset attenuation threshold, the corresponding Bluetooth receiver on the vehicle side is in an attenuation state. The signal change difference is between the two, corresponding to a stable change state at the vehicle-side Bluetooth receiver. Based on the proportion of vehicle-side Bluetooth receivers in the enhanced change state to the total number of vehicle-side Bluetooth receivers, if the proportion threshold is reached and the duration of the joint enhanced change state reaches a preset proximity duration threshold, the user behavior state is a continuous proximity state.

[0007] The specific steps for generating the relative signal relationship at the receiving end are as follows: Get the channel fusion signal values ​​corresponding to any two vehicle-side Bluetooth receivers at the sampling time, calculate the difference between the channel fusion signal values ​​corresponding to the two vehicle-side Bluetooth receivers, and when the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is greater than the channel fusion signal value of the second vehicle-side Bluetooth receiver, and the difference between the channel fusion signal values ​​of the two vehicle-side Bluetooth receivers is greater than the threshold, the first vehicle-side Bluetooth receiver is in a positive receiver relative signal relationship with the second vehicle-side Bluetooth receiver. When the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is less than the channel fusion signal value of the second vehicle-side Bluetooth receiver, and the difference between the channel fusion signal values ​​of the two vehicle-side Bluetooth receivers is greater than a threshold, the first vehicle-side Bluetooth receiver has a negative receiver relative signal relationship with the second vehicle-side Bluetooth receiver. When the difference between the channel fusion signal values ​​corresponding to the two vehicle-side Bluetooth receivers is less than or equal to the threshold, the two vehicle-side Bluetooth receivers have an equivalent receiver relative signal relationship. The signal relationship among the three components forms the relative signal relationship at the receiving end.

[0008] Furthermore, the method for determining the result of the reverse trajectory change is as follows: For each vehicle-side Bluetooth receiver, pair up the two receivers and collect the number of changes in the relative signal relationship between the positive receiver and the negative receiver during the approach phase. Based on the magnitude of the changes in the relative signal relationship between the positive receiver and the negative receiver, determine the main direction of change in the relationship during the approach phase. For each vehicle-side Bluetooth receiver, pair up the two receivers and obtain the number of changes in the relative signal relationship between the positive receiver and the negative receiver during the reversal descent phase. Based on the magnitude of the changes in the relative signal relationship between the positive receiver and the negative receiver, determine the main direction of change in the relationship during the descent phase. When the main change direction of the descent phase relationship corresponding to the pairwise combination of the same vehicle-side Bluetooth receivers is opposite to the main change direction of the approach phase relationship, it is determined that the pairwise combination of the corresponding vehicle-side Bluetooth receivers supports reverse spatial change. When the proportion of the number of pairwise combinations of vehicle-side Bluetooth receivers supporting reverse spatial change to the total number of pairwise combinations of vehicle-side Bluetooth receivers reaches a threshold, the reverse trajectory change result is valid.

[0009] Furthermore, determining whether a candidate signal reversal event is a true reversal event or a false reversal event includes: Subtract the time corresponding to the inversion start position from the time corresponding to the inversion recovery position to obtain the duration of the candidate signal inversion event; Get the time corresponding to the first approach trajectory node and the time corresponding to the last approach trajectory node in the approach spatial trajectory sequence within the current interaction cycle. Subtract the time corresponding to the first approach trajectory node from the time corresponding to the last approach trajectory node to get the duration of the current approach process. Divide the duration of the candidate signal reversal event by the duration of the current approach process to obtain the reversal time ratio; When the reverse trajectory change result is valid, the recovery trajectory matching result is valid, and the reversal time ratio is within the preset range, the candidate signal reversal event is a real return event; Conversely, a candidate signal reversal event is a pseudo-reversal event.

[0010] The technical solution provided by this invention has the following advantages compared with the known prior art: By comparing the signal strength between Bluetooth receivers on different vehicle sides, a receiver relative signal relationship is established, including positive receiver relative signal relationships, negative receiver relative signal relationships, and equivalent receiver relative signal relationships. This allows for the analysis of changes in wireless propagation relationships during user movement from multiple spatial locations. When a user is detected to be continuously approaching, a corresponding proximity spatial trajectory sequence is established based on multiple proximity trajectory nodes formed within the current interaction period. This avoids trajectory judgment errors caused by different spatial relationships when approaching the vehicle from different directions.

[0011] When an abnormal change process is detected, from a state of mutual enhancement to a state of mutual weakening and then back to a state of mutual enhancement, candidate signal reversal events are generated, including the reversal start position, the reversal trough position, and the reversal recovery position. The relative signal relationship changes of multiple vehicle-side Bluetooth receivers in both the descent and recovery phases are analyzed to generate reverse trajectory change results and recovery trajectory matching results. The spatial change direction and temporal continuity are used to determine whether the current signal reversal process is caused by the user's actual spatial movement.

[0012] Secondly, this invention eliminates the need for additional spatial perception devices such as cameras, millimeter-wave radar, and UWB positioning modules. It can achieve user movement status recognition simply by utilizing the vehicle's existing Bluetooth connectivity system, thereby reducing vehicle hardware costs and improving the adaptability of existing intelligent vehicle platforms. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0014] Figure 1 This is a schematic diagram of the overall method of the present invention.

[0015] Figure 2 This is a schematic diagram of the vehicle-mounted Bluetooth interaction of the present invention. Detailed Implementation

[0016] Because Bluetooth signals are easily affected by factors such as human body obstruction, changes in the mobile device's orientation, and environmental reflections during propagation around a vehicle, the Bluetooth signal strength cannot always accurately reflect the user's actual spatial movement. When a user turns around, moves sideways, or moves the mobile device from one side of their body to the other, their body may temporarily block the Bluetooth propagation path, causing the Bluetooth signal strength received by the vehicle to weaken briefly. Subsequently, as the obstruction is removed, the signal strength may increase again. This change in Bluetooth signal strength may resemble a process of strengthening-weakening-strengthening, similar to a user approaching the vehicle and then turning back. This can easily lead to the vehicle mis-locking or falsely triggering vehicle commands.

[0017] Currently, a simple approach is to add cameras, millimeter-wave radar, ultra-wideband positioning modules, or ultrasonic sensors (as used in high-end models like BMW and NIO) to assist in determining the user's movement status by additionally sensing changes in the user's spatial position. However, this method requires additional hardware and involves vehicle structural modifications, sensor installation, and environmental calibration. This not only increases vehicle manufacturing costs (UWB chips and antenna modules are several times more expensive than traditional Bluetooth, and the phone also needs a UWB chip; for mid-to-low-end models or the aftermarket, the cost and practical application may be difficult to implement due to increased costs and potential incompatibility issues with non-factory-installed components), but is also susceptible to changes in lighting, obstruction, installation location, and the external environment. Furthermore, adding additional spatial sensing devices to vehicles already equipped with Bluetooth keyless entry systems reduces system compatibility.

[0018] Therefore, this invention aims to further analyze the spatial relationship changes between multiple vehicle-side Bluetooth receivers based on the existing Bluetooth interconnection system, identify the user's real spatial movement process, and distinguish between the user's real turning behavior and pseudo turning phenomena caused by human body occlusion and terminal posture changes, so as to realize intelligent interaction and control of the vehicle system.

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0020] Example 1 (see Figures 1-2 A vehicle-mounted intelligent control and interaction method based on Bluetooth interconnection, comprising at least: S1. Multiple vehicle-side Bluetooth receivers are set up at different spatial locations within the vehicle. Each vehicle-side Bluetooth receiver receives Bluetooth broadcast signals sent by authorized mobile terminals. The Bluetooth broadcast signal includes the Bluetooth broadcast channel number, received signal strength, and signal reception time. For each vehicle-side Bluetooth receiver, the received signal strength corresponding to multiple Bluetooth broadcast channels is acquired at the same sampling time. Since different Bluetooth broadcast channels may experience local anomalies due to transient wireless environmental factors, the received signal strengths of multiple Bluetooth broadcast channels corresponding to the same vehicle-side Bluetooth receiver at the same sampling time are sorted, and the middle value of the sorted sequence is selected as the channel fusion signal value corresponding to the current sampling time (reflecting the stable Bluetooth signal strength received by the corresponding vehicle-side Bluetooth receiver at the current sampling time). The channel fusion signal values ​​and sampling time information corresponding to multiple vehicle-side Bluetooth receivers are synchronized to form a synchronized Bluetooth dataset.

[0021] S2. Continuously sample and compare the continuous channel fusion signal value corresponding to each vehicle-side Bluetooth receiver: Subtracting the channel fusion signal value from the previous sampling time from the current sampling time's channel fusion signal value yields the signal change difference at the corresponding vehicle-side Bluetooth receiver, where: When the signal change difference is greater than the preset change threshold (preset enhancement change threshold), the corresponding vehicle-side Bluetooth receiver is recorded as an enhancement change state. When the signal change difference is less than the negative preset change threshold (preset weakening change threshold), the corresponding vehicle-side Bluetooth receiver is recorded as a weakening change state. When the signal change difference is between a negative preset change threshold and a positive preset change threshold (including equal to), the corresponding vehicle-side Bluetooth receiver is recorded as a stable change state.

[0022] The above method eliminates normal signal fluctuations under conditions where the vehicle and the authorized mobile terminal are relatively stationary.

[0023] Then, the status changes of all vehicle-side Bluetooth receivers are statistically analyzed: When the ratio of the number of vehicle-side Bluetooth receivers in the enhancement change state to the total number of vehicle-side Bluetooth receivers reaches the preset enhancement ratio threshold, and the common enhancement change continues to maintain the preset sampling number, the current sampling stage is determined as the common enhancement change state. When the ratio of the number of vehicle-side Bluetooth receivers in a weakening state to the total number of vehicle-side Bluetooth receivers reaches a preset weakening ratio threshold, and the common weakening change continues to maintain a preset sampling number, the current sampling stage is determined as a common weakening change state; thereby determining whether multiple spatial locations synchronously reflect the distance change between the user and the vehicle, thus distinguishing between the overall signal change caused by the user's actual movement and the local disturbances caused by human body occlusion, terminal posture changes, or local multipath propagation.

[0024] The common enhancement and common reduction states are combined to form the common change signal feature, which describes whether multiple vehicle-side Bluetooth receivers synchronously reflect the change in distance between the user and the vehicle.

[0025] To describe the user's spatial movement direction relative to the vehicle, pairwise comparisons are performed on the channel fusion signal values ​​corresponding to multiple vehicle-side Bluetooth receivers at the same sampling time: For any two vehicle-side Bluetooth receivers, first calculate the absolute value of the difference between the two channel fused signal values; when the absolute value of the difference does not exceed the preset spatial relationship change threshold, record that the two vehicle-side Bluetooth receivers have an equivalent receiver relative signal relationship. When the absolute value of the difference exceeds the preset spatial relationship change threshold, and the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is greater than the channel fusion signal value corresponding to the second vehicle-side Bluetooth receiver, the first vehicle-side Bluetooth receiver is recorded as having a positive receiver relative signal relationship with the second vehicle-side Bluetooth receiver. When the absolute value of the difference exceeds the preset spatial relationship change threshold, and the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is less than the channel fusion signal value corresponding to the second vehicle-side Bluetooth receiver, the negative receiver relative signal relationship between the first vehicle-side Bluetooth receiver and the second vehicle-side Bluetooth receiver is recorded.

[0026] The relative signal relationships of the positive receivers, the relative signal relationships of the negative receivers, and the equivalent relative signal relationships of the receivers obtained by comparing each pair of Bluetooth receivers on all vehicle sides at the same sampling time are combined to form the relative signal relationship of the receivers at the current sampling time.

[0027] S3. When a common enhancement change state is detected in multiple consecutive sampling periods, and the ratio of the number of vehicle-side Bluetooth receivers in the enhancement change state to the total number of vehicle-side Bluetooth receivers reaches a preset enhancement ratio threshold, and the duration of the common enhancement change state reaches a preset proximity duration threshold, the current user behavior state is determined to be a continuous proximity state. This determination of whether the current user behavior state is a continuous proximity state avoids short-term signal enhancement directly triggering proximity trajectory establishment.

[0028] Therefore, when there is no current interaction cycle that has not yet ended, and the user's behavior state is determined to be a continuous approach state for the first time, a new current interaction cycle begins. The temporary approach trajectory data retained in the previous interaction cycle is cleared, and the channel fusion signal value and the relative signal relationship of the receiver are saved for each sampling moment starting from the current continuous approach process. All channel fusion signal values, all relative signal relationships of the receiver, and sampling time information corresponding to the same sampling moment are combined to form an approach trajectory node.

[0029] Multiple proximity trajectory nodes formed consecutively within the current interaction cycle are arranged in the order of sampling time to form the proximity spatial trajectory sequence corresponding to the current interaction cycle (describing the signal change sequence and spatial relationship change process of the vehicle-side Bluetooth receiver at different spatial locations during the current user's approach to the vehicle).

[0030] The current interaction cycle begins when the current continuous approach state is established and ends after the vehicle control command is executed in S8, or when a synchronized Bluetooth dataset cannot be formed within a preset number of consecutive samples. Before the end of the current interaction cycle, steps S4 to S7 only use the approach space trajectory sequence corresponding to the current interaction cycle and do not call the approach space trajectory sequence formed in the previous interaction cycle. It is worth noting that when the user forms a new continuous approach state from the left, right, or other directions of the vehicle after the current interaction cycle ends, step S3 re-establishes the approach space trajectory sequence corresponding to the new approach direction. This prevents the trajectory formed by the user approaching from the left side of the vehicle in the previous interaction cycle from being incorrectly used for the return judgment of approaching from the right side or other directions of the vehicle in the current interaction cycle, ensuring that the subsequent reverse spatial change analysis corresponds to the current actual approach process.

[0031] If the continuous proximity state judgment condition is not met, a new current interaction cycle will not be started, a new proximity space trajectory sequence will not be established, and the synchronous Bluetooth dataset in step S1 will continue to be collected and step S2 will be executed.

[0032] Both actual user backtracking and human occlusion can cause the shared signal characteristics to change from shared enhancement to shared weakening, and then back to shared enhancement. Judging whether the user is moving away or approaching again based on the direction of change will lead to miscontrol of the vehicle. Therefore, it is necessary to extract the complete reversal process from the continuous changes in the current interaction cycle and save the spatial relationship information before reversal, during reversal descent, and during reversal recovery, including: S4. When the user's behavior state is a continuous approach state, and the current interaction cycle has established an approach spatial trajectory sequence, continuously monitor the common change signal characteristics corresponding to subsequent sampling moments. When multiple vehicle-side Bluetooth receivers are detected to change from a common enhancing change state to a common weakening change state, and the common weakening change state is continuously maintained for a preset number of samples, the first sampling moment of the state transition is determined as the reversal start position. The reversal start position indicates the position where the overall weakening trend first appears during the current approach process.

[0033] Subsequently, the channel fusion signal value, relative signal relationship of the receivers, and sampling time information are acquired during the duration of the common attenuation change state. For each sampling moment during the duration of the common attenuation change state, the channel fusion signal values ​​corresponding to all vehicle-side Bluetooth receivers are summed, and the sum is divided by the number of vehicle-side Bluetooth receivers at the current sampling moment to obtain the average channel fusion signal value corresponding to the current sampling moment. The sampling moment with the lowest average channel fusion signal value during the duration of the common attenuation change state is determined as the reversal valley position. The reversal valley position indicates the position where the overall signal attenuation reaches its maximum during the candidate signal reversal process.

[0034] Continue detecting subsequent common change signal characteristics. When multiple vehicle-side Bluetooth receivers transition from a common attenuation change state to a common enhancement change state, and this common enhancement change state is maintained for a preset number of samples, the first sampling moment at which state recovery occurs is determined as the reversal recovery position. The reversal recovery position is only used to record the starting position of the re-formation of the common enhancement change.

[0035] When the inversion start position, inversion trough position, and inversion recovery position are obtained simultaneously, a candidate signal inversion event is determined to exist. Further, the data corresponding to the candidate signal inversion event is encapsulated to form a candidate inversion event dataset. The candidate inversion event dataset includes: First, data before the inversion occurs, including the proximity trajectory nodes consecutively corresponding to the inversion start position in the proximity spatial trajectory sequence corresponding to the current interaction cycle, the channel fusion signal values ​​in the proximity trajectory nodes, and the relative signal relationship at the receiver, used to represent the actual proximity process before the signal inversion occurs; Second, data during the inversion descent phase, including the channel fusion signal value, the relative signal relationship at the receiver, and sampling time information corresponding to each sampling moment between the inversion start position and the inversion trough position, used to represent the spatial changes during the suspected moving-away process; Third, data during the inversion recovery phase, including the channel fusion signal value, the relative signal relationship at the receiver, and sampling time information corresponding to each sampling moment between the inversion trough position and the inversion recovery position, used to represent the spatial changes during the recovery and enhancement process.

[0036] The relative signal relationship of the receivers at each sampling moment represents the relative signal relationship between vehicle-side Bluetooth receivers at different spatial locations based on channel fusion signal values ​​at the same sampling moment. The relative signal relationship is not the signal strength of a single vehicle-side Bluetooth receiver, but rather a spatial arrangement obtained by comparing the channel fusion signal values ​​corresponding to multiple vehicle-side Bluetooth receivers. For example, when a vehicle is equipped with a first, second, and third vehicle-side Bluetooth receiver, if the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is greater than that corresponding to the second vehicle-side Bluetooth receiver, and the channel fusion signal value corresponding to the second vehicle-side Bluetooth receiver is greater than that corresponding to the third vehicle-side Bluetooth receiver, then the current sampling moment forms a relative signal relationship composed of multiple positive relative signal relationships. Arranging the relative signal relationships of the receivers at multiple consecutive sampling moments in chronological order represents the signal change relationship between vehicle-side Bluetooth receivers at different spatial locations during the current approach process.

[0037] It should be noted that during a user's actual turnaround, the spatial position between the authorized mobile terminal and the vehicle changes dramatically. Therefore, the relative signal relationships between multiple vehicle-side Bluetooth receivers will continuously change with the direction of spatial movement. While human obstruction or changes in phone posture can cause a decrease in the channel fusion signal value, this usually only results in overall amplitude fluctuations or abrupt changes in local relationships. It is unlikely to create a continuous change in the relative signal relationships of the receivers that is opposite to the direction of the current approach process, including: S5. Extract the inversion descent phase data from the candidate inversion event dataset. The inversion descent phase data includes the channel fusion signal value, relative signal relationship of the receiver, and sampling time information corresponding to each sampling moment from the inversion start position to the inversion trough position. For each pair of vehicle-side Bluetooth receivers, analyze the direction of change of relative signal relationship of the receiver in the approach space trajectory sequence and the inversion descent phase.

[0038] In the near-space trajectory sequence, the relative signal relationships of the receivers corresponding to adjacent near-space trajectory nodes are compared according to the sampling time order: When the same receiver combination (referring to the combination of vehicle-side Bluetooth receivers formed by comparing multiple vehicle-side Bluetooth receivers in pairs) changes from a positive receiver relative signal relationship to an equivalent receiver relative signal relationship or a negative receiver relative signal relationship, or changes from an equivalent receiver relative signal relationship to a negative receiver relative signal relationship, record a change in the first vehicle-side Bluetooth receiver from relatively strong to relatively weak. When the relative signal relationship of the same receiver combination changes from a negative receiver relative signal relationship to an equivalent receiver relative signal relationship or a positive receiver relative signal relationship, or changes from an equivalent receiver relative signal relationship to a positive receiver relative signal relationship, record a change from relatively weak to relatively strong Bluetooth receiver on the first vehicle side.

[0039] The number of occurrences of the two types of changes is counted, and the direction of change with a larger number of occurrences is determined as the main direction of change in the proximity stage relationship of the corresponding receiver combination; when the number of occurrences of the two types of changes is the same, the corresponding receiver combination is not used for the judgment of the reverse direction.

[0040] Using the same processing method, the relative signal relationships of the receivers at the consecutive sampling times during the inverted descent phase are analyzed according to the sampling time sequence to determine the main direction of change in the descent phase relationship for each receiver combination: When the main change direction of the descent phase relationship of the same receiver combination is opposite to the main change direction of the approach phase relationship, the corresponding receiver combination is recorded as supporting reverse spatial change. When two main change directions are the same or neither stage can form a main change direction, the corresponding receiver combination is not recorded as supporting reverse spatial change. The number of receiver combinations supporting reverse spatial change is divided by the number of receiver combinations that simultaneously form the main change direction of the approaching stage relationship and the main change direction of the descending stage relationship; when the ratio reaches two-thirds and the number of receiver combinations is greater than zero, the reverse trajectory change result is determined to be valid; otherwise, the reverse trajectory change result is determined to be invalid.

[0041] Further, in step S6, when the reverse trajectory change result is valid, the channel fusion signal value, relative signal relationship of the receiver, and sampling time information corresponding to each sampling moment between the reverse valley position and the reverse recovery position are extracted from the candidate reverse event dataset, and spatial relationship change analysis is performed on the recovery phase.

[0042] For each pair of vehicle-side Bluetooth receivers, following the same relationship change recording rules as in step S5, the number of changes from relatively strong to relatively weak and from relatively weak to relatively strong changes in the first vehicle-side Bluetooth receiver during the recovery phase are counted. The direction of change with the higher number of occurrences is determined as the main relationship change direction for the corresponding receiver pair during the recovery phase. If the number of both changes is the same, the corresponding receiver pair is not used for recovery direction determination. When the main relationship change direction of the same receiver pair during the recovery phase is the same as the main relationship change direction during the proximity phase, the corresponding receiver pair is recorded as supporting positive spatial recovery. The number of receiver pairs supporting positive spatial recovery is divided by the number of receiver pairs that simultaneously form the main relationship change direction during the proximity phase and the main relationship change direction during the recovery phase. When the ratio reaches two-thirds and the number of receiver pairs is greater than zero, the recovery phase is determined to meet the spatial relationship recovery condition. The recovery phase refers to the continuous sampling phase in a candidate signal reversal event, starting from the first sampling moment after the reversal valley position and ending at the reversal recovery position when multiple vehicle-side Bluetooth receivers re-establish a common enhancement change state and continuously maintain a preset number of samples; the recovery phase represents the spatial movement process in which the user is suspected of moving away from the vehicle and then moving closer to the vehicle again.

[0043] Furthermore, the signal recovery level during the recovery phase is assessed. The average channel fusion signal value is calculated at the inversion start position, inversion trough position, and inversion recovery position. This average channel fusion signal value is obtained by summing the channel fusion signal values ​​of all vehicle-side Bluetooth receivers at the corresponding sampling time and then dividing the sum by the number of vehicle-side Bluetooth receivers. The signal drop amplitude is obtained by subtracting the average channel fusion signal value corresponding to the inversion trough position from the average channel fusion signal value corresponding to the inversion start position; the signal recovery amplitude is obtained by subtracting the average channel fusion signal value corresponding to the inversion trough position from the average channel fusion signal value corresponding to the inversion recovery position; and the signal recovery ratio is obtained by dividing the signal recovery amplitude by the signal drop amplitude. When the signal drop amplitude is greater than zero and the signal recovery ratio reaches a preset recovery ratio threshold, the signal strength recovery condition is deemed met during the recovery phase. If the average channel fusion signal value corresponding to the inversion recovery position is higher than the average channel fusion signal value corresponding to the inversion start position, the signal recovery ratio can be greater than one and will not be excluded simply because the user is closer to the vehicle after the inversion than before.

[0044] In this way, when both the spatial relationship recovery condition and the signal strength recovery condition are met simultaneously during the recovery phase, the recovery trajectory matching result is determined to be valid; otherwise, the recovery trajectory matching result is determined to be invalid. The recovery trajectory matching result is used to indicate whether the candidate signal reversal event forms a true spatial recovery process consistent with the current approach process direction.

[0045] Human body obstruction, changes in mobile phone posture, and changes in the wireless propagation environment can all cause the channel fusion signal value to undergo a process of enhancement, weakening, and enhancement. However, these changes usually do not simultaneously satisfy the conditions of reverse spatial change in the descent phase, forward spatial recovery in the recovery phase, and the entire reversal process conforming to the characteristics of real motion time. Therefore, a comprehensive judgment on the authenticity of candidate signal reversal events is required.

[0046] S7. Receive the reverse trajectory change result output by S5 and the recovered trajectory matching result output by S6. Obtain the time corresponding to the reverse recovery position, subtract the time corresponding to the reverse start position, and obtain the duration of the candidate signal reverse event; obtain the sampling time of the last approach trajectory node in the approach trajectory sequence corresponding to the current interaction cycle, subtract the sampling time of the first approach trajectory node, and obtain the duration of the current approach process; divide the duration of the candidate signal reverse event by the duration of the current approach process to obtain the reverse time ratio. When the duration of the current approach process is equal to zero, no reverse time ratio judgment is performed, and the candidate signal reverse event is determined as a pseudo-return event.

[0047] The reversal time ratio distribution corresponding to the actual reversal process is obtained by using historical real reversal samples. A preset time ratio range is determined based on the lower and upper limits of the real reversal samples that can cover a preset ratio of samples. When the reversal time ratio is within the preset time ratio range, the candidate signal reversal event is determined to satisfy the time continuity condition.

[0048] In this embodiment, when the reverse trajectory change result is valid, the recovered trajectory matching result is valid, and the reversal time ratio is within a preset time ratio range, the candidate signal reversal event is determined to be a true reversal event; when any condition is not met, the candidate signal reversal event is determined to be a false reversal event. A true reversal event indicates that the current Bluetooth signal reversal process is generated by the user's real spatial movement; a false reversal event indicates that the current Bluetooth signal reversal process is mainly generated by human body occlusion, terminal posture change, or wireless propagation change without complete reversal spatial characteristics.

[0049] Step S8: When a candidate signal reversal event is determined to be a true turnaround event, it indicates that the user has completed a real spatial movement process from approaching the vehicle to leaving the vehicle and then approaching the vehicle again. The synchronous Bluetooth dataset corresponding to the current moment is re-acquired, and the common changing signal characteristics and the relative signal relationship of the receiver are re-acquired according to the processing method in step S2. Based on the common changing signal characteristics within multiple consecutive sampling periods, it is determined whether the user has re-established a continuous approach state.

[0050] When a common enhancement change state is detected in multiple consecutive sampling periods, and the ratio of the number of vehicle-side Bluetooth receivers in the enhancement change state to the total number of vehicle-side Bluetooth receivers reaches a preset enhancement ratio threshold, and the duration of the common enhancement change state reaches a preset proximity duration threshold, the current user behavior state is updated to a continuous proximity state. Corresponding vehicle control commands are generated, including vehicle unlocking control commands, vehicle door control commands, and vehicle trunk control commands.

[0051] In this way, when a candidate signal reversal event is determined to be a false turnaround event, vehicle control operations are not performed based on the candidate signal reversal event, and abnormal Bluetooth change data within the time range corresponding to the candidate signal reversal event is recorded as invalid change data; the data already established in the proximity space trajectory sequence corresponding to the current interaction cycle is retained, new synchronized Bluetooth datasets are collected, and steps S2 to S7 are re-executed to judge the subsequent user movement process. The current interaction cycle is not terminated during the false turnaround event processing to avoid the system mistakenly clearing the trajectory formed by the current proximity process due to short-term signal reversal caused by human occlusion.

[0052] In one embodiment, to avoid repeated triggering of vehicle control commands due to short-term Bluetooth signal fluctuations, the current user behavior state is continuously confirmed before executing the vehicle control command. The number of sampling periods identified as a continuous approach state within a preset confirmation time range is counted, and this number is divided by the total number of sampling periods within the preset confirmation time range to obtain the state confirmation ratio. When the state confirmation ratio reaches a preset state confirmation threshold, the corresponding vehicle control command is executed, and the current interaction cycle ends. When the state confirmation ratio does not reach the preset state confirmation threshold, the current vehicle state is maintained, no vehicle control operation is executed, and the collection of synchronized Bluetooth datasets continues.

[0053] Furthermore, if the aforementioned 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 the present 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 described in the various embodiments of the present 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.

[0054] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0055] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), fiber optic devices, and portable optical disc read-only memory (CDROM). Additionally, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0056] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0057] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention; those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions described in the foregoing embodiments without causing the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-mounted intelligent control and interaction method based on Bluetooth interconnection, comprising: The vehicle-side Bluetooth receiver receives the Bluetooth broadcast signal sent by the terminal and the corresponding received signal strength, determines the channel fusion signal value of the corresponding vehicle-side Bluetooth receiver, and establishes a Bluetooth dataset. Its features include: Based on the changes in the channel fusion signal value corresponding to the continuous sampling time, common changing signal features are generated, and relative signal relationships between receivers are generated based on the magnitude of the channel fusion signal value corresponding to the Bluetooth receivers on different vehicle sides at the same sampling time. The user behavior state is determined based on the characteristics of the common changing signal. When the user behavior state is a continuous approach state, the approach trajectory nodes are generated based on the channel fusion signal value corresponding to the continuous sampling time in the current interaction cycle and the relative signal relationship of the receiver. Multiple approach trajectory nodes are arranged in the order of sampling time to form an approach spatial trajectory sequence. When the common change signal features are detected to change from a common enhancement change state to a common weakening change state, and then change back to a common enhancement change state, candidate signal reversal events are identified, and a candidate reversal event dataset is generated. The reverse trajectory change results are determined based on the reverse descent phase data and the near-space trajectory sequence in the candidate reverse event dataset; the recovery trajectory matching results are determined based on the reverse recovery phase data and the near-space trajectory sequence in the candidate reverse event dataset. Based on the reverse trajectory change results, the recovered trajectory matching results, and the time change characteristics corresponding to the candidate signal reversal event, determine whether the candidate signal reversal event is a real reversal event or a pseudo reversal event, update the user behavior state, and generate control commands.

2. The method according to claim 1, characterized in that, The method for determining user behavior state based on common change signal characteristics is as follows: Obtain the channel fusion signal values ​​corresponding to the current sampling time and the previous sampling time, and subtract the channel fusion signal value corresponding to the previous sampling time from the channel fusion signal value corresponding to the current sampling time to obtain the signal change difference; If the signal change difference is greater than the preset enhancement change threshold, the corresponding vehicle-side Bluetooth receiver is in an enhancement change state. When the signal change difference is less than the preset attenuation threshold, the corresponding Bluetooth receiver on the vehicle side is in an attenuation state. The signal change difference is between the two, corresponding to a stable change state at the vehicle-side Bluetooth receiver. Based on the proportion of vehicle-side Bluetooth receivers in the enhanced change state to the total number of vehicle-side Bluetooth receivers, if the proportion threshold is reached and the duration of the joint enhanced change state reaches a preset proximity duration threshold, the user behavior state is a continuous proximity state.

3. The method according to claim 2, characterized in that, The specific meaning of generating the relative signal relationship at the receiving end is as follows: Get the channel fusion signal values ​​corresponding to any two vehicle-side Bluetooth receivers at the sampling time, calculate the difference between the channel fusion signal values ​​corresponding to the two vehicle-side Bluetooth receivers, and when the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is greater than the channel fusion signal value of the second vehicle-side Bluetooth receiver, and the difference between the channel fusion signal values ​​of the two vehicle-side Bluetooth receivers is greater than the threshold, the first vehicle-side Bluetooth receiver is in a positive receiver relative signal relationship with the second vehicle-side Bluetooth receiver. When the channel fusion signal value corresponding to the first vehicle-side Bluetooth receiver is less than the channel fusion signal value of the second vehicle-side Bluetooth receiver, and the difference between the channel fusion signal values ​​of the two vehicle-side Bluetooth receivers is greater than a threshold, the first vehicle-side Bluetooth receiver has a negative receiver relative signal relationship with the second vehicle-side Bluetooth receiver. When the difference between the channel fusion signal values ​​corresponding to the two vehicle-side Bluetooth receivers is less than or equal to the threshold, the two vehicle-side Bluetooth receivers have an equivalent receiver relative signal relationship. The signal relationship among the three components forms the relative signal relationship at the receiving end.

4. The method according to claim 3, characterized in that, The determination of the candidate signal inversion event includes: Obtain the common changing signal features corresponding to consecutive sampling times under a continuous proximity state; When the vehicle-side Bluetooth receiver changes from a common enhancement state to a common weakening state while maintaining a preset number of samples, the first sampling moment of the state transition is the inversion start position; the channel fusion signal values ​​of multiple vehicle-side Bluetooth receivers corresponding to each sampling moment during the duration of the common weakening state are obtained; the average value of the channel fusion signal values ​​of multiple vehicle-side Bluetooth receivers at the sampling moment is calculated, and the sampling moment with the lowest average value is determined as the inversion valley position. When the vehicle-side Bluetooth receiver changes from a state of common attenuation to a state of common enhancement and the state is maintained for a preset number of samples, the corresponding sampling time is determined as the inversion recovery position. Candidate signal reversal events are generated based on the sampling time information corresponding to the reversal start position, reversal valley position, and reversal recovery position.

5. The method according to claim 4, characterized in that, The generation of the candidate inversion event dataset includes: Get multiple sampling moments corresponding to the continuous approach state within the current interaction cycle before the reversal start position, extract the approach trajectory node corresponding to each sampling moment of the continuous approach state, and arrange the multiple approach trajectory nodes in order to form the approach process data corresponding to the reversal before it occurs. The sampling time corresponding to the reversal start position to the reversal trough position is obtained to form the reversal descent phase, and the sampling time corresponding to the reversal trough position to the reversal recovery position is obtained to form the recovery phase; The approach process data corresponding to the reversal, the sampled data corresponding to the reversal descent phase, and the sampled data corresponding to the recovery phase are combined to form a candidate reversal event dataset.

6. The method according to claim 3, characterized in that, The method for determining the result of the reverse trajectory change is as follows: For each vehicle-side Bluetooth receiver, pair up the two receivers and collect the number of changes in the relative signal relationship between the positive receiver and the negative receiver during the approach phase. Based on the magnitude of the changes in the relative signal relationship between the positive receiver and the negative receiver, determine the main direction of change in the relationship during the approach phase. For each vehicle-side Bluetooth receiver, pair up the two receivers and obtain the number of changes in the relative signal relationship between the positive receiver and the negative receiver during the reversal descent phase. Based on the magnitude of the changes in the relative signal relationship between the positive receiver and the negative receiver, determine the main direction of change in the relationship during the descent phase. When the main change direction of the descent phase relationship corresponding to the pairwise combination of the same vehicle-side Bluetooth receivers is opposite to the main change direction of the approach phase relationship, it is determined that the pairwise combination of the corresponding vehicle-side Bluetooth receivers supports reverse spatial change. When the proportion of the number of pairwise combinations of vehicle-side Bluetooth receivers supporting reverse spatial change to the total number of pairwise combinations of vehicle-side Bluetooth receivers reaches a threshold, the reverse trajectory change result is valid.

7. The method according to claim 6, characterized in that, The method for determining the recovery trajectory matching result is as follows: Obtain the number of changes in the relative signal relationship at the positive receiving end and the number of changes in the relative signal relationship at the negative receiving end during the recovery phase. Based on the magnitude of the number of changes in the relative signal relationship at the positive receiving end and the number of changes in the relative signal relationship at the negative receiving end, determine the main direction of change in the relationship during the recovery phase. When the ratio of the number of pairs of vehicle-side Bluetooth receivers supporting positive spatial recovery to the total number of pairs of vehicle-side Bluetooth receivers reaches a preset recovery support ratio threshold, and the signal fusion value corresponding to the recovery phase is restored to a preset range, it is determined that the spatial relationship recovery condition and the signal strength recovery condition are met, and a recovery trajectory matching result is generated.

8. The method according to claim 1, characterized in that, The determination of whether a candidate signal reversal event is a true reversal event or a false reversal event includes: Subtract the time corresponding to the inversion start position from the time corresponding to the inversion recovery position to obtain the duration of the candidate signal inversion event; Get the time corresponding to the first approach trajectory node and the time corresponding to the last approach trajectory node in the approach spatial trajectory sequence within the current interaction cycle. Subtract the time corresponding to the first approach trajectory node from the time corresponding to the last approach trajectory node to get the duration of the current approach process. Divide the duration of the candidate signal reversal event by the duration of the current approach process to obtain the reversal time ratio; When the reverse trajectory change result is valid, the recovery trajectory matching result is valid, and the reversal time ratio is within the preset range, the candidate signal reversal event is a real return event; Conversely, a candidate signal reversal event is a pseudo-reversal event.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-8.

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