Vehicle control method and device, vehicle and readable storage medium

Abstract

The present application relates to a kind of vehicle control method, device, vehicle and readable storage medium, target vehicle is based on the direct communication signal sent by auxiliary equipment, obtain first signal strength value, and obtain the second signal strength value sent after auxiliary equipment and target terminal establish direct communication connection, distance interval determination is completed based on two groups of signal strength value cross check.This way, without deploying special positioning anchor point in advance, also without pre-entering the identity information of auxiliary equipment in the cloud, directly with auxiliary equipment temporary acting as auxiliary ranging node, all signal strength data interaction, operation is completed through direct communication link, so that in complex scene of vehicle dense shelter, weak network even broken network still can stable output reliable distance determination result, improve the scene coverage comprehensive nature and reliability of vehicle positioning method.Combining target distance interval and target vehicle state, automatically to vehicle specified unlocking operation or locking operation, improve the reliability of vehicle control.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and more specifically to a vehicle control method, device, vehicle, and readable storage medium. Background Technology

[0002] With the rapid popularization of intelligent vehicles and shared mobility scenarios, mobile phone Bluetooth keys are gradually replacing traditional physical keys and becoming the mainstream configuration in the industry, widely used in scenarios such as contactless unlocking and locking of private cars and designated return of shared electric vehicles.

[0003] In related technologies, the positioning often involves uploading location information from the user's mobile phone, collecting coordinates of nearby mobile terminals on the same platform in the background to calculate the center point of a polygon, and obtaining a single two-dimensional static coordinate point. Vehicle unlocking control is then based on this coordinate positioning. This type of solution relies on all participating devices completing device registration in the cloud in advance, and all positioning coordinate calculations depend on cloud network transmission and background processing. However, this method has high deployment costs, and once network latency or signal interruption occurs, positioning operations cannot be performed in environments with no network or weak network, making it difficult to meet the real-time and reliable positioning requirements in complex environments. Furthermore, the positioning position of a single two-dimensional static coordinate point is too absolute, making it impossible to effectively guarantee the accuracy and reliability of the positioning results. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the present invention provides a vehicle control method, device, vehicle, and readable storage medium.

[0005] In a first aspect, embodiments of this application provide a vehicle control method applied to a target vehicle, the method comprising: Based on direct communication signals transmitted by at least one auxiliary device around the target vehicle, a first signal strength value corresponding to each of the auxiliary devices is obtained; the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle. The second signal strength value sent by each of the auxiliary devices after establishing a direct communication connection with the target terminal is obtained. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal. For each auxiliary device, based on the first signal strength value and the second signal strength value corresponding to the auxiliary device, the distance range between the target vehicle and the target terminal is estimated; The target distance interval between the target vehicle and the target terminal is determined based on the distance interval corresponding to each of the auxiliary devices. The target operation to be performed on the target vehicle is determined based on the target distance interval and the current vehicle status of the target vehicle. The target operation is an unlocking / locking operation.

[0006] Secondly, embodiments of this application provide a vehicle control device, the device comprising: The first acquisition module is configured to acquire a first signal strength value corresponding to each of the auxiliary devices based on a direct communication signal transmitted by at least one auxiliary device around the target vehicle; the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle. The second acquisition module is used to acquire the second signal strength value sent by each of the auxiliary devices after establishing a direct communication connection with the target terminal. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal. The first estimation module is used to estimate the distance range between the target vehicle and the target terminal for each auxiliary device, based on the first signal strength value and the second signal strength value corresponding to the auxiliary device. The first determining module is configured to determine the target distance interval between the target vehicle and the target terminal based on the distance interval corresponding to each of the auxiliary devices, and to determine to perform a target operation on the target vehicle based on the target distance interval and the current vehicle state of the target vehicle; the target operation is an unlocking / locking operation.

[0007] Thirdly, embodiments of this application provide a vehicle including a controller, a memory, and a program or instructions stored in the memory and executable on the controller, wherein the program or instructions, when executed by the controller, implement the steps of the method described in the first aspect.

[0008] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0009] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0010] In this embodiment of the invention, the target vehicle obtains a first signal strength value based on the direct communication signal sent by the auxiliary device, and acquires a second signal strength value sent after the auxiliary device establishes a direct communication connection with the target terminal. Distance interval determination is completed based on cross-verification of the two sets of signal strength values. This eliminates the need for pre-deploying dedicated positioning anchor points or pre-entering the auxiliary device's identity information in the cloud. The auxiliary device is temporarily used as an auxiliary ranging node, and all signal strength data interaction and calculation are completed through the direct communication link. This avoids the latency and network outage issues that may arise from traditional cloud-based positioning solutions that rely on network transmission. It enables stable and reliable distance determination results even in complex scenarios with dense vehicle obstruction, weak network, or even complete network outages, improving the comprehensiveness and reliability of the vehicle positioning method. Furthermore, by determining the target distance interval between the target vehicle and the target terminal, misjudgments caused by single-point coordinate jumps can be avoided, making the fault tolerance of interval determination higher than that of single-point static coordinates. Finally, by combining the target distance interval and the target vehicle status, an automatic unlocking or locking operation is assigned to the vehicle, improving the reliability of vehicle control to a certain extent. Attached Figure Description

[0011] Figure 1 A flowchart illustrating the steps of a vehicle control method provided in an embodiment of the present invention; Figure 2 A schematic diagram of a vehicle control method provided in an embodiment of the present invention; Figure 3 A timing flowchart of a vehicle control method provided in an embodiment of the present invention; Figure 4 A structural diagram of a vehicle control device provided in an embodiment of the present invention; Figure 5 This is a structural diagram of a vehicle provided in an embodiment of the present invention. Detailed Implementation

[0012] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0013] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0014] The vehicle control method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0015] Figure 1 This is a flowchart of the steps of a vehicle control method provided in an embodiment of the present invention, applied to a target vehicle.

[0016] like Figure 1 As shown, the method may include: Step 101: Based on the direct communication signal sent by at least one auxiliary device around the target vehicle, obtain a first signal strength value corresponding to each of the auxiliary devices; the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle.

[0017] In this embodiment of the invention, at least one auxiliary device exists around the target vehicle. This auxiliary device is capable of establishing a direct communication connection with the target vehicle. The direct communication connection in this embodiment includes, but is not limited to, Bluetooth communication connections and Wi-Fi direct communication connections. The vehicle's onboard communication module, in scanning mode, continuously scans for direct communication signals emitted by the surrounding auxiliary devices, acquires direct communication signals sent by at least one auxiliary device, and samples the Received Signal Strength Indicator (RSSI) value of each direct communication signal to obtain a first signal strength value corresponding to each auxiliary device. The first signal strength value indicates the signal strength of the direct communication signal between the auxiliary device and the target vehicle. The direct communication signal is a wireless signal that can be transmitted directly point-to-point between devices without requiring a cellular network or cloud server relay, such as a Bluetooth signal or a Wi-Fi direct signal. Specifically, the direct communication signal can be a Bluetooth broadcast signal under the Bluetooth Low Energy protocol specification. The direct communication connection established between the target vehicle and the auxiliary device can be a temporary Bluetooth connection, such as a temporary Bluetooth Low Energy (BLE) connection. Data transmission between devices can be achieved through a temporary communication link established via a fast handshake. For example, this application embodiment uses Bluetooth signal as the direct communication signal for illustration.

[0018] The auxiliary device can be any Bluetooth Low Energy (BLE) device that can be detected by Bluetooth scanning around the target vehicle, rather than a fixed, dedicated hardware anchor. The auxiliary device is equipped with a wireless module, such as a Bluetooth module, and is a device with Bluetooth broadcasting, scanning, and data exchange capabilities, such as a mobile phone or a vehicle.

[0019] For example, the vehicle's in-vehicle Bluetooth module triggers a single scan cycle, continuously listening for direct communication signals emitted by surrounding auxiliary devices on a preset Bluetooth broadcast channel. For each valid signal that passes frame verification, the unique device identifier in the signal header is extracted as the identification of the auxiliary device. The corresponding RSSI sample value is obtained as the first signal strength value. The first signal strength value is bound and stored with the identification of the corresponding auxiliary device to obtain the sampling information corresponding to each auxiliary device.

[0020] Step 102: Obtain the second signal strength value sent by each of the auxiliary devices after establishing a direct communication connection with the target terminal. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal.

[0021] In this embodiment of the invention, the target terminal is a mobile terminal bound to a target vehicle, and the target terminal is configured to authenticate the target vehicle's identity via direct communication. The target terminal can be a mobile electronic device equipped with a vehicle Bluetooth key application and possessing Bluetooth Low Energy (BLE) communication capabilities, such as a smartphone, smartwatch, or smart car key. The target terminal has built-in core data such as vehicle information and key information matching the target vehicle.

[0022] The direct communication connection established between the auxiliary device and the target terminal can be a temporary Bluetooth connection, such as a temporary Bluetooth Low Energy (BLE) connection. Data transmission between the devices can be achieved through a temporary communication link established via a quick handshake. After confirming the target terminal, each auxiliary device samples the direct communication signal sent by the target terminal to obtain a second signal strength value. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal. The target vehicle receives the second signal strength value sent by the auxiliary device.

[0023] For example, the auxiliary device can transmit the locally cached second signal strength data collected during the direct connection with the target terminal and the terminal identifier corresponding to the target terminal back to the target vehicle through a temporary communication link. After the target vehicle completes frame parsing and verification, it obtains the second signal strength value corresponding to each auxiliary device.

[0024] Step 103: For each auxiliary device, based on the first signal strength value and the second signal strength value corresponding to the auxiliary device, estimate the distance range between the target vehicle and the target terminal.

[0025] In this embodiment of the invention, since the signal strength value can be used to characterize the strength of the broadcast signal, and its value is negatively correlated with the physical distance between devices—that is, the larger the signal strength value, the closer the physical distance between devices, and the smaller the signal strength value, the farther the physical distance between devices—a first distance corresponding to a first signal strength value and a second distance corresponding to a second signal strength value can be determined based on the distance conversion relationship between the signal strength value and the physical distance. Since the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle, and the second signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target terminal, correspondingly, the first distance is used to characterize the physical distance between the auxiliary device and the target vehicle, and the second distance is used to characterize the physical distance between the auxiliary device and the target terminal.

[0026] After determining the first distance and the second distance, for each auxiliary device, the line connecting the auxiliary device, the target vehicle, and the target terminal will form a triangle. Using the triangle inequality theorem, the range of values ​​for the third side can be obtained from the two known sets of physical distance values ​​(i.e., the first distance and the second distance), that is, the range of values ​​for the distance between the target vehicle and the target terminal. This yields the distance interval calculated based on the auxiliary device to characterize the distance between the target vehicle and the target terminal.

[0027] Step 104: Determine the target distance interval between the target vehicle and the target terminal based on the distance interval corresponding to each of the auxiliary devices; and determine the target operation to be performed on the target vehicle based on the target distance interval and the current vehicle status of the target vehicle; the target operation is an unlocking / locking operation.

[0028] In this embodiment of the invention, the target distance interval between the target vehicle and the target terminal is determined based on the distance interval corresponding to each auxiliary device. Specifically, the intersection of the distance intervals corresponding to each auxiliary device can be determined as the target distance interval.

[0029] The target distance range is logically matched with the vehicle's current state. Based on this match, the target operation to be performed on the target vehicle is determined. The target operation is either an unlock operation or a lock operation. Specifically, if the current vehicle state is locked and the target distance range meets the unlocking conditions, the target vehicle outputs an unlock command and executes the unlocking operation; if the current vehicle state is unlocked and the target distance range meets the locking conditions, the target vehicle outputs a lock command and executes the locking operation.

[0030] In summary, in this embodiment of the invention, the target vehicle obtains a first signal strength value based on the direct communication signal sent by the auxiliary device, and acquires a second signal strength value sent after the auxiliary device establishes a direct communication connection with the target terminal. Distance interval determination is completed based on cross-verification of the two sets of signal strength values. This eliminates the need for pre-deploying dedicated positioning anchor points or pre-entering the auxiliary device's identity information in the cloud. The auxiliary device is temporarily used as an auxiliary ranging node, and all signal strength data interaction and calculation are completed through the direct communication link. This avoids the latency and network outage issues that may arise from reliance on network transmission in traditional cloud-based positioning solutions. It enables stable and reliable distance determination results even in complex scenarios with dense vehicle obstruction, weak network, or even complete network outages, improving the comprehensiveness and reliability of the vehicle positioning method. Furthermore, by determining the target distance interval between the target vehicle and the target terminal, misjudgments caused by single-point coordinate jumps can be avoided, making the fault tolerance of interval determination higher than that of single-point static coordinates. Finally, by combining the target distance interval and the target vehicle status, automatic unlocking or locking operations are specified for the vehicle, improving the reliability of vehicle control to a certain extent.

[0031] Optionally, embodiments of the present invention may further include the following steps: Step 201: Based on the direct communication signal sent by the target terminal, obtain the reference signal strength value between the target terminal and the target vehicle.

[0032] In this embodiment of the invention, the target vehicle scans the direct communication signal sent by the target terminal in scanning mode, and samples the strength value of the direct communication signal to obtain the reference signal strength value between the target terminal and the target vehicle.

[0033] In one possible implementation, to avoid invalid connections consuming resources and to filter out irrelevant Bluetooth devices in the vicinity, initiating connections only to the target vehicle, the target vehicle's onboard Bluetooth module can first be set to broadcast a Bluetooth broadcast signal containing vehicle identification information in broadcast mode. The vehicle identification information may include the target vehicle's device MAC address and Universally Unique Identifier (UUID). When the target terminal enters the target vehicle's connection range, the target terminal scans for the target vehicle's Bluetooth broadcast signal in scanning mode and compares the vehicle identification information carried in the broadcast signal with the target vehicle's locally stored vehicle information. If a match is found, the target terminal confirms the other party as the target vehicle and can send a Bluetooth connection request to it. The target vehicle responds to the Bluetooth connection request and establishes a direct communication connection with the target terminal. The target terminal switches from scanning mode to broadcast mode, and the target vehicle switches from broadcast mode to scanning mode. In scanning mode, the target vehicle scans for the direct communication signal sent by the target terminal and samples the signal strength to obtain a reference signal strength value between the target terminal and the target vehicle.

[0034] Step 202: Identify candidate devices located within the scanning range of the target vehicle and establish a direct communication connection with the candidate devices.

[0035] Step 203: Obtain the signal strength value of the direct communication signal between each candidate device and the target terminal, and use it as a reference signal strength value.

[0036] Step 204: Based on the reference signal strength value and the reference signal strength value corresponding to each candidate device, filter out candidate devices whose reference signal strength value is greater than or equal to the reference signal strength value, so as to determine the auxiliary device.

[0037] In this embodiment of the invention, after the target vehicle completes the identity authentication process with the target terminal, it switches from the default broadcast mode to the active scanning mode, continuously listening for Bluetooth broadcast signals emitted by surrounding devices on the standard Bluetooth broadcast channel. Any surrounding third-party device within the target vehicle's Bluetooth scanning coverage area and possessing low-power Bluetooth broadcast capability is identified as a candidate device.

[0038] A temporary Bluetooth connection request is initiated for each candidate device. After fast link synchronization is completed, a temporary direct communication connection is established. Candidate devices that do not respond to the connection request can be marked as invalid nodes. After establishing a direct communication connection with each candidate device, the target vehicle can send terminal identification information used to identify the target terminal to the candidate devices, so that the candidate devices can identify the target terminal and sample the strength value of the Bluetooth broadcast signal sent by the target terminal to obtain the reference signal strength value between the candidate devices and the target terminal.

[0039] Candidate devices send reference signal strength values ​​to the target vehicle. The target vehicle can compare the reference signal strength value of each candidate device with the pre-stored reference signal strength value, retaining candidate devices whose reference signal strength value is greater than or equal to the reference signal strength value as auxiliary devices for subsequent distance interval calculation. Furthermore, it can directly eliminate reverse interference nodes whose reference signal strength value is less than the reference signal strength value, avoiding ranging deviations caused by obstacle obstruction in the sampling data of such nodes.

[0040] If the reference signal strength value is greater than or equal to the baseline signal strength value, it indicates that the physical distance between the candidate device and the target terminal is less than or equal to the physical distance between the target vehicle and the target terminal. This indicates that the auxiliary device and the target terminal are on the same side of the target vehicle. Conversely, if the reference signal strength value is less than the baseline signal strength value, it indicates that the physical distance between the candidate device and the target terminal is greater than the physical distance between the target vehicle and the target terminal. This indicates that the candidate device is a reverse interference node, and the corresponding data is discarded.

[0041] In one possible implementation, a sampling error redundancy of ±2dBm can be allowed during the comparison operation. That is, when the difference between the reference signal strength value and the baseline signal strength value is within the range of [-2,0]dBm, it can be determined that the screening condition is met, and the candidate device is identified as an auxiliary device.

[0042] Optionally, the signal strength values ​​between each candidate device and the target vehicle can be obtained, and these values ​​can be added to the filtering criteria. Candidate devices whose reference signal strength value is greater than or equal to the baseline signal strength value, and whose signal strength value between the candidate device and the target vehicle is also greater than or equal to the baseline signal strength value, are selected as auxiliary devices. A reference signal strength value greater than or equal to the baseline signal strength value indicates that the distance between the auxiliary device and the target terminal is less than or equal to the distance between the target vehicle and the target terminal. Similarly, a signal strength value between the candidate device and the target vehicle greater than or equal to the baseline signal strength value indicates that the distance between the auxiliary device and the target vehicle is also less than or equal to the distance between the target vehicle and the target terminal. Therefore, in the triangle formed by the auxiliary device, the target vehicle, and the target terminal, the length of the line connecting the target vehicle and the target terminal is simultaneously greater than or equal to the lengths of the other two sides. When the length of the line connecting the target vehicle and the target terminal is simultaneously greater than the lengths of the other two sides, this line is the longest side of the triangle. When the line connecting the target vehicle and the target terminal forms the longest side of a triangle, the distance between them is greater than the maximum value of the two shorter sides, and less than the sum of the two shorter sides. Compared to triangle ranging scenarios where the line connecting the target vehicle and the target terminal is not limited to the longest side, this method effectively narrows the distance range by changing the lower limit of the distance interval from the difference between the two shorter sides to the maximum value of the two shorter sides, while setting the upper limit to less than the sum of the two shorter sides. This improves the accuracy of the final distance interval, making it more closely match the actual relative distance between the person and the vehicle, and further reducing the probability of misjudgment when the Bluetooth key unlocks or locks.

[0043] In this embodiment of the invention, there is no need to pre-deploy dedicated positioning anchor points. Any surrounding vehicle equipped with Bluetooth within the scanning range of the target vehicle can be directly used as a candidate device, eliminating the dependence on fixed hardware facilities in traditional Bluetooth positioning solutions and reducing deployment costs and scenario adaptation barriers. Furthermore, by comparing the reference signal strength value measured by the candidate device with the baseline signal strength value collected by the vehicle, devices with reference signal strength values ​​greater than or equal to the baseline signal strength value are selected as auxiliary devices. This eliminates reverse interference nodes located on the other side of the target vehicle, avoiding RSSI ranging deviations caused by reverse occlusion. Consequently, in complex urban scenarios with densely parked vehicles, effective auxiliary anchor points can be quickly selected, improving the accuracy and stability of subsequent distance range determination.

[0044] Optionally, embodiments of the present invention may further include the following steps: Step 301: In response to establishing a direct communication connection with the target terminal, receive terminal identification information sent by the target terminal.

[0045] Step 302: After establishing a direct communication connection with each of the candidate devices, the terminal identification information is sent to each of the candidate devices. The terminal identification information is used to guide the candidate devices to determine the target terminal and to obtain the reference signal strength value between the candidate devices and the target terminal.

[0046] In this embodiment of the invention, after establishing a direct communication connection with the target terminal, the target vehicle can simultaneously obtain the terminal key information carried in the Bluetooth connection request. Based on the terminal key information and the vehicle key information, identity authentication is performed to complete the secure identity verification of the target vehicle and the target terminal, confirming that both are authorized and legitimate pairing partners, thus ensuring the communication security of the Bluetooth key. If the identity authentication result is successful, the target vehicle obtains the terminal identification information sent by the target terminal. The terminal identification information may include at least one of the target terminal's device MAC address and Universally Unique Identifier (UUID).

[0047] After the target vehicle establishes a direct communication connection with the candidate devices, the terminal identification information can be sent to each candidate device so that the candidate devices can obtain the reference signal strength value between themselves and the target terminal based on the terminal identification information.

[0048] For any candidate device, in scanning mode, the candidate device can match the terminal identification information with the device identification information carried by the scanned Bluetooth broadcast signal. If the match is consistent, it indicates that the device is the target terminal. Then, the signal strength value of the Bluetooth broadcast signal sent by the target terminal can be sampled to obtain the reference signal strength value.

[0049] It is understandable that after determining that a candidate device whose reference signal strength value is greater than or equal to the reference signal strength value is an auxiliary device, the corresponding reference signal strength value can be determined as the second signal strength value corresponding to the auxiliary device, and the second signal strength value corresponding to the auxiliary device is the corresponding reference signal strength value.

[0050] In this embodiment of the invention, a direct communication connection is established between the target vehicle and the target terminal to receive terminal identification information. The terminal identification information is then sent to the candidate device through a direct communication connection with the candidate device. This eliminates the need for the candidate device to match the target terminal one by one in the full scan data. By relaying the terminal identification information through the vehicle, the candidate device is guided to directionally search for and collect RSSI data of the specified target terminal, reducing the invalid scanning overhead of the candidate device. As a result, in urban parking scenarios with a high density of surrounding Bluetooth devices, the required reference signal strength value can be quickly obtained, improving the sampling efficiency and data matching accuracy of the auxiliary device.

[0051] Optionally, step 103 may include the following steps: Step 401: Calculate the first distance between the auxiliary device and the target vehicle based on the first signal strength value.

[0052] Step 402: Calculate the second distance between the auxiliary device and the target terminal based on the second signal strength value.

[0053] In this embodiment of the invention, since there is a mapping relationship between signal strength value and physical distance, the first distance between the auxiliary device and the target vehicle can be calculated based on the first signal strength value, and the second distance between the auxiliary device and the target terminal can be calculated based on the second signal strength value.

[0054] Specifically, a first distance can be calculated based on the distance conversion formula, the reference mapping value between distance and signal strength, a preset factor, and a first signal strength value; and a second distance can be calculated based on the distance conversion formula, the reference mapping value between distance and signal strength, a preset factor, and a second signal strength value.

[0055] The distance conversion formula can be:

[0056] in, It can be a reference mapping value between distance and signal strength value, where RSSI is the signal strength value and n is the preset loss factor.

[0057] The reference mapping value between distance and signal strength can be determined by the reference RSSI value calibrated at the factory of the Bluetooth BLE chip. The reference mapping value represents the signal strength measured by the receiver when the transmitter (target terminal) and receiver (target vehicle) are 1 meter apart in a straight line; that is, the 1-meter reference RSSI value. For example, assuming the target terminal's Bluetooth key transmission power is fixed, and in an open environment 1 meter away, the target vehicle reads a signal strength of -56dBm, then the 1-meter reference RSSI between the target terminal and the target vehicle is -56dBm.

[0058] The preset loss factor is used to characterize the propagation loss factor in the current scenario. The value of the preset loss factor can be determined based on the obstacle situation in the scene where the target vehicle is located. The more obstacles there are, the faster the signal attenuates, and the larger the preset loss factor n is. For example, in an ideal open and free space with no obstructions and no reflections, the preset loss factor can be 2; in a densely packed parking space with many vehicles and obstacles, the preset loss factor can be 3; in an open underground parking garage with few pillars and obstacles, the preset loss factor can be 2.5.

[0059] For example, suppose =-45dBm, the first signal strength value RSSI between the target vehicle and the auxiliary equipment is -65dBm. -RSSI=-45-(-65)=20, which means the signal has been attenuated by 20dB.

[0060] Converting the attenuation amount to a power of 10, and assuming the target vehicle is located in an open underground parking garage, we take n=2.5. The exponent is 20÷(10×2.5)=20÷25=0.8. Calculating 10 to the power of 0.8, we get a distance d≈6.31 meters, which means the physical distance between the target vehicle and the auxiliary equipment is 6.31 meters.

[0061] Step 403: Determine the upper limit of the estimated distance based on the sum of the first distance and the second distance.

[0062] Step 404: Determine the lower limit of the estimated distance based on the absolute difference between the first distance and the second distance.

[0063] In this embodiment of the invention, for the triangle formed by the lines connecting the auxiliary equipment, the target vehicle, and the target terminal, the triangle inequality theorem is used: the sum of any two sides is greater than the third side, and the difference between any two sides is less than the third side. That is, the minimum value of the third side is greater than the difference between the other two sides, and the maximum value of the third side is less than the sum of the other two sides.

[0064] Therefore, the sum of the first and second distances can be used as the third side, representing the upper limit of the estimated distance between the target vehicle and the target terminal. The absolute value of the difference between the first and second distances can be used as the lower limit of the estimated distance between the target vehicle and the target terminal.

[0065] Step 405: Based on the estimated upper limit and the estimated lower limit, estimate the distance range between the target vehicle and the target terminal.

[0066] In this embodiment of the invention, the upper limit of the estimated distance is used as the upper bound of the value, and the lower limit of the estimated distance is used as the lower bound of the value to obtain the distance interval between the target vehicle and the target terminal. This distance interval is an open interval, and the actual distance between the target vehicle and the target terminal is less than the upper limit of the estimated distance and greater than the lower limit of the estimated distance.

[0067] For example, assume the first distance is 3m and the second distance is 4m. Based on the sum of the first and second distances, the upper limit of the estimated distance is 7m; based on the absolute value of the difference between the first and second distances, the lower limit of the estimated distance is 1m. Therefore, the estimated distance range between the target vehicle and the target terminal is (1, 7), and the actual distance between the target vehicle and the target terminal is greater than 1m and less than 7m.

[0068] Understandably, if there are at least two auxiliary devices, the target vehicle can record the device identifier of the corresponding auxiliary device when acquiring the first signal strength value. Simultaneously, when the auxiliary device sends the second signal strength value to the target vehicle, it also sends its corresponding device identifier. In this way, the target vehicle can identify a set of first and second signal strength values ​​with the same device identifier as data corresponding to the same auxiliary device, and calculate the distance range corresponding to that auxiliary device based on the first and second signal strength values.

[0069] In this embodiment of the invention, the signal strength values ​​collected by the auxiliary device from both the target vehicle and the target terminal are mapped to corresponding distances. Based on the geometric property that the sum of two sides of a triangle is greater than the third side and the difference between two sides is less than the third side, the upper and lower limits of the distance between the target vehicle and the target terminal can be determined to obtain the interval result. In this process, there is no need to solve complex two-dimensional coordinates or obtain the two-dimensional coordinates of any device. This avoids the fluctuation error of single-end RSSI ranging and saves the computational overhead of traditional three-point positioning. It can output a highly fault-tolerant distance interval result and effectively reduce the probability of misjudgment in vehicle positioning.

[0070] Optionally, step 104 may include the following steps: Step 501: Determine the target distance interval between the target vehicle and the target terminal based on the intersection of the distance intervals corresponding to each of the auxiliary devices.

[0071] In this embodiment of the invention, after determining the distance interval between the target vehicle and the target terminal corresponding to each auxiliary device, the target distance interval between the target vehicle and the target terminal is determined based on the intersection of the distance intervals corresponding to each auxiliary device.

[0072] If the distance intervals corresponding to each of the auxiliary devices do not overlap, then one of the following steps is performed: Step 502: Determine the target distance range based on the distance range corresponding to the specified auxiliary device; the specified auxiliary device is the auxiliary device with the smallest distance to the target vehicle.

[0073] When the distance intervals of all auxiliary devices have no common intersection, the auxiliary device with the smallest distance to the target vehicle is selected, and the distance interval corresponding to the auxiliary device is determined as the target distance interval.

[0074] Step 503: Determine the target distance interval based on the interval fusion results of the distance intervals corresponding to each of the auxiliary devices.

[0075] In this embodiment of the invention, when the distance intervals of all auxiliary devices have no common intersection, interval fusion can be performed on the distance intervals corresponding to each auxiliary device, and the target distance interval can be determined based on the interval fusion result. The interval fusion methods include, but are not limited to, the following: The lower limit of the distance interval corresponding to each auxiliary device is calculated, and the result is used as the target lower limit. The upper limit of the distance interval corresponding to each auxiliary device is calculated, and the result is used as the target upper limit. The target lower limit and the target upper limit are then combined to obtain the target distance interval. This calculation can be an arithmetic average calculation, a weighted average calculation, or a median value selection calculation.

[0076] Calculate the midpoint value and half-width value for each distance interval. The midpoint value is half the sum of the lower limit and the upper limit value, and the half-width value is half the difference between the upper limit and the lower limit value. Select the target midpoint value by averaging, weighting, or medianing the midpoint values, and select the target half-width value by averaging, weighting, or medianing the half-width values. Determine the target distance interval based on the target midpoint value and the target half-width value.

[0077] Understandably, when there is only one effective auxiliary device, the independent distance range of that single auxiliary device can be directly selected as the final target distance range.

[0078] In this embodiment of the invention, the target distance interval is determined by the intersection of the distance intervals of multiple auxiliary devices, which can maximize the offsetting of the result deviation caused by the fluctuation error of single anchor point RSSI ranging. In the case of no effective intersection, the target distance interval can be determined by calculating the interval fusion result of the distance interval or selecting the distance interval of the designated auxiliary device closest to the target vehicle. To a certain extent, this can avoid the interruption of the ranging process due to environmental interference and further improve the robustness and stability of vehicle positioning in complex occlusion scenarios.

[0079] Optionally, step 104 may include the following steps: Step 601: If the upper limit of the target distance range is less than or equal to the first preset threshold, and the target vehicle is locked, then determine to perform an unlocking operation on the target vehicle.

[0080] Step 602: If the lower limit of the target distance interval is greater than or equal to the second preset threshold, and the target vehicle is in an unlocked state, then it is determined that a locking operation will be performed on the target vehicle. Wherein, the first preset threshold is the unlock trigger distance threshold, and the second preset threshold is the lock trigger distance threshold.

[0081] In this embodiment of the invention, if the upper limit of the target distance range is less than or equal to a first preset threshold, and the current vehicle state of the target vehicle is locked, it can be determined that the user has entered the unlocking area, and the target vehicle can automatically output an unlocking command and execute the unlocking operation. The locked state can be a state where all four doors are locked and the anti-theft system is active and in a static state, as indicated by the vehicle control module. The first preset threshold can be an unlocking trigger distance threshold, which can be a pre-calibrated maximum distance value that allows automatic unlocking.

[0082] For example, the target vehicle reads the upper limit of the target distance range in real time. When the value is less than or equal to the first preset threshold and the body control module reports that the vehicle is currently in a locked and stationary state, the vehicle outputs an unlocking command to the body control module to drive the door actuator to complete the unlocking action.

[0083] If the lower limit of the target distance range is greater than or equal to the second preset threshold, and the target vehicle is currently unlocked, it can be determined that the user is far from the target vehicle. To ensure the safety of the target vehicle, the target vehicle can automatically output a locking command and execute a locking operation. The unlocked state can be a non-driving, stationary state where all four doors are fully open and the anti-theft system is inactive, as indicated by the vehicle control module. The second preset threshold can be a locking trigger distance threshold, which can be a pre-calibrated minimum distance value that allows automatic locking. The second preset threshold can be greater than the first preset threshold to avoid overlapping conflicts between the two trigger ranges.

[0084] For example, the target vehicle reads the lower limit of the target distance range in real time. When the value is greater than or equal to the second preset threshold, and the body control module reports that the vehicle is currently in an unlocked and stationary state and the vehicle speed is 0, the vehicle outputs a locking command to the body control module to drive the door actuator to complete the locking action.

[0085] In this embodiment of the invention, by setting differentiated unlocking and locking thresholds, and by stably distinguishing the target terminal's "approaching the vehicle" and "moving away from the vehicle" states based on the upper and lower limits of the target distance range, the probability of Bluetooth key mis-locking and mis-locking is reduced, thereby improving the interactive reliability of contactless unlocking and locking.

[0086] Optionally, embodiments of the present invention may further include the following steps: Step 701: Periodically acquire the first signal strength value and the second signal strength value corresponding to each of the auxiliary devices, and estimate the distance range between the target vehicle and the target terminal.

[0087] In this embodiment of the invention, periodic sampling can be initiated while the Bluetooth link between the target terminal and the target vehicle remains connected. Specifically, the target vehicle can trigger a scanning process according to a preset period to collect the latest first signal strength value of all valid auxiliary devices and simultaneously acquire the latest second signal strength value sent by the auxiliary devices. Based on the two sets of latest sampling data, the distance interval corresponding to each auxiliary device is recalculated. The preset period can be a fixed sampling update period preset by the Bluetooth module of the target vehicle, and the specific duration of the period can be configured according to the scenario requirements, for example, 10 times / second.

[0088] Step 702: Update the target distance interval between the target vehicle and the target terminal based on the distance interval corresponding to each of the auxiliary devices.

[0089] In this embodiment of the invention, based on the distance intervals corresponding to each auxiliary device in the current sampling period, the target distance interval corresponding to the current sampling period is re-determined based on steps 501-502, directly covering the previous historical target distance intervals in the storage unit of the target vehicle, thus completing the data update.

[0090] Step 703: Based on the updated target distance range, redetermine the lock / unlock operation to be performed on the target vehicle.

[0091] In this embodiment of the invention, the updated upper and lower limits of the target distance range are compared and verified again with the first preset threshold and the second preset threshold based on steps 601-602, and the current vehicle status of the target vehicle is combined to determine whether the unlocking and locking trigger conditions are met. The corresponding control command is then re-output to the vehicle control module, thereby re-determining the unlocking and locking operation to be performed on the target vehicle.

[0092] It is understandable that when the upper limit of the target distance range is greater than the first preset threshold and the target vehicle is locked, the locked state is maintained; when the lower limit of the target distance range is less than the second preset threshold and the target vehicle is unlocked, the unlocked state is maintained.

[0093] By periodically updating the target distance range, it can fully cover various vehicle usage scenarios, from vehicle locking, user approach, getting in and using the vehicle, getting out and leaving, to approaching again: when approaching, unlocking is triggered based on the upper limit of the target distance range, and when moving away, locking is triggered based on the lower limit of the target distance range. The middle area maintains the current state, achieving seamless interaction throughout the process.

[0094] In this embodiment of the invention, by periodically refreshing the first and second signal strength values ​​and iteratively updating the target distance range between the target vehicle and the target terminal, the dynamic positional changes of the target terminal as it approaches or moves away from the vehicle can be tracked in real time. This avoids the lag caused by static single sampling and achieves continuous control of automatic unlocking when approaching and automatic locking when moving away. Furthermore, in scenarios where a user carrying the target terminal walks towards or away from the target vehicle, the seamless unlocking and locking actions can perfectly match the user's movement rhythm, improving the smoothness and accuracy of Bluetooth key interaction and vehicle control in dynamic scenarios.

[0095] For example, Figure 2 A schematic diagram of a vehicle control method is shown, such as... Figure 2 As shown, assuming vehicle D is the target vehicle, vehicle D (the target vehicle) continuously maintains Bluetooth communication with the user's handheld mobile terminal (the target terminal), and collects the RSSI directly connected to the terminal in real time, which is recorded as the reference signal strength value. Vehicle D periodically broadcasts collaborative scanning messages, scanning all surrounding vehicles equipped with onboard BLE modules within its signal coverage area. In the scenario illustrated, it scans and captures five surrounding vehicles: A, B, C, E, and F. For each scanned surrounding vehicle, vehicle D establishes only a single temporary BLE communication link, without exchanging vehicle encryption certificates, VINs, device privacy keys, or other data. It only exchanges basic ranging data: the auxiliary vehicle detects the second signal strength value of the user's mobile terminal. The temporary link is immediately disconnected after each positioning cycle, without long-term pairing or binding. There is no need for pre-entry of vehicle information into the cloud, nor is bidirectional authorization between vehicles required.

[0096] Based on the RSSI in-direction filtering rule, invalid auxiliary vehicles in the diagram are filtered out: vehicles whose terminal RSSI measured by the auxiliary vehicle is greater than or equal to the direct-connected reference signal strength value of vehicle D are retained. The vehicle participates in subsequent triangulation and is determined to be a valid anchor point on the same side as the target terminal; if the field strength of the auxiliary vehicle detection terminal is less than... This indicates that the vehicle and the target terminal are located on opposite sides of vehicle D, belonging to reverse interference nodes, and this set of data is directly discarded. See the attached diagram for an example scenario: 1. Vehicles A, B, and C are all located near the user, and the RSSI detected by all three vehicles is greater than the direct-connected reference signal strength value of vehicle D. Those that meet the filtering criteria will be retained as valid auxiliary anchor points. 2. Vehicles E and F are located on the opposite side of vehicle D, away from the user. The RSSI values ​​collected by the terminals of both vehicles are lower than the reference signal strength value. Nodes deemed invalid due to reversal are directly removed and excluded from distance calculation. This filtering mechanism ensures that only vehicles on the same side participate in subsequent calculations, avoiding the ranging jitter caused by vehicles traveling in the opposite direction at a distance, as shown in the diagram, and significantly mitigating the ping-pong opening / closing problem of door locks.

[0097] For each valid auxiliary vehicle, three segments of link distances are converted, and the triangle inequality is used to solve the vehicle-user distance interval: a plane triangle is formed by the D vehicle (target vehicle), a single valid auxiliary vehicle, and the user terminal, and distance conversion and interval solving are performed respectively for the three vehicles A, B, and C retained in the accompanying drawings: 1. Definition of link distances (taking vehicle B in the diagram as an example): X2 is the straight-line distance between vehicle D and vehicle B (obtained by converting the RSSI, i.e., the first signal strength value, interacted between the two vehicles); Y2 is the straight-line distance between vehicle B and the user mobile terminal (obtained by converting the RSSI, i.e., the second signal strength value, reported by vehicle B); 2. Geometric constraint calculation: According to the triangle inequality (|X-Y|<Z<X+Y), the continuous interval of the true distance Z between vehicle D and the user terminal is solved ( ). Similarly, for vehicle A and vehicle C in the diagram, the links (X1, Y1) and (X3, Y3) are converted respectively, and two independent distance intervals are obtained through independent calculation. In this way, the output continuous numerical distance interval contains all possible vehicle-user distances.

[0098] The intersection of the distance intervals of multiple auxiliary vehicles is taken to compress the error, output the final ranging range and execute the unlocking / locking judgment: the intersection of the three sets of distance intervals respectively calculated by the three valid auxiliary vehicles A, B and C in the diagram is obtained to continuously narrow the upper and lower boundaries of Z, so as to obtain the final continuous distance range with higher precision, that is, the target distance interval. The target vehicle compares the target distance interval with a preset first preset threshold and a second preset threshold, and executes the corresponding control logic: 1. If the maximum value of the interval ≤ the first preset threshold: it is determined that the user enters the unlocking area, and if vehicle D is in the locked state, vehicle D performs automatic unlocking; 2. If the minimum value of the interval ≥ the second preset threshold: it is determined that the user is too far away, and if vehicle D is in the unlocked state, vehicle D performs automatic locking.

[0099] In combination with the scenario in the accompanying drawings, assuming that the current position of the user is less than the first preset threshold (for example, 3 meters) away from vehicle D, and the entire target distance interval obtained by the intersection of the multi-vehicle intervals falls within the 3-meter threshold, vehicle D automatically triggers non-inductive unlocking.

[0100] Furthermore, the above steps can be repeated 10 times per second to continuously update all RSSI data between vehicle D and the terminal, vehicle D and the auxiliary vehicle, and the auxiliary vehicle and the terminal, refreshing the upper and lower limits of the distance range in real time. In this way, for a normal adult walking speed of 1m / s to 1.5m / s, the distance measurement results are dynamically updated as the user moves closer to or away from vehicle D, enabling continuous control of unlocking upon approach and automatic locking upon moving away. It is understandable that if there are no surrounding vehicles meeting the screening criteria in the illustrated scenario (no auxiliary anchor points A / B / C on the same side), it can automatically switch to single-vehicle, single-link RSSI ranging, that is, distance conversion is performed based on the signal strength value between the target vehicle and the target terminal to determine the distance between the target vehicle and the target terminal, ensuring uninterrupted function.

[0101] For example, Figure 3 A timing flowchart of a vehicle control method is shown. The positioning and control logic of this scheme relies on local Bluetooth interaction between the mobile terminal, the target vehicle, and surrounding auxiliary vehicles. The entire process does not connect to a cloud server, does not depend on a cellular network, requires no prior cloud registration for vehicles, and does not require pre-authorization between vehicles. Data communication is completed solely through temporary Bluetooth message exchanges. All distance calculations and positioning decisions can be completed locally on the target vehicle's body controller. The complete runtime sequence is as follows: Figure 3 As shown, the step-by-step execution logic for each device is as follows: I. User Mobile Terminal Execution Flow (Left Column of Flowchart) The Bluetooth key mobile terminal, once paired with the vehicle, continuously scans for nearby vehicle Bluetooth broadcast signals and periodically broadcasts identity messages carrying its own Bluetooth MAC and UUID. When the mobile terminal captures a Bluetooth broadcast message from a target vehicle, it verifies whether the vehicle identification carried in the message matches its locally stored information. If a match is found, it actively initiates a Bluetooth connection request. After completing secure identity verification between the target vehicle and the mobile terminal, confirming that both are authorized and legitimate pairing partners, the mobile terminal sends its terminal identification information to the target vehicle. Furthermore, while the link is connected, the mobile terminal continuously broadcasts its own Bluetooth MAC and UUID identifiers for identification by all surrounding vehicles in the parking lot.

[0102] II. Target Vehicle Execution Flow (Middle column of the flowchart, core of the calculation) After powering on, the target vehicle continuously broadcasts Bluetooth cooperative messages, waiting for the mobile terminal to connect. Upon receiving a Bluetooth connection request from the mobile terminal, it performs identity verification based on the Bluetooth MAC and UUID reported by the mobile terminal. If the verification fails, the link is directly disconnected; if the verification succeeds, the multi-vehicle cooperative positioning mode is activated. Subsequently, the target vehicle actively scans all auxiliary vehicles equipped with BLE modules within its signal coverage area, pre-collecting the RSSI field strength of the Bluetooth broadcast signals broadcast by each auxiliary vehicle, i.e., the first signal strength value. The target vehicle actively initiates Bluetooth connection requests one by one and establishes temporary communication links, while simultaneously sending the terminal identification information (MAC and UUID) of the mobile terminal to be located to the auxiliary vehicles to guide the auxiliary vehicles in collecting the Bluetooth broadcast signals corresponding to the mobile terminals. Before establishing a Bluetooth connection with the auxiliary vehicles, an RSSI same-direction filtering rule is executed, retaining only auxiliary vehicles whose sampled Bluetooth broadcast signal RSSI value is greater than the RSSI value of the target vehicle's directly connected mobile terminal as valid vehicles on the same side, thus filtering out reverse-direction and interfering vehicles. For each of the selected and retained valid auxiliary vehicles, the target vehicle receives a message from each auxiliary vehicle. This message carries the auxiliary vehicle's own MAC address and the RSSI (Second Signal Strength Index) of the mobile terminal obtained by the auxiliary vehicle in a directional manner. After the target vehicle aggregates all valid RSSI data, it uses the triangle inequality to solve for the distance interval corresponding to each auxiliary vehicle in each valid triangular link. The intersection of the distance intervals corresponding to multiple auxiliary vehicles is then calculated to compress the ranging error, resulting in the target distance interval. The finally converged target distance interval is compared with the first and second preset thresholds, and the corresponding vehicle unlocking / locking control command is output. The corresponding vehicle unlocking / locking operation is then executed. The entire process of acquisition, filtering, connection, calculation, and decision can be continuously run in a loop.

[0103] III. Execution process for surrounding auxiliary vehicles (right column of flowchart, temporary coordination anchor points) The auxiliary vehicle continuously listens for Bluetooth broadcast signals within the area and continuously broadcasts these signals to the target vehicle for pre-collecting RSSI, obtaining a first signal strength value. Upon receiving a Bluetooth connection request from the target vehicle, it establishes a temporary Bluetooth connection directly without cloud authentication or prior pairing authorization. After receiving the mobile terminal identification information (MAC and UUID) from the target vehicle, it scans the corresponding mobile terminal based on this identification information, simultaneously collecting the reference signal strength value corresponding to that mobile terminal. The auxiliary vehicle encapsulates its own device MAC address and reference signal strength value into a simplified message and transmits it back to the target vehicle via the temporary Bluetooth link. After the target vehicle determines that the auxiliary vehicle is a valid auxiliary vehicle, it uses the reference signal strength value corresponding to that auxiliary vehicle as the second signal strength value. The Bluetooth link is automatically disconnected after each positioning cycle, and no long-term pairing or binding relationship is established with the target vehicle.

[0104] It should be noted that the vehicle control method provided in this application embodiment can be executed by a vehicle control device, or by a control module within the vehicle control device for executing the loading vehicle control method. This application embodiment uses the execution of the loading vehicle control method by a vehicle control device as an example to illustrate the vehicle control device provided in this application embodiment.

[0105] Figure 4 This is a structural diagram of a vehicle control device provided in an embodiment of this application, with reference to... Figure 4 The device may include: The first acquisition module 801 is configured to acquire a first signal strength value corresponding to each of the auxiliary devices based on a direct communication signal sent by at least one auxiliary device around the target vehicle; the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle. The second acquisition module 802 is used to acquire the second signal strength value sent by each of the auxiliary devices after establishing a direct communication connection with the target terminal. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal. The first estimation module 803 is used to estimate the distance range between the target vehicle and the target terminal for each auxiliary device, based on the first signal strength value and the second signal strength value corresponding to the auxiliary device. The first determining module 804 is used to determine the target distance interval between the target vehicle and the target terminal according to the distance interval corresponding to each of the auxiliary devices, and to determine to perform a target operation on the target vehicle according to the target distance interval and the current vehicle state of the target vehicle; the target operation is an unlocking / locking operation.

[0106] Optionally, the device further includes: The third acquisition module is used to acquire a reference signal strength value between the target terminal and the target vehicle based on the direct communication signal sent by the target terminal; The second determining module is used to determine candidate devices located within the scanning range of the target vehicle and establish a direct communication connection with the candidate devices; The fourth acquisition module is used to acquire the signal strength value of the direct communication signal between each candidate device and the target terminal, as a reference signal strength value; The first screening module is used to screen out candidate devices whose reference signal strength value is greater than or equal to the reference signal strength value based on the reference signal strength value and the reference signal strength value corresponding to each candidate device, so as to determine the auxiliary device.

[0107] Optionally, the device further includes: The first receiving module is configured to receive terminal identification information sent by the target terminal in response to establishing a direct communication connection with the target terminal; The first sending module is used to send the terminal identification information to each of the candidate devices after establishing a direct communication connection with each of the candidate devices. The terminal identification information is used to guide the candidate devices to determine the target terminal and to obtain the reference signal strength value between the candidate devices and the target terminal.

[0108] Optionally, the first prediction module 803 includes: The first calculation module is used to calculate a first distance between the auxiliary device and the target vehicle based on the first signal strength value; The second calculation module is used to calculate the second distance between the auxiliary device and the target terminal based on the second signal strength value; The first determining submodule is used to determine the upper limit of the estimated distance based on the sum of the first distance and the second distance; The second determining submodule is used to determine the lower limit of the estimated distance based on the absolute difference between the first distance and the second distance; The first estimation submodule is used to estimate the distance range between the target vehicle and the target terminal based on the upper limit of the estimated distance and the lower limit of the estimated distance.

[0109] Optionally, the first determining module 804 includes: The third determining submodule is used to determine the target distance interval between the target vehicle and the target terminal based on the intersection of the distance intervals corresponding to each of the auxiliary devices. The fourth determining submodule is used to determine the target distance interval based on the distance interval corresponding to a specified auxiliary device if the distance intervals corresponding to each of the auxiliary devices do not overlap; the specified auxiliary device is the auxiliary device with the smallest distance to the target vehicle. Alternatively, the fifth determining submodule is used to determine the target distance interval based on the interval fusion result of the distance intervals corresponding to each of the auxiliary devices if there is no intersection between the distance intervals corresponding to each of the auxiliary devices.

[0110] Optionally, the first determining module 804 includes: The sixth determining submodule is used to determine to perform an unlocking operation on the target vehicle if the upper limit of the target distance range is less than or equal to the first preset threshold and the target vehicle is in a locked state. The seventh determining submodule is used to determine to perform a locking operation on the target vehicle if the lower limit of the target distance interval is greater than or equal to the second preset threshold and the target vehicle is in an unlocked state. Wherein, the first preset threshold is the unlock trigger distance threshold, and the second preset threshold is the lock trigger distance threshold.

[0111] Optionally, the device further includes: The fifth acquisition module is used to periodically acquire the first signal strength value and the second signal strength value corresponding to each of the auxiliary devices, and to estimate the distance range between the target vehicle and the target terminal. The first update module is used to update the target distance interval between the target vehicle and the target terminal based on the distance interval corresponding to each of the auxiliary devices; The third determining module is used to redetermine the locking / unlocking operation to be performed on the target vehicle based on the updated target distance range.

[0112] The vehicle control device in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.

[0113] The vehicle control device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0114] Optional, such as Figure 5 As shown, this application embodiment also provides a vehicle 500, which includes a controller 510, a memory 520, and a program or instructions stored in the memory 520 and executable on the controller 510. When the program or instructions are executed by the controller 510, they implement the various processes of the above-described vehicle control method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0115] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described vehicle control method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0116] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0117] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above vehicle control method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0118] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0119] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the vehicle control method embodiments described above, and can achieve the same technical effects. To avoid repetition, it will not be described again here.

[0120] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0121] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0122] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A vehicle control method applied to a target vehicle, characterized in that, The method includes: Based on direct communication signals transmitted by at least one auxiliary device around the target vehicle, a first signal strength value corresponding to each of the auxiliary devices is obtained; the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle. The second signal strength value sent by each of the auxiliary devices after establishing a direct communication connection with the target terminal is obtained. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal. For each auxiliary device, based on the first signal strength value and the second signal strength value corresponding to the auxiliary device, the distance range between the target vehicle and the target terminal is estimated. The target distance interval between the target vehicle and the target terminal is determined based on the distance interval corresponding to each of the auxiliary devices. The target operation to be performed on the target vehicle is determined based on the target distance interval and the current vehicle status of the target vehicle. The target operation is an unlocking / locking operation.

2. The method according to claim 1, characterized in that, The method further includes: Based on the direct communication signal sent by the target terminal, obtain the reference signal strength value between the target terminal and the target vehicle; Identify candidate devices located within the scanning range of the target vehicle and establish a direct communication connection with the candidate devices; The signal strength value of the direct communication signal between each candidate device and the target terminal is obtained as a reference signal strength value; Based on the reference signal strength value and the reference signal strength value corresponding to each candidate device, candidate devices whose reference signal strength value is greater than or equal to the reference signal strength value are selected to determine the auxiliary device.

3. The method according to claim 2, characterized in that, The method further includes: In response to establishing a direct communication connection with the target terminal, the device receives terminal identification information sent by the target terminal. After establishing a direct communication connection with each of the candidate devices, the terminal identification information is sent to each of the candidate devices. The terminal identification information is used to guide the candidate devices to determine the target terminal and to obtain the reference signal strength value between the candidate device and the target terminal.

4. The method according to claim 1, characterized in that, The step of estimating the distance range between the target vehicle and the target terminal based on the first and second signal strength values ​​corresponding to the auxiliary device includes: Based on the first signal strength value, calculate the first distance between the auxiliary device and the target vehicle; Based on the second signal strength value, calculate the second distance between the auxiliary device and the target terminal; Based on the sum of the first distance and the second distance, determine the upper limit of the estimated distance; Based on the absolute difference between the first distance and the second distance, a lower limit for the estimated distance is determined; Based on the upper limit of the estimated distance and the lower limit of the estimated distance, the distance range between the target vehicle and the target terminal is estimated.

5. The method according to claim 1, characterized in that, Determining the target distance interval between the target vehicle and the target terminal based on the distance interval corresponding to each of the auxiliary devices includes: The target distance interval between the target vehicle and the target terminal is determined based on the intersection of the distance intervals corresponding to each of the auxiliary devices. If the distance intervals corresponding to each of the aforementioned auxiliary devices do not overlap, then perform one of the following operations: The target distance range is determined based on the distance range corresponding to the specified auxiliary device; the specified auxiliary device is the auxiliary device with the smallest distance to the target vehicle. The target distance interval is determined based on the interval fusion results of the distance intervals corresponding to each of the auxiliary devices.

6. The method according to claim 1 or 5, characterized in that, The step of determining to perform a target operation on the target vehicle based on the target distance range and the current vehicle state of the target vehicle includes: If the upper limit of the target distance range is less than or equal to the first preset threshold, and the target vehicle is locked, then it is determined that an unlocking operation will be performed on the target vehicle. If the lower limit of the target distance range is greater than or equal to the second preset threshold, and the target vehicle is in an unlocked state, then it is determined that a locking operation will be performed on the target vehicle. Wherein, the first preset threshold is the unlock trigger distance threshold, and the second preset threshold is the lock trigger distance threshold.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The first signal strength value and the second signal strength value corresponding to each of the auxiliary devices are periodically acquired to estimate the distance range between the target vehicle and the target terminal. Based on the distance intervals corresponding to each of the auxiliary devices, update the target distance interval between the target vehicle and the target terminal; Based on the updated target distance range, the lock / unlock operation to be performed on the target vehicle is redefined.

8. A vehicle control device, characterized in that, The device includes: The first acquisition module is configured to acquire a first signal strength value corresponding to each of the auxiliary devices based on a direct communication signal transmitted by at least one auxiliary device around the target vehicle; the first signal strength value is used to indicate the signal strength of the direct communication signal between the auxiliary device and the target vehicle. The second acquisition module is used to acquire the second signal strength value sent by each of the auxiliary devices after establishing a direct communication connection with the target terminal. The second signal strength value indicates the signal strength corresponding to the direct communication signal between the auxiliary device and the target terminal. The first estimation module is used to estimate the distance range between the target vehicle and the target terminal for each auxiliary device, based on the first signal strength value and the second signal strength value corresponding to the auxiliary device. The first determining module is configured to determine the target distance interval between the target vehicle and the target terminal based on the distance interval corresponding to each of the auxiliary devices, and to determine to perform a target operation on the target vehicle based on the target distance interval and the current vehicle state of the target vehicle; the target operation is an unlocking / locking operation.

9. A vehicle, characterized in that, It includes a controller, a memory, and a program or instructions stored in the memory and executable on the controller, wherein the program or instructions, when executed by the controller, implement the steps of the vehicle control method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by the controller, implement the steps of the vehicle control method as described in any one of claims 1-7.

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