Vehicle control method, device, vehicle, and storage medium
The vehicle control method using UWB receivers for contactless entry and exit addresses the inconvenience of manual unlocking and locking, enhancing automation and user experience through precise positioning and smart vehicle operations.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-12-13
- Publication Date
- 2026-03-26
Smart Images
Figure 2026509972000001_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent vehicle control technology, and particularly to a vehicle control method, apparatus, vehicle, and storage medium.
Background Art
[0002] Currently, when unlocking and getting into the vehicle, the user can unlock or lock the vehicle by operating the smart key, or determine whether the smart key is within the unlocking range and touch the unlocking area inside the door handle to unlock or lock the vehicle.
Summary of the Invention
Means for Solving the Problems
[0003] This application ,car provides a vehicle control method, apparatus, vehicle, and storage medium.
[0004] An embodiment of the first aspect of this application relates to a vehicle control method, in which a plurality of UWB (Ultra Wide Band) receivers are installed in the vehicle. Here, the method includes the following steps: determining the distance between the mobile terminal and the vehicle based on the positioning signal transmitted from the mobile terminal received by the plurality of UWB receivers; when the distance is within the welcome control section, controlling the vehicle to perform at least one of lighting operation, pre-start operation, and pre-start reminder operation; when the distance is within the unlocking control section, controlling the vehicle to unlock and controlling the vehicle to open the door based on the distance.
[0005] In other words, using at least one UWB receiver, the system receives a current positioning signal transmitted from a mobile terminal, analyzes the current positioning signal to determine the actual distance between the mobile terminal and the vehicle, identifies the control section to which the actual distance corresponds, controls the vehicle to perform lighting, pre-start, and / or pre-start reminder actions if the control section is in a welcome control section, and unlocks the vehicle and opens the vehicle doors based on the actual distance if the control section moves from the welcome control section into an unlock control section.
[0006] As one option, in one embodiment of the present application, opening the vehicle door based on the actual distance includes, if the distance is within a collision avoidance control zone, acquiring the posture information of a target user, the target user being at least one of the user carrying the mobile terminal and the user located in the target direction of the door, determining the door opening operation based on the posture information, and controlling the vehicle to open the door according to the opening operation. In other words, if the relevant control zone is within a collision avoidance control zone, user perception data is acquired, the user's actual posture is identified based on the perception data, the optimal door opening operation is matched based on the actual posture, and the opening of the door is controlled according to the optimal opening operation.
[0007] As one option, in one embodiment of the present application, if the vehicle satisfies a preset locking condition and the distance is within a locking control section, the vehicle is controlled to lock and to perform a locking result reminder operation. In other words, it is determined whether the vehicle satisfies a preset locking condition, and if the vehicle satisfies the preset locking condition, it is determined whether the control section to which the actual distance corresponds is a locking control section, and if the control section to which the actual distance corresponds is a locking control section, the vehicle is locked and the vehicle is controlled to perform a locking result reminder operation.
[0008] As one option, in one embodiment of the present application, controlling the vehicle to perform the locking result reminder operation includes, if the vehicle successfully locks, controlling at least one device of the vehicle to perform a successful locking reminder operation and controlling the vehicle to transmit the successful locking information to the mobile terminal, wherein the at least one device includes at least one of an optical display device and an acoustic reminder device; and if the vehicle fails to lock, controlling the at least one device of the vehicle to perform a failed locking reminder operation and controlling the vehicle to transmit the failed locking reminder information to the mobile terminal. In other words, when the vehicle is successfully locked, the system controls at least one optical display device and / or at least one audible reminder device of the vehicle to execute a successful locking reminder, while simultaneously transmitting the successful locking information to the mobile terminal. When the vehicle fails to lock, the system controls the at least one optical display device and / or at least one audible reminder device of the vehicle to execute a failed locking reminder, while simultaneously transmitting a failed locking reminder signal to the mobile terminal, thereby controlling the mobile terminal to execute the failed locking reminder.
[0009] As one option, in one embodiment of the present application, if the vehicle satisfies the locking conditions, the duration of reception of the positioning signal is determined; if the duration exceeds a preset duration, an in-vehicle video of the vehicle is acquired; and if the in-vehicle video indicates that there are no passengers inside the vehicle, the vehicle is controlled to lock, and an abnormality reminder is sent to a target terminal, the target terminal being a terminal other than the mobile terminal. In other words, the duration of dwell time of the current positioning signal outside the locking control section is recorded, and if the dwell time exceeds a preset duration, in-vehicle video data of the vehicle is acquired, and based on the in-vehicle video data, it is determined whether there are passengers inside the vehicle, and if there are no passengers inside the vehicle, the vehicle is locked and an abnormality reminder is sent to the preset terminal.
[0010] Embodiments of a second aspect of the present application relate to a vehicle control device, wherein a plurality of UWB receivers are installed in the vehicle, the device comprising a determination module and a first control module, the determination module being used to determine the distance between the mobile terminal and the vehicle based on positioning signals transmitted from the mobile terminal received by the plurality of UWB receivers, the first control module being used to control the vehicle to perform at least one of the following: lighting operation, pre-start operation, and pre-start reminder operation if the distance is in a welcome control section, the vehicle to unlock if the distance is in an unlock control section, and to control the vehicle to open the doors based on the distance. Herein, the determination module comprising a receiving module and an analysis module, the receiving module being used to receive current positioning signals transmitted from the mobile terminal using the plurality of UWB receivers, and the analysis module being used to determine the actual distance between the mobile terminal and the vehicle by analyzing the current positioning signals and to identify the control section to which the actual distance corresponds. Furthermore, the aforementioned first control module can also be understood to control the vehicle to perform lighting, pre-start, and / or pre-start reminder operations when the relevant control section is in a welcome control section, and to unlock the vehicle and open the vehicle doors based on the actual distance when the relevant control section moves from the welcome control section to an unlock control section.
[0011] As one option, in one embodiment of the present application, the first control module includes an acquisition unit and a control unit, the acquisition unit being used to acquire the posture information of a target user when the distance is within a collision avoidance control section, the target user being at least one of a user carrying the mobile terminal and a user located in the target direction of the door, and the control unit being used to determine the opening operation of the door based on the posture information and to control the vehicle to open the door in accordance with the opening operation. Alternatively, the first control module includes a perception unit, an identification unit, and a control unit, the perception unit being used to acquire the user's perception data when the relevant control section is within a collision avoidance control section, the identification unit being used to identify the user's actual posture based on the perception data, and the control unit being used to match the optimal opening operation of the door based on the actual posture and to control the opening of the door in accordance with the optimal opening operation.
[0012] As one option, in one embodiment of the present application, the device further includes a second control module, which is used to control the vehicle to lock if the vehicle satisfies a preset locking condition and the distance is within a locking control section, and to control the vehicle to perform a locking result reminder operation. Alternatively, the device further includes a determination module, which is used to determine whether the vehicle satisfies a preset locking condition. The aforementioned second control module can also be understood to determine whether the control section to which the actual distance corresponds is a locking control section if the vehicle satisfies the preset locking condition, and to control the vehicle to lock the vehicle and simultaneously perform a locking result reminder operation if the control section to which the actual distance corresponds is the locking control section.
[0013] As one option, in one embodiment of the present application, the second control module includes a first reminder unit and a second reminder unit, the first reminder unit being used to control the vehicle to perform a successful lock reminder operation when the vehicle is successfully locked and to transmit the successful lock information to the mobile terminal, the at least one device including at least one of an optical display device and an acoustic reminder device, or the first reminder unit being used to perform a successful lock reminder when the vehicle is successfully locked by controlling at least one optical display device and / or at least one acoustic reminder device of the vehicle The second reminder unit is used to control the locker device and simultaneously transmit locking success information to the mobile terminal, and if the vehicle fails to lock, it controls the vehicle to perform a locking failure reminder operation by controlling the at least one device of the vehicle and to transmit locking failure reminder information to the mobile terminal, or if the vehicle fails to lock, it controls the vehicle to perform a locking failure reminder by controlling the at least one optical display device and / or the at least one acoustic reminder device of the vehicle and simultaneously transmitting a locking failure reminder signal to the mobile terminal.
[0014] As one option, in one embodiment of the present application, the device is used to determine the duration of reception of the positioning signal when the vehicle satisfies the locking conditions, acquire in-vehicle video of the vehicle when the duration exceeds a preset duration, control the vehicle to lock if the in-vehicle video indicates that there are no passengers inside the vehicle, and send an abnormal reminder to a target terminal, the target terminal being a terminal other than the mobile terminal. In other words, the device further includes a recording module, an acquisition module, and a reminder module, the recording module being used to record the duration of dwell time of the current positioning signal outside the locking control section, the acquisition module being used to acquire in-vehicle video data of the vehicle when the dwell time exceeds a preset duration, and to determine whether there are passengers inside the vehicle based on the in-vehicle video data, and the reminder module being used to lock the vehicle and simultaneously send an abnormal reminder to a preset terminal when there are no passengers inside the vehicle.
[0015] A third embodiment of this application relates to a vehicle, the vehicle including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the computer program is executed by the processor to realize the vehicle control method described in the above embodiment.
[0016] A fourth embodiment of this application relates to a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-described vehicle control method is realized.
[0017] The embodiment of this application uses multiple UWB receivers to receive positioning signals transmitted from a mobile terminal, achieving stable signal transmission and high-precision positioning. Based on the signal positioning, the actual distance to the mobile terminal is determined, and if this distance is within the welcome control zone, the vehicle is controlled to perform lighting, pre-start, and / or pre-start reminder operations, thereby realizing a vehicle welcome function and pre-start, making it convenient for the user to find the vehicle and saving start time. If this distance is within the unlock control zone (or entering the unlock control zone from the welcome control zone), the vehicle is unlocked and the doors are opened based on the actual distance, enabling contactless entry for the user into the vehicle, resulting in superior convenience and speed, a high level of smartness and automation, and contributing to an improved user experience.
[0018] Additional aspects and advantages of this application are, in part, shown in the following description, and in part, will become apparent from the following description or can be acquired by practicing this application. [Brief explanation of the drawing]
[0019] The above-described and / or additional aspects and advantages of this application will become apparent and readily apparent from the following description of the embodiments with reference to the drawings.
[0020] [Figure 1] This is a flowchart of a vehicle control method according to an embodiment of this application. [Figure 2] A schematic diagram illustrating the principle of a vehicle control method according to one embodiment of this application. [Figure 3] A schematic diagram of the configuration of a vehicle control device according to an embodiment of this application. [Figure 4] This is a schematic diagram of the vehicle configuration according to an embodiment of this application. [Modes for carrying out the invention]
[0021] Hereinafter, embodiments of the present application will be described in detail. Examples of the embodiments are shown in the drawings, and the same or similar reference numerals from beginning to end represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are exemplary for explaining the present application and should not be construed as a limitation to the present application.
[0022] In related technologies, unlocking or locking requires manual operation, and if the user's hands are occupied, for example, if the user is carrying an object or holding something in their hands, they must put down what they are holding in order to perform the unlocking or locking action.
[0023] To improve the level of automation and smart technology, Hereinafter, with reference to the drawings, a vehicle control method, apparatus, vehicle, and storage medium according to embodiments of the present application will be described. The aforementioned In the related technology mentioned, unlocking and locking of vehicles require manual operations by users, with low levels of automation and smartness, which are disadvantageous for improving the user experience. In response to such technical problems, the present application provides a vehicle control method. In this method, a plurality of UWB receivers are used to receive the positioning signals transmitted from a mobile terminal, and by realizing stable signal transmission and high-precision positioning, based on the received positioning signals, the distance between the mobile terminal and the vehicle is determined. When this distance is within the welcome control interval, the vehicle is controlled to perform lighting operations, pre-start operations, and / or pre-start reminder operations, thereby realizing the welcome function and pre-start of the vehicle, which is convenient for the user to find the vehicle and can also save the vehicle start time. When this distance is within the unlocking control interval (or when entering the unlocking control interval from the welcome control interval), the vehicle is unlocked and at the same time, based on the actual distance, the vehicle door is opened, thereby realizing non-contact entry of the user into the vehicle, which is excellent in convenience and speed, has a high level of smartness and automation, and contributes to the improvement of the user experience.
[0024] Specifically, FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present application.
[0025] As shown in FIG. 1, the vehicle control method is executed by the vehicle, and a plurality of UWB receivers are installed in the vehicle. Here, the method includes the following steps.
[0026] In step S101, the distance between the mobile terminal and the vehicle is determined based on the positioning signals transmitted from the mobile terminal, which are received by multiple UWB receivers.
[0027] In the embodiments of this application, the UWB receiver is, for example, a UWB antenna. The mobile terminal is, for example, a smart mobile device such as a mobile phone, smartwatch, smart key, or wearable device, and is not limited thereto. Generally speaking, the mobile terminal is a terminal used by a user, and the mobile terminal can transmit positioning signals to a plurality of UWB receivers installed in a vehicle. In some embodiments, a UWB connection is established between the mobile terminal and the vehicle, the security of communication between the two is ensured by an authentication mechanism, and after successfully establishing a connection between the mobile terminal and the vehicle, the mobile terminal transmits positioning signals to a plurality of UWB receivers in the vehicle.
[0028] In some embodiments, UWB positioning technology includes TOA (Time of Arrival) positioning technology, TDOA (Time Difference of Arrival) positioning technology, AOA (Angle-of-Arrival) positioning technology, and hybrid technologies of the three technologies, and a corresponding number of UWB receivers can be installed on the vehicle based on different UWB positioning technologies. For example, if TOA positioning technology is employed, three UWB receivers can be installed on the vehicle, but this application does not limit this.
[0029] In some embodiments, the distance between a mobile terminal and a vehicle can be determined by analyzing the received positioning signal based on a selected different UWB positioning technology. For example, taking TOA positioning technology as an example, the mobile terminal transmits a positioning signal to three UWB receivers installed in the vehicle, these three receivers receive the positioning signal, record the timestamp of the received positioning signal, convert the timestamps of the different receivers into a unified time standard using clock synchronization technology, calculate the propagation time difference of the signals from the different receivers, calculate the position of the mobile terminal based on the propagation time difference, and further calculate the distance between the mobile terminal and the vehicle based on the position of the mobile terminal and the position of the vehicle. It should be understood that this is merely an example and does not limit the present application.
[0030] In this embodiment of the present application, since signal reception is achieved by a UWB receiver, the impact of network communication on the signal can be reduced. As a result, users can receive positioning signals even in places with poor signal reception, such as underground garages. At the same time, even if there are thick walls or other objects around the vehicle's parking location, the transmission of the positioning signal will not be affected, enabling highly stable and accurate positioning signal analysis.
[0031] In step S102, the control section corresponding to the distance between the mobile terminal and the vehicle is determined based on that distance.
[0032] In the embodiments of this application, the vehicle is provided with a plurality of control sections, each corresponding to a different execution operation. These control sections generally include a welcome control section, an unlocking control section, and a locking control section. The distance between the vehicle and the mobile terminal determines which control section corresponds to which distance. Furthermore, the vehicle is controlled to execute the corresponding operation based on this distance to the appropriate control section. Here, the welcome control section, unlocking control section, and locking control section can all be adjusted according to the actual situation by the user or a person skilled in the art, and are not specifically limited here. For example, the welcome control section could be set to 3-5 meters from the vehicle, the unlocking control section to 1-3 meters from the vehicle, and the locking control section to 5-10 meters from the vehicle. This is merely an example and should be understood as not limiting this application.
[0033] Furthermore, the vehicle continuously receives positioning signals transmitted from the mobile terminal using multiple UWB receivers, determines which control section the distance between the mobile terminal and the vehicle falls into based on the received positioning signals, and controls the vehicle to perform the corresponding operation based on the control section in which this distance corresponds. This process will be explained below through steps S103 and S104.
[0034] In step S103, if the distance between the mobile terminal and the vehicle is within the welcome control zone, the vehicle is controlled to perform at least one of the following actions: lighting operation, pre-start operation, and pre-start reminder operation.
[0035] Alternatively, if the actual distance between the vehicle and the mobile device falls within the Welcome Control Zone, the vehicle is controlled to perform lighting, pre-start, and / or pre-start reminder actions. For example, if the Welcome Control Zone is set to 3-5 meters from the vehicle, and the distance between the mobile device and the vehicle is determined to be 5 meters based on the positioning signal received by the UWB receiver, the system determines that this distance is within the Welcome Control Zone and controls the vehicle to perform lighting, pre-start, and pre-start reminder actions.
[0036] Here, lighting operations include, for example, turning on the position lamps to notify the user of the vehicle's location, or turning on the vehicle's headlights to provide illumination to the user. Pre-start operations include, for example, warming up the vehicle in winter, or pre-activating equipment such as the in-car air conditioning to maintain a comfortable environment inside the vehicle. Pre-start reminder operations include, for example, when the user enters a welcome control zone, sounding the horn to notify the user that the current vehicle has completed pre-start, and allowing the user to immediately exit the welcome control zone if they do not wish to start the vehicle. In this case, the embodiment of this application can control the vehicle to return to a parked state, and the sounding of the horn also serves as a warning, causing animals hiding under the vehicle, children and pedestrians near the vehicle to immediately move away after hearing the horn, thus avoiding collisions with animals or people located in the vehicle's blind spots when the vehicle parks out.
[0037] In step S104, if the distance between the mobile device and the vehicle is within the unlocking control range, the vehicle is controlled to unlock, and based on the distance, the vehicle is also controlled to open the doors.
[0038] In other words, in the embodiment of this application, the user's current positioning signal is acquired in real time, the user's direction of movement and position are determined, and when the corresponding control section moves from the welcome control section to the unlocking control section, it is determined that the user's intention is to start the vehicle, and therefore the vehicle is unlocked and the vehicle doors are opened based on the actual distance, eliminating the need for manual operation by the user and making it more convenient. For example, if the unlocking control section is set to 3 to 5 meters from the vehicle, and the distance between the mobile terminal and the vehicle is 3 meters, it is determined that this distance is within the unlocking control section, and the vehicle is controlled to unlock, and the doors are also controlled to open based on the distance.
[0039] As one option, in one embodiment of this application, opening a vehicle door based on the actual distance involves several steps, as follows:
[0040] In step A, if the distance between the mobile device and the vehicle is within the collision avoidance control zone, the attitude information of the target user is acquired, where the target user is at least one of the users carrying the mobile device and the user located in the target direction of the door.
[0041] Here, the vehicle is further provided with a collision avoidance control zone, which is set, for example, to 0.5 to 1 meter from the vehicle. The target user's posture information includes information such as the target user's body shape (e.g., height), distance from the door, and relative position to the door, and can be understood as the target user's perceptual data. For example, sensors such as radar and cameras are installed in the vehicle, the camera captures a screen of the area around the vehicle, the target user is identified from the screen, and the target user's posture information is further acquired. It should be understood that the target user may be, for example, a driver of the vehicle or a user carrying a mobile device. The target user may also be, for example, a user positioned directly in front of the passenger-side door, i.e., a user positioned in the target direction of the door, such as a passenger in the vehicle. This application does not limit the type and number of target users.
[0042] In step B, the vehicle is controlled to open the door based on the attitude information and to open the door according to that opening action.
[0043] In other words, if the control section in question is a collision avoidance control section, the system acquires user perception data, identifies the user's actual posture based on that data, matches the optimal door opening motion based on the actual posture, and controls the door opening according to the optimal motion.
[0044] In some embodiments, based on the current positioning signal of the user's mobile terminal, if it is determined that the user will continue to approach the vehicle after entering an unlocking control section until the control section becomes a collision avoidance control section, the embodiments of this application acquire user perception data using sensors such as radar and cameras, and obtain information such as the user's body shape, distance from the door, and relative position to the door to identify the user's actual posture. Based on the actual posture, the optimal door opening operation, such as the opening direction and opening angle, is matched to complete the automatic opening of the door. At the same time, when matching the optimal door opening operation, it is necessary to appropriately match it according to the situation of obstacles around the door. For example, if sensors such as radar and cameras are installed on the vehicle and it is determined that the opening operation of door A is forward opening, the camera captures a screen of the area around the vehicle, and if an obstacle is identified from the screen as being directly in front of door A, door A is controlled to open upwards. This is merely an example and does not limit the present invention.
[0045] For example, if the orientation, distance, and height between the user and the door meet the conditions for enabling door opening without interference by the upward opening of the vehicle door, the door is controlled to open upward; if the orientation, distance, and height between the user and the door do not affect the sideways opening of the door, the door is controlled to open sideways as usual; and in the embodiment of this application, when controlling the opening of the door, a sensor can be used to confirm the space required to open the door.
[0046] Furthermore, in the embodiments of this application, if it is determined that the door cannot be opened in the user's current actual posture, the vehicle is controlled to play an audio message indicating door opening failure to prompt the user to adjust their standing position, or the vehicle is controlled to sound the horn to warn the user, and a failure reminder is sent to the mobile terminal, thereby enabling automatic door opening after the user has made adjustments.
[0047] Furthermore, a person skilled in the art may appropriately set the collision prevention control interval based on data such as vehicle type and door opening method, and this is not specifically limited here.
[0048] Steps S101 to S104 above describe the vehicle control method according to this application, that is, by receiving positioning signals transmitted from a mobile terminal using multiple UWB receivers and achieving stable signal transmission and high-precision positioning, the distance between the mobile terminal and the vehicle is determined based on the received positioning signals, and if this distance is within the welcome control zone, the vehicle is controlled to perform lighting, pre-start, and / or pre-start reminder operations, thereby realizing the vehicle's welcome function and pre-start, which is convenient for the user to find the vehicle and saves vehicle start time. If this distance is within the unlocking control zone (or when moving from the welcome control zone to the unlocking control zone), the vehicle is controlled to unlock, and the vehicle doors are opened based on the distance, thereby enabling contactless entry of the user into the vehicle, which is highly convenient and fast, has a high level of smartness and automation, and contributes to an improved user experience.
[0049] As one option, in one embodiment of this application, the vehicle is further provided with a locking control zone, and the vehicle is controlled to automatically lock when the distance between the vehicle and the mobile terminal is within the locking control zone, thereby further enhancing the level of vehicle smartification. For example, the locking control zone may be set to 5 to 10 meters from the vehicle, but this application is not limited to this. This embodiment will be described below.
[0050] In general, the system determines whether the vehicle meets the preset locking conditions, and if so, it determines whether the actual distance corresponds to a locking control section. If the actual distance corresponds to a locking control section, the system controls the vehicle to lock and simultaneously execute a locking result reminder. In other words, if the vehicle meets the preset locking conditions and the distance between the mobile device and the vehicle is within a locking control section, the system controls the vehicle to lock and execute a locking result reminder.
[0051] In some embodiments, the vehicle is provided with preset locking conditions, such as the vehicle being powered off and the vehicle's doors being unlocked. When the vehicle satisfies the locking conditions, the embodiments of this application determine, based on the current positioning signal, whether the control section corresponding to the actual distance is a locking control section. If the control section corresponding to the actual distance is a locking control section, the vehicle is locked, the doors are automatically closed and locked, and at the same time, the vehicle is controlled to perform a locking result reminder operation and notify the user of the locking result.
[0052] As an option, the vehicle is equipped with at least one device, the at least one of which is an optical display device (e.g., the vehicle's position lamps) and an audible reminder device (e.g., a speaker). Controlling the vehicle to perform a locking result reminder operation includes, if the vehicle successfully locks, controlling at least one device in the vehicle to perform a successful locking reminder operation and sending the successful locking information to a mobile terminal, and if the vehicle fails to lock, controlling at least one device in the vehicle to perform a failed locking reminder operation and sending the failed locking reminder information to a mobile terminal.
[0053] For example, when the vehicle is successfully locked, the system controls at least one optical display device in the vehicle, such as a position lamp, to flash or emit green light to provide a locking success reminder, and / or controls at least one acoustic reminder device in the vehicle, such as a horn, to sound the horn, and controls at least one acoustic reminder device in the vehicle, such as a speaker, to play a locking success sound, and simultaneously transmits the locking success information to a mobile terminal, which is convenient for the user to check the status of the vehicle.
[0054] Furthermore, for example, if the vehicle fails to lock, the system controls at least one optical display device of the vehicle, such as a position lamp, to keep lit or emit red light to provide a lock failure reminder, and / or controls at least one acoustic reminder device of the vehicle, such as a horn, to sound the horn, and controls at least one acoustic reminder device of the vehicle, such as a speaker, to play a lock failure sound, and simultaneously transmits a lock failure reminder signal to a mobile terminal, thereby controlling the mobile terminal to provide a lock failure reminder, for example, by vibrating continuously, staying lit, or playing a warning sound, making it convenient for the user to immediately obtain the status of the vehicle and ultimately guaranteeing the safety of the user's property.
[0055] As one option, in one embodiment of this application, when the vehicle meets the locking conditions, the positioning signal received by the UWB receiver and the in-vehicle video can be integrated to determine whether the vehicle is temporarily stopped or whether an anomaly has occurred (for example, the user has left a mobile device inside the vehicle), thereby immediately notifying the user and ensuring the safety of the user's property. For example, an in-vehicle video can be obtained by installing a camera inside the vehicle and photographing the interior space.
[0056] In general terms, when a vehicle meets the locking conditions, the system determines the duration of the positioning signal reception. If the duration exceeds a preset duration, it acquires in-vehicle video. If the in-vehicle video indicates that there are no passengers inside the vehicle, it controls the vehicle to lock and sends an anomaly reminder to a target device, which refers to a device other than a mobile device. For example, the target device may be another mobile device bound to the vehicle, or it may be a device of an emergency contact pre-configured for the user. When a vehicle meets the locking conditions, it should be understood that this usually indicates that the driver and passengers inside the vehicle have left. In such cases, by integrating the positioning signal received by the UWB receiver with the in-vehicle video, it is possible to immediately determine whether the vehicle is temporarily stopped or if an anomaly has occurred. If the vehicle continuously receives a positioning signal but there are no passengers inside, it indicates that a mobile device may have been left inside the vehicle. Based on this, an anomaly reminder can be sent to the target device, immediately notifying the user and ensuring the safety of the user's property.
[0057] In other words, after determining that the vehicle meets the preset locking conditions, the system records the length of time the vehicle stays outside the locking control section of the current positioning signal. If the length of time stays exceeds the preset length, the system acquires in-vehicle video data and determines whether there are passengers inside the vehicle based on the in-vehicle video data. If there are no passengers inside the vehicle, the system locks the vehicle and simultaneously sends an abnormality reminder to the preset terminal. The process of recording the length of time stays may be performed when the current positioning signal is outside the locking control section, or when the current positioning signal is inside the locking control section. This application is not limited to this.
[0058] In some other embodiments, if the vehicle meets the locking conditions, the duration of reception of the positioning signal is determined, and if the duration exceeds a preset duration, the vehicle's interior video is acquired, and if the interior video indicates that there are passengers inside the vehicle, the vehicle is controlled not to lock. It should be understood that if the vehicle continuously receives a positioning signal but there are passengers inside, it is likely that the vehicle is temporarily stopped, and based on this, the vehicle can be controlled not to lock, thereby improving the level of vehicle intelligence. In other words, after determining that the vehicle meets the preset locking conditions, the duration of dwell time outside the current positioning signal locking control section is recorded, and if the duration exceeds a preset duration, the vehicle's interior video data is acquired, and based on the interior video data, it is determined whether there are passengers inside the vehicle, and if there are passengers inside, it is determined that the vehicle is temporarily stopped, and there is no need to control the vehicle to perform the locking operation.
[0059] Here, the above-mentioned preset time length can be set by those skilled in the art; for example, the preset time length may be set to 10 minutes, but is not specifically limited here.
[0060] The operating principle of the vehicle control method according to one embodiment of this application will be described in detail below, with reference to an embodiment as shown in Figure 2. Figure 2 is a schematic diagram of the principle of the vehicle control method according to one embodiment of this application. As shown in Figure 2, the structure relating to the application process of the embodiment of this application may include a UWB antenna as a receiver and a mobile device as a mobile terminal, as shown in Figure 2, a UWB antenna, a positioning system, an electric door opening system, a radar system, an IHU (Infotainment Head Unit), a judgment and control system (hereinafter abbreviated as the control system), and a mobile device.
[0061] The positioning system is connected to a UWB antenna via CAN (Controller Area Network) and hardwired connections, and transmits location information from mobile devices.
[0062] The control system can determine whether the conditions for vehicle control are met and transmit control information.
[0063] The electric door opening system, control system, and radar system are connected via CAN, and the electric door opening system can receive unlocking and door opening information transmitted from the control system and collision avoidance detection result information transmitted from the radar system.
[0064] The IHU is connected to the electric door opening system via a CAN line and can transmit setting signals indicating whether electric door opening involves unlocking and opening the door, as well as setting signals for opening a single door or four doors.
[0065] In actual execution, embodiments of this application may include the following steps:
[0066] In S1, when a user approaches the vehicle with a mobile device, an effective connection is established between the mobile device and the positioning system. In other words, a UWB connection is established between the mobile device and the vehicle.
[0067] In S2, when the mobile device approaches a specific area, the positioning system initiates UWB positioning to determine the mobile device's exact location. In other words, the positioning system uses multiple UWB receivers to receive positioning signals transmitted from the mobile device and determines the distance between the mobile device and the vehicle.
[0068] In S3, if the control system detects that the mobile device has entered the unlocking area of the corresponding door and that the unlocking conditions are met, it sends a CAN signal requesting the vehicle to be unlocked. The unlocking conditions include, but are not limited to, the following: the entire vehicle's power position is off, the key has not timed out in the sensing area, all four doors are closed, the tailgate is closed, and the entire vehicle is in an anti-theft state. The mobile device entering the door's unlocking area means that, based on the distance between the vehicle and the mobile device, this distance is determined to be within the unlocking control range.
[0069] In S4, the electric door opening control system receives an unlock command and determines the following conditions:
[0070] 1. Turn on the "Automatically open door when unlocked" setting option.
[0071] 2. Setting option to "unlock one door or four doors when unlocking."
[0072] 3. The radar system completes collision avoidance detection and provides feedback to the electric door opening system.
[0073] In S5, the electric door opening system controls the doors in the area where the key is located to electrically open a single door or all four doors as requested, and opens the door electrically according to the corresponding optimal door opening action based on the user's actual posture. In other words, if the distance between the mobile device and the vehicle is within the collision avoidance control range, the system acquires the posture information of the target user, determines the door opening action based on that posture information, and controls the vehicle to open the door according to that action.
[0074] In S6, the vehicle is controlled to lock when the mobile device moves away from the vehicle and enters a lock control zone. Here, the mobile device entering a lock control zone means that the distance between the vehicle and the mobile device is determined to be within the lock control zone.
[0075] In S7, if a mobile device remains in the vehicle for an extended period after the vehicle has been powered off, the system controls the vehicle to lock based on the conditions inside the vehicle and sends an emergency reminder to a preset terminal. Specifically, if the vehicle meets the locking conditions, it determines the duration of the positioning signal reception. If the duration exceeds a preset duration, it acquires in-vehicle video. If the in-vehicle video indicates that there are no passengers remaining inside the vehicle, it controls the vehicle to lock and sends an emergency reminder to the target terminal. The target terminal may be another mobile device bound to the vehicle, or it may be a terminal of an emergency contact pre-configured for the user.
[0076] According to the vehicle control method of the embodiment of this application, a positioning signal transmitted from a mobile terminal is received using multiple UWB receivers, and stable signal transmission and high-precision positioning are achieved. Based on the received positioning signal, the distance between the mobile terminal and the vehicle is determined, and if this distance is within the welcome control zone, the vehicle is controlled to perform lighting, pre-start, and / or pre-start reminder operations, thereby realizing the vehicle's welcome function and pre-start, making it convenient for the user to find the vehicle and saving vehicle start time. If this distance is within the unlocking control zone (or when entering the unlocking control zone from the welcome control zone), the vehicle is controlled to unlock, and the vehicle doors are opened based on the distance, enabling contactless entry for the user into the vehicle. This is highly convenient and fast, with a high level of smartness and automation, contributing to an improved user experience. This solves the technical problem in related technologies where unlocking and locking the vehicle requires manual operation by the user, resulting in a low level of automation and smartness, and being detrimental to improving the user experience.
[0077] Next, with reference to the drawings, a vehicle control device according to an embodiment of this application will be described.
[0078] Figure 3 is a schematic block diagram of the vehicle control device according to the embodiment of this application.
[0079] As shown in Figure 3, the vehicle's control device 10 is shown, and the vehicle is equipped with at least one UWB receiver, where the device 10 includes a receiving module 100, an analysis module 200, and a first control module 300.
[0080] Specifically, the receiving module 100 is used to receive the current positioning signal transmitted from the mobile terminal using at least one UWB receiver. The analysis module 200 is used to determine the actual distance between the mobile terminal and the vehicle by analyzing the current positioning signal and to identify the control section to which the actual distance corresponds. Alternatively, the functions of the receiving module 100 and the analysis module 200 can be implemented by a determination module, which is used to determine the distance between the mobile terminal and the vehicle based on the positioning signal transmitted from the mobile terminal received by multiple UWB receivers.
[0081] The first control module 300 is used to control the vehicle to perform a lighting operation, a pre-start operation and / or a pre-start reminder operation when the applicable control section is in a welcome control section, and to unlock the vehicle and open the vehicle doors based on the actual distance when the applicable control section moves from a welcome control section to an unlocking control section. Alternatively, it is used to control the vehicle to perform at least one of the lighting operation, a pre-start operation and a pre-start reminder operation when the distance is in a welcome control section, and to control the vehicle to unlock and open the doors based on the distance when the distance is in an unlocking control section.
[0082] As one option, in one embodiment of this application, the first control module 300 includes a perception unit, an identification unit, and a control unit. Here, the perception unit is used to acquire user perception data when the relevant control section is in a collision avoidance control section. The identification unit is used to identify the user's actual posture based on the perception data. The control unit is used to match the optimal door opening operation based on the actual posture and to control the door opening according to the optimal opening operation. Alternatively, the first control module 300 includes an acquisition unit and a control unit, the acquisition unit is used to acquire the posture information of a target user when the distance is in a collision avoidance control section, the target user is at least one of a user carrying a mobile terminal and a user located in the target direction of the door, and the control unit is used to determine the door opening operation based on the posture information and to control the vehicle to open the door according to the opening operation.
[0083] As one option, in one embodiment of this application, the vehicle control device 10 further includes a determination module and a second control module. Here, the determination module is used to determine whether the vehicle satisfies a preset locking condition. The second control module is used to determine, if the vehicle satisfies the preset locking condition, whether the actual distance corresponds to a locking control section, and if the actual distance corresponds to a locking control section, to control the vehicle to lock and simultaneously perform a locking result reminder operation. Alternatively, the second control module is used to control the vehicle to lock and perform a locking result reminder operation if the vehicle satisfies the preset locking condition and the distance is within a locking control section.
[0084] As one option, in one embodiment of this application, the second control module includes a first reminder unit and a second reminder unit.
[0085] Here, the first reminder unit is used to control at least one device of the vehicle to perform a successful lock reminder operation when the vehicle is successfully locked, and to control the vehicle to transmit successful lock information to a mobile terminal, wherein the at least one device includes at least one of an optical display device and an acoustic reminder device.
[0086] The second reminder unit is used to control at least one device in the vehicle to perform a lock failure reminder action if the vehicle fails to lock, and to control the vehicle to send lock failure reminder information to a mobile device.
[0087] As one option, in one embodiment of this application, the vehicle control device 10 further includes a recording module, an acquisition module, and a reminder module. Here, the recording module is used to record the dwell time length outside the locking control section of the current positioning signal. The acquisition module is used to acquire in-vehicle video data if the dwell time length exceeds a preset time length and to determine whether there are passengers dwelling inside the vehicle based on the in-vehicle video data. The reminder module is used to lock the vehicle and simultaneously send an abnormal reminder to a preset terminal if there are no passengers dwelling inside the vehicle. Alternatively, the vehicle control device may also be used to determine the duration of reception of the positioning signal if the vehicle meets the locking conditions, acquire in-vehicle video if the duration length exceeds a preset time length, and control the vehicle to lock if the in-vehicle video indicates that there are no passengers dwelling inside the vehicle, and to send an abnormal reminder to a target terminal, where the target terminal refers to a terminal other than a mobile terminal.
[0088] In the above embodiment, when the vehicle control device controls the vehicle, the division of each functional module described above is explained as an example. In actual applications, the above functions can be achieved by different functional modules as needed; that is, all or part of the above functions can be achieved by dividing the internal structure of the device into different functional modules. The above embodiment of the vehicle control device and the embodiment of the vehicle control method are based on the same concept, and the specific implementation process is explained by referring to the embodiment of the method, and is omitted here.
[0089] According to the vehicle control device of the present invention, a positioning signal transmitted from a mobile terminal is received using multiple UWB receivers, and stable signal transmission and high-precision positioning are achieved. Based on the received positioning signal, the distance between the mobile terminal and the vehicle is determined, and if this distance is within the welcome control range, the vehicle is controlled to perform lighting, pre-start, and / or pre-start reminder operations, thereby realizing the vehicle's welcome function and pre-start, making it convenient for the user to find the vehicle and saving vehicle start time. If this distance is within the unlock control range, the vehicle is controlled to unlock, and the vehicle doors are opened based on the distance, enabling contactless entry for the user into the vehicle, resulting in superior convenience and speed, a high level of smartness and automation, and contributing to an improved user experience.
[0090] Figure 4 is a schematic diagram of the vehicle configuration according to the embodiment of this application. The vehicle is,
[0091] The system includes a memory 401, a processor 402, and a computer program stored in the memory 401 and executable on the processor 402.
[0092] When the processor 402 executes the program, the vehicle control method described in the above embodiment is realized.
[0093] Furthermore, the vehicle,
[0094] It further includes a communication interface 403 for enabling communication between the memory 401 and the processor 402.
[0095] Memory 401 is used to store computer programs that can be executed on processor 402.
[0096] Memory 401 may include high-speed RAM memory and may further include non-volatile memory, such as at least one disk memory.
[0097] When the memory 401, processor 402, and communication interface 403 are implemented independently, the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to enable communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, control buses, etc. For simplicity, Figure 4 shows a single thick line, but this does not mean that there is only one bus or only one type of bus.
[0098] As one option, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated onto a single chip, the memory 401, processor 402, and communication interface 403 can communicate with each other via an internal interface.
[0099] The processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to carry out the embodiments of this application.
[0100] In this embodiment, a computer-readable storage medium is further provided, and when a computer program is stored in the computer-readable storage medium and the program is executed by a processor, the vehicle control method described above is realized.
[0101] In this specification, reference terms such as “one embodiment,” “several embodiments,” “example,” “specific example,” or “several examples” mean that the specific features, structures, materials, or characteristics described with reference to that embodiment or example are included in at least one embodiment or example of this application. In this specification, a general expression for the above terms does not necessarily correspond to the same embodiment or example. The specific features, structures, materials, or characteristics described may be combined in an appropriate manner in any or N embodiments or examples. Furthermore, a person skilled in the art can combine different embodiments or examples and features of different embodiments or examples described herein, provided that they do not conflict with each other.
[0102] Furthermore, the terms “first” and “second” are used solely to describe the purpose and should not be understood as indicating or implying relative importance or implicitly pointing to the number of specified technical features. Accordingly, features limited by “first” and “second” may explicitly or implicitly include at least one such feature. In the description of this application, “N” means at least two, for example, two, three, etc., unless otherwise clearly and specifically limited.
[0103] Descriptions of processes or methods described in flowcharts or otherwise in this specification are understood to represent modules, segments, or portions of code containing one or N executable instructions for implementing a given logic function or step in a process, and the scope of preferred embodiments of this application includes other embodiments, and the functions do not have to be performed in the order shown or discussed, for example, depending on the function, the functions may be performed basically in parallel or in reverse order, as should be understood by those skilled in the art.
[0104] The logic and / or steps shown in the flowchart or described otherwise herein can be thought of, for example, as a sequence of executable instructions for realizing a logic function and can be specifically realized on a computer-readable storage medium for use in or in combination with instruction execution systems, apparatuses, or devices (e.g., a system that operates using a computer, a system that includes a processor, or other system that can obtain and execute instructions from an instruction execution system, apparatus, or device). In this specification, “computer-readable storage medium” may be any device capable of containing, storing, communicating with, propagating, or transmitting a program for use in or in combination with such instruction execution systems, apparatuses, or devices. More specific examples (a non-exclusive list) of computer-readable storage media include electrical connectors with one or N wires (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and read-only optical discs (CDROM). Computer-readable storage media may also be paper or other suitable media on which the program can be printed, since the program can be electronically obtained and stored in computer memory by optically scanning the paper or other medium, then editing and translating it, or processing it in any other suitable way as necessary.
[0105] Each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented by hardware as in another embodiment, it can be implemented by any or a combination thereof of technologies known in the art, such as discrete logic circuits having logic gate circuits for realizing logic functions for data signals, dedicated integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0106] Those skilled in the art will understand that all or part of the steps of the above embodiment can be implemented by instructing the relevant hardware by program, the program may be stored on a computer-readable storage medium, and the program may, at runtime, include one or a combination thereof of the steps of the embodiment of the method.
[0107] In each embodiment of this application, each functional unit may be integrated into a single processing module, each unit may exist individually physically, or two or more units may be integrated into a single module. The integrated module may be implemented in hardware form or in software form. If the integrated module is implemented in software form and sold or used as a separate product, it may also be stored on a computer-readable storage medium.
[0108] The above-mentioned storage medium may be a read-only memory, a magnetic disk, or an optical disk. Although embodiments of this application have been described above, these embodiments are illustrative and not limiting to this application, and those skilled in the art can modify, alter, replace, or adapt these embodiments within the scope of this application.
Claims
1. A vehicle control method, wherein a vehicle is equipped with multiple UWB receivers, and the method is as follows: The steps include determining the distance between the mobile terminal and the vehicle based on the positioning signals transmitted from the mobile terminal received by the plurality of UWB receivers, If the aforementioned distance is within the welcome control section, the vehicle is controlled to perform at least one of the following: lighting operation, pre-start operation, and pre-start reminder operation. If the aforementioned distance is within the unlocking control range, the vehicle is controlled to unlock, and based on the aforementioned distance, the vehicle is controlled to open the doors. including, A method characterized by the following:
2. Controlling the vehicle to open the door based on the aforementioned distance is, If the aforementioned distance is within the collision avoidance control section, the posture information of the target user is acquired, and the target user is determined to be at least one of the users carrying the mobile terminal and the user located in the target direction of the door. Based on the aforementioned posture information, the opening operation of the door is determined, and the vehicle is controlled to open the door in accordance with the opening operation. including, The method according to feature 1.
3. The further includes controlling the vehicle to lock it and to perform a lock result reminder operation if the vehicle satisfies the locking conditions and the distance is within the locking control range. The method according to feature 1.
4. Controlling the vehicle to perform a locking result reminder operation is, If the vehicle is successfully locked, the system controls at least one device of the vehicle to perform a locking success reminder operation and to transmit locking success information to the mobile terminal, wherein the at least one device includes at least one of an optical display device and an audible reminder device. If the vehicle fails to lock, the system controls at least one of the vehicle's devices to perform a lock failure reminder operation, and controls the vehicle to transmit lock failure reminder information to the mobile terminal. including, The method according to feature 3.
5. If the vehicle satisfies the locking conditions, the duration of the reception of the positioning signal is determined, If the duration exceeds the preset duration, the in-vehicle video is acquired. If the in-vehicle video footage indicates that there are no passengers inside the vehicle, the vehicle is controlled to lock, and an abnormality reminder is sent to the target terminal, where the target terminal refers to a terminal other than the mobile terminal. Further including, The method according to feature 3.
6. A vehicle control device, wherein a plurality of UWB receivers are installed in the vehicle, and the device includes a decision module and a first control module. The determination module is used to determine the distance between the mobile terminal and the vehicle based on positioning signals transmitted from the mobile terminal received by the plurality of UWB receivers. The first control module described above is If the aforementioned distance is within the welcome control section, the vehicle is controlled to perform at least one of the following: lighting operation, pre-start operation, and pre-start reminder operation. If the aforementioned distance is within the unlocking control range, the vehicle is controlled to unlock, and based on the aforementioned distance, the vehicle is used to control the vehicle to open the doors. A device characterized by the following features.
7. The control module includes an acquisition unit and a control unit. The acquisition unit is used to acquire the attitude information of the target user when the distance is within the collision prevention control section, and the target user is at least one of the user carrying the mobile terminal and the user located in the target direction of the door. The control unit is used to determine the door opening operation based on the attitude information and to control the vehicle to open the door in accordance with the opening operation. The apparatus according to feature 6.
8. The apparatus further includes a second control module, which is used to control the vehicle to lock when the vehicle satisfies the locking conditions and the distance is within the locking control range, and to control the vehicle to perform a locking result reminder operation. The apparatus according to feature 6.
9. A vehicle comprising memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the computer program is executed by the processor to realize the vehicle control method described in any one of claims 1 to 5.
10. A computer-readable storage medium for storing a computer program, characterized in that the vehicle control method described in any one of claims 1 to 5 is realized when the computer program is executed by a processor.