Vehicle control apparatus and vehicle control method

Abstract

The present application relates to a vehicle control apparatus and a vehicle control method. The apparatus comprises a plurality of Bluetooth modules, wherein the plurality of Bluetooth modules are mounted on a glass assembly and a B-pillar in a vehicle body, and different Bluetooth modules are mounted at different positions; and the plurality of Bluetooth modules are used for detecting the signal strength of a Bluetooth broadcast signal of a digital vehicle key so as to obtain target position information of the digital vehicle key, and sending the target position information to a domain controller, such that the domain controller controls a vehicle lock of a vehicle on the basis of the target position information. The present application can improve the positioning accuracy of a digital vehicle key.

Description

Vehicle control device and vehicle control method

[0001] Related applications

[0002] The present application claims priority to the Chinese patent application No. 2024112486847, filed on September 6, 2024, and entitled "Vehicle control device and vehicle control method", the contents of which are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicle intelligent control, in particular to a vehicle control device and a vehicle control method. BACKGROUND

[0004] With the development of vehicle intelligent control technology, a keyless entry system technology has emerged, that is, when the vehicle owner is close to the vehicle within a certain distance, the vehicle will automatically unlock, and when the vehicle owner leaves the vehicle, the vehicle will automatically lock.

[0005] The current keyless entry system is realized by installing a Bluetooth module on the vehicle, and the Bluetooth module realizes automatic unlocking and locking control of the vehicle by positioning a digital vehicle key (that is, a terminal device with Bluetooth, such as a mobile phone, a wearable device, etc.). However, this requires the Bluetooth module to have higher positioning accuracy for the digital vehicle key. Therefore, it is necessary to further improve the positioning accuracy of the current keyless entry system for the digital vehicle key. SUMMARY

[0006] Therefore, it is necessary to provide a vehicle control device and a vehicle control method capable of improving the positioning accuracy of the digital vehicle key.

[0007] In a first aspect, the present application provides a vehicle control device, which comprises a plurality of Bluetooth modules, the plurality of Bluetooth modules are installed on a glass assembly and a B-pillar in a vehicle body, and the installation positions of different Bluetooth modules are different.

[0008] The plurality of Bluetooth modules are configured to detect the signal strength of the Bluetooth broadcast signal of the digital vehicle key to obtain target position information of the digital vehicle key, and transmit the target position information to a domain controller, so that the domain controller controls the vehicle lock of the vehicle according to the target position information.

[0009] In one of the embodiments, the plurality of Bluetooth modules comprises a master Bluetooth module and a plurality of slave Bluetooth modules; the slave Bluetooth modules are configured to detect signal strength of the Bluetooth broadcast signal of the digital vehicle key and send the detected signal strength to the master Bluetooth module; the master Bluetooth module is configured to detect signal strength of the Bluetooth broadcast signal of the digital vehicle key and determine first position information of the digital vehicle key according to the detected signal strength and the signal strength sent by the slave Bluetooth modules, determine target position information according to the first position information, and send the target position information to the domain controller for the domain controller to control the vehicle lock according to the target position information.

[0010] In one of the embodiments, the master Bluetooth module is installed on a front windshield assembly in the vehicle body; the plurality of slave Bluetooth modules comprises a first slave Bluetooth module and a second slave Bluetooth module; the first slave Bluetooth module is installed on a rear windshield assembly and / or a sunroof glass assembly in the vehicle body; and the second slave Bluetooth module is installed on a B-pillar in the vehicle body.

[0011] In one of the embodiments, the second slave Bluetooth module comprises a third slave Bluetooth module and a fourth slave Bluetooth module, wherein the third slave Bluetooth module is installed on a left B-pillar in the vehicle body, and the fourth slave Bluetooth module is installed on a right B-pillar in the vehicle body.

[0012] In one of the embodiments, the master Bluetooth module is configured to determine that the digital vehicle key is located in an inner region of the vehicle if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in a first threshold interval, and the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are both in a second threshold interval.

[0013] The master Bluetooth module is configured to determine that the digital vehicle key is located in a first outer region of the vehicle if the signal strength detected by the master Bluetooth module is in the first threshold interval or the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first threshold interval or the second threshold interval, and the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are both in the first threshold interval.

[0014] The master Bluetooth module is configured to determine that the digital vehicle key is located in a second outer region of the vehicle if at least three of the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module, the signal strength sent by the third slave Bluetooth module, and the signal strength sent by the fourth slave Bluetooth module are in the second threshold interval.

[0015] In the same direction, the distance from the boundary of the first outer region to the specific position of the vehicle is less than the distance from the boundary of the second outer region to the specific position.

[0016] In one of the embodiments, the first threshold interval includes a first sub-threshold interval and a second sub-threshold interval; any threshold value in the first sub-threshold interval is greater than the second sub-threshold interval; the internal region includes an internal first region, an internal second region, and an internal third region; wherein the internal first region includes a region close to the front of the vehicle inside the vehicle, the internal second region includes a region close to the rear of the vehicle inside the vehicle, and the internal third region includes a region between the internal first region and the internal second region;

[0017] The master Bluetooth module is specifically configured to determine that the digital car key is located in the internal first region if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval.

[0018] The master Bluetooth module is specifically configured to determine that the digital car key is located in the internal second region if the signal strength detected by the master Bluetooth module is in the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval.

[0019] The master Bluetooth module is specifically configured to determine that the digital car key is located in the internal third region if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval.

[0020] In one of the embodiments, the first threshold interval includes a first sub-threshold interval and a second sub-threshold interval; the internal first region includes a region close to the front of the vehicle inside the vehicle, the internal second region includes a region close to the rear of the vehicle inside the vehicle, and the internal third region includes a region between the internal first region and the internal second region;

[0021] The master Bluetooth module is specifically configured to determine that the digital car key is located in the internal first region if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval.

[0022] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area on the left side of the vehicle if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval.

[0023] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area at the tail of the vehicle if the signal strength detected by the main Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the third slave Bluetooth module and the fourth slave Bluetooth module is in the second sub-threshold interval.

[0024] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area at the tail of the vehicle if the signal strength detected by the main Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the third slave Bluetooth module and the fourth slave Bluetooth module is in the second sub-threshold interval.

[0025] In one of the embodiments, the first area on the left side of the vehicle includes a main driver area, and the main driver area is a position area close to a main driver side window outside the vehicle;

[0026] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area on the left side of the vehicle if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval.

[0027] In one of the embodiments, the first area on the left side of the vehicle includes a main driver area, and the main driver area is a position area close to a main driver side window outside the vehicle;

[0028] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area on the left side of the vehicle if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval.

[0029] In one of the embodiments, the external second area includes a vehicle left second area, a vehicle right second area, a vehicle tail second area and a vehicle head second area; wherein the vehicle left second area is on the same side as the vehicle left first area and away from the vehicle left window position area, the vehicle right second area is on the same side as the vehicle right first area and away from the vehicle right window position area, the vehicle tail second area is on the same side as the vehicle tail first area and away from the trunk position area, and the vehicle head second area is on the same side as the vehicle head first area and away from the vehicle head engine position area.

[0030] The master Bluetooth module is configured to determine that the digital vehicle key is located in the vehicle left second area if the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval.

[0031] The master Bluetooth module is configured to determine that the digital vehicle key is located in the vehicle right second area if the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module and the signal strength sent by the third slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval.

[0032] The master Bluetooth module is configured to determine that the digital vehicle key is located in the vehicle tail second area if the signal strength detected by the master Bluetooth module, the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval.

[0033] The master Bluetooth module is configured to determine that the digital vehicle key is located in the vehicle head second area if the signal strength detected by the first slave Bluetooth module, the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the master Bluetooth module is in the second sub-threshold interval.

[0034] In one of the embodiments, the slave Bluetooth module is configured to detect a first initial signal strength of a Bluetooth broadcast signal of the digital vehicle key, perform signal strength filtering processing on the first initial signal strength to obtain a signal strength detected by the slave Bluetooth module, and send the signal strength detected by the slave Bluetooth module to the master Bluetooth module.

[0035] In one of the embodiments, the master Bluetooth module is configured to detect a second initial signal strength of a Bluetooth broadcast signal of the digital vehicle key, perform signal strength filtering processing on the second initial signal strength to obtain a signal strength detected by the master Bluetooth module, and determine first position information of the digital vehicle key according to the signal strength detected by the master Bluetooth module and the signal strength sent by each slave Bluetooth module.

[0036] In one of the embodiments, each slave Bluetooth module is further configured to send the time of arrival of the detected Bluetooth broadcast signal to the master Bluetooth module.

[0037] The master Bluetooth module is specifically configured to determine the first position information according to the time of arrival of the Bluetooth broadcast signal detected by the master Bluetooth module, the signal strength and the time of arrival detected by the master Bluetooth module, and the signal strength and the time of arrival sent by each slave Bluetooth module.

[0038] In one of the embodiments, the master Bluetooth module is configured to perform at least one position filtering process on the first position information, and take the first position information after the position filtering process as the target position information.

[0039] The position filtering process includes:

[0040] receiving the signal strength sent by each slave Bluetooth module;

[0041] detecting the signal strength of the Bluetooth broadcast signal of the digital car key, and determining the second position information of the digital car key according to the detected signal strength and the signal strength sent by each slave Bluetooth module;

[0042] updating the first position information according to the second position information to obtain the first position information after the position filtering process.

[0043] In a second aspect, the present application provides a vehicle control method applied to the device in any one of the above-mentioned first aspects, which includes: multiple Bluetooth modules detecting the signal strength of the Bluetooth broadcast signal of the digital car key to obtain the target position information of the digital car key, and sending the target position information to the domain controller for the domain controller to control the vehicle lock of the vehicle according to the target position information.

[0044] The vehicle control device includes multiple Bluetooth modules, which are installed on the glass assembly and the B-pillar in the vehicle body, and the installation positions of different Bluetooth modules are different; the multiple Bluetooth modules are configured to detect the signal strength of the Bluetooth broadcast signal of the digital car key to obtain the target position information of the digital car key, and send the target position information to the domain controller for the domain controller to control the vehicle lock of the vehicle according to the target position information. In this way, the Bluetooth modules are installed on the glass assembly and the B-pillar, which can reduce the signal interference of the Bluetooth modules from each electronic module around the vehicle body and each sheet metal part around the vehicle body, and the glass material has little signal attenuation, thereby improving the positioning accuracy of the digital car key. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Fig. 1 is a schematic diagram of a vehicle in an embodiment;

[0047] Fig. 2 is a schematic diagram of the installation position of a master Bluetooth module in an embodiment;

[0048] Fig. 3 is a schematic diagram of the installation position of a first slave Bluetooth module in an embodiment;

[0049] Fig. 4 is a schematic diagram of the installation position of one of the second slave Bluetooth modules in an embodiment;

[0050] Fig. 5 is a schematic diagram of the installation position of another second slave Bluetooth module in an embodiment;

[0051] Fig. 6 is a top view 3D radiation direction diagram of a vehicle Bluetooth module in an embodiment;

[0052] Fig. 7 is a front view 3D radiation direction diagram of a vehicle Bluetooth module in an embodiment;

[0053] Fig. 8 is a side view 3D radiation direction diagram of a vehicle Bluetooth module in an embodiment;

[0054] Fig. 9 is a radiation comparison diagram of Bluetooth modules at different positions in an embodiment;

[0055] Fig. 10 is a schematic diagram of a system architecture in an embodiment;

[0056] Fig. 11 is a schematic diagram of a PS zone in an embodiment;

[0057] Fig. 12 is a schematic diagram of a PE zone and a non-PE zone in an embodiment;

[0058] Fig. 13 is a schematic diagram of the signal coverage of a PS zone by a digital vehicle key when the digital vehicle key is in the front row zone in a vehicle in an embodiment;

[0059] Fig. 14 is a schematic diagram of the positioning principle of a digital vehicle key in an embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0061] With the development of vehicle intelligent control technology, a keyless entry system technology appears, that is, using a Bluetooth digital key to realize keyless entry and starting.

[0062] Currently, the keyless entry system includes a master Bluetooth module and a slave Bluetooth module installed on the vehicle, and a digital vehicle key (that is, a terminal device with Bluetooth, such as a mobile phone, a wearable device, etc.), the number of slave Bluetooth modules is related to the requirement of Bluetooth positioning accuracy, the higher the required Bluetooth positioning accuracy, the more the number of slave Bluetooth modules required.

[0063] Currently, the vehicle is usually arranged in 1+4, that is, 1 master Bluetooth module + 4 slave Bluetooth modules, the master Bluetooth module is installed in the front reading lamp, and the 4 slave Bluetooth modules are installed in the front and rear bumpers and the left and right fenders respectively. The slave Bluetooth module is responsible for listening to the signal strength; the master Bluetooth module and the slave Bluetooth module are interconnected as master and slave devices, collect the RSSI (Received Signal Strength Indication) value sent by the slave Bluetooth module, and calculate the position of the digital vehicle key by using a related algorithm. The closer the distance between the digital vehicle key and the vehicle, the greater the RSSI value change, the greater the distance change, the smaller the error, and the more accurate; the farther the distance between the digital vehicle key and the vehicle, the smaller the RSSI value change, the smaller the distance change, the greater the error, and in the case that the distance between the digital vehicle key and the vehicle is more than 10 meters, the position of the digital vehicle key calculated does not have use value.

[0064] The current arrangement scheme of the Bluetooth module on the vehicle has the following problems:

[0065] (1) The vehicle shell is a metal part, which is close to the positions of the front and rear bumpers and the left and right fenders, has a shielding effect on radio electromagnetic waves, which can cause the signal strength to weaken, and the signal can also be disturbed by various electronic modules around the vehicle body, thereby reducing the positioning accuracy of the digital vehicle key.

[0066] (2) The front and rear bumpers are blocked by the vehicle body, and the signal cannot be well covered in all directions.

[0067] (3) The Bluetooth module arranged in the front and rear bumpers is low in position, and the signal is easily affected by the ground, which can cause faults such as fault layering and inaccurate positioning; for example, there is a blind area in the vehicle when the mobile phone is in the vehicle, which cannot determine whether the mobile phone is in the vehicle area; for example, the Bluetooth signal strength does not change significantly when the mobile phone is outside the vehicle, which cannot determine whether the mobile phone is in the vehicle area, and there is a jump problem.

[0068] (4) The number of Bluetooth modules required is relatively large, which leads to a high cost of Bluetooth modules in the vehicle, and too many Bluetooth modules can also cause certain signal interference between them.

[0069] (5) The Bluetooth module is installed inside the front and rear bumpers, and is easy to be damaged during vehicle collision, and is not easy to install and remove.

[0070] Therefore, based on the above problems, it is necessary to propose effective technical means to solve the above problems. The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below. In addition, the following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0071] In one exemplary embodiment, as shown in FIG. 1, a vehicle control device 10 is provided, which includes a plurality of Bluetooth modules 200 installed on the glass assembly and the B-pillar in the vehicle body 100, and the installation positions of different Bluetooth modules 200 are different; the plurality of Bluetooth modules 200 are used to detect the signal strength of the Bluetooth broadcast signal of the digital vehicle key to obtain the target position information of the digital vehicle key, and send the target position information to the domain controller for the domain controller to control the vehicle lock according to the target position information. Wherein, the Bluetooth module 200 can be a low-power Bluetooth module.

[0072] In FIG. 1, four Bluetooth modules 200 are set as an example, which are installed on the front windshield assembly, the rear windshield assembly, the left B-pillar and the right B-pillar respectively, wherein for vehicles without rear windshield, it can be installed on the sunroof glass assembly to achieve omnidirectional coverage of the signal.

[0073] Of course, the number of Bluetooth modules 200 can be more than four, for example, it can be five, which are installed on the front windshield assembly, the rear windshield assembly, the left B-pillar, the right B-pillar and the sunroof glass assembly respectively, to further improve the omnidirectional coverage of the signal.

[0074] In addition, eight Bluetooth modules 200 can also be provided, two of which are installed on the front windshield assembly, two of which are installed on the rear windshield assembly or the sunroof glass assembly, two of which are installed on the left B-pillar, and two of which are installed on the right B-pillar, that is, the Bluetooth modules are redundantly set, so that in the same position, if one of the Bluetooth modules is damaged, the other Bluetooth module can work normally, improving the reliability of positioning the digital vehicle key.

[0075] The glass assembly refers to a set of components for protecting the driver and passengers from wind and rain, providing a good view, and participating in maintaining the rigidity of the vehicle body structure as part of the vehicle body structure, which usually includes a glass body, a frame, a guide rail, etc., wherein the frame is a structure for fixing and supporting the glass body, ensuring that the glass body is tightly combined with the vehicle body, and the guide rail is a guide for guiding the sliding of the sliding member, which refers to the sliding rail on the glass body.

[0076] In addition, the Bluetooth module 200 mounted on the glass assembly can be mounted in the black border area of the glass, such as the black border area of the front windshield, the black border area of the rear windshield, and the black border area of the sunroof glass, so as not to affect the light transmission performance of the transparent area of the glass.

[0077] Any of the plurality of Bluetooth modules 200 can be a master Bluetooth module, and the remaining other Bluetooth modules are slave Bluetooth modules, such as the Bluetooth module mounted on the front windshield assembly as the master Bluetooth module, and the Bluetooth modules mounted at other positions as the slave Bluetooth modules. The slave Bluetooth modules are mainly responsible for listening to the Bluetooth broadcast signal, and the master Bluetooth module is mainly responsible for calculating the target position information of the digital car key according to the signal strength listened to by itself and the signal strength listened to by the slave Bluetooth module, and sending the target position information to the domain controller for the domain controller to control the vehicle lock according to the target position information.

[0078] The signal strength can be represented by an RSSI value. The target position information can be the area where the digital car key is located, such as the internal area of the vehicle, the first external area of the vehicle, or the second external area of the vehicle; for the first external area of the vehicle and the second external area of the vehicle, in the same direction, the distance from the boundary of the first external area to a certain position of the vehicle is less than the distance from the boundary of the second external area to the certain position. It can be understood that the certain position refers to a certain position on the vehicle, which is a reference position.

[0079] The domain controller refers to a controller mounted on the vehicle body 100 for controlling the vehicle lock, and the domain controller controls the vehicle lock according to the target position information, including at least one of unlocking the vehicle, locking the vehicle, and allowing the vehicle to start.

[0080] For example, when the vehicle is parked and turned off, it indicates that the user has the intention to leave, and then according to the target position information sent by the master Bluetooth module, it is judged whether the position of the digital car key has left the first external area, if yes, it indicates that the user has gotten off the vehicle and is moving away from the vehicle, and then according to the target position information sent by the master Bluetooth module, it is further judged whether the position of the digital car key has left the second external area, if yes, it is determined that the user has the intention to leave, at this time, the vehicle is locked, and a locking prompt information is sent, for example, the control of the turn signal flashing and / or the horn sounding, etc.

[0081] When the digital car key enters the second external area according to the target position information sent by the master Bluetooth module, it indicates that the user has the intention to get on the vehicle, and then the position of the digital car key is further judged according to the target position information sent by the master Bluetooth module. If it is in the first external area, it indicates that the user has approached the vehicle at this time, and then the vehicle is controlled to be unlocked, and an unlocking prompt information is sent, for example, the vehicle turn signal is controlled to flash, and the vehicle welcome function is realized.

[0082] Further, when the user operates the start function, it is judged whether the digital car key is located in the vehicle interior according to the target position information sent by the master Bluetooth module. If yes, the vehicle can be started.

[0083] In the embodiment, the vehicle control device 10 includes a plurality of Bluetooth modules 200, which are installed on the glass assembly and the B-pillar in the vehicle body 100, and the installation positions of the different Bluetooth modules 200 are different. The plurality of Bluetooth modules 200 are used to detect the signal strength of the Bluetooth broadcast signal of the digital car key to obtain the target position information of the digital car key, and send the target position information to the domain controller, so that the domain controller controls the vehicle lock according to the target position information. In this way, the Bluetooth modules 200 are installed on the glass assembly and the B-pillar, which can reduce the signal interference of the Bluetooth modules from each electronic module around the vehicle body and each metal part around the vehicle body, and the glass material has little signal attenuation, thereby improving the positioning accuracy of the digital car key.

[0084] In an exemplary embodiment, the plurality of Bluetooth modules include a master Bluetooth module and a plurality of slave Bluetooth modules. The slave Bluetooth modules are used to detect the signal strength of the Bluetooth broadcast signal of the digital car key and send the detected signal strength to the master Bluetooth module. The master Bluetooth module is used to detect the signal strength of the Bluetooth broadcast signal of the digital car key, determine the first position information of the digital car key according to the detected signal strength and the signal strength sent by each slave Bluetooth module, determine the target position information according to the first position information, and send the target position information to the domain controller, so that the domain controller controls the vehicle lock according to the target position information.

[0085] The master Bluetooth module and the plurality of slave Bluetooth modules can be respectively installed on the front windshield assembly, the rear windshield assembly, the sunroof glass assembly, the left B-pillar, or the right B-pillar.

[0086] Optionally, the master Bluetooth module can be installed on the front windshield assembly, as shown in FIG. 2, which provides a schematic diagram of the installation position of the master Bluetooth module. The master Bluetooth module is installed on the front windshield near the roof. The number of master Bluetooth modules can be multiple or one.

[0087] Optionally, the main Bluetooth module is installed on a camera mounting bracket located on the front windshield.

[0088] The plurality of slave Bluetooth modules includes a first slave Bluetooth module and a second slave Bluetooth module. The first slave Bluetooth module is installed on a glass assembly in the vehicle body, specifically, on a rear windshield assembly and / or a sunroof glass assembly. As shown in FIG. 3, a schematic diagram of an installation position of the first slave Bluetooth module is provided. The first slave Bluetooth module is installed on the rear windshield near the roof of the vehicle. The number of the first slave Bluetooth module can be multiple or 1. For example, the number of the first slave Bluetooth module is 2, one of which is installed on the rear windshield assembly and the other is installed on the sunroof glass assembly. The number of the first slave Bluetooth module is 1. For vehicles with a rear windshield, the first slave Bluetooth module can be installed on the rear windshield assembly. For vehicles without a rear windshield, the first slave Bluetooth module can be installed on the sunroof glass assembly, specifically, on the sunroof glass near the rear of the vehicle.

[0089] The second slave Bluetooth module is installed on a B-pillar in the vehicle body. The number of the Bluetooth modules in the second slave Bluetooth module is multiple. Specifically, the plurality of Bluetooth modules in the second slave Bluetooth module are installed on the B-pillar in the vehicle body, specifically, on the left B-pillar in the vehicle body, or on the right B-pillar in the vehicle body, or on the left B-pillar in the vehicle body and on the right B-pillar in the vehicle body. For example, the number of the Bluetooth modules in the second slave Bluetooth module is 2, i.e., the second slave Bluetooth module includes a third slave Bluetooth module and a fourth slave Bluetooth module. The third slave Bluetooth module is installed on the left B-pillar in the vehicle body, as shown in FIG. 4. The fourth slave Bluetooth module is installed on the right B-pillar in the vehicle body, as shown in FIG. 5.

[0090] Preferably, the number of the main Bluetooth module is 1, which is installed on the front windshield assembly. The number of the slave Bluetooth module is 3, i.e., the number of the first slave Bluetooth module is 1, which is installed on the rear windshield assembly or the sunroof glass assembly. The number of the Bluetooth modules in the second slave Bluetooth module is 2, which are installed on the left B-pillar and the right B-pillar in the vehicle body, respectively. Compared with the prior art 1+4 Bluetooth module arrangement, the 1+3 Bluetooth module arrangement not only reduces the number of Bluetooth modules and the cost of Bluetooth modules in the vehicle, but also reduces the signal interference problem caused by too many Bluetooth modules.

[0091] The application also simulates the radiation direction of the whole vehicle Bluetooth module for the above-mentioned 1+3 Bluetooth arrangement, as shown in FIGS. 6, 7 and 8, which are respectively a top view 3D radiation direction diagram, a front view 3D radiation direction diagram and a side view 3D radiation direction diagram. It can be seen that the Bluetooth module arrangement of the application can meet the requirements of omnidirectional coverage.

[0092] In addition, the radiation direction of the Bluetooth module is simulated for the Bluetooth module installed on the front windshield assembly and the Bluetooth module installed on the front bumper, and a radiation comparison diagram of the Bluetooth module at different positions is obtained as shown in FIG. 9. It can be seen that the signal of the Bluetooth module installed on the front bumper is mostly absorbed by the ground, while the signal of the Bluetooth module installed on the front windshield assembly is less absorbed by the ground. Therefore, the Bluetooth module is installed above the waistline of the vehicle body, i.e. on the glass assembly and the B-pillar, which helps to reduce the reflection of the signal by the ground and the attenuation of the signal by obstacles, and can avoid the problem of signal discontinuity, resulting in inaccurate positioning and functional failure.

[0093] Moreover, the Bluetooth module has a small size and does not excessively occupy the space of the glass assembly, and can be universally adapted to various vehicle glass assembly profiles and spaces. In addition, the Bluetooth module is arranged on the glass assembly and the B-pillar, which is higher than the front and rear bumper positions in the prior art, and is not easy to be hit and is not easy to fall dust.

[0094] In an exemplary embodiment, the master Bluetooth module and each slave Bluetooth module are respectively installed on the glass assembly and the B-pillar of the vehicle body through a support, which facilitates the installation and removal of the master Bluetooth module and each slave Bluetooth module, and has no stress damage compared with the installation by screws and the like.

[0095] In an exemplary embodiment, as shown in FIG. 10, a system architecture diagram is provided, in which the master Bluetooth module and the plurality of slave Bluetooth modules are connected through a CAN (Controller Area Network) bus or a LIN (Local Interconnect Network) bus, the master Bluetooth module and the plurality of slave Bluetooth modules communicate with the Bluetooth-enabled mobile phone through Bluetooth signals, and the mobile phone communicates with the server through a network such as 5G, 4G or WIFI.

[0096] In the embodiment, the master Bluetooth module and the plurality of slave Bluetooth modules are connected through the CAN bus or the LIN bus, which can improve the data transmission capacity and further improve the response speed of the entire vehicle-mounted system.

[0097] The principle of realizing precise positioning of the digital car key through the above-mentioned 1+3 Bluetooth arrangement will be described in detail below. First, the following explanations are made for related terms:

[0098] PEPS (Passive-Entry-Passive-Star): refers to a keyless entry system.

[0099] PS area: refers to an internal area of the vehicle, i.e., the digital car key is in the vehicle. The internal area includes an internal first area, an internal second area, and an internal third area, wherein the internal first area includes a position area close to the front of the vehicle inside the vehicle, also known as the front row area inside the vehicle; the internal second area includes a position area close to the rear of the vehicle inside the vehicle, also known as the rear row area or trunk area inside the vehicle; and the internal third area includes an area between the internal first area and the internal second area, also known as the middle row area inside the vehicle. As shown in FIG. 11, a schematic diagram of the PS area is provided.

[0100] PE area: refers to an external first area of the vehicle, i.e., the digital car key is outside the vehicle, and the area within a certain distance range from the vehicle with the vehicle as the center point. The external first area includes a first area on the left side of the vehicle, a first area on the right side of the vehicle, a first area at the rear of the vehicle, and a first area at the front of the vehicle; wherein,

[0101] The first area on the left side of the vehicle, also known as the main driver PE area, includes a position area close to the left side window of the vehicle outside the vehicle, and the left side window of the vehicle includes the driver's side window, the left side window corresponding to the middle row (some models do not have this window), and the left side window corresponding to the rear row, therefore, the first area on the left side of the vehicle includes the driver's area and the left side area of the rear row, the driver's area is a position area close to the driver's side window outside the vehicle, also known as the driver's window area, and the left side area of the rear row is an area in the first area on the left side of the vehicle other than the driver's area.

[0102] The first area on the right side of the vehicle, also known as the co-driver PE area, includes a position area close to the right side window of the vehicle outside the vehicle, and the right side window of the vehicle includes the co-driver's side window, the right side window corresponding to the middle row (some models do not have this window), and the right side window corresponding to the rear row, therefore, the first area on the right side of the vehicle includes the co-driver's area and the right side area of the rear row, the co-driver's area is a position area close to the co-driver's side window outside the vehicle, also known as the co-driver's window area, and the right side area of the rear row is an area in the first area on the right side of the vehicle other than the co-driver's area.

[0103] The first area at the rear of the vehicle, also known as the trunk PE area, includes a position area close to the trunk of the vehicle outside the vehicle.

[0104] The first area at the front of the vehicle, also known as the front engine PE area, includes a position area close to the front engine of the vehicle outside the vehicle.

[0105] The non-PE area refers to a second area outside the vehicle, that is, an area outside the vehicle, centered on the vehicle, and a certain distance away from the vehicle. The second area outside the vehicle includes a second area on the left side of the vehicle, a second area on the right side of the vehicle, a second area at the back of the vehicle, and a second area at the front of the vehicle. Among them,

[0106] The second area on the left side of the vehicle is also called the non-PE area of the main driver, which is on the same side as the first area on the left side of the vehicle, and is an area away from the position of the left side window of the vehicle.

[0107] The second area on the right side of the vehicle is also called the non-PE area of the deputy driver, which is on the same side as the first area on the right side of the vehicle, and is an area away from the position of the right side window of the vehicle.

[0108] The second area at the back of the vehicle is also called the non-PE area of the trunk, which is on the same side as the first area at the back of the vehicle, and is an area away from the position of the trunk.

[0109] The second area at the front of the vehicle is also called the non-PE area of the front engine, which is on the same side as the first area at the front of the vehicle, and is an area away from the position of the engine at the front of the vehicle.

[0110] It should be noted that the second area outside the vehicle surrounds the first area outside the vehicle, and in the same direction, the distance from the boundary of the first area outside the vehicle to a certain position of the vehicle is less than the distance from the boundary of the second area outside the vehicle to the certain position of the vehicle. It can be understood that the distance from the boundary of the first area outside the vehicle to a certain position of the vehicle refers to the distance from the peripheral boundary of the first area outside the vehicle to the certain position of the vehicle; the distance from the boundary of the second area outside the vehicle to the certain position of the vehicle refers to the distance from the peripheral boundary of the second area outside the vehicle to the certain position of the vehicle, and the peripheral boundary refers to the boundary away from the vehicle.

[0111] As shown in FIG. 12, a schematic diagram of the PE area and the non-PE area is provided, wherein the dark gray area is the PE area and the light gray area is the non-PE area. The PE area includes the first area A1 on the left side of the vehicle, the first area B1 on the right side of the vehicle, the first area C1 at the back of the vehicle, and the first area D1 at the front of the vehicle; the non-PE area includes the second area A2 on the left side of the vehicle, the second area B2 on the right side of the vehicle, the second area C2 at the back of the vehicle, and the second area D3 at the front of the vehicle. Among them, the distance from the boundary of the PE area to the tail of the vehicle is 4m, the distance from the boundary of the PE area to the rear tire of the vehicle is 2m, the distance from the boundary of the PE area to the B column of the vehicle is 3m, and the distance from the boundary of the PE area to the front tire of the vehicle is 2m.

[0112] After arranging the Bluetooth module on the vehicle according to the above 1+3 Bluetooth arrangement mode, the signal strength (RSSI value) of the Bluetooth broadcast signal of the digital vehicle key detected by the Bluetooth module at different positions of the digital vehicle key is shown in Table 1:

[0113] Table 1

[0114] wherein "strong" corresponds to an RSSI value interval of [-30dBm, -50dBm); "medium" corresponds to an RSSI value interval of [-50dBm, -65dBm); and "weak" corresponds to an RSSI value interval of [-65dBm, -85dBm].

[0115] As can be seen from the above table, after arranging the Bluetooth module on the vehicle according to the above 1+3 Bluetooth arrangement, when the digital vehicle key is in the vehicle, the Bluetooth module on the B-pillar detects a weak RSSI value; when the digital vehicle key is in the first area on the left side of the vehicle or the first area on the right side of the vehicle, the Bluetooth module on the B-pillar at the corresponding position detects a strong RSSI value. This is because the B-pillar includes two parts, namely the B-pillar sheet metal (part of the vehicle body) and the B-pillar trim (fixed on the sheet metal), and the Bluetooth module is arranged between the B-pillar sheet metal and the B-pillar trim. When the digital vehicle key is in the vehicle, the Bluetooth signal is blocked by the B-pillar sheet metal, so that the detected RSSI value is weak; when the digital vehicle key is in the first area on the left side of the vehicle or the first area on the right side of the vehicle, the Bluetooth signal is not blocked (the trim can be made of glass or plastic), so that the Bluetooth module on the B-pillar at the corresponding position detects a strong RSSI value.

[0116] The RSSI value detected by the Bluetooth module at different positions is related to the distance between the digital vehicle key and the Bluetooth module at different positions. When the digital vehicle key is in the vehicle, the closer the digital vehicle key is to the trunk area, the weaker the RSSI value detected by the Bluetooth module on the front windshield assembly, and the closer the digital vehicle key is to the front row area in the vehicle, the weaker the RSSI value detected by the Bluetooth module on the rear windshield assembly / the sunroof glass assembly. As shown in FIG. 13, a signal coverage diagram of the PS area when the digital vehicle key is in the front row area in the vehicle is provided. At this time, the RSSI value in the front row area of the vehicle is the strongest, and gradually weakens towards the trunk area.

[0117] When the digital vehicle key is outside the vehicle, the farther the digital vehicle key is from the position of the vehicle front, the weaker the RSSI value detected by the Bluetooth module on the front windshield assembly. The experimental data is as follows:

[0118] When the digital vehicle key is 0.5 meters away from the position of the vehicle front, the RSSI value detected by the Bluetooth module on the front windshield assembly is between -35db and -40db;

[0119] When the digital vehicle key is 1 meter away from the position of the vehicle front, the RSSI value detected by the Bluetooth module on the front windshield assembly is between -45db and -55db;

[0120] When the digital vehicle key is 2 meters away from the position of the vehicle front, the RSSI value detected by the Bluetooth module on the front windshield assembly is between -60db and -65db.

[0121] When the digital car key is 5 meters away from the front of the vehicle, the RSSI value detected by the Bluetooth module on the front windshield assembly is between -70db and -75db.

[0122] When the digital car key is 10 meters away from the front of the vehicle, the RSSI value detected by the Bluetooth module on the front windshield assembly is between -80db and -85db.

[0123] Therefore, the first position information of the digital car key can be determined based on the signal strengths detected by the master Bluetooth module, the first slave Bluetooth module, the third slave Bluetooth module, and the fourth slave Bluetooth module. Specifically, as follows:

[0124] The master Bluetooth module is configured to determine that the digital car key is located in an internal area of the vehicle if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in a first threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in a second threshold interval.

[0125] The master Bluetooth module is configured to determine that the digital car key is located in a first external area of the vehicle if the signal strength detected by the master Bluetooth module is in the first threshold interval or the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first threshold interval or the second threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the first threshold interval.

[0126] The master Bluetooth module is configured to determine that the digital car key is located in a second external area of the vehicle if at least three of the signal strengths detected by the master Bluetooth module, the signal strengths sent by the first slave Bluetooth module, the third slave Bluetooth module, and the fourth slave Bluetooth module are all in the second threshold interval.

[0127] Wherein, any threshold value in the first threshold interval is greater than any threshold value in the second threshold interval. Specifically, the first threshold interval corresponds to "strong" and "medium" in Table 1, and the second threshold interval corresponds to "weak". That is, the first threshold interval is [-30dBm, -65dBm), and the second threshold interval is [-65dBm, -85dBm].

[0128] With the development of vehicle intelligence, it may not be limited to positioning the digital car key inside or outside the vehicle, but may also have the demand for precise positioning of the digital car key to a specific area inside the vehicle and a specific area outside the vehicle. Therefore, the present application also proposes the following scheme:

[0129] In one example, the first threshold interval includes a first sub-threshold interval and a second sub-threshold interval, any threshold value in the first sub-threshold interval is greater than the second sub-threshold interval; wherein the first sub-threshold interval corresponds to "strong" in the above table 1, and the second sub-threshold interval corresponds to "medium", that is, the first sub-threshold interval is [-30dBm, -50dBm), and the second sub-threshold interval is [-50dBm, -65dBm). The inner region includes an inner first region, an inner second region, and an inner third region.

[0130] The master Bluetooth module is specifically configured to determine that the digital vehicle key is located in the inner first region if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval.

[0131] The master Bluetooth module is specifically configured to determine that the digital vehicle key is located in the inner second region if the signal strength detected by the master Bluetooth module is in the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval.

[0132] The master Bluetooth module is specifically configured to determine that the digital vehicle key is located in the inner third region if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval.

[0133] In another example, the outer first region includes a vehicle left first region, a vehicle right first region, a vehicle tail first region, and a vehicle head first region.

[0134] The master Bluetooth module is specifically configured to determine that the digital vehicle key is located in the vehicle left first region if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval.

[0135] The master Bluetooth module is specifically configured to determine that the digital vehicle key is located in the vehicle right first region if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval.

[0136] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area at the tail of the vehicle if the signal strength detected by the main Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second sub-threshold interval.

[0137] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area at the tail of the vehicle if the signal strength detected by the main Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second sub-threshold interval.

[0138] In yet another example, the first area on the left side of the vehicle includes a main driver area; and the first area on the right side of the vehicle includes a co-driver area.

[0139] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the main driver area if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval.

[0140] The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the co-driver area if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval.

[0141] In yet another example, the second area outside includes a second area on the left side of the vehicle, a second area on the right side of the vehicle, a second area at the tail of the vehicle, and a second area at the head of the vehicle.

[0142] The main Bluetooth module is used for determining that the digital vehicle key is located in the second area on the left side of the vehicle if the signal strength detected by the main Bluetooth module, the signal strength sent by the first slave Bluetooth module, and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval.

[0143] The main Bluetooth module is used for determining that the digital vehicle key is located in the second area on the right side of the vehicle if the signal strength detected by the main Bluetooth module, the signal strength sent by the first slave Bluetooth module, and the signal strength sent by the third slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval.

[0144] The master Bluetooth module is configured to determine that the digital vehicle key is located in the second area at the tail of the vehicle if the signal strength detected by the master Bluetooth module, the signal strength transmitted by the third slave Bluetooth module, and the signal strength transmitted by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength transmitted by the first slave Bluetooth module is in the second sub-threshold interval.

[0145] The master Bluetooth module is configured to determine that the digital vehicle key is located in the second area at the head of the vehicle if the signal strength detected by the first slave Bluetooth module, the signal strength transmitted by the third slave Bluetooth module, and the signal strength transmitted by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength transmitted by the master Bluetooth module is in the second sub-threshold interval.

[0146] The above describes one way for the master Bluetooth module to determine the first position information of the digital vehicle key according to the detected signal strength and the signal strength transmitted by each slave Bluetooth module. The following describes how the master Bluetooth module detects the signal strength and how each slave Bluetooth module detects the signal strength. It should be noted that the slave Bluetooth module here refers to any one of the first slave Bluetooth module, the third slave Bluetooth module, and the fourth slave Bluetooth module.

[0147] The slave Bluetooth module is configured to detect a first initial signal strength of a Bluetooth broadcast signal of the digital vehicle key, perform signal strength filtering processing on the first initial signal strength to obtain a signal strength detected by the slave Bluetooth module, and transmit the signal strength detected by the slave Bluetooth module to the master Bluetooth module. In this way, the accuracy of the signal strength detected by the slave Bluetooth module can be improved, and the positioning accuracy of the digital vehicle key is further improved.

[0148] The master Bluetooth module is configured to detect a second initial signal strength of a Bluetooth broadcast signal of the digital vehicle key, perform signal strength filtering processing on the second initial signal strength to obtain a signal strength detected by the master Bluetooth module, and determine the first position information of the digital vehicle key according to the signal strength detected by the master Bluetooth module and the signal strength transmitted by each slave Bluetooth module. In this way, the accuracy of the signal strength detected by the master Bluetooth module can be improved, and the positioning accuracy of the digital vehicle key is further improved.

[0149] The detection of the Bluetooth broadcast signal of the digital vehicle key is actually the emission of the Bluetooth broadcast signal by the digital vehicle key, and the master Bluetooth module and each slave Bluetooth module perform Bluetooth signal scanning. The signal strength filtering processing refers to noise reduction processing, such as Kalman filtering processing.

[0150] In an alternative embodiment, the application further provides another way for the master Bluetooth module to determine the first position information of the digital vehicle key according to the detected signal strength and the signal strength transmitted by each slave Bluetooth module.

[0151] The slave Bluetooth modules are also configured to send the arrival time of the detected Bluetooth broadcast signal to the master Bluetooth module; and the master Bluetooth module is configured to determine the first position information according to the arrival time of the Bluetooth broadcast signal detected by the master Bluetooth module and the signal strength and arrival time sent by the slave Bluetooth modules.

[0152] Specifically, the master Bluetooth module obtains the first distances between the slave Bluetooth modules and the digital vehicle key and the second distance between the master Bluetooth module and the digital vehicle key by trilateration according to the detected arrival time and signal strength and the signal strength and arrival time sent by the slave Bluetooth modules. The master Bluetooth module determines the coordinates of the digital vehicle key according to the plurality of first distances and the second distance, and determines the region where the digital vehicle key is located according to the coordinates of the digital vehicle key, that is, obtains the first position information.

[0153] After obtaining the first position information of the digital vehicle key by any of the above methods, the master Bluetooth module also determines the target position information according to the first position information, that is, the master Bluetooth module is configured to perform at least one position filtering process on the first position information, and the first position information after the position filtering process is taken as the target position information. The position filtering process includes: receiving the signal strength sent by the slave Bluetooth modules; detecting the signal strength of the Bluetooth broadcast signal of the digital vehicle key, and determining the second position information of the digital vehicle key according to the detected signal strength and the signal strength sent by the slave Bluetooth modules; updating the first position information according to the second position information to obtain the first position information after the position filtering process.

[0154] In other words, after obtaining the first position information, the master Bluetooth module does not directly send the first position information to the domain controller, but receives the signal strength sent by the slave Bluetooth modules again, and detects the signal strength of the Bluetooth broadcast signal of the digital vehicle key again, and according to the signal strength detected again and the signal strength received again, the above step of determining the first position information is performed again to obtain the second position information of the digital vehicle key; then the second position information is used to replace the first position information, that is, the first position information after the position filtering process is obtained. Such a position filtering process can be performed multiple times or once, preferably twice. The first position filtering process can be called region filtering process, and the second position filtering process can be called scene filtering process, because the calculated first position information may not be accurate due to calculation errors, so it is necessary to perform a region filtering process once. In addition, the user may have the following situation: during the process of the user walking towards the vehicle, the user enters the second external region of the vehicle within a short time after entering the first external region of the vehicle. Therefore, a scene filtering process needs to be performed once to further improve the positioning accuracy of the digital vehicle key.

[0155] As shown in FIG. 14, a positioning principle diagram of the digital car key is provided, and the specific principle has been described in detail above, which will not be repeated here.

[0156] In one embodiment, the application also provides a vehicle control method applied to the vehicle control device in any of the above embodiments, and the method comprises:

[0157] The plurality of Bluetooth modules detect the signal strength of the Bluetooth broadcast signal of the digital car key to obtain the target position information of the digital car key, and send the target position information to the domain controller for the domain controller to control the vehicle lock of the vehicle according to the target position information.

[0158] In one embodiment, the plurality of Bluetooth modules include a master Bluetooth module and a plurality of slave Bluetooth modules, the plurality of Bluetooth modules detect the signal strength of the Bluetooth broadcast signal of the digital car key to obtain the target position information of the digital car key, and send the target position information to the domain controller, comprising:

[0159] The slave Bluetooth module detects the signal strength of the Bluetooth broadcast signal of the digital car key and sends the detected signal strength to the master Bluetooth module;

[0160] The master Bluetooth module detects the signal strength of the Bluetooth broadcast signal of the digital car key, and determines the first position information of the digital car key according to the detected signal strength and the signal strength sent by each slave Bluetooth module, determines the target position information according to the first position information, and sends the target position information to the domain controller.

[0161] In one embodiment, the master Bluetooth module is installed on the front windshield assembly in the vehicle body; the plurality of slave Bluetooth modules include a first slave Bluetooth module and a second slave Bluetooth module; the first slave Bluetooth module is installed on the rear windshield assembly and / or the sunroof glass assembly in the vehicle body; and the second slave Bluetooth module is installed on the B-pillar in the vehicle body.

[0162] In one embodiment, the second slave Bluetooth module includes a third slave Bluetooth module and a fourth slave Bluetooth module, wherein the third slave Bluetooth module is installed on the left B-pillar in the vehicle body, and the fourth slave Bluetooth module is installed on the right B-pillar in the vehicle body.

[0163] In one embodiment, the master Bluetooth module detects the signal strength of the Bluetooth broadcast signal of the digital car key, and determines the first position information of the digital car key according to the detected signal strength and the signal strength sent by each slave Bluetooth module, comprising:

[0164] if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in the first threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the internal region of the vehicle;

[0165] if the signal strength detected by the master Bluetooth module is in the first threshold interval or the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first threshold interval or the second threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the first threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the first external region of the vehicle;

[0166] if at least three of the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module, the signal strength sent by the third slave Bluetooth module, and the signal strength sent by the fourth slave Bluetooth module are in the second threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the second external region of the vehicle;

[0167] wherein any threshold value in the first threshold interval is greater than any threshold value in the second threshold interval; in the same direction, the distance from the boundary of the first external region to the specific position of the vehicle is less than the distance from the boundary of the second external region to the specific position.

[0168] In one of the embodiments, the first threshold interval includes a first sub-threshold interval and a second sub-threshold interval; any threshold value in the first sub-threshold interval is greater than the second sub-threshold interval; the internal region includes an internal first region, an internal second region, and an internal third region; wherein the internal first region includes a region close to the front position of the vehicle inside the vehicle, the internal second region includes a region close to the rear position of the vehicle inside the vehicle, and the internal third region includes a region between the internal first region and the internal second region; if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in the first threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the internal region of the vehicle, comprising:

[0169] if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the internal first region;

[0170] if the signal strength detected by the master Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the internal second region;

[0171] if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in the first threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the internal third region.

[0172] In one of the embodiments, the first threshold interval includes a first sub-threshold interval and a second sub-threshold interval; the external first region includes a vehicle left side first region, a vehicle right side first region, a vehicle tail first region and a vehicle head first region; wherein the vehicle left side first region includes a region close to the left side window of the vehicle outside the vehicle, the vehicle right side first region includes a region close to the right side window of the vehicle outside the vehicle, the vehicle tail first region includes a region close to the trunk of the vehicle outside the vehicle, and the vehicle head first region includes a region close to the engine of the vehicle head outside the vehicle; and if the signal strength detected by the master Bluetooth module is in the first threshold interval or the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first threshold interval or the second threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the first threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the external first region of the vehicle, including:

[0173] if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the vehicle left side first region;

[0174] if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the vehicle right side first region;

[0175] if the signal strength detected by the master Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the vehicle tail first region;

[0176] If the signal strength detected by the master Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the second sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the first area at the front of the vehicle.

[0177] In one of the embodiments, the first area on the left side of the vehicle includes a main driver area, which is a region close to the main driver side window outside the vehicle; if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the first area on the left side of the vehicle, including:

[0178] If the signal strength detected by the master Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the main driver area.

[0179] In one of the embodiments, the first area on the right side of the vehicle includes a co-driver area, which is a region close to the co-driver side window outside the vehicle; if the signal strength detected by the master Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the first area on the right side of the vehicle, including:

[0180] If the signal strength detected by the master Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval, the master Bluetooth module determines that the digital vehicle key is located in the co-driver area.

[0181] In one of the embodiments, the external second area includes a vehicle left second area, a vehicle right second area, a vehicle tail second area and a vehicle head second area; wherein the vehicle left second area is on the same side as the vehicle left first area and away from the vehicle left window position area, the vehicle right second area is on the same side as the vehicle right first area and away from the vehicle right window position area, the vehicle tail second area is on the same side as the vehicle tail first area and away from the trunk position area, and the vehicle head second area is on the same side as the vehicle head first area and away from the vehicle head engine position area; if at least three of the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module, the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are in the second threshold interval, the master Bluetooth module determines that the digital car key is located in the external second area of the vehicle, comprising:

[0182] If the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are in the second threshold interval, and the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital car key is located in the vehicle left second area.

[0183] If the signal strength detected by the master Bluetooth module, the signal strength sent by the first slave Bluetooth module and the signal strength sent by the third slave Bluetooth module are in the second threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital car key is located in the vehicle right second area.

[0184] If the signal strength detected by the master Bluetooth module, the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are in the second threshold interval, and the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital car key is located in the vehicle tail second area.

[0185] If the signal strength detected by the first slave Bluetooth module, the signal strength sent by the third slave Bluetooth module and the signal strength sent by the fourth slave Bluetooth module are in the second threshold interval, and the signal strength sent by the master Bluetooth module is in the second sub-threshold interval, the master Bluetooth module determines that the digital car key is located in the vehicle head second area.

[0186] In one of the embodiments, the slave Bluetooth module detects the signal strength of the Bluetooth broadcast signal of the digital car key and sends the detected signal strength to the master Bluetooth module, comprising:

[0187] The slave Bluetooth module detects the first initial signal strength of the Bluetooth broadcast signal of the digital car key, performs signal strength filtering processing on the first initial signal strength to obtain the signal strength detected by the slave Bluetooth module, and sends the signal strength detected by the slave Bluetooth module to the master Bluetooth module.

[0188] In one of the embodiments, the master Bluetooth module detects the signal strength of the Bluetooth broadcast signal of the digital vehicle key, and determines the first position information of the digital vehicle key according to the detected signal strength and the signal strength sent by each slave Bluetooth module, including:

[0189] The master Bluetooth module detects the second initial signal strength of the Bluetooth broadcast signal of the digital vehicle key, and performs signal strength filtering processing on the second initial signal strength to obtain the signal strength detected by the master Bluetooth module, and determines the first position information of the digital vehicle key according to the signal strength detected by the master Bluetooth module and the signal strength sent by each slave Bluetooth module.

[0190] In one of the embodiments, the method further includes: each slave Bluetooth module sends the detected arrival time of the Bluetooth broadcast signal to the master Bluetooth module.

[0191] Correspondingly, the determination of the first position information of the digital vehicle key according to the detected signal strength and the signal strength sent by each slave Bluetooth module includes: the master Bluetooth module determines the first position information according to the arrival time of the Bluetooth broadcast signal detected by the master Bluetooth module and the signal strength detected by the master Bluetooth module, and the signal strength and the arrival time sent by each slave Bluetooth module.

[0192] In one of the embodiments, the determination of the target position information according to the first position information includes:

[0193] The master Bluetooth module performs at least one position filtering processing on the first position information, and takes the first position information after the position filtering processing as the target position information.

[0194] The position filtering processing includes:

[0195] Receiving the signal strength sent by each slave Bluetooth module;

[0196] Detecting the signal strength of the Bluetooth broadcast signal of the digital vehicle key, and determining the second position information of the digital vehicle key according to the detected signal strength and the signal strength sent by each slave Bluetooth module;

[0197] Updating the first position information according to the second position information to obtain the first position information after the position filtering processing.

[0198] Each technical feature of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, not all possible combinations of each technical feature in the above-mentioned embodiments are described, however, as long as the combination of these technical features does not exist contradictory, it should be considered as the scope of the present disclosure.

[0199] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A vehicle control device characterized by comprising: The device comprises a plurality of Bluetooth modules, which are installed on a glass assembly and a B-pillar in a vehicle body, and the installation positions of different Bluetooth modules are different. The plurality of Bluetooth modules are configured to detect signal strengths of Bluetooth broadcast signals of a digital vehicle key to obtain target position information of the digital vehicle key, and send the target position information to a domain controller, so that the domain controller controls a vehicle lock of the vehicle according to the target position information.

2. The apparatus of claim 1, wherein, The plurality of Bluetooth modules comprise a master Bluetooth module and a plurality of slave Bluetooth modules. The slave Bluetooth modules are configured to detect signal strengths of Bluetooth broadcast signals of the digital vehicle key, and send the detected signal strengths to the master Bluetooth module. The master Bluetooth module is configured to detect signal strengths of Bluetooth broadcast signals of the digital vehicle key, determine first position information of the digital vehicle key according to the detected signal strength and the signal strengths sent by the slave Bluetooth modules, determine the target position information according to the first position information, and send the target position information to the domain controller, so that the domain controller controls the vehicle lock of the vehicle according to the target position information.

3. The apparatus of claim 2, wherein, The master Bluetooth module is installed on a front windshield assembly in the vehicle body. The plurality of slave Bluetooth modules comprise a first slave Bluetooth module and a second slave Bluetooth module. The first slave Bluetooth module is installed on a rear windshield assembly and / or a sunroof glass assembly in the vehicle body. The second slave Bluetooth module is installed on a B-pillar in the vehicle body.

4. The apparatus of claim 3, wherein, The second slave Bluetooth module comprises a third slave Bluetooth module and a fourth slave Bluetooth module, wherein the third slave Bluetooth module is installed on a left B-pillar in the vehicle body, and the fourth slave Bluetooth module is installed on a right B-pillar in the vehicle body.

5. The device of claim 4, wherein The master Bluetooth module is configured to determine that the digital vehicle key is located in an inner region of the vehicle if the signal strength detected by the master Bluetooth module and the signal strength sent by the first slave Bluetooth module are both in a first threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in a second threshold interval. The master Bluetooth module is configured to determine that the digital vehicle key is located in a first outer region of the vehicle if the signal strength detected by the master Bluetooth module is in the first threshold interval or the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first threshold interval or the second threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are both in the first threshold interval. The master Bluetooth module is configured to determine that the digital vehicle key is located in a second outer region of the vehicle if at least three of the signal strength detected by the master Bluetooth module, the signal strengths sent by the first slave Bluetooth module, the third slave Bluetooth module, and the fourth slave Bluetooth module are in the second threshold interval. Any threshold value in the first threshold interval is greater than any threshold value in the second threshold interval; in the same direction, the distance from the boundary of the outer first region to the specific position of the vehicle is less than the distance from the boundary of the outer second region to the specific position.

6. The apparatus of claim 5, wherein, The first threshold interval includes a first sub-threshold interval and a second sub-threshold interval; any threshold value in the first sub-threshold interval is greater than the second sub-threshold interval; the internal region includes an internal first region, an internal second region and an internal third region; wherein the internal first region includes a region close to the front position of the vehicle inside the vehicle, the internal second region includes a region close to the rear position of the vehicle inside the vehicle, and the internal third region includes a region between the internal first region and the internal second region; The main Bluetooth module is specifically used for determining that the digital car key is located in the internal first region if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are in the second threshold interval. The main Bluetooth module is specifically used for determining that the digital car key is located in the internal second region if the signal strength detected by the main Bluetooth module is in the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are in the second threshold interval. The main Bluetooth module is specifically used for determining that the digital car key is located in the internal third region if the signal strength detected by the main Bluetooth module and the signal strength sent by the first slave Bluetooth module are in the first sub-threshold interval, and the signal strengths sent by the third slave Bluetooth module and the fourth slave Bluetooth module are in the second threshold interval.

7. The apparatus of claim 5, wherein, The first threshold interval includes a first sub-threshold interval and a second sub-threshold interval; the outer first region includes a first region on the left side of the vehicle, a first region on the right side of the vehicle, a first region near the trunk, and a first region near the engine; wherein the first region on the left side of the vehicle includes a region close to the left side window of the vehicle outside the vehicle, the first region on the right side of the vehicle includes a region close to the right side window of the vehicle outside the vehicle, the first region near the trunk includes a region close to the trunk outside the vehicle, and the first region near the engine includes a region close to the engine outside the vehicle; The main Bluetooth module is specifically used for determining that the digital car key is located in the first region on the left side of the vehicle if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval or the second sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval. The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area on the left side of the vehicle if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval. The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area at the tail of the vehicle if the signal strength detected by the main Bluetooth module is in the second threshold interval, the signal strength sent by the first slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the third slave Bluetooth module and the fourth slave Bluetooth module is in the second sub-threshold interval. The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the first area at the head of the vehicle if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second threshold interval, and the signal strength sent by the third slave Bluetooth module and the fourth slave Bluetooth module is in the second sub-threshold interval.

8. The apparatus of claim 7, wherein, The first area on the left side of the vehicle includes a main driver area, and the main driver area is a position area close to a main driver side window outside the vehicle; The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the main driver area if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the first sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval.

9. The apparatus of claim 7, wherein, The first area on the right side of the vehicle includes a co-driver area, and the co-driver area is a position area close to a co-driver side window outside the vehicle; The main Bluetooth module is specifically used for determining that the digital vehicle key is located in the co-driver area if the signal strength detected by the main Bluetooth module is in the first sub-threshold interval, the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval, the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the first sub-threshold interval.

10. The apparatus of claim 7, wherein, The second area outside the vehicle includes a second area on the left side of the vehicle, a second area on the right side of the vehicle, a second area at the tail of the vehicle, and a second area at the head of the vehicle; wherein the second area on the left side of the vehicle is on the same side as the first area on the left side of the vehicle and is away from the position area of the left side window of the vehicle, the second area on the right side of the vehicle is on the same side as the first area on the right side of the vehicle and is away from the position area of the right side window of the vehicle, the second area at the tail of the vehicle is on the same side as the first area at the tail of the vehicle and is away from the position area of the trunk of the vehicle, and the second area at the head of the vehicle is on the same side as the first area at the head of the vehicle and is away from the position area of the engine at the head of the vehicle; The main Bluetooth module is configured to determine that the digital vehicle key is located in the second area on the left side of the vehicle if the signal strength detected by the main Bluetooth module, the signal strength sent by the first slave Bluetooth module, and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the third slave Bluetooth module is in the second sub-threshold interval. The main Bluetooth module is configured to determine that the digital vehicle key is located in the second area on the right side of the vehicle if the signal strength detected by the main Bluetooth module, the signal strength sent by the first slave Bluetooth module, and the signal strength sent by the third slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the fourth slave Bluetooth module is in the second sub-threshold interval. The main Bluetooth module is configured to determine that the digital vehicle key is located in the second area at the tail of the vehicle if the signal strength detected by the main Bluetooth module, the signal strength sent by the third slave Bluetooth module, and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the first slave Bluetooth module is in the second sub-threshold interval. The main Bluetooth module is configured to determine that the digital vehicle key is located in the second area at the head of the vehicle if the signal strength detected by the first slave Bluetooth module, the signal strength sent by the third slave Bluetooth module, and the signal strength sent by the fourth slave Bluetooth module are all in the second threshold interval, and the signal strength sent by the main Bluetooth module is in the second sub-threshold interval.

11. The device of any one of claims 2-10, wherein, The slave Bluetooth module is configured to detect a first initial signal strength of a Bluetooth broadcast signal of the digital vehicle key, perform signal strength filtering processing on the first initial signal strength to obtain a signal strength detected by the slave Bluetooth module, and send the signal strength detected by the slave Bluetooth module to the main Bluetooth module.

12. The device of any one of claims 2-10, wherein, The main Bluetooth module is configured to detect a second initial signal strength of the Bluetooth broadcast signal of the digital vehicle key, perform signal strength filtering processing on the second initial signal strength to obtain a signal strength detected by the main Bluetooth module, and determine first position information of the digital vehicle key according to the signal strength detected by the main Bluetooth module and the signal strengths sent by the slave Bluetooth modules.

13. The apparatus of claim 12, wherein, Each slave Bluetooth module is further configured to send, to the main Bluetooth module, an arrival time of the detected Bluetooth broadcast signal. The main Bluetooth module is specifically configured to determine the first position information according to the arrival time of the Bluetooth broadcast signal detected by the main Bluetooth module and the signal strength detected by the main Bluetooth module, and the signal strengths and arrival times sent by the slave Bluetooth modules.

14. The apparatus of claim 2, wherein, The main Bluetooth module is configured to perform at least one position filtering processing on the first position information, and take the first position information after the position filtering processing as the target position information. The position filtering processing includes: receiving the signal strengths sent by the slave Bluetooth modules; detecting a signal strength of a Bluetooth broadcast signal of the digital vehicle key, and determining second position information of the digital vehicle key according to the detected signal strength and the signal strengths sent by the slave Bluetooth modules; According to the second position information, the first position information is updated to obtain first position information after position filtering processing.

15. A vehicle control method characterized by, The method is applied to the device of any one of claims 1-14, and the method comprises: The plurality of Bluetooth modules detect signal strengths of Bluetooth broadcast signals of the digital vehicle key to obtain target position information of the digital vehicle key, and send the target position information to the domain controller, so that the domain controller controls a vehicle lock of the vehicle according to the target position information.

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