CN114567850A - Algorithm for preventing position detection jitter - Google Patents

Algorithm for preventing position detection jitter Download PDF

Info

Publication number
CN114567850A
CN114567850A CN202210054567.1A CN202210054567A CN114567850A CN 114567850 A CN114567850 A CN 114567850A CN 202210054567 A CN202210054567 A CN 202210054567A CN 114567850 A CN114567850 A CN 114567850A
Authority
CN
China
Prior art keywords
area
key
tail
detection
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210054567.1A
Other languages
Chinese (zh)
Inventor
邹玉兰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd
Original Assignee
Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd filed Critical Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd
Priority to CN202210054567.1A priority Critical patent/CN114567850A/en
Publication of CN114567850A publication Critical patent/CN114567850A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Lock And Its Accessories (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The algorithm for preventing the position detection jitter is characterized in that a region PS taking a vehicle body as a center and a peripheral region PE thereof are constructed, and the region PE is divided into sub-regions so as to be further divided into a detection region and a critical region. Judging whether the current vehicle key detection position is in the area PS, if so, keeping the key position type unchanged, further judging whether the vehicle key enters the PS detection area, and if so, changing the position type into the PS area; otherwise, whether the detection position of the current vehicle key is in the area PE is detected, if the detection position of the current vehicle key is in the PE area, whether the current vehicle key is in any one of the sub-area detection positions is continuously judged, if the current vehicle key enters the sub-area detection area, whether the key position type is changed = the sub-area position type is continuously judged, if the key position type is not in the PE area, the key position is set to be an unknown area, and whether the current position type is updated is judged, so that the situation that the key position is misjudged due to position jump caused by interference is prevented.

Description

Algorithm for preventing position detection jitter
Technical Field
The invention relates to the technical field of vehicles, in particular to an algorithm for preventing position detection jitter.
Background
Nowadays, traveling is more and more dependent on the car, and the car key is more and more intelligent. Many car keys all use wireless technologies such as bluetooth, RFID, UWB to carry out the auto-induction of position to accomplish intelligence unblock, lock.
However, these wireless technologies have a drawback: the wireless technology is easy to receive external interference, which causes large fluctuation of the distance calculated by the RSSI value or the flight time, thereby causing large jitter of the position calculated by the multi-point detection. For example, when a driver is in an unlocking line critical area, due to the fact that the detection position shakes, the unlocked vehicle is locked again, and then is unlocked again, so that very poor experience is brought to a client.
Disclosure of Invention
The invention aims to provide an algorithm for preventing position detection jitter, which can avoid the problem of position positioning jitter caused by interference or occasional communication failure of individual base stations in wireless positioning technologies such as Bluetooth, UWB and RFID. In order to achieve the above purpose, the following technical solutions are provided.
The invention provides an algorithm for preventing position detection jitter, which comprises the following steps:
s1: setting a central point (X0, Y0) of a rectangular area PS projected by a vehicle body as a coordinate origin, taking the direction from the vehicle head to the vehicle tail as a longitudinal X axis, taking the direction from the vehicle body right side to the left side as a transverse Y axis, and dividing the area PE into sub-areas at the periphery of the area PS, wherein the sub-areas comprise regions of the vehicle head, the vehicle tail, a left front door, a left rear door, a right front door and a right rear door;
s2: dividing each sub-area into a detection area and a critical area;
s3: and judging whether the detected position of the current vehicle key is in the area PS, if so, keeping the key position type unchanged, and delaying the last position type. Continuing to judge whether the key enters a PS detection area or not, if so, judging that the position type is type = PS; otherwise, detecting whether the detection position of the current vehicle key is in the area PE, if so, continuously judging whether the current vehicle key is in any one of the sub-area detection positions, if so, continuously judging whether the current vehicle key enters the sub-area detection area, if so, changing the key position type = the sub-area position type, and if not, setting the key position as an unknown area, and if not, changing the key position as an unknown area = unknown.
Wherein the S1 further includes:
the length of the region PS is L, and the width of the region PS is w;
when the area PE is divided, extending and connecting 4 vertex angles of the area PS outwards to four vertex points corresponding to the area PE, and dividing the area PE into areas of a vehicle head, a vehicle tail, a left side and a right side; the included angle between the extension line and the longitudinal central axis of the vehicle body region is 45 degrees; the left area is divided into left front and rear door areas, and the right area is divided into right front and rear door areas.
The areas PE and the areas PS are the same in shape and are in a preset proportion, and the distance between each area PS and each corresponding edge of the corresponding area PE is r; the inner part of the area PS is a broken line area PS as a detection area.
Each subarea and the corresponding detection area are the same in shape and are in a preset proportion; the distance between each detection area and each corresponding edge of the corresponding sub-area is d; the critical region has the shape of a ring having a width d.
Further, the coordinate range of the sub-region is defined as:
the x-head coordinate of the locomotive is x _ head = x 0-L/2;
vehicle tail x coordinate x _ tail = x0 + L/2;
the left y coordinate y _ left = y0 + w/2;
the right side y coordinate y _ right = y 0-w/2.
The S3 further includes:
judging whether the current vehicle key is in the area PS, wherein the judgment formula is as follows:
x >= x_head && x <= x_tail, y>= y_right && y << y_left；
if the position is in the area PS, the last position type is used;
when the key enters the dashed line PS detection area, i.e., x > = x _ head + d & & x < = x _ tail-d, y > = y _ right + d & & y < < y _ left-d, the location type = PS is updated.
The S3 further includes: if the current car key is not in the area PS, judging whether the current car key is in any position in the area PE, and sequentially judging the positions of a car head, a car tail, a left front door, a left rear door, a right front door and a right rear door in the sub-area positions, wherein the judgment comprises the following steps:
s301: acquiring the current vehicle key in any one of the sub-area positions;
s302: judging the position type of the key at the last time, and if the position type is not in the position of the sub-area, namely the position type is = unknown, changing the position type into the current key position type = the position of the sub-area; if the last location type is not unknown, go to S303;
s303: judging whether a key enters a subregion detection area or not, if the x and y position types of the current car key meet the formula condition of the subregion detection area, changing the current key position type = subregion position, adding the type into a position type array, judging whether the number of the same position type types of the newly added key position type in the position type array is half of the maximum data number stored in the array or not, and if so, taking the current key position as the new type position; otherwise, confirming that the current key position is interfered to cause position jump and continuously keeping the current key position at the original type position.
The judgment of the position of the sub-region comprises the following steps:
the formula for judging the tail area of the vehicle is as follows:
x > x_tail && x < x_tail + r && y + x > y_right + x_tail && y – x < y_left – x_tail。
the vehicle head area judgment formula is as follows:
x > x_head - r && x < x_head && y - x > y_right - x_head && y + x < y_left + x_head。
the left front door area judgment formula is as follows:
y > y_left && y < y_left + r && x + y > x_head + y_left && x < x0 。
the left rear door area judgment formula is as follows:
y > y_left && y < y_left r && x > x0 && x - y < x_tail - y_left。
the right front door area judgment formula is as follows:
y < y_right && y > y_right - r && x - y > x_head - y_right && x < x0。
the right rear door area judgment formula is as follows:
y < y_right && y > y_right - r && x > x0 && x + y < x_tail + y_right。
the judgment of the sub-region detection region comprises the following steps:
whether the key enters the tail detection area or not is judged, and the judgment formula is as follows:
x > x_tail + d && x < x_tail + r- d && y + x > y_right + x_tail + d && y – x < y_left – x_tail –d。
whether the key enters a detection area of the vehicle head is judged, and the judgment formula is as follows:
x > x_head - r + d && x < x_head - d && y - x > y_right - x_head + d && y +x < y_left + x_head –d。
and judging whether the key enters a left front door detection area or not, wherein the judgment formula is as follows:
y > y_left + d && y < y_left + r –d && x + y > x_head + y_left + d && x < x0 - d。
whether the key enters a left rear door detection area or not is judged, and the judgment formula is as follows:
y > y_left + d && y < y_left r – d && x > x0 + d && x - y < x_tail - y_left - d。
whether the key enters a right front door detection area or not is judged, and the judgment formula is as follows:
y < y_right - d && y > y_right – r + d && x - y > x_head - y_right + d && x < x0 - d。
whether the key enters a right rear door detection area or not is judged, and the judgment formula is as follows:
y < y_right - d && y > y_right - r + d && x > x0 + d && x + y < x_tail + y_right - d。
10 times of historical position type records are stored in the key position type array, and data are updated in real time according to a preset frequency; and when a new key position type is newly added in the key position type array every time, the key position type which is added firstly is removed.
The invention relates to an algorithm for preventing position detection jitter, which divides a vehicle body into a vehicle head region, a vehicle tail region, a left front door region, a left rear door region, a right front door region and a right rear door region by taking the central point of a rectangular region PS projected by the vehicle body as a coordinate origin; dividing each subarea into a detection area PS and a critical area PL, judging the detection position of the current vehicle key, if the current vehicle key is in the critical area PL, keeping the key position type unchanged, and using the last position type; and if the key position type is in the detection area, changing the key position type, thereby preventing the key position from being misjudged due to position jump caused by interference.
Drawings
Fig. 1 is a schematic diagram illustrating respective region division of a vehicle body by a vehicle coordinate origin.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be made by a person skilled in the art based on the embodiments of the present invention without any inventive step are within the scope of the present invention.
The invention provides an algorithm for preventing position detection jitter, which comprises the following steps:
s1: setting a central point (X0, Y0) of a rectangular area PS projected by a vehicle body as a coordinate origin, taking the direction from the vehicle head to the vehicle tail as a longitudinal X axis, the direction from the vehicle body right side to the left side as a transverse Y axis, and dividing the area PE into sub-areas at the periphery of the area PS, wherein the sub-areas comprise the vehicle head, the vehicle tail, a left front door, a left rear door, a right front door and a right rear door;
s2: dividing each sub-area into a detection area and a critical area;
s3: and judging whether the detection position of the current vehicle key is in the area PS, if so, keeping the key position type unchanged, and delaying the last position type. Continuing to judge whether the key enters a PS detection area or not, and if so, judging that the position type is type = PS; otherwise, detecting whether the detection position of the current vehicle key is in the area PE, if so, continuously judging whether the current vehicle key is in any one of the sub-area detection positions, if so, continuously judging whether the current vehicle key enters the sub-area detection area, if so, changing the key position type = the sub-area position type, and if not, setting the key position as an unknown area, and if not, changing the key position as an unknown area = unknown.
As shown in fig. 1, the length of the region PS is L, and the width of the region PS is w; when the area PE is divided, extending and connecting 4 vertex angles of the area PS outwards to four vertex points corresponding to the area PE, and dividing the area PE into areas of a vehicle head, a vehicle tail, a left side and a right side; the included angle between the extension line and the longitudinal central axis of the vehicle body region is 45 degrees; the left area is divided into left front and rear door areas, and the right area is divided into right front and rear door areas.
The areas PE and the areas PS are the same in shape and are in a preset proportion, and the distance between each area PS and each corresponding edge of the corresponding area PE is r; the inner part of the area PS is a dashed area PS as a detection area.
Each subarea and the corresponding detection area are the same in shape and are in a preset proportion; the distance between each detection area and each corresponding edge of the corresponding sub-area is d; the critical region is in the shape of a ring having a width d.
Defining the coordinate range of the sub-area as:
the x-head coordinate of the locomotive is x _ head = x 0-L/2;
vehicle tail x coordinate x _ tail = x0 + L/2;
the left y coordinate y _ left = y0 + w/2;
the right side y coordinate y _ right = y 0-w/2.
The S3 further includes: judging whether the current vehicle key is in the area PS, wherein the judgment formula is as follows:
x >= x_head && x <= x_tail, y>= y_right && y << y_left；
if the position is in the area PS, the last position type is used;
when the key enters the dashed line PS detection area, i.e., x > = x _ head + d & & x < = x _ tail-d, y > = y _ right + d & & y < < y _ left-d, the location type = PS is updated.
The S3 further includes: if the current car key is not in the area PS, judging whether the current car key is in any position in the area PE, and sequentially judging the positions of a car head, a car tail, a left front door, a left rear door, a right front door and a right rear door in the sub-area positions, wherein the judgment comprises the following steps:
s301: acquiring the current car key in any one of the subarea positions;
s302: judging the position type of the key at the last time, and if the position type is not in the position of the sub-area, namely the position type is = unknown, changing the position type into the current key position type = the position of the sub-area; if the last location type is not unknown, go to S303;
s303: judging whether a key enters a subregion detection area or not, if the x and y position types of the current car key meet the formula condition of the subregion detection area, changing the current key position type = subregion position, adding the type into a position type array, judging whether the number of the same position type types of the newly added key position type in the position type array is half of the maximum data number stored in the array or not, and if so, taking the current key position as the new type position; otherwise, confirming that the current key position is interfered to cause position jump and continuously keeping the current key position at the original type position.
The judgment of the position of the sub-region comprises the following steps:
the formula for judging the tail area of the vehicle is as follows:
x > x_tail && x < x_tail + r && y + x > y_right + x_tail && y – x < y_left – x_tail。
the vehicle head area judgment formula is as follows:
x > x_head - r && x < x_head && y - x > y_right - x_head && y + x < y_left + x_head；
the left front door area judgment formula is as follows:
y > y_left && y < y_left + r && x + y > x_head + y_left && x < x0 。
the left rear door area judgment formula is as follows:
y > y_left && y < y_left r && x > x0 && x - y < x_tail - y_left。
the right front door area judgment formula is as follows:
y < y_right && y > y_right - r && x - y > x_head - y_right && x < x0。
the right rear door area judgment formula is as follows:
y < y_right && y > y_right - r && x > x0 && x + y < x_tail + y_right。
the judgment of the sub-area detection area comprises the following steps:
whether the key enters the tail detection area or not is judged, and the judgment formula is as follows:
x > x_tail + d && x < x_tail + r- d && y + x > y_right + x_tail + d && y – x < y_left – x_tail –d。
whether the key enters a detection area of the vehicle head is judged, and the judgment formula is as follows:
x > x_head - r + d && x < x_head - d && y - x > y_right - x_head + d && y +x < y_left + x_head –d。
and judging whether the key enters a left front door detection area or not, wherein the judgment formula is as follows:
y > y_left + d && y < y_left + r –d && x + y > x_head + y_left + d && x < x0 - d。
whether the key enters a left rear door detection area or not is judged, and the judgment formula is as follows:
y > y_left + d && y < y_left r – d && x > x0 + d && x - y < x_tail - y_left - d。
whether the key enters a right front door detection area or not is judged, and the judgment formula is as follows:
y < y_right - d && y > y_right – r + d && x - y > x_head - y_right + d && x < x0 - d。
whether the key enters a right rear door detection area or not is judged, and the judgment formula is as follows:
y < y_right - d && y > y_right - r + d && x > x0 + d && x + y < x_tail + y_right - d。
10 times of historical position type records are stored in the key position type array, and data are updated in real time according to a preset frequency; and when a new key position type is newly added in the key position type array every time, the key position type which is added firstly is eliminated.
And storing 10 times of historical position type records in the key position type array, and updating data in real time according to a preset frequency.
And when a new key position type is newly added in the key position type array every time, the key position type which is added firstly is removed.
As another preferable mode, as shown in fig. 1, a broken line range in each of the front, rear, left front, left rear, right front, and right rear doors is used as a detection region, and a portion enclosed by a broken line and a solid line of the sub-regions is used as a critical region, and when it is detected that the vehicle key enters from the outside of the region PE to the inside of the region PE of the vehicle and before the vehicle key does not enter the broken line range in any of the sub-regions, the key position type is extended to the last position type. Until the vehicle key position is continuously detected to enter the range of the dotted line in any sub-area, for example: entering a vehicle tail coordinate range: x > x _ tail + d & & x < x _ tail + r-d & & y + x > y _ right + x _ tail + d & & y-x < y _ left-x _ tail-d, then a detection area of the car tail area is entered, and then the key position type = the car tail area PE is changed and added to the key position type array. Continuously judging whether the number of the types belonging to the vehicle tail area position types in the array accounts for half of the maximum data storage number of the array, if the maximum data storage number of the array is 10, namely the number of the vehicle tail area position types exceeds 5, taking the current key position as a new type position; if the data deviation is detected due to the position jump, the number of the detected vehicle tail region position types does not exceed 5, if only 1, the number of the other position types in the current array exceeds 5, if the other position types are vehicle body position types, the current vehicle key is reserved as the original position type, namely the vehicle key position type is the vehicle interior PS, and only a few jump points are vehicle tail type types, the current key position is determined to be interfered to cause the position jump, and the current key position is continuously reserved at the original type position.
The algorithm for preventing the position detection jitter is characterized in that the central point of a rectangular area PS projected by a vehicle body is set as a coordinate origin, the direction from the vehicle head to the vehicle tail is taken as a longitudinal X axis, the direction from the right side to the left side of the vehicle body is taken as a transverse Y axis, an area PE is arranged on the periphery of the area PS, the area PE is divided into sub-areas, and each sub-area is divided into a detection area and a critical area. Judging whether the detection position of the current vehicle key is in the area PS, if so, keeping the key position type unchanged, delaying the last position type, continuing to judge whether the current vehicle key enters the PS detection area, and if so, changing the position type into the PS area; otherwise, detecting whether the detection position of the current vehicle key is in the area PE, if so, continuously judging whether the current vehicle key is in any one of the sub-area detection positions, if so, continuously judging whether the current vehicle key enters the sub-area detection area, if so, changing the key position type = the sub-area position type, and if not, setting the key position as an unknown area, and if not, changing the key position as an unknown area = unknown. And then judging whether to update the current position type according to whether the number of the current position type in the position type array is more than half, thereby preventing the position jump caused by interference from causing the misjudgment of the key position.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but it should not be understood as the limitation of the patent scope of the present invention, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. An algorithm for preventing position detection jitter, comprising the steps of:
s1: setting a central point (X0, Y0) of a rectangular area PS projected by a vehicle body as a coordinate origin, taking the direction from the vehicle head to the vehicle tail as a longitudinal X axis, the direction from the vehicle body right side to the left side as a transverse Y axis, and dividing the area PE into sub-areas at the periphery of the area PS, wherein the sub-areas comprise the vehicle head, the vehicle tail, a left front door, a left rear door, a right front door and a right rear door;
s2: dividing each sub-area into a detection area and a critical area;
s3: judging whether the detection position of the current vehicle key is in the area PS, if so, keeping the key position type unchanged, and delaying the last position type;
continuing to judge whether the key enters a PS detection area or not, and if so, judging that the position type is type = PS; otherwise, detecting whether the detection position of the current vehicle key is in the area PE, if so, continuously judging whether the current vehicle key is in any one of the sub-area detection positions, if so, continuously judging whether the current vehicle key enters the sub-area detection area, if so, changing the key position type = the sub-area position type, and if not, setting the key position as an unknown area, and if not, changing the key position as an unknown area = unknown.
2. The algorithm for preventing position detection shake according to claim 1, wherein the S1 further includes:
the length of the region PS is L, and the width of the region PS is w;
when the area PE is divided, extending and connecting 4 vertex angles of the area PS outwards to four vertex points corresponding to the area PE, and dividing the area PE into areas of a vehicle head, a vehicle tail, a left side and a right side; the included angle between the extension line and the longitudinal central axis of the vehicle body region is 45 degrees; the left area is divided into left front and rear door areas, and the right area is divided into right front and rear door areas.
3. The algorithm according to claim 2, wherein the areas PE and PS have the same shape and a predetermined ratio, and each area PS is separated from each corresponding edge of its corresponding area PE by a distance r; the inner part of the area PS is a dashed area PS as a detection area.
4. The algorithm for preventing position detection jitter according to claim 3, further comprising:
each subarea and the corresponding detection area are the same in shape and are in a preset proportion; the distance between each detection area and each corresponding edge of the corresponding sub-area is d; the critical region has the shape of a ring having a width d.
5. The algorithm for preventing position detection jitter according to claim 4, further comprising: defining the coordinate range of the sub-area as:
the x-head coordinate of the locomotive is x _ head = x 0-L/2;
vehicle tail x coordinate x _ tail = x0 + L/2;
the left y coordinate y _ left = y0 + w/2;
the right side y coordinate y _ right = y 0-w/2.
6. The algorithm for preventing position detection shake according to claim 5, wherein the S3 further includes: judging whether the current vehicle key is in the area PS, wherein the judgment formula is as follows:
x >= x_head && x <= x_tail, y>= y_right && y << y_left；
if the position is in the area PS, the last position type is used;
when the key enters the dashed line PS detection area, i.e., x > = x _ head + d & & x < = x _ tail-d, y > = y _ right + d & & y < < y _ left-d, the location type = PS is updated.
7. The algorithm for preventing position detection shake according to claim 6, wherein the S3 further includes: if the current car key is not in the area PS, judging whether the current car key is in any position in the area PE, and sequentially judging the positions of a car head, a car tail, a left front door, a left rear door, a right front door and a right rear door in the sub-area positions, wherein the judgment comprises the following steps:
s301: acquiring the current vehicle key in any one of the sub-area positions;
s302: judging the position type of the key at the last time, and if the position type is not in the position of the sub-area, namely the position type is = unknown, changing the position type into the current key position type = the position of the sub-area; if the last location type is not unknown, go to S303;
s303: judging whether a key enters a subregion detection area or not, if the x and y position types of the current car key meet the formula condition of the subregion detection area, changing the current key position type = subregion position, adding the type into a position type array, judging whether the number of the same position type types of the newly added key position type in the position type array is half of the maximum data number stored in the array or not, and if so, taking the current key position as the new type position; otherwise, confirming that the current key position is interfered to cause position jump and continuously keeping the current key position at the original type position.
8. The algorithm for preventing jitter of position detection according to claim 7, wherein the determining of the position of the sub-area comprises:
the formula for judging the tail area of the vehicle is as follows:
x > x_tail && x < x_tail + r && y + x > y_right + x_tail && y – x < y_left – x_tail；
the vehicle head area judgment formula is as follows:
x > x_head - r && x < x_head && y - x > y_right - x_head && y + x < y_left + x_head；
the left front door area judgment formula is as follows:
y > y_left && y < y_left + r && x + y > x_head + y_left && x < x0；
the left rear door area judgment formula is as follows:
y > y_left && y < y_left r && x > x0 && x - y < x_tail - y_left；
the right front door area judgment formula is as follows:
y < y_right && y > y_right - r && x - y > x_head - y_right && x < x0；
the right rear door area judgment formula is as follows:
y < y_right && y > y_right - r && x > x0 && x + y < x_tail + y_right。
9. the algorithm for preventing position detection jitter according to claim 7, wherein the determining of the sub-area detection area comprises:
whether the key enters the tail detection area or not is judged, and the judgment formula is as follows:
x > x_tail + d && x < x_tail + r- d && y + x > y_right + x_tail + d && y – x < y_left – x_tail –d；
whether the key enters a detection area of the vehicle head is judged, and the judgment formula is as follows:
x > x_head - r + d && x < x_head - d && y - x > y_right - x_head + d && y +x < y_left + x_head –d；
whether the key enters the left front door detection area or not is judged, and the judgment formula is as follows:
y > y_left + d && y < y_left + r –d && x + y > x_head + y_left + d && x < x0 - d；
whether the key enters a left rear door detection area or not is judged, and the judgment formula is as follows:
y > y_left + d && y < y_left r – d && x > x0 + d && x - y < x_tail - y_left - d；
whether the key enters a right front door detection area or not is judged, and the judgment formula is as follows:
y < y_right - d && y > y_right – r + d && x - y > x_head - y_right + d && x < x0 - d；
whether the key enters a right rear door detection area or not is judged, and the judgment formula is as follows:
y < y_right - d && y > y_right - r + d && x > x0 + d && x + y < x_tail + y_right - d。
10. the algorithm for preventing position detection shake according to claim 9, wherein the key position type array stores 10 historical position type records, and updates the data in real time according to a preset frequency; and when a new key position type is newly added in the key position type array every time, the key position type which is added firstly is removed.
CN202210054567.1A 2022-01-18 2022-01-18 Algorithm for preventing position detection jitter Pending CN114567850A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210054567.1A CN114567850A (en) 2022-01-18 2022-01-18 Algorithm for preventing position detection jitter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210054567.1A CN114567850A (en) 2022-01-18 2022-01-18 Algorithm for preventing position detection jitter

Publications (1)

Publication Number Publication Date
CN114567850A true CN114567850A (en) 2022-05-31

Family

ID=81712174

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210054567.1A Pending CN114567850A (en) 2022-01-18 2022-01-18 Algorithm for preventing position detection jitter

Country Status (1)

Country Link
CN (1) CN114567850A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115402259A (en) * 2022-09-09 2022-11-29 浙江吉利控股集团有限公司 Control method, control device, automobile and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115402259A (en) * 2022-09-09 2022-11-29 浙江吉利控股集团有限公司 Control method, control device, automobile and storage medium
CN115402259B (en) * 2022-09-09 2024-04-19 浙江吉利控股集团有限公司 Control method, control device, automobile and storage medium

Similar Documents

Publication Publication Date Title
CN114567850A (en) Algorithm for preventing position detection jitter
US9679430B2 (en) Vehicle remote function system and method for determining vehicle FOB locations using adaptive filtering
CN109383451A (en) Vehicle functions control device and vehicle functions control system
US20140253287A1 (en) Vehicle Remote Function System and Method for Effectuating Vehicle Operations Based on Vehicle FOB Movement
US11696136B2 (en) Method and system for relay attack prevention incorporating motion
JP2015113643A (en) Keyless entry system
EP3943346A1 (en) System and method for controlling vehicle
US20090058597A1 (en) Vehicle communication system
JP6175949B2 (en) Communication device
JP2007146396A (en) Vehicle controller
JP2008202228A (en) Electronic key system, and in-vehicle device for electronic key system
US20220024412A1 (en) Method and System for Relay Attack Prevention Using Subzones
CN111108405B (en) Processing device, processing method, and recording medium
WO2018163723A1 (en) Portable device, on-board device, and wireless communication system for vehicles
CN112009423A (en) Vehicle control method and system
DE102018217066A1 (en) Key unit, lock / unlock system and computer readable storage medium having a program stored therein
CN111344752A (en) Method and apparatus for determining the location of a mobile identity transmitter
CN209757045U (en) Vehicle axle lock control device
JP2018081073A (en) Vehicle system, portable unit, and on-vehicle device
CN115402259B (en) Control method, control device, automobile and storage medium
WO2019058996A1 (en) Communication system for vehicle, vehicle-mounted device, vehicle control method and computer program
JP6697690B2 (en) Portable devices, vehicle-mounted devices, and wireless communication systems for vehicles
WO2018088198A1 (en) Vehicle system, portable machine, and vehicle-mounted device
US20230356693A1 (en) Unlocking system and control method of unlocking system, control device and control method of control device, and determination device and determination method
CN116074751A (en) Method, system, medium and equipment for judging turning of automobile digital key

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination