CN115431922A

CN115431922A - Control method, control device, automobile and storage medium

Info

Publication number: CN115431922A
Application number: CN202211106034.XA
Authority: CN
Inventors: 陈国安; 夏楠; 段新正; 谢阿星
Original assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2022-09-09
Filing date: 2022-09-09
Publication date: 2022-12-06

Abstract

The application discloses a control method, a control device, an automobile and a storage medium. The control method comprises the following steps: periodically acquiring the current position of the key relative to the automobile; confirming a function area where the key is located currently based on the current position, wherein the function area is an area which is divided at the periphery of the automobile and is preset with a specific function, the function area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a strip-shaped area in a certain range at two sides of the boundary line of the adjacent function areas; when the key is in the transition zone, the control vehicle remains unchanged from the previous function. The present application implements a control method via a control device. Through the transition district that sets up the functional area to control the car when the key is in the transition district and keep previous function unchangeable, can make the key when the peripheral different functional areas handing-over border of car removes, effectively reduce because of the frequent switching of adjacent functional area default function that the random error of location caused, reduce the loss of car executive component, promote user experience.

Description

Control method, control device, automobile and storage medium

Technical Field

The present application relates to the field of automotive technologies, and in particular, to a control method, a control device, an automobile, and a storage medium.

Background

In the related art, when a key of a car enters a divided function area around the car, the car performs a corresponding function. However, when the car key is located near the boundary line between the two functional areas, the output of the car positioning system will jump randomly on both sides of the boundary line due to the existence of random errors during positioning and instability of human body movement. If the preset action of the corresponding functional area is executed directly according to the output result of the positioning system, the preset actions of the adjacent functional areas are frequently switched when the automobile is within a certain range of the boundary of the functional area, and adverse effects such as service life reduction or damage of an execution component (such as an electric control door lock), poor user experience and the like are easily caused.

Disclosure of Invention

The application provides a control method, a control device, an automobile and a storage medium.

The control method of the embodiment of the application comprises the following steps:

periodically acquiring a current position of a key relative to the automobile;

confirming a function area where the key is located currently based on the current position, wherein the function area is an area which is divided at the periphery of the automobile and is preset with a specific function, the function area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a strip-shaped area which is adjacent to two sides of the boundary line of the function area and is within a certain range;

and controlling the automobile to keep executing the previous function unchanged under the condition that the key is positioned in the transition area.

In some embodiments, the control method further comprises:

in each period, calculating the times of the keys respectively positioned in different functional areas in a preset number of periods;

taking the functional area with the key positioned in the same functional area for more than the preset times as a target functional area;

and under the condition that the key is positioned in a non-transition area of the target function area, controlling the automobile to execute a preset function corresponding to the target function area.

In some embodiments, periodically acquiring the current location of the UWB anchor module of the automobile and the key, respectively, comprises:

periodically acquiring the current distances between a plurality of UWB anchor point modules on the automobile body and the key respectively, wherein the UWB anchor points are positioned at different positions of the automobile;

calculating a current position of the key relative to the vehicle based on current distances between the key and a plurality of UWB anchor points on the vehicle body.

In some embodiments, said counting, in each period, the number of times the key is respectively located in the different functional zones within a predetermined number of periods comprises:

counting the functional area where the key is located once in each period;

and confirming the times that the keys are respectively positioned in different functional areas in a preset number of cycles according to the counting result in each cycle.

In certain embodiments, the control method further comprises:

and keeping the function previously executed by the automobile unchanged under the condition that the times that the keys are positioned in the same functional area are all less than or equal to the preset times.

In some embodiments, the value of the predetermined number of times is greater than half the value of the predetermined number of cycles.

In certain embodiments, the control method comprises:

and under the condition that the automobile executes the preset function corresponding to the target function area, controlling the automobile to stop executing the functions corresponding to other function areas.

The control device of the embodiment of the application comprises:

the acquisition module is used for periodically acquiring the current position of the key relative to the automobile;

the confirming module is used for confirming a functional area where the key is located currently based on the current position, the functional area is an area which is divided at the periphery of the automobile and is preset with a specific function, the functional area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a strip-shaped area which is adjacent to two sides of the boundary line of the functional area and is in a certain range;

and the control module is used for controlling the automobile to keep executing the previous function unchanged under the condition that the key is positioned in the transition area. And controlling the automobile to execute a preset function corresponding to the target function area under the condition that the key is positioned in the non-transition area.

The automobile of the embodiment of the present application includes a memory and a controller, and the controller is configured to execute a computer program stored in the memory to implement the control method of any one of the embodiments.

In the control method, the control device and the automobile according to the embodiment of the application, the control method is realized by the control device. Through the transition zone that sets up the functional area to control the car and keep previous function unchangeable when the key is in the transition zone, can make the key when the peripheral different functional areas handing-over border of car moves, effectively reduce because of the frequent switching of the adjacent functional area default function that the random error of location caused, reduce the loss of car executive component, promote user experience.

The non-transitory computer-readable storage medium storing a computer program according to an embodiment of the present application implements the control method according to any one of the above embodiments when the computer program is executed by one or more processors.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a control method according to an embodiment of the present application;

FIG. 2 is a block schematic diagram of a control device according to an embodiment of the present application;

FIG. 3 is a functional partitioning diagram of an automobile according to an embodiment of the present application;

fig. 4 is a schematic flow structure diagram of a control method according to an embodiment of the present application;

FIG. 5 is a schematic flow chart diagram of a control method according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a signal connection positioning process of a car and a key according to an embodiment of the present application;

FIG. 7 is a schematic flow chart diagram of a control method according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a first embodiment of a control method according to an embodiment of the present application, in which a sliding window register set and a count accumulator are used for counting;

fig. 9 is a flowchart illustrating a control method according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a second embodiment of a control method according to an embodiment of the present application, in which a sliding window register set and a count accumulator are used for counting;

FIG. 11 is a schematic diagram illustrating a third example of counting using a sliding window register set and a count accumulator according to the control method of the embodiment of the present application;

FIG. 12 is a schematic diagram illustrating a fourth example of counting using a sliding window register set and a count accumulator according to the control method of the embodiment of the present application;

FIG. 13 is a schematic diagram showing a fifth example of the control method according to the embodiment of the present application, in which a sliding window counter register group and a count accumulator are used for counting;

fig. 14 is a flowchart illustrating a control method according to an embodiment of the present application.

Description of the main element symbols:

an automobile 100;

the memory 10, the controller 20, the main functional area 30, the left front door functional block 31, the left front door functional block transition area 311, the left front door functional block non-transition area 312, the left rear door functional block 32, the left rear door functional block transition area 321, the left rear door functional block transition area 322, the right front door functional block 33, the right front door functional block transition area 331, the right front door functional block non-transition area 332, the right rear door functional block 34, the right rear door functional block transition area 341, the right rear door functional block non-transition area 342, the tail door left functional block 35, the tail door left functional block transition area 351, the tail door left functional block non-transition area 352, the tail door right functional block 36, the tail door right functional block transition area 361, the tail door right functional block transition area 362, the secondary functional area 40, and the UWB anchor module 50;

a key 200;

the device comprises a control device 300, an acquisition module 310, a confirmation module 320, a calculation module 330 and a control module 340.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and thus are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. To simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

Referring to fig. 1, a control method according to an embodiment of the present application includes:

s10, periodically acquiring the current position of the key 200 relative to the automobile 100;

s20, confirming a function area where the key 200 is located currently based on the current position, wherein the function area is an area which is divided at the periphery of the automobile 100 and is preset with a specific function, the function area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a strip-shaped area in a certain range at two sides of the boundary line of the adjacent function area;

and S30, controlling the automobile 100 to keep executing the previous function unchanged under the condition that the key 200 is positioned in the transition region.

Referring to fig. 2, a control device 300 according to an embodiment of the present disclosure includes:

an acquisition module 310 for periodically acquiring a current location of the key 200 relative to the car 100;

a confirming module 320, configured to confirm, based on the current position, a function region where the key 200 is located, where the function region is a region with a preset specific function and partitioned around the automobile 100, the function region includes a transition region and a non-transition region connected to the transition region, and the transition region is a band-shaped region in a certain range on both sides of a boundary line of adjacent function regions;

the control module 340, in the event that the key 200 is located in the transition zone, controls the vehicle 100 to remain performing the previous function.

The automobile 100 according to the embodiment of the present application includes a memory 10 and a controller 20, and the controller 20 is configured to execute a calculation program stored in the memory 10 to implement the control method according to the embodiment. Or the controller 20 is used to periodically acquire the current position of the key 200 relative to the car 100; and a functional area for confirming the location of the key 200 based on the current position, the functional area being an area of a preset specific function divided around the automobile 100, the functional area including a transition area and a non-transition area connected to the transition area, the transition area being a band-shaped area within a certain range on both sides of a boundary line of adjacent functional areas; with the key 200 in the transition zone, the control vehicle 100 remains performing the previous function unchanged.

The control method, the control device 300, and the automobile 100 according to the embodiment of the present application realize the control method via the control device 300. Through setting up the transition zone in functional area to control car 100 when key 200 is located the transition zone and keep previous function unchangeable, can make key 200 when car 100 peripheral different functional areas handing-over boundary line near moving, and then reduce because of the frequent switching of the function of presetting of adjacent functional area that the random error of location caused, reduce the loss of car 100 executive component, promote user experience.

Specifically, the vehicle 100 may be a new energy vehicle, a fuel vehicle, a hybrid vehicle, or the like. The key 200 of the automobile 100 may be a device used to enter the automobile 100, lock the automobile 100, or perform some function on the automobile 100. The key 200 may be a remote control key, a key to which various wireless technologies are applied, or a digital key in an electronic device such as a mobile phone. For example, the key 200 may be a UHF key fob, a UWB digital key, and the like. The vehicle 100 may include a controller 20 and a memory 10, and the vehicle 100 may implement a control method through the controller 20 and the memory 10.

In the control method, the controller 20 may periodically acquire the current position of the key 200 with respect to the automobile 100, and may first perform the control method in step S10. The obtaining manner may adopt a positioning technology such as a positioning calculation system of the key 200 by the automobile 100, for example, the positioning calculation system may include positioning of the key 200 by UWBToF (Time of Flight) distance information with the key 200 acquired by a plurality of UWB anchors at the automobile end, positioning of the key 200 by RSSI received signal strength information with the key 200 acquired by a plurality of anchors, visual auxiliary positioning at the automobile end, relative positioning of an accelerometer at the key 200 end, and the like; the coordinates (position) of the key 200 with respect to the body coordinate system of the automobile 100 can be obtained by positioning the key 200 by the automobile 100, and thus the current position between the automobile 100 and the key 200 can be obtained.

Further, step S20 may be taken, and based on the current position (coordinates) of the key 200 acquired in step S10, the functional area where the key 200 is located may be confirmed. The confirmation method may be determined by comparing the position (coordinates) of the current key 200 with the boundary line positions (coordinates) of all the functional areas. The functional area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a strip-shaped area within a certain range at two sides of the boundary line of the adjacent functional areas. After confirming that the key 200 is located in a functional zone, it is further confirmed whether the current key 200 is located in a transition zone and a non-transition zone of a boundary line to which the functional zone belongs.

As shown in fig. 3, it should be understood that the functional area of the automobile 100 may be divided according to different positions around the automobile 100, a distance range outside the outer contour line of the automobile 100 may be divided into the main functional area 30, and a specific value of the distance range may be selected to be about 0 m to 2 m. The distance range outside the main functional area 30 of the automobile 100 can be divided into the secondary functional area 40, and the specific value of the distance range can be selected to be divided into a plurality of distance sections from about 2 meters to about 30 meters.

The main functional area 30 may be divided into a plurality of functional blocks according to different components of the automobile 100, for example, the main functional area 30 of the automobile 100 is divided into 6 functional blocks, including a front left door functional block 31, a rear left door functional block 32, a front right door functional block 33, a rear right door functional block 34, a rear left door functional block 35 and a rear right door functional block 36. The adjacent functional blocks can be further divided into a transition area and a non-transition area, the transition area is close to an extension area of the adjacent functional blocks towards the direction opposite to the intersection line, and the non-transition area can be an area which is close to the transition area and forms the functional blocks together with the transition area.

For the sake of understanding, the functional blocks into which the main functional blocks in fig. 3 are divided may be further divided into a left front door functional block transition region 311 and a left front door functional block non-transition region 312, a left rear door functional block transition region 321 and a left rear door functional block transition region 322, a right front door functional block transition region 331 and a right front door functional block non-transition region 332, a right rear door functional block transition region 341 and a right rear door functional block non-transition region 342, a tail door left functional block transition region 351 and a tail door left functional block non-transition region 352, a tail door right functional block transition region 361 and a tail door right functional block transition region 362.

For example, when the key 200 is located in the non-transition area of each functional block, the automobile 100 may achieve unlocking of the corresponding functional block, e.g., unlocking of the front left door, unlocking of the rear left door, etc. When the key 200 leaves each functional block, the car 100 may implement the lock-down of the corresponding functional block, for example, the lock of the front left door, the lock of the rear left door, and so on. Of course, the specific functions of the functional blocks may be set to other functions.

In the sub-functional area 40, the boundary of the main functional area 30 to the plurality of sub-functional areas 40 may be a circular block, which may be shown as the sub-functional area 40 of the circular block surrounded by two phases. When the key 200 is in the annular block, the automobile 100 can be controlled to turn on the welcome lamp, adjust the seat and turn on the air conditioner; one or more of remote parking or automatic following functions can be executed in some sub-blocks of the annular (such as 2-6 m) block close to the main functional area. Further, the function of the sub-functional area 40 can be customized according to the actual or user requirement of the automobile 100.

It should be further understood that, when the key 200 position is obtained by the positioning technology such as the positioning calculation system, the output is the probability random distribution taking the actual position of the key 200 as the center, and the output key 200 position coordinates can randomly fall into two adjacent functional areas of the boundary line; if not, it happens that the functional area frequently and randomly executes the preset functions of the two functional areas; a phenomenon similar to this is commonly referred to as a ping-pong effect of the functional zone boundaries.

Thus, step S30 may be taken to reduce the ping-pong effect, controlling the car 100 to remain performing the previous function unchanged with the key 200 in the transition zone. For example, if the key 200 is located in the left front door functional block non-transition area 312, the automobile 100 implements a preset function corresponding to the functional area where the left front door functional block 31 is located, such as unlocking the left front door. At this time, if the key 200 is moved to the

transition area

311 or 321 of the left front door function block, the automobile 100 will keep executing the previous function unchanged, that is, the automobile 100 still realizes the preset function corresponding to the function area of the left front door function block 31, that is, the unlocking of the left front door.

Referring to fig. 4, in some embodiments, the control method further includes:

s40, in each period, calculating the times of the keys 200 respectively positioned in different functional areas in a preset number of periods;

s50, taking the functional area with the key 200 positioned in the same functional area for more than the preset times as a target functional area;

and S60, controlling the automobile 100 to execute a preset function corresponding to the target function area under the condition that the key 200 is located in a non-transition area of the target function area.

In some embodiments, the control apparatus further includes a calculating module 330, where the calculating module 330 is configured to calculate, in each period, the number of times that the key 200 is located in the different functional areas respectively within a predetermined number of periods; the control module 340 is configured to use a functional area where the key 200 is located in the same functional area more than a predetermined number of times as a target functional area; and is used for controlling the automobile 100 to execute the preset function corresponding to the target functional area.

The control method takes step S40 to count, at each cycle, the number of times the key 200 is in different functional zones for a predetermined number of cycles. The predetermined number of cycles may be an integral multiple of the cycle for acquiring the position of the key 200 relative to the automobile 100 in step S10, the predetermined number of cycles may be 10 cycles, 16 cycles, or the like, and the number of times the key 200 is located in each functional zone may be calculated within a fixed cycle. Then, step S50 may be taken, in which the number of times of falling in each functional area is calculated within a predetermined number of cycles, and each functional area is provided with a predetermined number of times, and when the number of times of falling in a certain functional area by the key 200 within a cycle is greater than the predetermined number of times, the controller 20 may regard the functional area satisfying the requirement as the target functional area.

Referring to fig. 5, in some embodiments, periodically obtaining the current distance from the key 200 to the vehicle 100 (step S10) includes:

s11, periodically acquiring the current distances between a plurality of UWB anchor modules 50 on the automobile body of the automobile 100 and the key 200 respectively, wherein the UWB anchor modules are positioned at different positions of the automobile body of the automobile 100;

and S12, calculating the current position of the key 200 relative to the automobile based on the current distances between the key 200 and a plurality of UWB anchor points on the automobile body.

The acquisition module 310 is configured to periodically acquire current distances between the UWB anchor modules 50 on the body of the automobile 100 and the key 200, respectively, where the UWB anchors are located at different positions of the automobile 100; the calculation module 330 is configured to calculate a current position of the key 200 relative to the vehicle based on current distances between the key 200 and a plurality of UWB anchor points on the vehicle body.

The controller 20 is configured to periodically obtain current distances from the keys 200 to a plurality of UWB anchor modules 50 on the body of the automobile 100, where the plurality of UWB anchor modules are located at different positions of the body of the automobile 100; and for calculating the current position of the key 200 relative to the car 100 based on the current distances between the key 200 and a plurality of UWB anchor points on the car body.

In this way, the plurality of UWB anchor point modules 50 on the vehicle body of the vehicle 100 may obtain a more accurate current position of the key 200, and thus may determine the functional area where the key 200 is located more accurately.

Specifically, the UWB technology is also called a security enhanced ultra wide band technology, and can be mainly applied to a digital key 200 system of the automobile 100, and has the technical characteristics of relay attack prevention, distance measurement, and high positioning accuracy; functionally, the key 200 can be recognized inside and outside the vehicle more accurately, and the position of the vehicle can be positioned more accurately. The precision can reach +/-6-10 cm under the non-shielding condition, and the precision can reach +/-30 cm under the shielding condition.

The digital key system adopting the UWB technology can provide functions of noninductive unlocking, noninductive starting ignition and the like with good user experience. Exemplarily, by adopting a security enhanced UWB technology, a Bluetooth Low Energy (BLE) technology and a Near Field Communication (NFC) technology based on 802.15.4Z, the vehicle can be unlocked and started noninductively by using an electronic device such as a mobile phone, remote sharing of a digital key can be conveniently performed, the vehicle can be conveniently shared with family members, and a friend can be authorized to use the vehicle in a short time.

To implement step S10, step S11 may be taken, and the controller 20 may periodically acquire the current distance between each UWB anchor module 50 of the plurality of UWB anchor modules 50 on the body of the automobile 100 and the UWB module on the key 200, wherein the plurality of UWB anchor modules 50 may be disposed at different positions of the automobile 100, for example, may be disposed near four corners (front left/rear right/front right) of the automobile 100 and near front and rear doors of the automobile 100.

Then, step S12 may be taken, and the relative position between the key 200 and the automobile 100 may be located according to the plurality of current distances acquired in step S11, the current distances between the current key 200 and the plurality of UWB anchor points on the automobile body, and the functional area where the key 200 is located may be confirmed by calculating the relative position.

Illustratively, as can be further understood in conjunction with fig. 6, in the signal connection and positioning process between the key 200 based on UWB technology and the automobile 100, the automobile body may be provided with a UWB positioning module (anchor point), a BLE (bluetooth low energy) communication module and positioning module (anchor point), an ultrasonic module, and a vision auxiliary module; the key 200 may have UWB modules, BLE bluetooth low energy modules, accelerometers and other modules for positioning, and the modules may include corresponding chips and modules; the bluetooth low energy module in the key 200 and the bluetooth low energy module in the car 100 can realize wireless communication and location based on received signal strength RSSI, and the UWB module in the key 200 and a plurality of UWB anchor point modules 50 distributed on the car 100 body carry out ToF ranging to can acquire the current distance of the key 200.

Then, the ToF distances between the UWB anchor modules 50 at the vehicle 100 and the UWB module of the key 200 and the received signal strength information may be sent to the controller 20 of the vehicle 100 for calculating the position of the key 200, so as to obtain the relative position of the key 200. The information obtained by the accelerometer, the ultrasonic module and the vision module of the key 200 can also be used for resolving assistance of the relative position of the key 200. The controller 20 then further determines the functional zone in which the key 200 is located based on the relative position of the key 200 with respect to the vehicle 100.

Referring to fig. 7, in some embodiments, the counting, in each cycle, the number of times that the key 200 is respectively located in different functional areas within a predetermined number of cycles (step S40) includes:

s41, counting the functional area where the key 200 is located once in each period;

and S42, confirming the times that the key 200 is respectively positioned in different functional areas in a preset number of cycles according to the counting result in each cycle.

The calculating module 330 is configured to count the functional area where the key 200 is located once in each period; and the number of times for confirming that the keys 200 are respectively located in different functional areas according to the counted result within a predetermined number of cycles.

The controller 20 is configured to count the functional region in which the key 200 is located once in each cycle; and the number of times for confirming that the key 200 is respectively located in different functional areas within a predetermined number of cycles according to the counted result.

Thus, the number of times that the key 200 is located in different functional areas in the cycle can be recorded by adopting a counting mode, so that the key 200 can be conveniently positioned between different functional areas for comparison, and the judgment of subsequent steps is facilitated.

Specifically, the controller 20 performing step S40 may first take step S41, count the functional areas where the key 200 confirmed in step S21 is located once in each of a predetermined number of cycles, and then count the corresponding number of times the key 200 is confirmed in the predetermined number of cycles.

As will be further appreciated in conjunction with the embodiment of fig. 8, taking the left front door functional block 31 and the left rear door functional block 32 shown in fig. 3 as an example, the controller 20 in the automobile 100 may execute step S40 when the key 200 is located at different positions from the boundary line of the two functional blocks. The number of times that the automobile 100 calculates the predetermined number of cycles may adopt a sliding window counting manner in software logic, taking a sliding window shift register set as an example:

in each period, the sliding window shift register group and the counting accumulator which belong to each functional area in all the functional areas are updated once. When the key 200 is located in a functional area, the sliding window shift register set of the functional area can receive the update information '1', and other functional areas can receive the update information '0'; in the figure, a shaded cell of the sliding window shift register group represents information '1', and a blank cell of the sliding window shift register group represents information '0'; the length of the sliding window shift register set can be regarded as a predetermined number of cycles, and the predetermined number of cycles in the figure is 10; each sliding window shift register group is accompanied with a counting accumulator which is used for calculating the number of '1' in the sliding window shift register group.

When the key 200 is in the left front door functional block 31 and is located in the left front door functional block non-transition zone 312 and at a distance from the transition zone, the key 200 position is indeed considered close to the normal distribution curve in the left front door functional block 31. At this time, the sliding window shift register set in the left front door functional block 31 confirms that the key 200 falls into the left front door functional block 31 9 times within 10 predetermined number of cycles. The sliding window shift register set in the left back door block 32 only confirms that the key 200 falls into the left back door block 321 time within a predetermined number of cycles of 10 times, wherein the number of times the count accumulator accumulates is 1.

The predetermined number of times is selected to be 6 times, and the number of times accumulated by the counting accumulator in the left front door functional block 31 is more than 6 times. Therefore, according to step S50, the left front door functional block 31 can be determined as the target functional area, if the key 200 is located in the non-transition area 312 of the left front door functional block 31, it can be achieved to control the automobile 100 to execute the preset function corresponding to the target functional area, for example, to unlock the left front door; if the key 200 is located in the transition region 311 of the left front door function block 31 or the transition region 321 of the left rear door function block 32, the automobile 100 is controlled to keep the previously executed target function zone preset function unchanged (e.g., the unlocking of the left front door).

In some embodiments, the predetermined number of cycles is the most recent predetermined number of cycles consecutive to the current time of day.

Thus, the predetermined number of cycles is the last predetermined number of cycles consecutive to the current time, ensuring that the confirmation and counting of the functional area in which the key 200 is located is up to date.

Referring to fig. 9, in some embodiments, the control method further includes:

in the case that the number of times the key 200 is located in the same functional zone is less than or equal to the predetermined number of times, the function previously performed by the automobile 100 is maintained as it is S70.

The control module 340 is configured to maintain the previously performed function of the vehicle 100 unchanged if the number of times the key 200 is located in the same functional zone is less than or equal to the predetermined number of times. The controller 20 is configured to maintain the previously performed function of the vehicle 100 unchanged when the keys 200 are located in the same functional zone less than or equal to the predetermined number of times.

In this way, when the number of times that the key 200 is located in the same functional area is less than or equal to the predetermined number of times, the function previously executed by the automobile 100 is kept unchanged, and frequent switching of the execution functional area by the automobile 100 due to the ping-pong effect of the key 200 being located in the boundary line can be reduced.

Specifically, the controller 20 may perform step S70 when the control method goes to step S40 and step S50 is not satisfied, and in the case where the number of times the key 200 is located in the same functional zone is less than or equal to the predetermined number of times, the function previously performed by the automobile 100 is maintained.

The key 200 continues to move in the same direction, and as will be understood from fig. 10, the key 200 is located in the middle of the transition region of the left front door functional block 31, that is, the key 200 is located in the transition region 311 of the left front door functional block, the position probability of the key 200 is located in the transition region 311 near the left front door functional block 31, and the position probability is normally distributed. At this time, the sliding window shift register set in the left front door functional block 31 confirms that the key 200 falls into the left front door functional block 31 7 times within 10 predetermined number of cycles. The sliding window shift register set in the left back door function block 32 confirms that the key 200 has fallen into the left back door function block 32 only 3 times within 10 predetermined cycles.

The predetermined number of times is selected to be 6 times, the number of times accumulated in the counting accumulator in the front left door functional block 31 is greater than 6 times, and the number of times accumulated in the counting accumulator in the rear left door functional block 32 is less than 6 times. But now because the key 200 is positioned within the left front door function block transition 311, the previous function before entering the transition is maintained regardless of whether the count accumulator result is 6 times greater than the predetermined number. If the target function area executed by the automobile 100 is the left front door unlock of the left front door function block 31, the automobile 100 still keeps the left front door unlock state of the left front door function block 31 unchanged.

As can be understood from fig. 11, when the key 200 is located on the transfer boundary between the left front door functional block 31 and the left rear door functional block 32 and the key 200 is located on the transfer boundary, the probability is normally distributed. At this time, the sliding window shift register set in the left front door functional block 31 confirms that the key 200 falls into the left front door functional block 31 5 times within 10 predetermined number periods, so the number of times the count accumulator accumulates is 5 times.

Due to the characteristics of the normal distribution curve, the sliding window shift register set in the left back door function block 32 also confirms that the key 200 falls into the left back door function block 32 5 times within 10 predetermined cycles, so the number of times the count accumulator accumulates is 5 times.

The preset times in the figure is selected as 6 times, the times accumulated by the counting accumulator in the front left door functional block 31 are equal to the times accumulated by the counting accumulator in the rear left door functional block 32 and are both less than 6 times, and the target functional block keeps the previous state; in addition, because the key 200 is located in the transition area, no matter whether the value of the counting accumulators on both sides exceeds the predetermined number, the function area executed by the automobile 100 is the preset function of the target function area before entering the transition area (for example, one of the preset functions of the left front door function block 31 is the unlocking of the left front door); at this time, the automobile 100 may keep the left front door unlocked state of the left front door function block 31 unchanged.

The key 200 continues to move in the same direction, as will be understood with reference to fig. 12, and the probability of the key 200 being in the transition area of the left rear door function block 32, i.e., the key 200 being in the transition area 321 of the left rear door function block, and the key 200 being in the transition area near the left rear door function block 32, is normally distributed. At this time, the sliding window shift register set in the left back door function block 32 confirms that the key 200 falls into the left back door function block 32 7 times within 10 predetermined number periods, so the number of times accumulated by the counting accumulator is 7 times; the sliding window shift register set in the left front gate functional block 31 only confirms that the key 200 falls into the left front gate functional block 31 3 times within a predetermined period of 10 times, so the count accumulator counts up 3 times.

The predetermined number of times is selected to be 6 times, the number of times accumulated by the counting accumulator in the left back door functional block 32 is greater than 6 times, and the number of times accumulated by the counting accumulator in the left front door functional block 31 is less than 6 times. But now because the key 200 is positioned within the left back door function block transition 321, the previous function prior to entering the transition is maintained regardless of whether the count accumulator result is 6 times greater than the predetermined number. If the target function block executed by the automobile 100 is the left front door unlock of the left front door function block 31, the automobile 100 may keep the left front door unlock state of the left front door function block 31.

The key 200 continues to move in the same direction, and as will be understood with reference to fig. 13, the key 200 is located in the left back door functional block 32 and in the left back door functional block non-transition area 322, the key 200 is located close to the left back door functional block 32 in the non-transition area, and the probability is normally distributed. At this time, the sliding window shift register set in the left back door function block 32 confirms that the key 200 falls into the left back door function block 32 for 9 times within 10 predetermined number periods, so the number of times accumulated by the count accumulator is 9 times; the sliding window shift register bank in the left front gate functional block 31 only confirms that the key 200 falls into the left front gate functional block 31 for 1 time within 10 predetermined cycles, and the number of times accumulated by the corresponding count accumulator is 1 time.

The predetermined number is selected to be 6 times, and the number of times the count accumulator accumulates in the left back gate functional block 32 is greater than 6 times. Therefore, according to the step S50, the left back door function block 32 can be identified as the target function area, and the current position of the key 200 is the non-function area 322, so as to control the automobile 100 to execute the preset function corresponding to the new target function area 32. For example, the unlocking of the left rear door.

Thus, a value of the predetermined number of times greater than half the value of the predetermined number of cycles may make it practical for the automobile 100 to confirm the functional region of the key 200.

Specifically, the value of the predetermined number of times should be set to be greater than half of the value of the predetermined number of cycles, i.e., the value of the predetermined number of times is 50% or more of the value of the predetermined number of cycles, and preferably, the value of the predetermined number of times may be 60% or more of the value of the predetermined number of cycles.

Referring to fig. 14, in some embodiments, the control method includes:

and S80, controlling the automobile 100 to stop executing the functions corresponding to the other functional areas under the condition that the automobile 100 executes the preset functions corresponding to the target functional areas.

In this way, the automobile 100 can be prevented from conflicting with functions performed by other function areas when performing the preset function of the target function area.

Specifically, referring to the functional areas of the automobile 100 in fig. 3, when the controller 20 of the automobile 100 executes the control method and confirms that the execution target functional area is the unlock function of the front left door functional block 31, the automobile 100 stops controlling the functions executed by the other functional areas except the target functional area, such as the rear left door functional block 32, the front right door functional block 33, the rear right door functional block 34, the rear left door functional block 35, and the rear right door functional block 36.

The non-transitory computer-readable storage medium storing the computer program according to the embodiment of the present application realizes the control method according to any one of the above embodiments when the computer program is executed by one or more processors. In particular, the processor may perform any of the steps of the control method.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be understood that portions of the embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description of the present specification, reference to the description of "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for an automobile, characterized by comprising:

periodically acquiring a current position of a key relative to the automobile;

controlling the vehicle to remain performing a previous function with the key in the transition zone.

2. The control method according to claim 1, characterized by further comprising:

3. The control method of claim 1, wherein periodically acquiring the current position of the key relative to the vehicle comprises:

and calculating the current position of the key relative to the automobile based on the current distance between the key and a plurality of UWB anchor points on the automobile body.

4. The control method according to claim 2, wherein said counting, at each cycle, the number of times the key is respectively located in different functional zones within a predetermined number of cycles comprises:

counting the functional area where the key is located once in each period;

5. The control method according to claim 2, characterized by further comprising:

and keeping the function previously executed by the automobile unchanged under the condition that the number of times that the key is positioned in the same function area is less than or equal to the preset number of times.

6. The control method according to claim 2, characterized in that the value of the predetermined number of times is greater than half the value of the predetermined number of cycles.

7. The control method according to claim 2, characterized by comprising:

8. A control device for an automobile, characterized by comprising:

a control module for controlling the vehicle to remain performing a previous function unchanged with the key in the transition zone; and controlling the automobile to execute a preset function corresponding to the target function area under the condition that the key is positioned in the non-transition area.

9. An automobile characterized by comprising a memory and a controller for executing a calculation program stored in the memory to realize the control method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by one or more processors, implements the control method of any one of claims 1-7.