CN115685178A - Vehicle door control method and device - Google Patents
Vehicle door control method and device Download PDFInfo
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- CN115685178A CN115685178A CN202110832584.9A CN202110832584A CN115685178A CN 115685178 A CN115685178 A CN 115685178A CN 202110832584 A CN202110832584 A CN 202110832584A CN 115685178 A CN115685178 A CN 115685178A
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Abstract
The invention provides a vehicle door control method and a device, which are applied to the technical field of automobiles, and the method comprises the steps of acquiring Bluetooth positioning information of a target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar under the condition that the target mobile terminal with a preset matching relation with a vehicle is identified, wherein one piece of radar positioning information corresponds to one detection object, then determining a target detection object corresponding to the target mobile terminal according to the Bluetooth positioning information and the radar positioning information of each detection object, taking the target radar positioning information as the target positioning information of the target mobile terminal, and finally controlling a vehicle door of the vehicle according to the target positioning information of the target mobile terminal.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a vehicle door control method and device.
Background
The digital key can change mobile terminal equipment such as a smart phone, a smart watch and a smart bracelet into a car key through communication technologies such as Bluetooth positioning, and is matched with a vehicle-mounted control module on a vehicle to realize functions such as keyless entry and starting, remote key authorization and personalized vehicle setting.
In order to enable the digital key to have the same use experience as the physical key, the accurate positioning of the mobile terminal with the digital key function needs to be ensured. In the prior art, the digital key function realized based on the bluetooth technology is mostly realized based on the bluetooth signal intensity between the mobile terminal and the vehicle, and the mobile terminal is positioned according to the corresponding relation between the position calibrated in advance and the signal intensity.
However, the disadvantage of positioning the mobile terminal based on the bluetooth signal intensity is very obvious, and when the mobile terminal is shielded, the intensity of the bluetooth signal is significantly affected, so that the positioning result is inaccurate, the vehicle door cannot be effectively controlled, and the use experience of a user is affected.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method and an apparatus for controlling a vehicle door, in which radar positioning information is used to replace bluetooth positioning information of a mobile terminal, so as to reduce the dependence on a bluetooth positioning result, improve the accuracy of the mobile terminal positioning result, further improve the accuracy of vehicle door control, and improve the user experience, and the specific scheme is as follows:
in a first aspect, the present invention provides a vehicle door control method, including:
under the condition that a target mobile terminal having a preset matching relationship with a vehicle is identified, acquiring Bluetooth positioning information of the target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar;
wherein one piece of radar positioning information corresponds to one detection object;
determining a target detection object corresponding to the target mobile terminal according to the Bluetooth positioning information and the radar positioning information of each detection object;
taking the radar positioning information of the target detection object as the target positioning information of the target mobile terminal;
and controlling the door of the vehicle according to the target positioning information.
Optionally, the bluetooth positioning information includes an azimuth of the target mobile terminal;
the radar positioning information comprises azimuth angles of corresponding detection objects;
the determining a target detection object corresponding to the target mobile terminal according to the bluetooth positioning information and the radar positioning information of each detection object includes:
respectively calculating the deviation of the azimuth angle of each detection object and the azimuth angle of the target mobile terminal to obtain corresponding azimuth angle deviation;
and taking the detection object with the corresponding azimuth deviation within a preset angle range as a target detection object corresponding to the target mobile terminal.
Optionally, if a plurality of detection objects whose corresponding azimuth angle deviations are within the preset angle range include a plurality of detection objects, the method further includes:
acquiring the moving speed of the target mobile terminal;
and determining a target detection object in a plurality of detection objects with the corresponding azimuth angle deviation within a preset angle range according to the moving speed of the target mobile terminal.
Optionally, the radar positioning information further includes a moving speed of the corresponding detection object;
the determining a target detection object from a plurality of detection objects with corresponding azimuth angle deviation within a preset angle range according to the moving speed of the target mobile terminal includes:
taking the detection object with the corresponding azimuth deviation smaller than the preset angle threshold value as a candidate detection object;
respectively calculating the speed deviation between the moving speed of each candidate detection object and the moving speed of the target mobile terminal to obtain corresponding speed deviation;
and taking the candidate detection object with the corresponding speed deviation within a preset speed range as a target detection object corresponding to the target mobile terminal.
Optionally, the controlling the door of the vehicle according to the target positioning information includes:
determining the moving direction and the distance relative to the vehicle of the target mobile terminal according to the target positioning information;
and controlling the vehicle door according to the moving direction of the target mobile terminal and the distance relative to the vehicle.
Optionally, the controlling the vehicle door according to the moving direction of the target mobile terminal and the distance relative to the vehicle includes:
if the moving direction of the target mobile terminal is close to the vehicle, starting a welcome function or unlocking a vehicle door according to the distance between the target mobile terminal and the vehicle;
and if the moving direction of the target mobile terminal is far away from the vehicle, locking the vehicle door according to the distance of the target mobile terminal relative to the vehicle.
Optionally, the starting a welcome function or unlocking a vehicle door according to the distance between the target mobile terminal and the vehicle includes:
if the distance between the target mobile terminal and the vehicle is smaller than a first distance threshold value, starting a welcome function;
if the distance between the target mobile terminal and the vehicle is smaller than a second distance threshold value, unlocking the vehicle door;
the locking of the vehicle door according to the distance of the target mobile terminal relative to the vehicle comprises the following steps:
if the distance between the target mobile terminal and the vehicle is larger than a third distance threshold value, locking the vehicle door;
wherein the third distance threshold is greater than the first distance threshold, which is greater than the second distance threshold.
In a second aspect, the present invention provides a vehicle door control device including:
the vehicle-mounted radar positioning system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring Bluetooth positioning information of a target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar under the condition that the target mobile terminal with a preset matching relation with a vehicle is identified;
wherein one piece of radar positioning information corresponds to one detection object;
a first determining unit, configured to determine a target detection object corresponding to the target mobile terminal according to the bluetooth positioning information and radar positioning information of each detection object;
a second determining unit, configured to use radar positioning information of the target detection object as target positioning information of the mobile terminal;
and the control unit is used for controlling the vehicle door of the vehicle according to the target positioning information.
Optionally, the bluetooth positioning information includes an azimuth of the target mobile terminal;
the radar positioning information comprises azimuth angles of corresponding detection objects;
the first determining unit is configured to determine, according to the bluetooth positioning information and the radar positioning information of each detection object, a target detection object corresponding to the target mobile terminal, and specifically includes:
respectively calculating the deviation of the azimuth angle of each detection object and the azimuth angle of the target mobile terminal to obtain corresponding azimuth angle deviation;
and taking the detection object with the corresponding azimuth angle deviation within the preset angle range as a target detection object corresponding to the target mobile terminal.
Optionally, if a plurality of detection objects whose corresponding azimuth angle deviations are within the preset angle range are included, the apparatus further includes:
a second obtaining unit, configured to obtain a moving speed of the target mobile terminal;
and the third determining unit is used for determining a target detection object in a plurality of detection objects of which the corresponding azimuth angle deviation is within a preset angle range according to the moving speed of the target mobile terminal.
According to the vehicle door control method provided by the invention, after the target mobile terminal is identified, the Bluetooth positioning information of the mobile terminal and the radar positioning information of the plurality of detection objects fed back by the radar are simultaneously obtained, after the target detection object corresponding to the target mobile terminal is determined, the radar positioning information of the target detection object is used as the target positioning information of the target mobile terminal, and as compared with the Bluetooth signal, the radar signal propagation is not easily influenced by shielding, and the corresponding radar positioning information is more accurate, the target mobile terminal is more accurately positioned, the Bluetooth positioning information of the mobile terminal is replaced by the radar positioning information, the dependence on the Bluetooth positioning result is reduced, the accuracy of the positioning result of the mobile terminal is improved, the accuracy of vehicle door control is further improved, and the use experience of a user is improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions in the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of a prior art vehicle locating system;
FIG. 2 is a flow chart of a method for controlling a vehicle door according to an embodiment of the present invention;
fig. 3 is a block diagram of a vehicle door control device according to an embodiment of the present invention;
fig. 4 is a block diagram of another vehicle door control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, most vehicles in the prior art are provided with a vehicle body controller, a vehicle-mounted radar, and a vehicle-mounted bluetooth module, and when the digital key function is implemented, the vehicle-mounted bluetooth module needs to be matched with a mobile terminal supporting a bluetooth function supported by a user, such as a smart phone and a bracelet. According to the arrangement of the vehicle-mounted radar in practical application, the radar can be arranged at the left front part, the right front part, the left rear part, the right rear part and the door position of a vehicle, and detection information of a plurality of detection objects in the detection direction of the radar, such as angle information, speed information and distance of the detection objects, can be acquired through the vehicle-mounted radar. When the digital key function is realized, the mobile terminal needs to establish a matching relationship with the vehicle in advance, and in practical application, the corresponding target mobile terminal is identified and confirmed through the Bluetooth signal based on the pre-established matching relationship.
Furthermore, according to the working principle of the vehicle-mounted radar, particularly the vehicle-mounted millimeter wave radar widely used by vehicles at present, the radar information fed back by the vehicle-mounted radar in the process of detecting objects can realize a target detection effect with higher precision, and is not easily influenced by the external environment, and compared with the Bluetooth signals, the transmission process of the radar signals is more stable and reliable.
Based on the above, the embodiment of the present invention provides a vehicle door control method, which may be applied to a vehicle body controller of a vehicle, or may be applied to other controllers which can obtain corresponding parameters and have data processing capability on the vehicle, and obviously, in some cases, the method may also be implemented by using a server on a network side; referring to fig. 2, a flowchart of a vehicle door control method according to an embodiment of the present invention may include:
s100, under the condition that a target mobile terminal with a preset matching relation with a vehicle is identified, obtaining Bluetooth positioning information of the target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar.
Wherein, one radar positioning information corresponds to one detection object; the Bluetooth positioning information comprises an azimuth angle of the target mobile terminal; the radar positioning information includes azimuth angles of the respective probe objects.
When the target mobile terminal is close to or far away from the vehicle searchable area, the vehicle-mounted Bluetooth module can obtain an azimuth angle of the target mobile terminal according to the obtained Bluetooth positioning information, and the vehicle-mounted Bluetooth module can calculate the speed of the target mobile terminal through a sensor signal inside the target mobile terminal.
It should be noted that, the acquisition of the bluetooth positioning information of the target mobile terminal is realized based on the prior art, and the distance between the target mobile terminal and the vehicle can be determined according to the corresponding relationship between the distance calibrated in advance and the bluetooth signal strength.
Based on the basic function of the vehicle-mounted radar, the vehicle body controller can detect the surrounding environment of the vehicle through the vehicle-mounted radar and acquire radar positioning information corresponding to each detection object in the surrounding environment of the vehicle.
Optionally, when the vehicle body controller obtains the azimuth of the detection object through the vehicle-mounted radar, if the vehicle-mounted radar is in a dormant condition, the vehicle body controller is required to wake up the vehicle-mounted radar, and after the vehicle-mounted radar is wakened up, the vehicle-mounted radar is controlled to transmit radar waves, so that radar positioning information corresponding to different detection objects is obtained.
And S110, determining a target detection object corresponding to the target mobile terminal according to the Bluetooth positioning information and the radar positioning information of each detection object.
As described above, in the case where the vehicle-mounted radar can acquire the radar positioning information of a plurality of detection objects in the process of acquiring the radar positioning information of the detection object, it is not possible to determine which detection object is the target mobile terminal, and therefore it is necessary to select among the plurality of detection objects and to set the detection object corresponding to the target mobile terminal as the target detection object.
Optionally, based on the foregoing, it can be seen that the vehicle body controller may obtain the bluetooth positioning information and the radar positioning information of the target mobile terminal at the same time, and for the same target mobile terminal, the bluetooth positioning information and the radar positioning information obtained by the vehicle body controller should be similar or even identical, so that, based on a deviation between the bluetooth positioning information and the radar positioning information, a detection object, i.e., a target detection object, corresponding to the target mobile terminal may be screened and determined among a plurality of detection objects. Specifically, firstly, the deviation between the azimuth angle of each detection object and the azimuth angle of the target mobile terminal is calculated respectively to obtain the corresponding azimuth angle deviation, and then the detection object with the corresponding azimuth angle deviation within the preset angle range is used as the target detection object corresponding to the target mobile terminal.
If a plurality of detection objects whose difference between the azimuth of the target mobile terminal and the azimuth of the detection object is within the preset azimuth deviation range are obtained through calculation, the vehicle body controller needs to acquire the moving speed of the detection object through the vehicle-mounted radar and determine the target detection object through the difference between the moving speeds of the target mobile terminal and the detection object, and the method specifically includes the following steps: the method comprises the steps that firstly, a vehicle body controller takes a detection object of which the deviation between the azimuth angle of a target mobile terminal and the azimuth angle of the detection object is smaller than a preset deviation angle threshold value as a candidate detection object, then, the vehicle body controller respectively calculates the speed difference value between the moving speed of each candidate detection object and the moving speed of the target mobile terminal to obtain corresponding speed deviation, the corresponding speed deviation is compared with a preset speed range to obtain a candidate detection object in the preset speed range, and the candidate detection object in the preset speed range is taken as a target detection object corresponding to the target mobile terminal.
It should be noted that, if the deviation between the azimuth angle of each detection object and the azimuth angle of the target mobile terminal is not within the preset angle range, the target detection object corresponding to the target mobile terminal may also be determined by whether the speed deviation between the detection object and the target mobile terminal is within the preset speed range, and the specific determination process may refer to the above contents, which is not described herein again.
Further, if there are a plurality of candidate detection objects whose corresponding speed deviations are within the preset speed range, a target detection object corresponding to the target mobile terminal may be determined in the plurality of candidate detection objects whose corresponding speed deviations are within the preset speed range according to a preset screening rule. Specifically, within a preset time length, the azimuth angle deviation and the speed deviation between the target mobile terminal and each candidate detection object are calculated according to a preset period, the corresponding azimuth angle deviation is compared with a preset angle range, meanwhile, the speed deviation is compared with a preset speed range, the total times that each candidate detection object can be used as the target detection object are counted, and after the preset time length is ended, the candidate detection object, the total times of which can be used as the target detection object and are judged to be larger than a preset time threshold value, is used as the target detection object corresponding to the target mobile terminal.
The preset time threshold value can be set based on specific control precision and detection precision of the vehicle-mounted radar, and specific values of the preset time threshold value are not limited.
And S120, taking the radar positioning information of the target detection object as the target positioning information of the target mobile terminal.
After the target detection object corresponding to the target mobile terminal is determined, the radar positioning information of the target detection object can be used as the target positioning information of the target mobile terminal, and subsequent specific control processes are not carried out by means of Bluetooth signals.
And S130, controlling the door of the vehicle according to the target positioning information.
In combination with practical applications, the driver may be approaching the vehicle or leaving the vehicle, and the control processes of the vehicle door in these two cases are naturally different, so in the step, it is first necessary to determine the moving direction and the distance relative to the vehicle of the target mobile terminal according to the obtained target positioning information, and then control the vehicle door according to the moving direction and the distance relative to the vehicle of the target mobile terminal.
Specifically, if the current vehicle state is the locked state, the vehicle body controller does not perform any control when detecting that the moving direction of the target mobile terminal is away from the vehicle, and if the vehicle body controller detects that the moving direction of the target mobile terminal is close to the vehicle, the vehicle body controller starts the welcome function (lighting a corresponding side welcome lamp and the like) or unlocks the vehicle door according to the distance between the target mobile terminal and the vehicle: if the vehicle body controller detects that the distance between the target mobile terminal and the vehicle is smaller than a first distance threshold value, starting a welcome function; and if the vehicle body controller detects that the distance between the target mobile terminal and the vehicle is smaller than a second distance threshold value, unlocking the vehicle door.
On the contrary, if the current vehicle state is the unlocked state, the vehicle body controller does not perform any control when detecting that the moving direction of the target mobile terminal is close to the vehicle, and if the vehicle body controller detects that the moving direction of the target mobile terminal is far away from the vehicle, the vehicle door is locked according to the distance of the target mobile terminal relative to the vehicle. The method specifically comprises the following steps: and if the vehicle body controller detects that the distance of the target mobile terminal relative to the vehicle is greater than a third distance threshold value, locking the vehicle door.
The third distance threshold is greater than the first distance threshold, the first distance threshold is greater than the second distance threshold, and the specific threshold value can be determined by a vehicle manufacturer according to actual requirements.
According to the vehicle door control method provided by the invention, after the target mobile terminal is identified, the Bluetooth positioning information of the mobile terminal and the radar positioning information of the plurality of detection objects fed back by the radar are simultaneously obtained, after the target detection object corresponding to the target mobile terminal is determined, the radar positioning information of the target detection object is used as the target positioning information of the target mobile terminal, and as compared with the Bluetooth signal, the radar signal propagation is not easily influenced by shielding, and the corresponding radar positioning information is more accurate, the target mobile terminal is more accurately positioned, the Bluetooth positioning information of the mobile terminal is replaced by the radar positioning information, the dependence on the Bluetooth positioning result is reduced, the accuracy of the positioning result of the mobile terminal is improved, the accuracy of vehicle door control is further improved, and the use experience of a user is improved.
The following describes a vehicle door control device provided in an embodiment of the present invention, where the vehicle door control device described below may be regarded as a functional module architecture that needs to be provided in a central device to implement the vehicle door control method provided in the embodiment of the present invention; the following description may be cross-referenced with the above.
Referring to fig. 3, fig. 3 is a vehicle door control device according to an embodiment of the present invention, which includes:
the first acquisition unit 10 is used for acquiring Bluetooth positioning information of a target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar when the target mobile terminal having a preset matching relationship with a vehicle is identified; wherein one piece of radar positioning information corresponds to one detection object.
And a first determining unit 20, configured to determine a target detection object corresponding to the target mobile terminal according to the bluetooth positioning information and the radar positioning information of each detection object.
And a second determining unit 30 for using the radar positioning information of the target detection object as the target positioning information of the mobile terminal.
And a control unit 40 for controlling the door of the vehicle according to the target positioning information.
Optionally, the bluetooth positioning information includes an azimuth of the target mobile terminal;
the radar positioning information includes azimuth angles of the respective probe objects;
the first determining unit 20 is configured to determine a target detection object corresponding to the target mobile terminal according to the bluetooth positioning information and the radar positioning information of each detection object, and specifically includes:
respectively calculating the deviation of the azimuth angle of each detection object and the azimuth angle of the target mobile terminal to obtain corresponding azimuth angle deviation;
and taking the detection object with the corresponding azimuth angle deviation within the preset angle range as a target detection object corresponding to the target mobile terminal.
Optionally, the control unit 40 is configured to control a door of the vehicle according to the target location information, and specifically includes:
determining the moving direction and the distance relative to the vehicle of the target mobile terminal according to the target positioning information;
and controlling the vehicle door according to the moving direction of the target mobile terminal and the distance relative to the vehicle.
Optionally, the controlling unit 40 controls the vehicle door according to the moving direction of the target mobile terminal and the distance relative to the vehicle, and specifically includes: if the moving direction of the target mobile terminal is close to the vehicle, starting a welcome function or unlocking a vehicle door according to the distance between the target mobile terminal and the vehicle;
and if the moving direction of the target mobile terminal is far away from the vehicle, locking the vehicle door according to the distance of the target mobile terminal relative to the vehicle.
Optionally, the control unit 40 starts the welcome function or unlocks the vehicle door according to the distance between the target mobile terminal and the vehicle, and specifically includes:
if the distance between the target mobile terminal and the vehicle is smaller than a first distance threshold value, starting a welcome function;
if the distance between the target mobile terminal and the vehicle is smaller than a second distance threshold value, unlocking the vehicle door;
locking a vehicle door according to a distance of a target mobile terminal relative to a vehicle, comprising:
if the distance between the target mobile terminal and the vehicle is larger than a third distance threshold value, locking the vehicle door;
wherein the third distance threshold is greater than the first distance threshold, which is greater than the second distance threshold.
Optionally, referring to fig. 4, fig. 4 is another vehicle door control device provided in the embodiment of the present invention, on the basis of the embodiment shown in fig. 3, the device further includes:
a second obtaining unit 50 for obtaining a moving speed of the target mobile terminal;
a third determining unit 60, configured to determine a target detection object among a plurality of detection objects whose corresponding azimuth deviation is within a preset angle range according to the moving speed of the target mobile terminal.
Optionally, if a plurality of detection objects whose corresponding azimuth angle deviations are within the preset angle range are included, the second obtaining unit 50 is configured to obtain a moving speed of the target mobile terminal; and determining a target detection object in a plurality of detection objects with corresponding azimuth angle deviation within a preset angle range according to the moving speed of the target mobile terminal.
Optionally, the radar positioning information further includes a moving speed of a corresponding detected object, and the third determining unit 60 determines, according to the moving speed of the target mobile terminal, a target detected object among a plurality of detected objects whose corresponding azimuth deviations are within a preset angle range, including:
taking the detection object with the corresponding azimuth deviation smaller than a preset angle threshold value as a candidate detection object;
respectively calculating the speed deviation of the moving speed of each candidate detection object and the moving speed of the target mobile terminal to obtain corresponding speed deviation;
and taking the candidate detection object with the corresponding speed deviation within the preset speed range as a target detection object corresponding to the target mobile terminal.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle door control method, characterized by comprising:
under the condition that a target mobile terminal having a preset matching relationship with a vehicle is identified, acquiring Bluetooth positioning information of the target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar;
wherein one piece of radar positioning information corresponds to one detection object;
determining a target detection object corresponding to the target mobile terminal according to the Bluetooth positioning information and the radar positioning information of each detection object;
taking the radar positioning information of the target detection object as the target positioning information of the target mobile terminal;
and controlling the door of the vehicle according to the target positioning information.
2. The door control method of claim 1, wherein the bluetooth positioning information includes an azimuth angle of the target mobile terminal;
the radar positioning information comprises azimuth angles of corresponding detection objects;
the determining a target detection object corresponding to the target mobile terminal according to the bluetooth positioning information and the radar positioning information of each detection object includes:
respectively calculating the deviation between the azimuth angle of each detected object and the azimuth angle of the target mobile terminal to obtain corresponding azimuth angle deviation;
and taking the detection object with the corresponding azimuth angle deviation within the preset angle range as a target detection object corresponding to the target mobile terminal.
3. The vehicle door control method according to claim 2, wherein if a plurality of detection objects whose respective azimuth angle deviations are within a preset angle range are included, the method further comprises:
acquiring the moving speed of the target mobile terminal;
and determining a target detection object in a plurality of detection objects with corresponding azimuth angle deviation within a preset angle range according to the moving speed of the target mobile terminal.
4. The vehicle door control method according to claim 3, wherein the radar positioning information further includes a moving speed of the corresponding detection object;
the determining a target detection object from a plurality of detection objects with corresponding azimuth angle deviation within a preset angle range according to the moving speed of the target mobile terminal includes:
taking the detection object with the corresponding azimuth deviation smaller than the preset angle threshold value as a candidate detection object;
respectively calculating the speed deviation between the moving speed of each candidate detection object and the moving speed of the target mobile terminal to obtain corresponding speed deviation;
and taking the candidate detection object with the corresponding speed deviation within the preset speed range as a target detection object corresponding to the target mobile terminal.
5. The vehicle door control method according to claim 1, wherein the controlling of the vehicle door according to the target positioning information includes:
determining the moving direction and the distance relative to the vehicle of the target mobile terminal according to the target positioning information;
and controlling the vehicle door according to the moving direction of the target mobile terminal and the distance relative to the vehicle.
6. The vehicle door control method according to claim 5, wherein the controlling of the vehicle door according to the moving direction of the target mobile terminal and the distance with respect to the vehicle includes:
if the moving direction of the target mobile terminal is close to the vehicle, starting a welcome function or unlocking a vehicle door according to the distance between the target mobile terminal and the vehicle;
and if the moving direction of the target mobile terminal is far away from the vehicle, locking the vehicle door according to the distance of the target mobile terminal relative to the vehicle.
7. The vehicle door control method according to claim 6, wherein the starting of the welcome function or the unlocking of the vehicle door according to the distance of the target mobile terminal relative to the vehicle comprises:
if the distance between the target mobile terminal and the vehicle is smaller than a first distance threshold value, starting a welcome function;
if the distance between the target mobile terminal and the vehicle is smaller than a second distance threshold value, unlocking the vehicle door;
the locking of the vehicle door according to the distance of the target mobile terminal relative to the vehicle comprises the following steps:
if the distance between the target mobile terminal and the vehicle is larger than a third distance threshold value, locking the vehicle door;
wherein the third distance threshold is greater than the first distance threshold, which is greater than the second distance threshold.
8. A vehicle door control device, characterized by comprising:
the vehicle-mounted radar positioning system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring Bluetooth positioning information of a target mobile terminal and a plurality of radar positioning information fed back by a vehicle-mounted radar under the condition that the target mobile terminal with a preset matching relation with a vehicle is identified;
wherein one piece of radar positioning information corresponds to one detection object;
a first determining unit, configured to determine a target detection object corresponding to the target mobile terminal according to the bluetooth positioning information and the radar positioning information of each detection object;
a second determination unit configured to use radar positioning information of the target detection object as target positioning information of the mobile terminal;
and the control unit is used for controlling the vehicle door of the vehicle according to the target positioning information.
9. The door control apparatus of claim 8, wherein the bluetooth positioning information includes an azimuth angle of the target mobile terminal;
the radar positioning information comprises azimuth angles of corresponding detection objects;
the first determining unit is configured to determine, according to the bluetooth positioning information and the radar positioning information of each detection object, a target detection object corresponding to the target mobile terminal, and specifically includes:
respectively calculating the deviation of the azimuth angle of each detection object and the azimuth angle of the target mobile terminal to obtain corresponding azimuth angle deviation;
and taking the detection object with the corresponding azimuth deviation within a preset angle range as a target detection object corresponding to the target mobile terminal.
10. The door control apparatus according to claim 9, wherein if a plurality of detection objects whose respective azimuth angle deviations are within a preset angle range are included, the apparatus further comprises:
a second obtaining unit, configured to obtain a moving speed of the target mobile terminal;
and the third determining unit is used for determining a target detection object in a plurality of detection objects of which the corresponding azimuth angle deviation is within a preset angle range according to the moving speed of the target mobile terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110832584.9A CN115685178A (en) | 2021-07-22 | 2021-07-22 | Vehicle door control method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110832584.9A CN115685178A (en) | 2021-07-22 | 2021-07-22 | Vehicle door control method and device |
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| CN115685178A true CN115685178A (en) | 2023-02-03 |
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| CN202110832584.9A Pending CN115685178A (en) | 2021-07-22 | 2021-07-22 | Vehicle door control method and device |
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| CN (1) | CN115685178A (en) |
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2021
- 2021-07-22 CN CN202110832584.9A patent/CN115685178A/en active Pending
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