CN116198450A

CN116198450A - Control method, control device, automobile and storage medium

Info

Publication number: CN116198450A
Application number: CN202211102206.6A
Authority: CN
Inventors: 陈国安
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: 2023-06-02

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, and caching the position of the key in the latest preset number of periods; calculating the radial speed of the key relative to the boundary line of the function area to be crossed on the basis of the current and past positions and the period value of the key; and according to the radial speed adjustment frequency threshold and the width of the transition zone, the frequency threshold and the width of the transition zone are in a reverse adjustment relation with the radial speed. The functional area is an area which is divided at the periphery of the automobile and is preset with specific functions, the functional area comprises a transition area and a non-transition area, and the transition area is a strip-shaped area in a certain range at the boundary line side. When the key is located in the transition zone, the automobile keeps the previously performed function unchanged; if the key is positioned in the non-transition area and the number of times that the key is positioned in the same functional area in a preset number of periods is greater than a number threshold, controlling the automobile to execute the preset function of the functional area.

Description

Control method, control device, automobile and storage medium

Technical Field

The present disclosure 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 car key enters a functional area divided around a car, the car performs a corresponding function. However, when the car key is located near the boundary line of the two functional areas, the key position outputted by the car positioning system may randomly jump on both sides of the boundary line due to the existence of random positioning errors, instability of human body movement, and other factors. If the preset actions of the corresponding functional areas are directly executed according to the output result of the positioning system, when a key stays or moves in a certain range near the boundary of the automobile functional areas, the preset functions (actions) of the two adjacent functional areas are frequently switched; in addition, the time for the system to recognize and respond when the user enters/leaves the functional area is designed to enter/leave the functional area at normal speed by the user (key); when a user carries a key to enter/leave a functional area quickly, a response hysteresis of the functional area is easily caused. Therefore, how to improve the timeliness of the system response of the key at different moving speeds is a problem to be solved.

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 the current position of a key relative to the automobile, and caching the position of the key in the latest preset number of periods;

calculating the radial speed of the key relative to a boundary line of a to-be-crossed functional area based on the current and past positions and the period value of the key, wherein the functional area is an area with a preset specific function and is divided at the periphery of the automobile, the functional area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a banded area adjacent to the boundary line side of the functional area in a certain range; when the key is located in the transition zone, the vehicle remains unchanged from the previously performed function;

adjusting a frequency threshold and the width of the transition zone according to the radial speed, wherein the frequency threshold and the width of the transition zone are in a reverse adjustment relation with the radial speed; the number threshold is used for comparing the number of times that the key is positioned in the same functional area in a preset number of periods so as to judge whether the key is stably positioned in the functional area; if the key is located in the non-transition area and the number of times that the key is located in the same functional area in a preset number of periods is greater than a threshold value, the automobile is controlled to execute the preset function of the functional area according to the result.

In certain embodiments, the control method further comprises:

in each period, calculating the times of the key being respectively positioned in each functional area in a preset number of periods;

in each period, taking a functional area with the number of times of the key in the same functional area being larger than a frequency threshold value as a target functional area;

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

In certain embodiments, the control method comprises:

the vehicle is controlled to remain unchanged from the previous function with the key in the transition zone.

In some embodiments, the periodically obtaining the current position of the key relative to the vehicle 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;

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

In some embodiments, the calculating the number of times the key is located in each functional area in a predetermined number of periods includes:

In each period, adding one to the function area count of the key;

and in each period, confirming the times of the key in each functional area in a preset number of periods according to the counting result.

In some embodiments, the vehicle maintains the current function unchanged if the number of times the key is located in the same function area is less than or equal to the number threshold.

In some embodiments, the number of times threshold is greater than half the number of 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 functional area, controlling the automobile to stop executing the functions corresponding to other functional areas.

The control device according to the embodiment of the present application includes:

the acquisition module is used for periodically acquiring the current position of the key relative to the automobile and caching the position of the key in the latest preset number of periods;

the calculation module is used for calculating the radial speed of the key relative to a boundary line of a functional area to be crossed based on the position and the period value, the functional area is an area with a preset specific function and is divided at the periphery of the automobile, the functional area comprises a transition area and a non-transition area connected with the transition area, and the transition area is a banded area adjacent to the boundary line side of the functional area in a certain range;

The adjusting module is used for adjusting the frequency threshold and the width of the transition zone according to the radial speed; wherein the frequency threshold and the width of the transition zone are in a reverse regulation relationship with the radial velocity;

the judging module is used for comparing the frequency threshold value with the frequency of the key in the same functional area in a preset number period, and judging that the functional area is the current target functional area when the frequency of the key in the same functional area in the preset number period is larger than the frequency threshold value; in addition, judging whether the key is in a non-transition zone of the current target functional zone according to the current key position coordinates;

and the control module is used for controlling the automobile to execute corresponding functions according to the judgment result of the current target functional area of the key and the judgment result of the non-transition area of the current target functional area or not, which are output by the judgment module. When the number of times that the key is positioned in the same functional area in a preset number of periods is greater than a number threshold, and the current position of the key is positioned in a non-transition area of the functional area, controlling the automobile to execute the preset function of the current functional area; otherwise the car remains unchanged from the previous function.

The automobile of the embodiment of the application comprises a memory and a controller, wherein the controller is used for executing a computing program stored in the memory so as to realize the control method of any embodiment.

According to the control method, the control device and the automobile, when the control device is used for realizing the control method that the key is located near the boundary line of different functional areas of the automobile, the number of times threshold value and the width of the transition area are adjusted according to the reverse adjustment relation of the radial speed of the key relative to the functional areas, so that the accuracy is ensured, and the response speed of the key in the corresponding functional areas is better improved under the condition that the key moves fast relative to the functional areas.

The non-transitory computer readable storage medium storing a computer program according to an 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.

Additional aspects and advantages of the 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 application.

Drawings

The foregoing 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, in which:

FIG. 1 is a flow chart of a control method of an embodiment of the present application;

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

FIG. 3 is a functional zone division schematic of an automobile according to an embodiment of the present application;

FIG. 4 is a schematic view of the movement speed of a key according to an embodiment of the present application to a functional zone boundary line;

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

FIG. 6 is a flow chart of a control method of an embodiment of the present application;

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

FIG. 8 is a schematic illustration of a signal connection location process for an automobile and key according to an embodiment of the present application;

FIG. 9 is a flow chart of a control method of an embodiment of the present application;

FIG. 10 is a schematic diagram of a first example of a control method of an embodiment of the present application employing a sliding window shift register bank and a count accumulator for counting;

FIG. 11 is a schematic diagram of a second example of a control method of an embodiment of the present application employing a sliding window shift register bank and a count accumulator for counting;

FIG. 12 is a schematic diagram of a third example of a control method of an embodiment of the present application employing a sliding window shift register bank and a count accumulator for counting;

FIG. 13 is a flow chart of a control method of an embodiment of the present application;

Fig. 14 is a schematic diagram of a fourth example of a control method of the embodiment of the present application employing a sliding window shift register set and a count accumulator for counting;

fig. 15 is a schematic diagram of a fifth example of a control method of the embodiment of the present application, which employs a sliding window shift register set and a count accumulator for counting;

fig. 16 is a schematic diagram of a sixth example of a control method of the embodiment of the present application that employs a sliding window shift register set and a count accumulator for counting;

fig. 17 is a schematic diagram of a seventh example of a control method of the embodiment of the present application that employs a sliding window shift register set and a count accumulator for counting;

fig. 18 is a flow chart of a control method according to an embodiment of the present application.

Description of main reference numerals:

an automobile 100;

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

A key 200;

the device comprises a control device 300, an acquisition module 310, a calculation module 320, an adjustment module 330, a judgment module 340 and a control module 350.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary 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 should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, 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, the control method in the embodiment of the present application includes:

s10, periodically acquiring the current position of the key 200 relative to the automobile 100, and caching the position of the key 200 in the latest preset number of periods;

s20, calculating the radial speed of the key 200 relative to the boundary line of the function area to be crossed based on the current and past positions and the period value of the key 200; determining the functional area in which the key 200 is currently located; the functional area is an area which is divided at the periphery of the automobile 100 and is preset with a specific function, the functional area comprises a transition area and a non-transition area, wherein the transition area is a strip-shaped area in a certain range of the boundary line side of the adjacent functional area; when the key 200 is located in the transition zone, the automobile 100 remains unchanged from the previously performed function.

And S30, adjusting the frequency threshold and the width of the transition zone according to the radial speed, wherein the frequency threshold and the width of the transition zone are in a reverse adjustment relation with the radial speed. The number threshold is used for comparing the number of times that the key 200 is located in the same functional area in the predetermined number of periods, and when the number of times that the key 200 is located in the same functional area in the predetermined number of periods is greater than the number threshold, the functional area is set as a target functional area, and the preset function of the target functional area is used as a function that the automobile 100 may execute in the current period (the execution condition is that the key 200 is located in a non-transition area of the target functional area);

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

an acquisition module 310, configured to periodically acquire a current position of the key 200 relative to the automobile 100, and cache a position of the key 200 within a last predetermined number of cycles;

the calculating module 320 is configured to calculate, based on the current and past positions of the key 200 and the period value, a radial velocity of the key 200 relative to a boundary line of a function area to be crossed, where the function area includes a transition area and a non-transition area connected to the transition area, and the transition area is a band-shaped area within a certain range on a boundary line side of the function area;

an adjustment module 330, configured to adjust the frequency threshold and the width of the transition zone according to the radial velocity; wherein, the frequency threshold value and the width of the transition zone are in a reverse regulation relation with the radial speed;

The decision module 340 is configured to compare the number of times threshold with the number of times the key 200 is located in the same functional area in a predetermined number of cycles, and decide that the functional area is the current target functional area when the number of times the key 200 is located in the same functional area in the predetermined number of cycles is greater than the number of times threshold; in addition, whether the key 200 is in a non-transition zone of the current target functional zone is judged according to the position coordinates of the current key 200.

The control module 350 is configured to control the automobile 100 to execute a corresponding function according to the determination result of the current target functional area of the key 200 and the determination result of whether the key is in the non-transition area of the current target functional area, which are output by the determination module 340. When the number of times that the key 200 is located in the same function area within the predetermined number of periods is greater than the number threshold (at this time, the function area becomes the current target function area), and the current position of the key 200 is located in the non-transition area of the function area, the automobile 100 is controlled to execute the preset function of the current function area (also the current target function area); otherwise the car 100 remains unchanged from the previous function.

The automobile 100 of the embodiment of the present application includes a memory 10 and a controller 20, and the controller 20 is configured to execute a computer program stored in the memory 10 to implement the control method of the embodiment described above. Or the controller 20 is configured to periodically obtain the current position of the key 200 relative to the vehicle 100, and to buffer the position of the key 200 within a predetermined number of recent periods; the radial speed of the key 200 relative to a boundary line of a function area to be crossed is calculated based on the current and past positions and period values of the key 200, the function area is an area which is divided around 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 banded area in a certain range on the boundary line side of the adjacent function area; when the key 200 is located in the transition zone, the automobile 100 remains unchanged from the previously performed function.

And the frequency threshold value and the width of the transition zone are adjusted according to the radial speed, and the frequency threshold value and the width of the transition zone are in a reverse adjustment relation with the radial speed. The number threshold is used for comparing the number of times that the key 200 is located in the same functional area in the predetermined number of periods, and when the number of times that the key 200 is located in the same functional area in the predetermined number of periods is greater than the number threshold, the functional area is set as a target functional area, and the preset function of the target functional area is used as a function that the automobile 100 may execute in the current period (the execution condition is that the key 200 is located in a non-transition area of the target functional area);

according to the method and the device, the frequency threshold value and the width of the transition zone are adjusted according to the radial speed, and the frequency threshold value and the width of the transition zone are in reverse adjustment relation with the radial speed. The frequency threshold is used for comparing the frequency of the key 200 in the same functional area in a preset number of cycles to judge whether the key 200 is stably in the transition area, and executing the preset functional control of the automobile 100 according to the result;

in the control method, the control device 300, and the automobile 100 according to the embodiment of the present application, the control method is implemented via the control device 300. When the key 200 is located near the boundary line of different functional areas of the automobile 100, the number of times threshold value and the width of the transition area are adjusted according to the inverse adjustment relation of the radial speed of the key 200 relative to the functional areas, so that the response speed of the key 200 in the corresponding functional areas is improved under the condition of fast movement relative to the functional areas while the accuracy is ensured.

Specifically, the automobile 100 may be a new energy automobile, a fuel automobile, a hybrid automobile, or the like. The key 200 of the car 100 may be a device used to enter the car 100, lock the car 100, or perform some function on the car 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, or the like. The automobile 100 may include a controller 20 and a memory 10, the controller 20 may be used to collect information of positioning sensors such as UWB/BLE distributed on the automobile body and calculate the position of the key 200, and the automobile 100 may implement a control method through the controller 20 and the memory 10.

In the control method, the implementation of the control method may first take step S10, and the controller 20 may periodically acquire the position of the key 200 relative to the car 100 and the current position, and buffer the position of the key 200 in the last predetermined number of periods; the obtaining manner may adopt a positioning technology such as a positioning resolving system of the automobile 100 on the key 200, for example, the positioning resolving system may include positioning of the distance information between the automobile end and the UWB ToF (Time of Flight) of the key 200 acquired by a plurality of UWB anchors, positioning of the key 200 by the RSSI received signal strength information of the key 200 acquired by a plurality of BLE anchors, visual auxiliary positioning of the automobile end, and accelerometer auxiliary relative positioning of the key 200 end; the coordinates (positions) of the key 200 relative to the coordinate system of the body of the car 100 can be obtained by positioning the car 100 on the key 200, so that the current position between the car 100 and the key 200 can be obtained.

Step S20 may be further performed to calculate the radial velocity of the key 200 with respect to the boundary line of the function area to be crossed based on the current and past positions and the period values obtained in step S10. The calculation method may be to calculate the speed of the key 200 relative to the functional area according to the change (displacement) of the position of the key 200 and the time of the displacement by using the current position of the key 200 and the buffered past position, the time period value, and the cycle number for calculating the average speed of the key 200, and then calculate the radial speed from the included angle between the speed of the key 200 and the boundary line of the functional area.

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, and the distance range outside the outer contour line of the automobile 100 may be divided into the main functional area 30, and the specific value of the distance range may be about 0 m to about 2 m outside the contour line. The distance range outside the main functional area 30 of the automobile 100 may be divided into the sub-functional areas 40, and the specific value of the distance range may be about 2 meters to 30 meters outside the contour line, and a plurality of distance segments may be subdivided within the distance range.

The main functional area 30 may be divided into a plurality of functional blocks according to different locations near the automobile 100, for example, the main functional area 30 of the automobile 100 is divided into 6 functional blocks in the figure, including a left front door functional block 31, a left rear door functional block 32, a right front door functional block 33, a right rear door functional block 34, a left tail door functional block 35, and a right tail door functional block 36. When the key 200 is located in each functional block, the automobile 100 can achieve unlocking of the door of the corresponding functional block, for example, unlocking of the front left door, unlocking of the rear left door, or the like. When the key 200 leaves each functional block, the automobile 100 can realize the falling lock of each functional block corresponding to the door, for example, the lock of the left front door, the lock of the left rear door, and the like. Of course, the specific functions of each functional block also comprise state control of other components such as a car lamp, a seat and the like. The functional blocks may be further divided into a transition region, which is a band-shaped region abutting against the boundary line of adjacent functional blocks and extending in a direction away from the boundary line, and a non-transition region, which may be a region abutting against the transition region and constituting the functional blocks together with the transition region.

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

For example, when the key 200 is located in the non-transition zone of each functional block, if the number of times the key 200 is located in a certain functional zone is greater than the number threshold value within a predetermined number of cycles, the automobile 100 may perform a functional action (such as unlocking of a corresponding door), such as unlocking of a front left door, unlocking of a rear left door, or the like, corresponding to the functional zone. When the key 200 leaves a certain function block and enters a non-transition zone of an adjacent function block, if the number of times the key 200 is located in the adjacent function block is greater than the number threshold value within a predetermined number of periods, the automobile 100 may perform a function action (such as a lock-down of a corresponding automobile door) corresponding to the adjacent function block, for example, locking of a left front door, locking of a left rear door, etc. Of course, the specific functions of each functional block may also include other actions.

In the secondary functional region 40, an annular block may be defined from the outer boundary of the primary functional region 30 to the outer boundaries of the plurality of secondary functional regions 40, as shown in the secondary functional region 40 of two surrounding annular blocks in fig. 3. When the key 200 is in the annular blocks with different distances of the car body, the car 100 can be controlled to realize the purposes of starting the welcome lamp, adjusting the seat, starting the air conditioner and the like; one or more of remote parking or automatic following functions may also be performed in some sub-blocks of the near annular (e.g., 2 m-6 m) block near the main functional area. Further, the functions of the secondary function area 40 can be customized according to the actual or user needs of the automobile 100.

It should be further understood that, since the key 200 positioning system outputs an approximate normal probability distribution centered on the actual position of the key 200 when resolving the position of the key 200, when the key 200 is located near the functional area boundary, the output position coordinates of the key 200 will randomly fall into the functional area adjacent to the boundary; if the processing is not performed, the preset function of the function area executed by the automobile is frequently switched; a phenomenon like this is often referred to as a ping-pong effect of the functional area boundary.

Step S30 may be taken to reduce the ping-pong effect and control the car 100 to remain performing the previous function 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 performs a predetermined function corresponding to the functional area in which 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 be located in the front left door function block transition area 311 or the rear left door function block transition area 321, the automobile 100 will keep executing the previous function unchanged, i.e. the automobile 100 still realizes the preset function corresponding to the function area where the front left door function block 31 is located, i.e. the unlocking of the front left door.

The magnitude of the number of times threshold and the width of the transition zone on both sides of the boundary line are adjusted in a reverse adjustment relationship according to the calculated radial velocity of the key 200 relative to the boundary line of the two function areas to be crossed in step S20. The threshold value of the times is properly reduced and the width of the transition zone is reduced when the radial speed is large, and the threshold value of the times is properly increased and the width of the transition zone is increased when the radial speed is small; however, the lower limit of the frequency threshold is greater than 50% (typically 60%) of the predetermined number of cycles, and the width of the transition zone is adjusted within a reasonable range. Through such adaptive adjustment, the key 200 can perform function switching at a proper time when crossing the boundary of the functional area even when moving in a wide speed range, so that the system maintains a good response speed.

It should be appreciated that the count threshold is a trigger threshold for determining that the key 200 falls within the corresponding functional zone for a predetermined number of cycles. When the number of times the key 200 falls in a certain function area within a predetermined number of periods is greater than the number threshold, the function area becomes a current target function area, and if the current position of the key 200 is in a non-transition area, the controller 20 may control the automobile 100 to perform a corresponding preset function of the target function area.

For example, when the radial velocity of the key 200 increases relative to the boundary line to be crossed, the threshold of the number of times corresponding to the functional area at both sides of the boundary line will decrease, and the width of the transition area will also decrease, so that after the key 200 crosses the boundary line to enter the new functional area, the threshold of the number of times will be more quickly exceeded within a predetermined number of periods, and due to the decrease of the width of the transition area, the time for the key 200 to cross the transition area is shorter, so that the condition that the automobile 100 starts to execute the preset function of the new functional area can be more quickly satisfied, and the response speed of the key 200 entering the new functional area can be improved; so that even in a scenario where the user is running fast towards the door, the door is unlocked in advance before the user reaches the door.

It should be further understood that the movement speed vector of the key 200 may be obtained first, and then the direction vector (or the perpendicular vector thereof) of the boundary line across which the key 200 is to be passed may be obtained, and the movement speed vector of the key 200 may be converted into the radial speed of the key 200 with respect to the corresponding boundary line of the functional area by the projection relationship.

As will be appreciated from the illustration of fig. 4, the two functional areas may be the left and right tail gate

functional blocks

35 and 36 of fig. 3, with the boundary line being the intersection of the two functional blocks. The solid arrow may be regarded as a moving direction of the key 200, the moving speed may be V, the dotted arrow may be regarded as a radial speed V of the key 200, the radial speed V may be understood as a partial speed of the moving speed of the key 200 in the actual moving direction and the vertical direction of the boundary line of the functional area, that is, the speed of the key 200 in the actual moving direction and the radial speed are in a trigonometric function relationship, and the radial speed v=vcosθ may be obtained.

Referring to fig. 5, in some embodiments, the control method further includes:

s40, in each period, calculating the number of times that the key 200 is respectively positioned in each functional area in a preset number of periods;

s50, taking a functional area with the number of times that the key 200 is positioned in the same functional area being greater than a number of times threshold as a target functional area;

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

In some embodiments, the control device further includes a calculating module 320, where the calculating module 320 is configured to calculate, for each cycle, the number of times the key 200 is located in each functional area in a predetermined number of cycles; the judging module is used for taking a functional area with the number of times that the key 200 is positioned in the same functional area being greater than a number of times threshold value as a target functional area and judging whether the current position of the key 200 is positioned in a non-transition area of the target functional area; the control module is configured to control the automobile 100 to execute a preset function corresponding to the target function area when the key 200 is in the non-transition area of the target function area.

The controller 20 is configured to calculate the number of times the key 200 is located in different functional areas during a predetermined number of cycles, respectively, for each cycle; and a function area with the number of times that the key 200 is positioned in the same function area being greater than the number of times threshold is used as a target function area, and the function area is used for controlling the automobile 100 to execute a preset function corresponding to the target function area under the condition that the key 200 is positioned in a non-transition area of the target function area.

In this way, the key 200 needs to control the automobile 100 to execute the preset function of the corresponding functional area only when the number of times threshold is reached within the predetermined number of periods and the key is in the non-transition area of the target functional area, so as to reduce frequent random switching of the preset function executed by the automobile 100 in the target functional area and the adjacent functional area, and reduce the loss of the executing components of the automobile 100.

Specifically, the control method takes step S40 of calculating the number of times the key 200 is located in each functional area in a predetermined number of cycles, each cycle. The predetermined number of cycles may be an integer multiple of the cycle for acquiring the current position between the car 100 and the key 200 in step S10, and the predetermined number of cycles may be 10 cycles, 16 cycles, or the like. After each cycle is completed to confirm the functional area where the key 200 is located in step S20 within a relatively fixed predetermined number of cycles, the number of times that the key 200 is located in a different functional area within the entire predetermined number of cycles is calculated.

Then, step S50 may be performed, in which the number of times of falling into each of the functional areas is calculated in a predetermined number of periods, and each of the functional areas is provided with a predetermined number of times threshold, and when the number of times of falling into a certain functional area in a period is greater than the number of times threshold, the controller 20 may set the functional area satisfying the requirement as the target functional area.

Step S60 may be then taken to determine that the target functional area where the key 200 is located is a non-transition area, and the controller 20 may control the automobile 100 to implement a preset function of the target functional area, where the preset function may be unlocking the corresponding functional area, or turning on lights in the corresponding functional area, etc.

Referring to fig. 6, in some embodiments, the control method includes:

s70, in the case that the key 200 is in the transition zone, the control car 100 keeps executing the previous function unchanged.

The control module 350 is used to control the vehicle 100 to remain performing the previous function while the key 200 is in the transition zone. The controller 20 is used to control the automobile 100 to remain unchanged from performing the previous function in the event that the key 200 is in the transition zone.

In this way, the key 200 keeps the car 100 performing the preset function of the previous corresponding function region in the transition region, that is, the function performed by the car 100 is not changed when the key 200 is in the transition region; thereby reducing frequent random switching of the preset function of the automobile 100 in the target functional area and the adjacent functional areas and reducing the loss of the executing components of the automobile 100.

Specifically, step S70 may be performed after step S50 is performed and when step S60 is not satisfied, that is, in the case where the key 200 is in the transition region of the target function region, the control car 100 keeps performing the previous function unchanged. For example, if the key 200 is located in the non-transition zone 312 of the left front door functional zone, the automobile 100 implements a preset function corresponding to the functional zone in which the left front door functional block 31 is located, such as unlocking the left front door. Thereafter, if the key 200 is moved to be located in the front left door function block transition area 311 or the rear left door function block transition area 321, the automobile 100 will remain performing the previous function, i.e. the automobile 100 still performs the preset function corresponding to the function area in which the front left door function block 31 is located, i.e. the unlocking of the front left door.

Referring to fig. 7, in some embodiments, periodically acquiring the current position of the key 200 relative to the automobile 100 (step S10) includes:

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

s12, calculating the current position of the key 200 relative to the automobile 100 based on the current distances between the current keys 200 and the UWB anchor points of the automobile body.

The acquiring module 310 is configured to periodically acquire current distances between the plurality of UWB anchor modules 50 on the body of the automobile 100 and the key 200, where the plurality of UWB anchor modules are located at different positions of the automobile 100; the calculation module 320 is configured to calculate a current position of the key 200 relative to the vehicle 100 based on a current distance 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 between the plurality of UWB anchor modules 50 on the body of the automobile 100 and the key 200, where the plurality of UWB anchor modules are located at different positions of the automobile 100; and for calculating a current position of the key 200 relative to the vehicle 100 based on the current distance between the key 200 and the plurality of UWB anchor points on the vehicle body.

In this way, the current position of the key 200 can be more precisely obtained through the UWB anchor modules 50 of the automobile 100, and thus the functional area where the key 200 is located can be more precisely determined.

Specifically, UWB technology based on 802.15.4z and other relevant standards is also called security enhanced ultra wideband technology, can be mainly applied to the digital key 200 system of the automobile 100, and has the technical characteristics of relay attack prevention and high ranging and positioning accuracy; the key 200 can be identified inside and outside the vehicle and positioned outside the vehicle accurately in a functional way. The accuracy of +/-6-10 cm can be achieved under the non-shielding condition, and the accuracy of +/-30 cm can be achieved under the shielding condition.

The digital key 200 system employing UWB technology can provide functions such as unlocking without sense, ignition without sense, etc. with good user experience. By adopting 802.15.4Z-based security enhanced UWB technology, low-power Bluetooth technology (BLE) and Near Field Communication (NFC) technology, the vehicle can be unlocked and started in a non-inductive way by using electronic devices such as a mobile phone, digital key remote sharing can be conveniently carried out, vehicle sharing with family members can be conveniently carried out, and friends can be authorized to use the vehicle in a short time.

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

Step S12 may then be taken, and based on the current distances between the current plurality of keys 200 and the UWB anchor points of the vehicle body acquired in step S11, the relative positions of the keys 200 and the vehicle 100 are located, and the functional area in which the keys 200 are located may be confirmed by resolving the relative positions.

As an example, it may be further understood in connection with fig. 8 that during the signal connection and positioning process of the key 200 and the automobile 100 based on UWB technology, the automobile 100 may be provided with a UWB positioning module (anchor point), a BLE (bluetooth low energy) communication module and a positioning module (anchor point), an ultrasonic module, a vision assistance module, the key 200 may be provided with a UWB module, a BLE bluetooth low energy module, an accelerometer, etc. for positioning, and the modules may include corresponding chips and modules therein; the bluetooth low energy module in the key 200 and the bluetooth low energy module in the car 100 can realize wireless communication and positioning based on the received signal strength RSSI, and the UWB module in the key 200 and the plurality of UWB anchor modules 50 distributed in the car 100 perform ToF ranging, so that the current distance of the key 200 can be obtained.

The ToF distance information and the received signal strength RSSI information between each of the plurality of UWB anchor modules 50 at the vehicle 100 and the UWB module of the key 200 may then be sent to the controller 20 of the vehicle 100 to calculate the position of the key 200, thereby obtaining the relative position of the key 200. The accelerometer on the key 200, the information obtained by the ultrasonic module and the visual module of the car body can also be used for assisting the calculation of the relative position of the key 200. The controller 20 then further determines the functional area 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. 9, in some embodiments, counting the number of times the key 200 is located in each functional area in a predetermined number of periods (step S40) includes:

s41, adding one to the function area count of the key 200 in each period;

s42, confirming the times of the key 200 being respectively located in different functional areas in a preset number of periods according to the counting result in each period.

The calculating module 320 is configured to increment, by one, the function area count in which the key 200 is located in each cycle; and for confirming the number of times the key 200 is located in the different functional areas, respectively, in a predetermined number of cycles according to the counted result in each cycle.

The controller 20 is configured to increment, by one, the function area count in which the key 200 is located for each cycle; and for confirming the number of times the key 200 is located in the different functional areas, respectively, in a predetermined number of cycles according to the counted result in each cycle.

In this way, the state of the key 200 in different functional areas in the predetermined number of periods can be recorded by adding the counter to the shift register, and the accumulated times of the key 200 in different functional areas in the predetermined number of periods can be obtained in each period, so that the key 200 can be conveniently positioned in different functional areas for comparison, and the judgment of the subsequent steps is facilitated.

Specifically, the controller 20 may first take step S41 to count up the functional areas where the key 200 confirmed in step S21 is located in each of the predetermined number of periods, and then may count up the corresponding number of different functional areas where the key 200 is confirmed in the predetermined number of periods.

It will be further understood in connection with the embodiment of fig. 10 that, taking the front left door function block 31 and the rear left door function block 32 shown in fig. 3 as examples, the controller 20 in the automobile 100 may perform step S40 when the key 200 is located at a different position from the boundary line of the two function blocks. The number of times the automobile 100 calculates the predetermined number of cycles may be a sliding window counting method in software logic, for example, a sliding window shift register set:

and in each period, updating the sliding window shift register group and the count accumulator which each of all the functional areas belongs to once. When the key 200 is located in a certain functional area, the sliding window shift register group to which the functional area belongs can receive update information '1', and other functional areas can receive update information '0'; the shaded cells of the sliding window shift register set in the figure represent information '1', and the blank cells of the sliding window shift register set in the figure represent information '0'. The length of the sliding window shift register set can be regarded as a predetermined number of cycles, wherein the predetermined number of cycles is 10; each sliding window shift register group is accompanied by a counting accumulator, and the counting accumulator is used for calculating the number of 1's in the sliding window shift register group;

When the key 200 is in the left front door function block 31 and is located at the left front door function block non-transition zone 312 and at a distance from the transition zone, the result of locating the key 200 is a normal distribution curve near the left front door function block 31. At this time, the sliding window shift register set in the left front door function block 31 confirms that the key 200 falls into the left front door function block 31 9 times within 10 predetermined number of cycles, and the number of times the counter accumulator accumulates is 9 times. Meanwhile, the sliding window shift register set in the left back door functional block 32 confirms that the key 200 falls into the left back door functional block 32 1 time within 10 predetermined number of cycles, and thus the number of times the corresponding count accumulator accumulates the result is 1 time.

At this time, the radial velocity corresponding to the velocity V1 of the key 200 relative to the left front door function block 31 is V1, and the number of times threshold can be adjusted to 7 times in the figure, the width of the left front door function block non-transition area 312 is adjusted to the width in the figure, and the number of times the counter accumulator in the left front door function block 31 accumulates is greater than 7 times. Therefore, the left front door function block 31 can be confirmed as the target function area according to step S50, and then step S60 can be implemented to control the automobile 100 to execute the preset function corresponding to the target function area. For example, unlocking of the left front door.

Further, as shown in fig. 11, when the key 200 is at the same position and the moving speed relative to the left front door function block 31 is changed from V1 to V2, V1 is greater than V2, and the corresponding radial speed V1 is greater than V2. The radial speed is reduced, the frequency threshold value in the figure can be correspondingly increased to 8 times, the intersection line of the left front door functional area and the left rear door functional area is a boundary line which is to be exceeded by the key 200, and the widths of the

transition areas

311 and 321 at two sides of the boundary line are properly increased; the width of the transition region 311 of the left front door functional region and the width of the transition region 321 of the left rear door functional region are appropriately increased. At this time, since the position of the key 200 is unchanged, the sliding window shift register set in the left front door functional block 31 still confirms that the key 200 falls into the left front door functional block 31 9 times within 10 predetermined number periods, and the sliding window shift register set in the left rear door functional block 32 confirms that the key 200 falls into the left rear door functional block 322 only 1 time within 10 predetermined number periods, the number of times of accumulation by the count accumulator is 1 time.

The number of times 9 accumulated by the counter accumulator in the front left gate functional block 31 is greater than the number of times threshold 8, and therefore, the front left gate functional block 31 is confirmed as the target functional area.

Still further, as shown in fig. 12, when the key 200 is at the same position and the moving speed with respect to the left front door function block 31 is changed from V1 to V3, V3 is greater than V1, and the corresponding radial speed V3 is greater than V1. The radial velocity increases, and the number of times threshold in the figure can be correspondingly adjusted down to 6 times, the intersection line of the left front door functional area and the left rear door functional area is the boundary line that the key 200 will exceed, and the widths of the

transition areas

311 and 321 at both sides of the boundary line correspondingly decrease. At this time, since the position of the key 200 is unchanged, the sliding window shift register set in the left front door functional block 31 still confirms that the key 200 falls into the left front door functional block 31 9 times within 10 predetermined number of periods, while the sliding window shift register set in the left rear door functional block 32 confirms that the key 200 falls into the left rear door functional block 32 only 1 time within 10 predetermined number of periods.

The number of times 9 accumulated by the counter accumulator in the front left gate function block 31 is greater than 6 times of the number of times threshold. Therefore, the left front door function block 31 is identified as the target function area, and the current key 200 is located in the non-transition area 312 of the left front door function area 31, step S60 can be implemented to control the automobile 100 to execute the preset function corresponding to the target function area. For example, unlocking of the left front door.

In some embodiments, the predetermined number of cycles is the latest predetermined number of cycles that is truncated to be consecutive to the current time.

In this manner, the predetermined number of cycles is the latest number of times threshold cycle, which ensures that the confirmation and counting of the function area in which the key 200 is located is in the latest state.

Referring to fig. 13, in some embodiments, the control method further includes:

and S80, keeping the currently executed function of the automobile 100 unchanged under the condition that the number of times the key 200 is positioned in the same functional area is less than or equal to a number of times threshold.

The control module 350 is configured to maintain the function currently performed by the automobile 100 unchanged if the number of times the key 200 is located in the same function area is less than or equal to the number of times threshold. The controller 20 is configured to maintain the function currently performed by the automobile 100 unchanged when the number of times the key 200 is located in the same function area is less than or equal to the number threshold.

In this way, in the case that the number of times the key 200 is located in the same functional area is less than or equal to the number of times threshold, the function currently executed by the automobile 100 is kept unchanged, so that the ping-pong effect when the key 200 is located near the boundary line can be reduced, and frequent switching between preset functions of the functional areas on both sides of the boundary line of the automobile 100 can be reduced.

Specifically, the controller 20 performs the control method to step S40, and may perform step S80 when step S50 is not satisfied, and in the case that the number of times the key 200 is located in the same function area is less than or equal to the number threshold, the function currently performed by the automobile 100 is kept unchanged.

As will be appreciated in connection with fig. 14, when the state of the key 200 is moved from fig. 10 to the position of fig. 14, the key 200 is still in the left front door function block 31 but is located within the left front door function block transition region 311, and the positioning result of the key 200 is a normal distribution centered around the actual position within the transition region in the left front door function block 31. At this time, the sliding window shift register set in the left front door function block 31 confirms that the key 200 falls into the left front door function block 31 7 times within 10 predetermined number of cycles, so the number of times the counter accumulator accumulates is 7 times. Meanwhile, the sliding window shift register set in the left back door functional block 32 only confirms that the key 200 falls into the left back door functional block 32 3 times within 10 predetermined number of cycles, wherein the number of times of falling into the left back door functional block transition area 321 is 3 times, so the number of times of accumulation by the count accumulator is 3 times.

At this time, the radial velocity corresponding to the moving velocity V1 of the key 200 relative to the left front door function block 31 is V1, the number of times threshold in the figure can be correspondingly adjusted to 6 times, the width of the left front door function block non-transition area 312 is adjusted to the width in the figure, the number of times the counter accumulator is accumulated in the left front door function block 31 is greater than 6 times, and the number of times the counter accumulator is accumulated in the left rear door function block 32 is less than 6 times. But at this time, because the key 200 is located within the left front door function block transition zone 311, the previous function before entering the transition zone remains unchanged regardless of whether the count accumulator results in more than 6 times of the predetermined number. If the target function area executed by the previous 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.

Further, as shown in fig. 15, when the key 200 is at the same position and the moving speed relative to the left front door function block 31 is changed from V1 to V2, V1 is greater than V2, and the corresponding radial speed V1 is greater than V2. The radial velocity decreases, and the number of times threshold in the figure may be correspondingly increased to 8 times, and the widths of the left front gate functional block transition region 311 and the left rear gate functional block transition region 321 are both increased. At this time, since the position of the key 200 is unchanged, the sliding window shift register set in the left front door functional block 31 still confirms that the key 200 falls into the left front door functional block 31 7 times within 10 predetermined number of periods, while the sliding window shift register set in the left rear door functional block 32 confirms that the key 200 falls into the left rear door functional block 32 only 3 times within 10 predetermined number of periods.

The number of times the counter accumulators accumulate in the front left gate block 31 and the back left gate block 32 are both less than the number threshold. Therefore, neither the front left gate functional block 31 nor the rear left gate functional block 32 is confirmed as the target functional area.

As can also be understood with reference to fig. 16, when the key 200 is located on the boundary line between the front left door function block 31 and the rear left door function block 32 when the key 200 is moved from fig. 10 to fig. 16, the positioning result of the key 200 is a normal distribution centered on the boundary line. 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 in 10 predetermined number of cycles, while the sliding window shift register set in the left rear door functional block 32 confirms that the key 200 falls into the left rear door functional block 32 5 times in 10 predetermined number of cycles.

At this time, the radial velocity corresponding to the moving velocity V1 of the key 200 relative to the left front door function block 31 is V1, at this time, the number of times threshold in the figure can be correspondingly adjusted to 6 times, the width of the transition regions of the left front door function block 311 and the left rear door function block is adjusted to the width in the corresponding figure, the number of times of counting the accumulator accumulation in the left front door function block 31 is less than 6 times, and the number of times of counting the accumulator accumulation in the left front door function block 32 is also less than 6 times; and the key 200 is now located in the transition zone. Accordingly, the automobile 100 is controlled to maintain the previous state, i.e., the preset function corresponding to the target function area performed in fig. 11, according to step S80. For example, the automobile 100 maintains the unlocking of the left front door.

Further, as shown in fig. 17, when the key 200 is at the same position and the moving speed with respect to the left front door function block 31 is changed from V1 to V2, V1 is greater than V2, and the corresponding radial speed V1 is greater than V2. At this time, the number of times threshold may be raised to 8 times, and the widths of the transition region 311 of the left front gate functional block and the transition region 321 of the left rear gate functional block are increased appropriately. At this time, since the position of the key 200 is unchanged, 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 of periods, and the sliding window shift register set in the left rear door functional block 32 confirms that the key 200 falls into the left rear door functional block 32 5 times within 10 predetermined number of periods.

The number of times the counter accumulators in the front left gate block 31 and the rear left gate block 32 accumulate is less than the number threshold 8, and the key 200 is located in the transition zone. Therefore, neither the front left door function block 31 nor the rear left door function block 32 is confirmed as the target function area, and the automobile 100 is controlled to maintain the previous state according to step S80.

Thus, a number of times threshold values greater than half the number of predetermined number of cycles may be practical for the vehicle 100 to confirm the functional area of the key 200.

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

Referring to fig. 18, in some embodiments, the control method includes:

and S90, 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 colliding with functions executed by other functional areas when executing the preset function of the target functional area.

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

The non-transitory computer-readable storage medium storing a computer program of an embodiment of the present application, when executed by one or more processors, implements the control method of any of the above embodiments. 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 further implementations are included within the scope of the preferred embodiment of the present application 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 embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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, system that includes a processing module, 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It is to be understood that portions of embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

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

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

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., 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 embodiments or examples. 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: many changes, modifications, substitutions and variations may 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:

calculating the radial speed of the key relative to a boundary line of a to-be-crossed functional area based on the current and past positions and the period value of the key, wherein the functional area is an area with a preset specific function and is divided at the periphery of the automobile, the functional area comprises a transition area and a non-transition area, and the transition area is a banded area in a certain range at the boundary line side of the functional area; when the key is located in the transition zone, the vehicle remains unchanged from the previously performed function;

2. The control method according to claim 1, characterized in that the control method further comprises:

taking a functional area with the number of times of the key being greater than a number threshold value in the same functional area as a target functional area;

3. The control method according to claim 1, characterized in that the control method includes:

4. The control method according to claim 1, characterized in that the periodically acquiring the current position of a key relative to the car comprises:

5. The control method according to claim 2, wherein calculating the number of times the key is located in each functional area within a predetermined number of cycles, respectively, each cycle comprises:

in each period, adding one to the function area count of the key;

and in each period, confirming the times of the key in different functional areas respectively in a preset number of periods according to the counting result.

6. The control method according to claim 1, characterized in that the control method further comprises:

and under the condition that the number of times that the key is positioned in the same functional area is smaller than or equal to the number of times threshold, keeping the currently executed function of the automobile unchanged.

7. The control method according to claim 1, characterized in that the number of times threshold is greater than half the number of the predetermined number of cycles.

8. The control method according to claim 2, characterized in that the control method includes:

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

The control module is used for controlling the automobile to execute corresponding functions according to the judgment result of the current target functional area of the key and the judgment result of the non-transition area of the current target functional area; when the number of times that the key is positioned in the same functional area in a preset number of periods is greater than a number threshold, and the current position of the key is positioned in a non-transition area of the functional area, controlling the automobile to execute the preset function of the current functional area; otherwise the car remains unchanged from the previous function.

10. An automobile, characterized in that the automobile comprises a memory and a controller for executing a calculation program stored in the memory to implement the control method according to any one of claims 1-8.

11. A non-transitory computer readable storage medium storing a computer program, characterized in that the control method of any one of claims 1-8 is implemented when the computer program is executed by one or more processors.