WO2019007137A1 - Vehicle door control method and apparatus - Google Patents

Vehicle door control method and apparatus Download PDF

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Publication number
WO2019007137A1
WO2019007137A1 PCT/CN2018/084140 CN2018084140W WO2019007137A1 WO 2019007137 A1 WO2019007137 A1 WO 2019007137A1 CN 2018084140 W CN2018084140 W CN 2018084140W WO 2019007137 A1 WO2019007137 A1 WO 2019007137A1
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WO
WIPO (PCT)
Prior art keywords
mobile device
vehicle
distance
ibeacon signal
signal transmitter
Prior art date
Application number
PCT/CN2018/084140
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French (fr)
Chinese (zh)
Inventor
董易伟
Original Assignee
上海蔚来汽车有限公司
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Publication date
Application filed by 上海蔚来汽车有限公司 filed Critical 上海蔚来汽车有限公司
Publication of WO2019007137A1 publication Critical patent/WO2019007137A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention relates to the field of vehicle control technologies, and in particular, to a vehicle door control method and apparatus.
  • the vehicle door is mainly unlocked by a mechanical key or wirelessly unlocked using a smart key.
  • a mechanical key or wirelessly unlocked using a smart key.
  • the present invention provides a vehicle door control method and apparatus.
  • the user does not need to carry a key, and only needs to carry the mobile device to control the opening or closing of the vehicle door, thereby greatly improving the user experience of the vehicle door.
  • Vehicle door
  • a vehicle door control method comprising the steps of:
  • the mobile device If the mobile device is in the monitoring area, measuring a relative position of the mobile device and the vehicle;
  • control door is opened or closed.
  • an in-vehicle control system is used to measure a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and perform the distance and the relative position according to the distance information and the position information.
  • an on or off signal is sent by the onboard system to the door lock system to open or close the door.
  • the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device to the vehicle.
  • the distance information and the relative position information are sent by the mobile device to the in-vehicle control system, and the distance and the relative position are determined by the on-board control system;
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • an on or off signal is sent by the mobile device to the door lock system to open or close the door.
  • measuring the distance between the mobile device and the preset reference point on the vehicle includes:
  • the mobile device receives the iBeacon signal sent by the iBeacon signal transmitter;
  • iBeacon signal transmitters are installed on the vehicle body, namely a first iBeacon signal transmitter, a second iBeacon signal transmitter and a third iBeacon signal transmitter.
  • first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on the vehicle door
  • third iBeacon signal transmitter is mounted on the vehicle body or in the vehicle, and is symmetric about the central axis of the vehicle door, and Located on the vertical bisector of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter.
  • determining, according to the iBeacon signal and a feedback signal sent by a mobile device, the distance between the mobile device and the iBeacon signal transmitter includes:
  • r is the distance between the mobile device and the iBeacon signal transmitter
  • RSSI is the received signal strength
  • A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
  • n is the environmental attenuation factor
  • the mobile device enters the monitoring area.
  • determining whether the mobile device is in an execution area includes:
  • the coordinate system is set by the iBeacon signal transmitter installation point, and the coordinates of the location of the mobile device are calculated according to the set coordinate system, and the relative position of the mobile device and the vehicle is obtained, thereby determining whether the mobile device is in the execution region.
  • the mobile device is at the midpoint O of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is the apex angle, and the bottom surface is parallel to the plane of the vehicle door In the area, and the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is less than the first preset distance, it is determined that the mobile device is in the execution region.
  • the coordinate in the first monitoring area of the mobile device is E
  • the coordinate entering the execution region for the first time is F
  • the coordinate E and the coordinate F are connected to form an orientation vector
  • the orientation vector is in the first
  • the midpoint O of the two mounting points of an iBeacon signal transmitter and the second iBeacon signal transmitter is an apex
  • 45 degrees is a vertex angle
  • the bottom surface is in a tapered region parallel to the plane of the vehicle door, and then the mobile device is judged to be executing within the area.
  • a vehicle door control apparatus comprising:
  • a distance measuring module for measuring a distance between the mobile device and a preset reference point on the vehicle
  • a monitoring area determining module configured to determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area
  • a relative position measuring module configured to measure a relative position of the mobile device and the vehicle when the mobile device is in a monitoring area
  • An execution area determining module configured to determine, according to a relative position of the mobile device and the vehicle, whether the mobile device is in an execution area
  • a door control module for controlling the door to open or close when the mobile device is within the execution area.
  • the device includes an in-vehicle control system and a door locking system, and the monitoring distance measuring module, the measuring area determining module, the relative position measuring module, and the execution area determining module are all disposed in the vehicle control system, and the door control is performed.
  • the module is disposed in the door locking system;
  • the door control module is disposed in the door locking system;
  • the onboard control system measures a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and determines the distance and the relative position according to the distance information and the position information;
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • the distance measuring module and the relative position measuring module are disposed in a mobile device, and the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle and a relative position of the mobile device and the vehicle .
  • the device includes an in-vehicle control system and a door locking system, the monitoring area judging module and the execution area judging module are disposed in the in-vehicle control system, and the door control module is disposed in the door locking system;
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • the device includes a door locking system, the door control module is disposed in a door locking system, and the monitoring area determining module and the execution area determining module are disposed in the mobile device;
  • an on or off signal is sent by the mobile device to the door lock system to open or close the door.
  • the distance measurement module includes:
  • the iBeacon signal transmitting unit includes at least one iBeacon signal transmitter as a preset reference point for transmitting the iBeacon signal;
  • the distance measuring unit is configured to determine a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device.
  • the iBeacon signal transmitting unit includes three iBeacon signal transmitters, which are a first iBeacon signal transmitter, a second iBeacon signal transmitter, and a third iBeacon signal transmitter, respectively.
  • first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on the vehicle door
  • third iBeacon signal transmitter is mounted on the vehicle body or in the vehicle, and is symmetric about the central axis of the vehicle door, and Located on the vertical bisector of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter.
  • the distance measuring unit is further configured to: obtain a corresponding RSSI value according to the iBeacon signal and a feedback signal sent by a mobile device;
  • r is the distance between the mobile device and the iBeacon signal transmitter
  • RSSI is the received signal strength
  • A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
  • n is the environmental attenuation factor
  • the monitoring area determining module determines The mobile device enters a monitoring area.
  • execution area determining module is further configured to:
  • the coordinate system is set by the iBeacon signal transmitter installation point, and the coordinates of the location of the mobile device are calculated according to the set coordinate system, and the relative position of the mobile device and the vehicle is obtained, thereby determining whether the mobile device is in the execution region.
  • the execution region determining module determines that the mobile device is in the execution region.
  • the coordinate in the first monitoring area of the mobile device is E
  • the coordinate entering the execution region for the first time is F
  • the coordinate E and the coordinate F are connected to form an orientation vector
  • the orientation vector is in the first
  • An execution area determination module determines that a midpoint O of two mounting points of an iBeacon signal transmitter and a second iBeacon signal transmitter is an apex, 45 degrees is a vertex angle, and a bottom surface is parallel to a plane of the vehicle door plane.
  • the mobile device is within an execution area.
  • a computer readable storage medium comprising a plurality of instructions that, when executed by a processor, implement all of the steps included in the method.
  • the vehicle door control method and device of the present invention can achieve considerable technical advancement and practicability, and have extensive industrial use value, and at least have the following advantages:
  • the user does not need to carry the key, and only needs to carry a mobile device, such as a mobile phone, to control the opening of the vehicle door from the outside of the vehicle to the vehicle door, which significantly improves the user experience.
  • a mobile device such as a mobile phone
  • the position and movement direction of the mobile device are detected by the ibeacon signal transmitter, which avoids the false triggering of the vehicle door by the pure distance, so that the user does not make a mistake when sitting in the car or walking normally to the door. Identification or false triggering improves the accuracy of vehicle door control.
  • FIG. 1 is a flow chart of a method for controlling a vehicle door according to an embodiment of the present invention.
  • FIG. 2 is a flow chart of a method for measuring a distance between a mobile device and a preset reference point on the vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of setting a iBeacon signal transmitter according to an embodiment of the present invention.
  • FIG. 4 is a schematic view of a vehicle door control device of the present invention.
  • Figure 5 is a schematic view of a vehicle door control device according to Embodiment 6 of the present invention.
  • Figure 6 is a schematic view of a vehicle door control device according to Embodiment 7 of the present invention.
  • Figure 7 is a schematic view of a vehicle door control device according to Embodiment 8 of the present invention.
  • a vehicle door control method as shown in FIG. 1, the method includes the following steps:
  • S2 Determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area.
  • S4. Determine, according to the relative position of the mobile device and the vehicle, whether the mobile device is in an execution area.
  • the mobile device includes: a smart phone, a smart watch, a wearable device, a smart card, a laptop, a smart necklace, and the like. Since the user often carries the mobile phone with him, the mobile device is preferably a mobile phone.
  • the vehicle door may be a trunk, a door or a front cover.
  • the method is as follows for the signal control, and the following three embodiments are listed, but are not limited to the three embodiments, and other achievable modes also belong to the protection scope of the present invention.
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • the onboard control system can be a vehicle infotainment system or other control unit that can send an on or off signal to the door lock system.
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • the vehicle control system can be a vehicle infotainment system.
  • an on or off signal is sent by the mobile device to the door lock system to open or close the door.
  • the step S1 includes:
  • the mobile device receives an iBeacon signal sent by an iBeacon signal transmitter.
  • RSSI Received Signal Strength Indication received signal strength indication
  • r is the distance between the mobile device and the iBeacon signal transmitter
  • RSSI is the received signal strength
  • A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
  • n is the environmental attenuation factor
  • the distance between the mobile device and the iBeacon signal transmitter can also be measured by means of ultrasonic distance measurement or other means.
  • three iBeacon signal transmitters are installed on the vehicle body, respectively being the first iBeacon signal transmitter, the mounting point is set to A, the second iBeacon signal transmitter, and the mounting points are set to B and third.
  • the iBeacon signal transmitter has a mounting point set to C, wherein the first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on the vehicle door cover, and the third iBeacon signal is symmetric about the central axis of the vehicle door.
  • the transmitter is installed in the body or the car and is located on the vertical bisector of the AB.
  • the three iBeacon signal transmitters have the same height relative to the body, and the plane of the composition is parallel to the plane of the vehicle body, and the position of the mobile device is M. point.
  • AM for setting the distance r a, from the BM is the distance r b
  • CM is r c, (1) obtained according to the formula a, r b, r c values of r.
  • the movement The device enters the monitoring area.
  • Determining whether the mobile device is in an execution area comprises: setting a coordinate system by using an iBeacon signal transmitter installation point, calculating coordinates of a location of the mobile device according to the set coordinate system, thereby determining whether the mobile device is in an execution area, As described below:
  • AB the midpoint of AB be the O point, with the O point as the original center, AB as the X axis, and OC as the Y axis.
  • the straight line passing through the O point and perpendicular to the plane formed by A, B, and C is the Z axis (Z axis is The Cartesian coordinate system is established as shown in the figure.
  • the three coordinates of only M points are unknown.
  • the X and Y coordinates of the M point can be easily calculated.
  • the Z coordinates of the three points of ABC are all zero.
  • one positive and one negative z 0 can be obtained, that is, two points symmetric about the ABC plane. Since the location of the mobile device is generally higher than the ABC plane, only the positive value z 0 is taken. At this point, the position coordinates of the point M where the mobile device is located can be determined.
  • the mobile device is at a vertex of a midpoint O of two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is a vertex angle, and a bottom surface is parallel to a plane of the vehicle door plane, And the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is less than the first preset distance, and the mobile device is determined to be in the execution region.
  • the mobile device enter the coordinate E in the monitoring area for the first time, the coordinate entering the execution area for the first time is F, and the coordinate E and the coordinate F are connected to form an orientation vector, if the orientation vector is in the first iBeacon signal
  • the midpoint O of the two mounting points of the transmitter and the second iBeacon signal transmitter is an apex, 45 degrees is a vertex angle, and the bottom surface is in a tapered region parallel to the plane of the vehicle door, and then the mobile device is judged to be in the execution region.
  • control is turned on or the vehicle door.
  • the first threshold is preferably 2.5 m and the second threshold is preferably 1.5 m.
  • the goal of the entire process is to reduce the user's operation, as far as possible, the user can complete the control of the vehicle door as soon as they are close.
  • determining the distance between point M and point C can be done only by one ibeacon signal transmitter, or by deploying ibeacon signal transmitters of multiple known positions, calculating M points and their distances, and determining M by geometric operation. The distance between point and point C. This can reduce the error caused by the problem of a single sensor, and will not be described here.
  • the method enables the user to carry the Bluetooth-enabled mobile device without carrying the key, and can control the opening of the vehicle door from the outside of the vehicle to the vehicle door, thereby significantly improving the user experience.
  • the position and movement direction of the mobile device are detected by three or more ibeacon signal transmitters, and the false triggering of the vehicle door is controlled by the distance alone, so that the user sits in the car or walks normally to the door. It will not cause misidentification or false triggering, which improves the accuracy of vehicle door control.
  • the embodiment of the invention further provides a computer readable storage medium, the storage medium comprising a plurality of instructions, the instructions being executed by the processor to implement all the steps in the method.
  • An embodiment of the present invention further provides an iBeacon-based vehicle door opening control device. As shown in FIG. 4, the device includes:
  • a distance measuring module for measuring a distance between the mobile device and a preset reference point on the vehicle
  • a monitoring area determining module configured to determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area
  • a relative position measuring module configured to measure a relative position of the mobile device and the vehicle when the mobile device is in a monitoring area
  • An execution area determining module configured to determine, according to a relative position of the mobile device and the vehicle, whether the mobile device is in an execution area
  • a door control module for controlling the door to open or close when the mobile device is within the execution area.
  • the mobile device includes: a smart phone, a smart watch, a wearable device, a smart card, a laptop, a smart necklace, and the like. Since the user often carries the mobile phone with him, the mobile device is preferably a mobile phone.
  • the device includes an in-vehicle control system and a door locking system, and the monitoring distance measuring module, the measuring area determining module, the relative position measuring module, and the execution area determining module are all disposed in the vehicle control system.
  • the door control module is disposed in the door locking system; the door control module is disposed in the door locking system;
  • the onboard control system measures a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and determines the distance and the relative position according to the distance information and the position information;
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • the vehicle control system can be a vehicle infotainment system.
  • the distance measuring module and the relative position measuring module are disposed in a mobile device, and the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle, and the mobile device and the mobile device The relative position of the vehicle.
  • the device includes an in-vehicle control system and a door locking system, the monitoring area judging module and the execution area judging module are disposed in the in-vehicle control system, and the door control module is disposed in the door locking system;
  • an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  • the vehicle control system can be a vehicle infotainment system.
  • the distance measuring module and the relative position measuring module are disposed in a mobile device, and the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle, and the mobile device and the mobile device The relative position of the vehicle.
  • the device includes a door locking system, the door control module is disposed in a door locking system, and the monitoring area determining module and the execution area determining module are disposed in the mobile device;
  • an on or off signal is sent by the mobile device to the door lock system to open or close the door.
  • the distance measurement module includes:
  • the iBeacon signal transmitting unit includes at least one iBeacon signal transmitter as a preset reference point for transmitting the iBeacon signal;
  • a distance measuring unit configured to determine a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device:
  • RSSI Received Signal Strength Indication received signal strength indication
  • r is the distance between the mobile device and the iBeacon signal transmitter
  • RSSI is the received signal strength
  • A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
  • n is the environmental attenuation factor
  • the distance between the mobile device and the iBeacon signal transmitter can also be measured by means of ultrasonic distance measurement or other means.
  • the iBeacon module includes three iBeacon signal transmitters, respectively being the first iBeacon signal transmitter, the mounting point is set to A, the second iBeacon signal transmitter, and the mounting point is set to B and the third iBeacon. a signal transmitter, the mounting point is set to C, wherein the first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on a vehicle door cover, and the third iBeacon signal is transmitted symmetrically about a central axis of the vehicle door
  • the device is installed in the body or the car and is located on the vertical bisector of the AB.
  • the three iBeacon signal transmitters have the same height with respect to the body, and the plane of the composition is parallel to the plane of the vehicle body, and the position of the mobile device is M. point.
  • AM for setting the distance r a, from the BM is the distance r b
  • CM is r c, (1) obtained according to the formula a, r b, r c values of r.
  • the mobile device When the distance between the mobile device and the iBeacon signal transmitter is less than or equal to the first threshold, and the distance between the mobile device and the iBeacon signal transmitter continues to decrease, the mobile device enters the monitoring area.
  • the execution area determining module is further configured to:
  • AB the midpoint of AB be the O point, with the O point as the original center, AB as the X axis, and OC as the Y axis.
  • the straight line passing through the O point and perpendicular to the plane formed by A, B, and C is the Z axis (Z axis is The Cartesian coordinate system is established as shown in the figure.
  • the three coordinates of only M points are unknown.
  • the X and Y coordinates of the M point can be easily calculated.
  • the Z coordinates of the three points of ABC are all zero.
  • one positive and one negative z 0 can be obtained, that is, two points symmetric about the ABC plane. Since the location of the mobile device is generally higher than the ABC plane, only the positive value z 0 is taken. At this point, the position coordinates of the point M where the mobile device is located can be determined.
  • execution region determining module determines, according to the location coordinates of the M, whether the mobile device is in an execution region:
  • the execution region determining module determines that the mobile device is in the execution region.
  • the control module controls opening or closing of the vehicle door if the mobile device is within the execution area.
  • the iBeacon module, the mobile device, and the monitoring area judging module of the embodiment 5 are the same, and the execution area judging module is different, as follows: the first time the mobile device enters the coordinate E in the monitoring area, and the first execution is performed.
  • the coordinates in the region are F, and the coordinates E and the coordinates F constitute an orientation vector. If the orientation vector is at the midpoint O of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45
  • the execution region determination module determines that the mobile device is within the execution region.
  • the execution region determination module determines that the mobile device is within the execution region.
  • the control module controls opening or closing of the vehicle door if the mobile device is within the execution area.
  • the first threshold is preferably 2.5 m, and the second threshold is preferably 1.5 m.
  • the goal of the entire process is to reduce the user's operation, as far as possible, the user can complete the control of the vehicle's vehicle door as soon as they are close.
  • the ibeacon module includes more than three ibeacon signal transmitters, it is often used to correct the error caused by calculating the RSSI value. For example, determining the distance between point M and point C can be done only by one ibeacon signal transmitter, or by deploying ibeacon signal transmitters of multiple known positions, calculating M points and their distances, and determining M by geometric operation. The distance between point and point C. This can reduce the error caused by the problem of a single sensor, and will not be described here.
  • the device is used to enable the user to carry the Bluetooth-enabled mobile device without the need to carry the key, and to control the opening or closing of the vehicle door from the outside of the vehicle to the vehicle door, thereby significantly improving the user experience.
  • the position and movement direction of the mobile device are detected by three or more ibeacon signal transmitters, and the false triggering of the vehicle door is controlled by the pure distance, so that the user sits in the car or walks normally to the door. It will not cause misidentification or false triggering, which improves the accuracy of vehicle door control.

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  • Computer Networks & Wireless Communication (AREA)
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Abstract

The present invention relates to a vehicle door control method and apparatus. The method comprises: measuring a distance between a mobile device and a preset reference point on a vehicle; determining, according to the distance, whether the mobile device is in a monitoring region; if the mobile device is in the monitoring region, measuring a position of the mobile device relative to the vehicle; determining, according to the relative position, whether the mobile device is in an execution region; and if the mobile device is in the execution region, controlling a door to be opened or closed. According to the present invention, a user only needs to carry a mobile device without need to carry a key, and can control the opening or closing of a vehicle door when approaching the vehicle door, thereby greatly improving user experience; the position and movement direction of the mobile device are detected by means of an ibeacon signal transmitter, thereby avoiding false triggering caused by control of the vehicle door simply by means of a distance, and improving the accuracy of the control of the vehicle door.

Description

车辆厢门控制方法和装置Vehicle door control method and device 技术领域Technical field
本发明涉及车辆控制技术领域，尤其涉及一种车辆厢门控制方法和装置。The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle door control method and apparatus.
背景技术Background technique
现有的车辆，车辆厢门主要采用机械钥匙进行解锁或者采用智能钥匙进行无线解锁。然而，用户在双手不方便时(如怀抱大量物品时)，往往需要临时将物品放置到地上，掏出钥匙、触碰车辆厢门开关或者智能钥匙开关才能开启或关闭车辆厢门，这样极大地被削弱了用户用车体验.In existing vehicles, the vehicle door is mainly unlocked by a mechanical key or wirelessly unlocked using a smart key. However, when the user is inconvenient with both hands (such as when holding a large number of items), it is often necessary to temporarily place the item on the ground, pick up the key, touch the vehicle door switch or the smart key switch to open or close the vehicle door, which greatly Was weakened by the user car experience.
由于现在车主大多随身携带移动设备，在车钥匙可能被移动设备替代的未来，完全可以有更加智能贴心的解决方案车辆厢门控制厢门的开启或关闭，从而提升用户体检。Since most of the owners now carry mobile devices with them, in the future when the car keys may be replaced by mobile devices, there is a more intelligent and intimate solution to open or close the door of the vehicle door control door, thereby improving the user's physical examination.
发明内容Summary of the invention
为解决上述技术问题，本发明提供一种车辆厢门控制方法和装置，用户无需携带钥匙，只需携带移动设备即可控制车辆厢门的开启或关闭，极大地地提高了用户体验车辆厢门车辆厢门In order to solve the above technical problem, the present invention provides a vehicle door control method and apparatus. The user does not need to carry a key, and only needs to carry the mobile device to control the opening or closing of the vehicle door, thereby greatly improving the user experience of the vehicle door. Vehicle door
根据本发明的一方面，提供了一种车辆厢门控制方法，所述方法包括如下步骤：According to an aspect of the present invention, a vehicle door control method is provided, the method comprising the steps of:
测量移动设备与车辆上预设参照点间的距离；Measuring the distance between the mobile device and the preset reference point on the vehicle;
根据所述移动设备与车辆上预设参照点间的距离，判断所述移动设备是否在监测区域内；Determining whether the mobile device is in a monitoring area according to a distance between the mobile device and a preset reference point on the vehicle;
若所述移动设备在监测区域内，则测量所述移动设备与所述车辆的相对位置；If the mobile device is in the monitoring area, measuring a relative position of the mobile device and the vehicle;
根据所述移动设备与所述车辆的相对位置，判断所述移动设备是否在执行区域内；Determining whether the mobile device is in an execution area according to a relative position of the mobile device and the vehicle;
如果所述移动设备在所述执行区域内，则控制厢门开启或关闭。If the mobile device is within the execution area, the control door is opened or closed.
进一步的，采用车载控制系统测量所述移动设备和车辆预设参照点间的距离，以及所述移动设备与所述车辆的相对位置，并根据距离信息和位置信息进行所述距离和相对位置的判断；Further, an in-vehicle control system is used to measure a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and perform the distance and the relative position according to the distance information and the position information. Judge
如果所述移动设备在所述执行区域内，则由所述车载系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard system to the door lock system to open or close the door.
进一步的，采用所述移动设备测量所述移动设备和车辆预设参照点间的距离，以及所述移动设备与所述车辆的相对位置。Further, the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device to the vehicle.
进一步的，由所述移动设备将距离信息和相对位置信息发送给车载控制系统，并由所述车载控制系统进行所述距离和相对位置的判断；Further, the distance information and the relative position information are sent by the mobile device to the in-vehicle control system, and the distance and the relative position are determined by the on-board control system;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
进一步的，由所述移动设备进行所述距离和相对位置的判断；Further, determining, by the mobile device, the distance and the relative position;
如果所述移动设备在所述执行区域内，则由所述移动设备向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the mobile device to the door lock system to open or close the door.
进一步的，测量移动设备与车辆上预设参照点间的距离包括；Further, measuring the distance between the mobile device and the preset reference point on the vehicle includes:
在车辆厢门上安装至少一个iBeacon信号发射器，作为预设参照点；Installing at least one iBeacon signal transmitter on the vehicle door as a preset reference point;
移动设备接收iBeacon信号发射器发出的iBeacon信号；The mobile device receives the iBeacon signal sent by the iBeacon signal transmitter;
根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和iBeacon信号发射器的距离。Determining a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device.
进一步的，在所述车身上安装三个iBeacon信号发射器，分别为第一iBeacon信号发射器、第二iBeacon信号发射器和第三iBeacon信号发射器。Further, three iBeacon signal transmitters are installed on the vehicle body, namely a first iBeacon signal transmitter, a second iBeacon signal transmitter and a third iBeacon signal transmitter.
进一步的，所述第一iBeacon信号发射器、第二iBeacon信号发射器安装在车辆厢门上，关于车辆厢门中轴线对称，所述第三iBeacon信号发射器安装在车身上或车内,且位于第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的垂直平分线上。Further, the first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on the vehicle door, and the third iBeacon signal transmitter is mounted on the vehicle body or in the vehicle, and is symmetric about the central axis of the vehicle door, and Located on the vertical bisector of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter.
进一步的，根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和iBeacon信号发射器的距离包括：Further, determining, according to the iBeacon signal and a feedback signal sent by a mobile device, the distance between the mobile device and the iBeacon signal transmitter includes:
根据所述iBeacon信号及一移动设备发出的反馈信号获取相应的RSSI值；Obtaining a corresponding RSSI value according to the iBeacon signal and a feedback signal sent by a mobile device;
根据所述RSSI值计算所述移动设备和iBeacon信号发射器的距离:Calculating the distance between the mobile device and the iBeacon signal transmitter according to the RSSI value:
计算公式为：The calculation formula is:
r＝10^((abs(RSSI)-A)/(10*n))r=10^((abs(RSSI)-A)/(10*n))
其中：among them:
r为所述移动设备和iBeacon信号发射器的距离；r is the distance between the mobile device and the iBeacon signal transmitter;
RSSI为接收信号强度；RSSI is the received signal strength;
A为iBeacon信号发射器和移动设备相隔1米时的信号强度；A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
n为环境衰减因子。n is the environmental attenuation factor.
进一步的，当所述移动设备和所有iBeacon信号发射器的距离均小于等于第一阈值时，且所述移动设备和所有iBeacon信号发射器的距离均继续变小，则所述移动设备进入监测区域。Further, when the distance between the mobile device and all the iBeacon signal transmitters is less than or equal to the first threshold, and the distance between the mobile device and all the iBeacon signal transmitters continues to decrease, the mobile device enters the monitoring area. .
进一步的，判断所述移动设备是否在执行区域包括：Further, determining whether the mobile device is in an execution area includes:
以iBeacon信号发射器安装点设置坐标系，根据所设置的坐标系计算计算所述移动设备所在位置的坐标，得到所述移动设备和车辆的相对位置，从而判断所述移动设备是否在执行区域。The coordinate system is set by the iBeacon signal transmitter installation point, and the coordinates of the location of the mobile device are calculated according to the set coordinate system, and the relative position of the mobile device and the vehicle is obtained, thereby determining whether the mobile device is in the execution region.
进一步的，若所述移动设备在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，且所述移动设备到中点O的距离小于第二预设距离，所述第二预设距离小于第一预设距离，则判断所述移动设备在执行区域内。Further, if the mobile device is at the midpoint O of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is the apex angle, and the bottom surface is parallel to the plane of the vehicle door In the area, and the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is less than the first preset distance, it is determined that the mobile device is in the execution region.
进一步的，设所述移动设备第一次监测区域内的坐标为E，第一次进入执行区域内的坐标为F，坐标E和坐标F连线构成方位矢量，如果所述方位矢量在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，则判断所述移动设备在执行区域内。Further, it is assumed that the coordinate in the first monitoring area of the mobile device is E, the coordinate entering the execution region for the first time is F, and the coordinate E and the coordinate F are connected to form an orientation vector, if the orientation vector is in the first The midpoint O of the two mounting points of an iBeacon signal transmitter and the second iBeacon signal transmitter is an apex, 45 degrees is a vertex angle, and the bottom surface is in a tapered region parallel to the plane of the vehicle door, and then the mobile device is judged to be executing within the area.
根据本发明的又一方面，提供了一种车辆厢门控制装置，所述装置包括：According to still another aspect of the present invention, a vehicle door control apparatus is provided, the apparatus comprising:
距离测量模块，用于测量移动设备与车辆上预设参照点间的距离；a distance measuring module for measuring a distance between the mobile device and a preset reference point on the vehicle;
监测区域判断模块，用于根据所述移动设备与车辆上预设参照点间的距离判断所述移动设备是否在监测区域内；a monitoring area determining module, configured to determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area;
相对位置测量模块，用于所述移动设备在监测区域内时，测量所述移动设备与所述车辆的相对位置；a relative position measuring module, configured to measure a relative position of the mobile device and the vehicle when the mobile device is in a monitoring area;
执行区域判断模块，用于根据所述移动设备与所述车辆的相对位置判断所述移动设备是否在执行区域内；An execution area determining module, configured to determine, according to a relative position of the mobile device and the vehicle, whether the mobile device is in an execution area;
厢门控制模块，用于在所述移动设备在所述执行区域内时，控制厢门开启或关闭。a door control module for controlling the door to open or close when the mobile device is within the execution area.
进一步的，所述装置包括车载控制系统和厢门锁定系统，所述监距离测量模块、测区域判断模块、相对位置测量模块、执行区域判断模块均设置在车载控制系统中，所述厢门控制模块设置在厢门锁定系统中；所述厢门控制模块设置在厢门锁定系统中；Further, the device includes an in-vehicle control system and a door locking system, and the monitoring distance measuring module, the measuring area determining module, the relative position measuring module, and the execution area determining module are all disposed in the vehicle control system, and the door control is performed. The module is disposed in the door locking system; the door control module is disposed in the door locking system;
所述车载控制系统测量所述移动设备和车辆预设参照点间的距离，以及所述移动设备与所述车辆的相对位置，并根据距离信息和位置信息进行所述距离和相对位置的判断；The onboard control system measures a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and determines the distance and the relative position according to the distance information and the position information;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
进一步的，所述距离测量模块和相对位置测量模块设置在移动设备中，采用所述移动设备测量所述移动设备和车辆预设参照点间的距离以及所述移动设备与所述车辆的相对位置。Further, the distance measuring module and the relative position measuring module are disposed in a mobile device, and the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle and a relative position of the mobile device and the vehicle .
进一步的，所述装置包括车载控制系统和厢门锁定系统，所述监测区域判断模块和执行区域判断模块设置在车载控制系统中，所述厢门控制模块设置在厢门锁定系统中；Further, the device includes an in-vehicle control system and a door locking system, the monitoring area judging module and the execution area judging module are disposed in the in-vehicle control system, and the door control module is disposed in the door locking system;
由所述移动设备将距离信息和相对位置信息发送给车载控制系统，并由所述车载控制系统进行所述距离和相对位置的判断；Transmitting the distance information and the relative position information by the mobile device to the in-vehicle control system, and determining, by the in-vehicle control system, the distance and the relative position;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
进一步的，所述装置包括厢门锁定系统，所述厢门控制模块设置在厢门锁定系统中，所述监测区域判断模块和执行区域判断模块设置在所述移动设备中；Further, the device includes a door locking system, the door control module is disposed in a door locking system, and the monitoring area determining module and the execution area determining module are disposed in the mobile device;
由所述移动设备进行所述距离和相对位置的判断；Determining the distance and the relative position by the mobile device;
如果所述移动设备在所述执行区域内，则由所述移动设备向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the mobile device to the door lock system to open or close the door.
进一步的，所述距离测量模块包括：Further, the distance measurement module includes:
iBeacon信号发射单元，包括至少一个iBeacon信号发射器，作为预设参照点，用于发送iBeacon信号；The iBeacon signal transmitting unit includes at least one iBeacon signal transmitter as a preset reference point for transmitting the iBeacon signal;
距离测量单元，用于根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和iBeacon信号发射器的距离。The distance measuring unit is configured to determine a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device.
进一步的，所述iBeacon信号发射单元包括三个iBeacon信号发射器，分别为第一iBeacon信号发射器、第二iBeacon信号发射器和第三iBeacon信号发射器。Further, the iBeacon signal transmitting unit includes three iBeacon signal transmitters, which are a first iBeacon signal transmitter, a second iBeacon signal transmitter, and a third iBeacon signal transmitter, respectively.
进一步的，所述第一iBeacon信号发射器、第二iBeacon信号发射器安装在车辆厢门上，关于车辆厢门中轴线对称，所述第三iBeacon信号发射器安装在车身上或车内,且位于第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的垂直平分线上。Further, the first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on the vehicle door, and the third iBeacon signal transmitter is mounted on the vehicle body or in the vehicle, and is symmetric about the central axis of the vehicle door, and Located on the vertical bisector of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter.
进一步的，所述距离测量单元还用于：根据所述iBeacon信号及一移动设备发出的反馈信号获取相应的RSSI值；Further, the distance measuring unit is further configured to: obtain a corresponding RSSI value according to the iBeacon signal and a feedback signal sent by a mobile device;
根据所述RSSI值计算所述移动设备和iBeacon信号发射器的距离:Calculating the distance between the mobile device and the iBeacon signal transmitter according to the RSSI value:
计算公式为：The calculation formula is:
r＝10^((abs(RSSI)-A)/(10*n))r=10^((abs(RSSI)-A)/(10*n))
其中：among them:
r为所述移动设备和iBeacon信号发射器的距离；r is the distance between the mobile device and the iBeacon signal transmitter;
RSSI为接收信号强度；RSSI is the received signal strength;
A为iBeacon信号发射器和移动设备相隔1米时的信号强度；A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
n为环境衰减因子。n is the environmental attenuation factor.
进一步的，当所述移动设备和所有iBeacon信号发射器的距离均小于等于第一阈值时，且所述移动设备和所有iBeacon信号发射器的距离均继续变小，则所述监测区域判断模块确定所述移动设备进入监测区域。Further, when the distance between the mobile device and all the iBeacon signal transmitters is less than or equal to the first threshold, and the distance between the mobile device and all the iBeacon signal transmitters continues to decrease, the monitoring area determining module determines The mobile device enters a monitoring area.
进一步的，所述执行区域判断模块还用于：Further, the execution area determining module is further configured to:
以iBeacon信号发射器安装点设置坐标系，根据所设置的坐标系计算计算所述移动设备所在位置的坐标，得到所述移动设备和车辆的相对位置，从而判断所述移动设备是否在执行区域。The coordinate system is set by the iBeacon signal transmitter installation point, and the coordinates of the location of the mobile device are calculated according to the set coordinate system, and the relative position of the mobile device and the vehicle is obtained, thereby determining whether the mobile device is in the execution region.
进一步的，若所述移动设备在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，且所述移动设备到中点O的距离小于第二预设距离，所述第二预设距离小于第一预设距离，则所述执行区域判断模块确定所述移动设备在执行区域内。Further, if the mobile device is at the midpoint O of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is the apex angle, and the bottom surface is parallel to the plane of the vehicle door In the area, and the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is smaller than the first preset distance, the execution region determining module determines that the mobile device is in the execution region. Inside.
进一步的，设所述移动设备第一次监测区域内的坐标为E，第一次进入执行区域内的坐标为F，坐标E和坐标F连线构成方位矢量，如果所述方位矢量在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，则所述执行区域判断模块确定所述移动设备在执行区域内。Further, it is assumed that the coordinate in the first monitoring area of the mobile device is E, the coordinate entering the execution region for the first time is F, and the coordinate E and the coordinate F are connected to form an orientation vector, if the orientation vector is in the first An execution area determination module determines that a midpoint O of two mounting points of an iBeacon signal transmitter and a second iBeacon signal transmitter is an apex, 45 degrees is a vertex angle, and a bottom surface is parallel to a plane of the vehicle door plane. The mobile device is within an execution area.
根据本发明的又一方面，还提供了一种计算机可读存储介质，所述存储介质包含多条指令，所述指令被处理器执行时实现所述方法中包括的所有步骤。According to yet another aspect of the present invention, there is also provided a computer readable storage medium comprising a plurality of instructions that, when executed by a processor, implement all of the steps included in the method.
本发明与现有技术相比具有明显的优点和有益效果。借由上述技术方案，本发明一种车辆厢门控制方法和装置，可达到相当的技术进步性及实用性，并具有产业上的广泛利用价值，其至少具有下列优点：The present invention has significant advantages and advantageous effects over the prior art. According to the above technical solution, the vehicle door control method and device of the present invention can achieve considerable technical advancement and practicability, and have extensive industrial use value, and at least have the following advantages:
(1)用户无需携带钥匙，只需携带移动设备，例如手机，从车外靠近车辆厢门，即可控制车辆厢门的开启，显著地提高了用户体验。(1) The user does not need to carry the key, and only needs to carry a mobile device, such as a mobile phone, to control the opening of the vehicle door from the outside of the vehicle to the vehicle door, which significantly improves the user experience.
(2)通过ibeacon信号发射器来检测移动设备的位置和运动方向，避免了纯靠距离来控制车辆厢门的误触发，从而使用户坐在车内或者正常走到车门旁时不会造成误识别或误触发，提高了对车辆厢门控制的准确性。(2) The position and movement direction of the mobile device are detected by the ibeacon signal transmitter, which avoids the false triggering of the vehicle door by the pure distance, so that the user does not make a mistake when sitting in the car or walking normally to the door. Identification or false triggering improves the accuracy of vehicle door control.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其他目的、特征和优点能够更明显易懂，以下特举较佳实施例，并配合附图,详细说明如下。The above description is only an overview of the technical solutions of the present invention, and the above-described and other objects, features and advantages of the present invention can be more clearly understood. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments will be described in detail with reference to the accompanying drawings.
附图说明DRAWINGS
图1为本发明实施例车辆厢门控制方法流程图。1 is a flow chart of a method for controlling a vehicle door according to an embodiment of the present invention.
图2为本发明实施例测量移动设备与车辆上预设参照点间的距离方法流程图。2 is a flow chart of a method for measuring a distance between a mobile device and a preset reference point on the vehicle according to an embodiment of the present invention.
图3为本发明实施例iBeacon信号发射器设置示意图。FIG. 3 is a schematic diagram of setting a iBeacon signal transmitter according to an embodiment of the present invention.
图4为本发明车辆厢门控制装置示意图。4 is a schematic view of a vehicle door control device of the present invention.
图5为本发明实施例6车辆厢门控制装置示意图。Figure 5 is a schematic view of a vehicle door control device according to Embodiment 6 of the present invention.
图6为本发明实施例7车辆厢门控制装置示意图。Figure 6 is a schematic view of a vehicle door control device according to Embodiment 7 of the present invention.
图7为本发明实施例8车辆厢门控制装置示意图。Figure 7 is a schematic view of a vehicle door control device according to Embodiment 8 of the present invention.
具体实施方式Detailed ways
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效,以下结合附图及较佳实施例，对依据本发明提出的车辆厢门控制方法和装置的具体实施方式及其功效，进行详细说明。In order to further explain the technical means and functions of the present invention for achieving the intended purpose of the invention, the specific embodiments and functions of the vehicle door control method and apparatus according to the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Detailed instructions are given.
一种车辆厢门控制方法，如附图1所示，所述方法包括如下步骤：A vehicle door control method, as shown in FIG. 1, the method includes the following steps:
S1、测量移动设备与车辆上预设参照点间的距离；S1. Measuring a distance between the mobile device and a preset reference point on the vehicle;
S2、根据所述移动设备与车辆上预设参照点间的距离，判断所述移动设备是否在监测区域内；S2. Determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area.
S3、若所述移动设备在监测区域内，则测量所述移动设备与所述车辆的相对位置；S3. If the mobile device is in the monitoring area, measure a relative position of the mobile device and the vehicle;
S4、根据所述移动设备与所述车辆的相对位置，判断所述移动设备是否在执行区域内；S4. Determine, according to the relative position of the mobile device and the vehicle, whether the mobile device is in an execution area.
S5、如果所述移动设备在所述执行区域内，则控制厢门开启或关闭。S5. If the mobile device is in the execution area, the control door is opened or closed.
所述移动设备包括:智能手机、智能手表、可穿戴设备、智能卡片、手提电脑和智能项链等。由于用户经常将手机携带在身边，因此所述移动设备优选为手机。The mobile device includes: a smart phone, a smart watch, a wearable device, a smart card, a laptop, a smart necklace, and the like. Since the user often carries the mobile phone with him, the mobile device is preferably a mobile phone.
所述车辆厢门可以为后备箱、车门或前盖板。The vehicle door may be a trunk, a door or a front cover.
所述方法关于信号控制，列举以下3个实施例，但是不限于这3个实施例，其他可实现的方式，也属于本发明的保护范围。The method is as follows for the signal control, and the following three embodiments are listed, but are not limited to the three embodiments, and other achievable modes also belong to the protection scope of the present invention.
实施例1、Embodiment 1.
采用车载控制系统测量所述移动设备和车辆预设参照点间的距离，以及所述移动设备与所述车辆的相对位置，并根据距离信息和位置信息进行所述距离和相对位置的判断；Measuring, by the onboard control system, a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and determining the distance and the relative position according to the distance information and the location information;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
所述车载控制系统可以为车辆信息娱乐系统或其他可以向厢门锁定系统发送开启或关闭信号的控制单元。The onboard control system can be a vehicle infotainment system or other control unit that can send an on or off signal to the door lock system.
实施例2、Example 2
采用所述移动设备测量所述移动设备和车辆预设参照点间的距离以及所述移动设备与所述车辆的相对位置，Measuring, by the mobile device, a distance between the mobile device and a preset reference point of the vehicle and a relative position of the mobile device and the vehicle,
由所述移动设备将距离信息和相对位置信息发送给车载控制系统，并由所述车载控制系统进行所述距离和相对位置的判断；Transmitting the distance information and the relative position information by the mobile device to the in-vehicle control system, and determining, by the in-vehicle control system, the distance and the relative position;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
车辆控制系统可以为车辆信息娱乐系统。The vehicle control system can be a vehicle infotainment system.
实施例3、Embodiment 3
采用所述移动设备测量所述移动设备和车辆预设参照点间的距离以及所述移动设备与所述车辆的相对位置，Measuring, by the mobile device, a distance between the mobile device and a preset reference point of the vehicle and a relative position of the mobile device and the vehicle,
由所述移动设备进行所述距离和相对位置的判断；Determining the distance and the relative position by the mobile device;
如果所述移动设备在所述执行区域内，则由所述移动设备向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the mobile device to the door lock system to open or close the door.
如附图2所示，所述步骤S1包括：As shown in FIG. 2, the step S1 includes:
S101、在车辆厢门上安装至少一个iBeacon信号发射器，作为预设参照点；S101. Install at least one iBeacon signal transmitter on the vehicle door as a preset reference point;
S102、移动设备接收iBeacon信号发射器发出的iBeacon信号；S102. The mobile device receives an iBeacon signal sent by an iBeacon signal transmitter.
S103、根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和所述iBeacon信号发射器的距离：S103. Determine a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device:
根据所述iBeacon信号及一移动设备发出的反馈信号获取相应的RSSI(Received Signal Strength Indication接收的信号强度指示)值；Obtaining a corresponding RSSI (Received Signal Strength Indication received signal strength indication) value according to the iBeacon signal and a feedback signal sent by a mobile device;
根据所述RSSI值计算所述移动设备和iBeacon信号发射器的距离:Calculating the distance between the mobile device and the iBeacon signal transmitter according to the RSSI value:
计算公式为：The calculation formula is:
r＝10^((abs(RSSI)-A)/(10*n))       (1)r=10^((abs(RSSI)-A)/(10*n)) (1)
其中：among them:
r为所述移动设备和iBeacon信号发射器的距离；r is the distance between the mobile device and the iBeacon signal transmitter;
RSSI为接收信号强度；RSSI is the received signal strength;
A为iBeacon信号发射器和移动设备相隔1米时的信号强度；A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
n为环境衰减因子。n is the environmental attenuation factor.
此外，还可以通过超声波测量距离的方式或者其他方式来测量所述移动设备和iBeacon信号发射器的距离。In addition, the distance between the mobile device and the iBeacon signal transmitter can also be measured by means of ultrasonic distance measurement or other means.
以在车辆厢门上安装3个iBeacon信号发射器的实施例进行说明：An example of installing three iBeacon signal transmitters on a vehicle door is described:
实施例4、Example 4
如附图3所示，在所述车身上安装三个iBeacon信号发射器，分别为第一iBeacon信号发射器，安装点设为A，第二iBeacon信号发射器，安装点设为B和第三iBeacon信号发射器，安装点设为C，其中，所述第一iBeacon信号发射器、第二iBeacon信号发射器安装在车辆厢门盖上，关于车辆厢门中轴线对称，所述第三iBeacon信号发射器安装在车身或车内,且位于AB的垂直平分线上，优选的，三个iBeacon信号发射器相对于车身的高度相同，组成的平面与车身平面相平行，设移动设备所在位置为M点。As shown in FIG. 3, three iBeacon signal transmitters are installed on the vehicle body, respectively being the first iBeacon signal transmitter, the mounting point is set to A, the second iBeacon signal transmitter, and the mounting points are set to B and third. The iBeacon signal transmitter has a mounting point set to C, wherein the first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on the vehicle door cover, and the third iBeacon signal is symmetric about the central axis of the vehicle door. The transmitter is installed in the body or the car and is located on the vertical bisector of the AB. Preferably, the three iBeacon signal transmitters have the same height relative to the body, and the plane of the composition is parallel to the plane of the vehicle body, and the position of the mobile device is M. point.
设AM的距离为r a,BM的距离为r b，CM的距离为r c，根据公式(1)可得到r a、r b、r c的值。 AM for setting the distance r a, from the BM is the distance r b, CM is r c, (1) obtained according to the formula a, r b, r c values of r.
当所述移动设备和iBeacon信号发射器的距离r a、r b、r c的值均小于等于第一阈值时，且所述移动设备和iBeacon信号发射器的距离继续变小，则所述移动设备进入监测区域。 When the distances r a , r b , r c of the mobile device and the iBeacon signal transmitter are both less than or equal to the first threshold, and the distance between the mobile device and the iBeacon signal transmitter continues to decrease, the movement The device enters the monitoring area.
判断所述移动设备是否在执行区域包括：以iBeacon信号发射器安装点设置坐标系，根据所设置的坐标系计算所述移动设备所在位置的坐标，从而判断所述移动设备是否在执行区域，具体如下所述：Determining whether the mobile device is in an execution area comprises: setting a coordinate system by using an iBeacon signal transmitter installation point, calculating coordinates of a location of the mobile device according to the set coordinate system, thereby determining whether the mobile device is in an execution area, As described below:
设AB的中点为O点，以O点为原心，以AB为X轴，OC为Y轴，经过O点且垂直于A、B、C组成的平面的直线为Z轴(Z轴在图中未显示)建立笛卡尔坐标系。Let the midpoint of AB be the O point, with the O point as the original center, AB as the X axis, and OC as the Y axis. The straight line passing through the O point and perpendicular to the plane formed by A, B, and C is the Z axis (Z axis is The Cartesian coordinate system is established as shown in the figure.
设A点坐标为(x 1,y 1,z 1),B点坐标为(x 2,y 2,z 2),C点坐标为(x 3,y 3,z 3),M点坐标为(x 0,y 0，z 0),根据几何原理可得： Let the coordinates of point A be (x 1 , y 1 , z 1 ), the coordinates of point B be (x 2 , y 2 , z 2 ), the coordinates of point C be (x 3 , y 3 , z 3 ), and the coordinates of point M be (x 0 , y 0 , z 0 ), according to the geometric principle:
Figure PCTCN2018084140-appb-000001
Figure PCTCN2018084140-appb-000001
其中只有M点的三个坐标是未知数。可以轻易计算出M点的X、Y坐标。但由于ABC三点在同一平面，故ABC三点的Z坐标均为0。通过方程可以得出一正一负两个z 0，即两个关于ABC平面对称的点。由于移动设备位置一般会高于ABC平面，故只取正值z 0。至此，移动设备所在点M的位置坐标可以确定。 The three coordinates of only M points are unknown. The X and Y coordinates of the M point can be easily calculated. However, since the three points of ABC are in the same plane, the Z coordinates of the three points of ABC are all zero. By the equation, one positive and one negative z 0 can be obtained, that is, two points symmetric about the ABC plane. Since the location of the mobile device is generally higher than the ABC plane, only the positive value z 0 is taken. At this point, the position coordinates of the point M where the mobile device is located can be determined.
进而根据M的位置坐标判断所述移动设备是否在执行区域：Further determining whether the mobile device is in an execution region according to the location coordinates of M:
若所述移动设备在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，且所述移动设备到中点O的距离小于第二预设距离，所述第二预设距离小于第一预设距离，则判断所述移动设备在执行区域内。If the mobile device is at a vertex of a midpoint O of two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is a vertex angle, and a bottom surface is parallel to a plane of the vehicle door plane, And the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is less than the first preset distance, and the mobile device is determined to be in the execution region.
若所述移动设备在所述执行区域内，则控制开启或关闭车辆厢门。Controlling opening or closing of the vehicle door if the mobile device is within the execution area.
实施例5、Example 5
与实施例4的前部分步骤均相同，判断所述移动设备是否在执行区域的步骤有所区别，具体如下所述：The steps of determining whether the mobile device is in the execution area are different from the previous steps of Embodiment 4, as follows:
设所述移动设备第一次进入监测区域内的坐标E，第一次进入执行区域内的坐标为F，坐标E和坐标F连线构成方位矢量，如果所述方位矢量在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，则判断所述移动设备在执行区域内。Let the mobile device enter the coordinate E in the monitoring area for the first time, the coordinate entering the execution area for the first time is F, and the coordinate E and the coordinate F are connected to form an orientation vector, if the orientation vector is in the first iBeacon signal The midpoint O of the two mounting points of the transmitter and the second iBeacon signal transmitter is an apex, 45 degrees is a vertex angle, and the bottom surface is in a tapered region parallel to the plane of the vehicle door, and then the mobile device is judged to be in the execution region.
若所述移动设备在所述执行区域内，则控制开启或车辆厢门。If the mobile device is within the execution area, then control is turned on or the vehicle door.
第一阈值优选为2.5m,第二阈值优选为1.5m。The first threshold is preferably 2.5 m and the second threshold is preferably 1.5 m.
根据M点的坐标变化进行更加精确的判断，以更好地预测用户靠近车辆车辆厢门是否真的需要打开或关闭车辆厢门，以避免误判的可能性。整个过程的目标就是减少用户的操作，尽可能地用户只要靠近就可以完成对车辆厢门的控制。A more accurate judgment is made based on the coordinate change of the M point to better predict whether the user is close to the vehicle door of the vehicle or not, and it is really necessary to open or close the vehicle door to avoid the possibility of misjudgment. The goal of the entire process is to reduce the user's operation, as far as possible, the user can complete the control of the vehicle door as soon as they are close.
若车辆上部署3个以上的ibeacon信号发射器，则往往用于修正计算RSSI值带来的误差。例如确定M点和C点间的距离可以只通过一个ibeacon信号发射器完成，也可以通过部署多个已知位置的ibeacon信号发射器，计算M点和它们的距离，并通过几何运算来确定M点和C点的距离。这样可以减少由于单个传感器出现问题导致的误差，在此不再赘述。If more than three ibeacon signal transmitters are deployed on the vehicle, it is often used to correct the error caused by calculating the RSSI value. For example, determining the distance between point M and point C can be done only by one ibeacon signal transmitter, or by deploying ibeacon signal transmitters of multiple known positions, calculating M points and their distances, and determining M by geometric operation. The distance between point and point C. This can reduce the error caused by the problem of a single sensor, and will not be described here.
所述方法使用户无需携带钥匙，只需携带开启蓝牙的移动设备，从车外靠近车辆厢门，即可控制车辆厢门的开启，显著地提高了用户体验。通过3个或3个以上的ibeacon信号发射器来检测移动设备的位置和运动方向，避免了仅靠距离来控制车辆厢门的误触发，从而使用户坐在车内或者正常走到车门旁时不会造成误识别或误触发，提高了对车辆车辆厢门控制的准确性。The method enables the user to carry the Bluetooth-enabled mobile device without carrying the key, and can control the opening of the vehicle door from the outside of the vehicle to the vehicle door, thereby significantly improving the user experience. The position and movement direction of the mobile device are detected by three or more ibeacon signal transmitters, and the false triggering of the vehicle door is controlled by the distance alone, so that the user sits in the car or walks normally to the door. It will not cause misidentification or false triggering, which improves the accuracy of vehicle door control.
本发明实施例还提供了一种计算机可读存储介质，所述存储介质包含多条指令，所述指令被处理器执行时实现所述方法中的所有步骤。The embodiment of the invention further provides a computer readable storage medium, the storage medium comprising a plurality of instructions, the instructions being executed by the processor to implement all the steps in the method.
本发明实施例还提供了一种基于iBeacon的车辆厢门开启控制装置，如附图4所示，所述装置包括：An embodiment of the present invention further provides an iBeacon-based vehicle door opening control device. As shown in FIG. 4, the device includes:
距离测量模块，用于测量移动设备与车辆上预设参照点间的距离；a distance measuring module for measuring a distance between the mobile device and a preset reference point on the vehicle;
监测区域判断模块，用于根据所述移动设备与车辆上预设参照点间的距离判断所述移动设备是否在监测区域内；a monitoring area determining module, configured to determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area;
相对位置测量模块，用于所述移动设备在监测区域内时，测量所述移动设备与所述车辆的相对位置；a relative position measuring module, configured to measure a relative position of the mobile device and the vehicle when the mobile device is in a monitoring area;
执行区域判断模块，用于根据所述移动设备与所述车辆的相对位置判断所述移动设备是否在执行区域内；An execution area determining module, configured to determine, according to a relative position of the mobile device and the vehicle, whether the mobile device is in an execution area;
厢门控制模块，用于在所述移动设备在所述执行区域内时，控制厢门开启或关闭。a door control module for controlling the door to open or close when the mobile device is within the execution area.
所述移动设备包括:智能手机、智能手表、可穿戴设备、智能卡片、手提电脑和智能项链等。由于用户经常将手机携带在身边，因此所述移动设备优选为手机。The mobile device includes: a smart phone, a smart watch, a wearable device, a smart card, a laptop, a smart necklace, and the like. Since the user often carries the mobile phone with him, the mobile device is preferably a mobile phone.
所述装置关于信号控制，列举以下3个实施例，但是不限于这3个实施例，其他可实现的方式，也属于本发明的保护范围。The following three embodiments are listed for the signal control of the device, but are not limited to the three embodiments, and other achievable modes also belong to the protection scope of the present invention.
实施例6、Example 6,
如附图5所示，所述装置包括车载控制系统和厢门锁定系统，所述监距离测量模块、测区域判断模块、相对位置测量模块、执行区域判断模块均设置在车载控制系统中，所述厢门控制模块设置在厢门锁定系统中；所述厢门控制模块设置在厢门锁定系统中；As shown in FIG. 5, the device includes an in-vehicle control system and a door locking system, and the monitoring distance measuring module, the measuring area determining module, the relative position measuring module, and the execution area determining module are all disposed in the vehicle control system. The door control module is disposed in the door locking system; the door control module is disposed in the door locking system;
所述车载控制系统测量所述移动设备和车辆预设参照点间的距离，以及所述移动设备与所述车辆的相对位置，并根据距离信息和位置信息进行所述距离和相对位置的判断；The onboard control system measures a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and determines the distance and the relative position according to the distance information and the position information;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
车辆控制系统可以为车辆信息娱乐系统。The vehicle control system can be a vehicle infotainment system.
实施例7、Example 7,
如附图6所示，所述距离测量模块和相对位置测量模块设置在移动设备中，采用所述移动设备测量所述移动设备和车辆预设参照点间的距离以及所述移动设备与所述车辆的相对位置。As shown in FIG. 6, the distance measuring module and the relative position measuring module are disposed in a mobile device, and the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle, and the mobile device and the mobile device The relative position of the vehicle.
所述装置包括车载控制系统和厢门锁定系统，所述监测区域判断模块和执行区域判断模块设置在车载控制系统中，所述厢门控制模块设置在厢门锁定系统中；The device includes an in-vehicle control system and a door locking system, the monitoring area judging module and the execution area judging module are disposed in the in-vehicle control system, and the door control module is disposed in the door locking system;
由所述移动设备将距离信息和相对位置信息发送给车载控制系统，并由所述车载控制系统进行所述距离和相对位置的判断；Transmitting the distance information and the relative position information by the mobile device to the in-vehicle control system, and determining, by the in-vehicle control system, the distance and the relative position;
如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
车辆控制系统可以为车辆信息娱乐系统。The vehicle control system can be a vehicle infotainment system.
实施例8、Example 8,
如附图7所示，所述距离测量模块和相对位置测量模块设置在移动设备中，采用所述移动设备测量所述移动设备和车辆预设参照点间的距离以及所述移动设备与所述车辆的相对位置。As shown in FIG. 7, the distance measuring module and the relative position measuring module are disposed in a mobile device, and the mobile device is used to measure a distance between the mobile device and a preset reference point of the vehicle, and the mobile device and the mobile device The relative position of the vehicle.
所述装置包括厢门锁定系统，所述厢门控制模块设置在厢门锁定系统中，所述监测区域判断模块和执行区域判断模块设置在所述移动设备中；The device includes a door locking system, the door control module is disposed in a door locking system, and the monitoring area determining module and the execution area determining module are disposed in the mobile device;
由所述移动设备进行所述距离和相对位置的判断；Determining the distance and the relative position by the mobile device;
如果所述移动设备在所述执行区域内，则由所述移动设备向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the mobile device to the door lock system to open or close the door.
所述距离测量模块包括：The distance measurement module includes:
iBeacon信号发射单元，包括至少一个iBeacon信号发射器，作为预设参照点，用于发送iBeacon信号；The iBeacon signal transmitting unit includes at least one iBeacon signal transmitter as a preset reference point for transmitting the iBeacon signal;
距离测量单元，用于根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和iBeacon信号发射器的距离：a distance measuring unit, configured to determine a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device:
根据所述iBeacon信号及一移动设备发出的反馈信号获取相应的RSSI(Received Signal Strength Indication接收的信号强度指示)值；Obtaining a corresponding RSSI (Received Signal Strength Indication received signal strength indication) value according to the iBeacon signal and a feedback signal sent by a mobile device;
根据所述RSSI值计算所述移动设备和iBeacon信号发射器的距离:Calculating the distance between the mobile device and the iBeacon signal transmitter according to the RSSI value:
计算公式为：The calculation formula is:
r＝10^((abs(RSSI)-A)/(10*n))r=10^((abs(RSSI)-A)/(10*n))
其中：among them:
r为所述移动设备和iBeacon信号发射器的距离；r is the distance between the mobile device and the iBeacon signal transmitter;
RSSI为接收信号强度；RSSI is the received signal strength;
A为iBeacon信号发射器和移动设备相隔1米时的信号强度；A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
n为环境衰减因子。n is the environmental attenuation factor.
此外，还可以通过超声波测量距离的方式或者其他方式来测量所述移动设备和iBeacon信号发射器的距离。In addition, the distance between the mobile device and the iBeacon signal transmitter can also be measured by means of ultrasonic distance measurement or other means.
以在车辆厢门上安装3个iBeacon信号发射器的实施例进行说明：An example of installing three iBeacon signal transmitters on a vehicle door is described:
实施例9、Example 9,
如附图3所示，所述iBeacon模块包括三个iBeacon信号发射器，分别为第一iBeacon信号发射器，安装点设为A，第二iBeacon信号发射器，安装点设为B和第三iBeacon信号发射器，安装点设为C，其中，所述第一iBeacon信号发射器、第二iBeacon信号发射器安装在车辆厢门盖上，关于车辆厢门中轴线对称，所述第三iBeacon信号发射器安装在车身或车内,且位于AB的垂直平分线上，优选的，三个iBeacon信号发射器相对于车身的高度相同，组成的平面与车身平面向相平行，设移动设备所在位置为M点。As shown in FIG. 3, the iBeacon module includes three iBeacon signal transmitters, respectively being the first iBeacon signal transmitter, the mounting point is set to A, the second iBeacon signal transmitter, and the mounting point is set to B and the third iBeacon. a signal transmitter, the mounting point is set to C, wherein the first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on a vehicle door cover, and the third iBeacon signal is transmitted symmetrically about a central axis of the vehicle door The device is installed in the body or the car and is located on the vertical bisector of the AB. Preferably, the three iBeacon signal transmitters have the same height with respect to the body, and the plane of the composition is parallel to the plane of the vehicle body, and the position of the mobile device is M. point.
设AM的距离为r a,BM的距离为r b，CM的距离为r c，根据公式(1)可得到r a、r b、r c的值。 AM for setting the distance r a, from the BM is the distance r b, CM is r c, (1) obtained according to the formula a, r b, r c values of r.
当所述移动设备和iBeacon信号发射器的距离均小于等于第一阈值时，且所述移动设备和iBeacon信号发射器的距离继续变小，则所述移动设备进入监测区域。When the distance between the mobile device and the iBeacon signal transmitter is less than or equal to the first threshold, and the distance between the mobile device and the iBeacon signal transmitter continues to decrease, the mobile device enters the monitoring area.
所述执行区域判断模块还用于：The execution area determining module is further configured to:
以iBeacon信号发射器安装点设置坐标系，根据所设置的坐标系计算计算所述移动设备所在位置的坐标，从而判断所述移动设备是否在执行区域，具体如下所述：Setting a coordinate system with the iBeacon signal transmitter mounting point, calculating coordinates of the location of the mobile device according to the set coordinate system, thereby determining whether the mobile device is in an execution area, as follows:
设AB的中点为O点，以O点为原心，以AB为X轴，OC为Y轴，经过O点且垂直于A、B、C组成的平面的直线为Z轴(Z轴在图中未显示)建立笛卡尔坐标系。Let the midpoint of AB be the O point, with the O point as the original center, AB as the X axis, and OC as the Y axis. The straight line passing through the O point and perpendicular to the plane formed by A, B, and C is the Z axis (Z axis is The Cartesian coordinate system is established as shown in the figure.
设A点坐标为(x 1,y 1,z 1),B点坐标为(x 2,y 2,z 2),C点坐标为(x 3,y 3,z 3),M点坐标为(x 0,y 0，z 0),根据几何原理可得： Let the coordinates of point A be (x 1 , y 1 , z 1 ), the coordinates of point B be (x 2 , y 2 , z 2 ), the coordinates of point C be (x 3 , y 3 , z 3 ), and the coordinates of point M be (x 0 , y 0 , z 0 ), according to the geometric principle:
Figure PCTCN2018084140-appb-000002
Figure PCTCN2018084140-appb-000002
其中只有M点的三个坐标是未知数。可以轻易计算出M点的X、Y坐标。但由于ABC三点在同一平面，故ABC三点的Z坐标均为0。通过方程可以得出一正一负两个z 0，即两个关于ABC平面对称的点。由于移动设备位置一般会高于ABC平面，故只取正值z 0。至此，移动设备所在点M的位置坐标可以确定。 The three coordinates of only M points are unknown. The X and Y coordinates of the M point can be easily calculated. However, since the three points of ABC are in the same plane, the Z coordinates of the three points of ABC are all zero. By the equation, one positive and one negative z 0 can be obtained, that is, two points symmetric about the ABC plane. Since the location of the mobile device is generally higher than the ABC plane, only the positive value z 0 is taken. At this point, the position coordinates of the point M where the mobile device is located can be determined.
进而所述执行区域判断模块根据M的位置坐标判断所述移动设备是否在执行区域：Further, the execution region determining module determines, according to the location coordinates of the M, whether the mobile device is in an execution region:
若所述移动设备在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，且所述移动设备到中点O的距离小于第二预设距离，所述第二预设距离小于第一预设距离，则所述执行区域判断模块判断所述移动设备在执行区域内。If the mobile device is at a vertex of a midpoint O of two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is a vertex angle, and a bottom surface is parallel to a plane of the vehicle door plane, And the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is less than the first preset distance, the execution region determining module determines that the mobile device is in the execution region.
若所述移动设备在所述执行区域内，所述控制模块控制开启或关闭车辆厢门。The control module controls opening or closing of the vehicle door if the mobile device is within the execution area.
实施例10、Example 10
与实施例5的iBeacon模块、移动设备、监测区域判断模块均相同，执行区域判断模块不同，具体如下所述：设所述移动设备第一次进入监测区域内的坐标E，第一次进执行区域内的坐标为F，坐标E和坐标F连线构成方 位矢量，如果所述方位矢量在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，则所述执行区域判断模块判断所述移动设备在执行区域内。The iBeacon module, the mobile device, and the monitoring area judging module of the embodiment 5 are the same, and the execution area judging module is different, as follows: the first time the mobile device enters the coordinate E in the monitoring area, and the first execution is performed. The coordinates in the region are F, and the coordinates E and the coordinates F constitute an orientation vector. If the orientation vector is at the midpoint O of the two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 The execution region determination module determines that the mobile device is within the execution region. The execution region determination module determines that the mobile device is within the execution region.
若所述移动设备在所述执行区域内，所述控制模块控制开启或关闭车辆厢门。The control module controls opening or closing of the vehicle door if the mobile device is within the execution area.
本发明实施例中，第一阈值优选为2.5m,第二阈值优选为1.5m。In the embodiment of the present invention, the first threshold is preferably 2.5 m, and the second threshold is preferably 1.5 m.
根据M点的坐标变化进行更加精确的判断，以更好地预测用户靠近车辆车辆厢门是否真的需要打开车辆厢门，以避免误判的可能性。整个过程的目标就是减少用户的操作，尽可能地用户只要靠近就可以完成对车辆车辆厢门的控制。A more accurate judgment is made based on the coordinate change of the M point to better predict whether the user is close to the vehicle door of the vehicle and really needs to open the vehicle door to avoid the possibility of misjudgment. The goal of the entire process is to reduce the user's operation, as far as possible, the user can complete the control of the vehicle's vehicle door as soon as they are close.
若ibeacon模块包括3个以上的ibeacon信号发射器，则往往用于修正计算RSSI值带来的误差。例如确定M点和C点间的距离可以只通过一个ibeacon信号发射器完成，也可以通过部署多个已知位置的ibeacon信号发射器，计算M点和它们的距离，并通过几何运算来确定M点和C点的距离。这样可以减少由于单个传感器出现问题导致的误差，在此不再赘述。If the ibeacon module includes more than three ibeacon signal transmitters, it is often used to correct the error caused by calculating the RSSI value. For example, determining the distance between point M and point C can be done only by one ibeacon signal transmitter, or by deploying ibeacon signal transmitters of multiple known positions, calculating M points and their distances, and determining M by geometric operation. The distance between point and point C. This can reduce the error caused by the problem of a single sensor, and will not be described here.
采用所述装置使用户无需携带钥匙，只需携带开启蓝牙的移动设备，从车外靠近车辆厢门，即可控制车辆厢门的开启或关闭，显著地提高了用户体验。通过3个或3个以上的ibeacon信号发射器来检测移动设备的位置和运动方向，避免了纯靠距离来控制车辆厢门的误触发，从而使用户坐在车内或者正常走到车门旁时不会造成误识别或误触发，提高了对车辆车辆厢门控制的准确性。The device is used to enable the user to carry the Bluetooth-enabled mobile device without the need to carry the key, and to control the opening or closing of the vehicle door from the outside of the vehicle to the vehicle door, thereby significantly improving the user experience. The position and movement direction of the mobile device are detected by three or more ibeacon signal transmitters, and the false triggering of the vehicle door is controlled by the pure distance, so that the user sits in the car or walks normally to the door. It will not cause misidentification or false triggering, which improves the accuracy of vehicle door control.
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明,任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内,当可利用上述揭示的技术内容作出些许更动或修饰为等同变化的等效实施例,但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention. The skilled person can make some modifications or modifications to the equivalent embodiments by using the above-disclosed technical contents without departing from the technical scope of the present invention, but the present invention does not deviate from the technical solution of the present invention. Technical Substantials Any simple modifications, equivalent changes and modifications made to the above embodiments are still within the scope of the technical solutions of the present invention.

Claims (16)

  1. 一种车辆厢门控制方法，其特征在于：所述方法包括如下步骤：A vehicle door control method, characterized in that the method comprises the following steps:
    测量移动设备与车辆上预设参照点间的距离；Measuring the distance between the mobile device and the preset reference point on the vehicle;
    根据所述移动设备与车辆上预设参照点间的距离，判断所述移动设备是否在监测区域内；Determining whether the mobile device is in a monitoring area according to a distance between the mobile device and a preset reference point on the vehicle;
    若所述移动设备在监测区域内，则测量所述移动设备与所述车辆的相对位置；If the mobile device is in the monitoring area, measuring a relative position of the mobile device and the vehicle;
    根据所述移动设备与所述车辆的相对位置，判断所述移动设备是否在执行区域内；Determining whether the mobile device is in an execution area according to a relative position of the mobile device and the vehicle;
    如果所述移动设备在所述执行区域内，则控制厢门开启或关闭。If the mobile device is within the execution area, the control door is opened or closed.
  2. 根据权利要求1所述的车辆厢门控制方法，其特征在于：The vehicle door control method according to claim 1, wherein:
    采用车载控制系统测量所述移动设备和车辆预设参照点间的距离，以及所述移动设备与所述车辆的相对位置，并根据距离信息和位置信息进行所述距离和相对位置的判断；Measuring, by the onboard control system, a distance between the mobile device and a preset reference point of the vehicle, and a relative position of the mobile device and the vehicle, and determining the distance and the relative position according to the distance information and the location information;
    如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  3. 根据权利要求1所述的车辆厢门控制方法，其特征在于：The vehicle door control method according to claim 1, wherein:
    采用所述移动设备测量所述移动设备和车辆预设参照点间的距离以及所述移动设备与所述车辆的相对位置。The mobile device is used to measure a distance between the mobile device and a vehicle preset reference point and a relative position of the mobile device to the vehicle.
  4. 根据权利要求3所述的车辆厢门控制方法，其特征在于：A vehicle door control method according to claim 3, wherein:
    由所述移动设备将距离信息和相对位置信息发送给车载控制系统，并由所述车载控制系统进行所述距离和相对位置的判断；Transmitting the distance information and the relative position information by the mobile device to the in-vehicle control system, and determining, by the in-vehicle control system, the distance and the relative position;
    如果所述移动设备在所述执行区域内，则由所述车载控制系统向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the onboard control system to the door lock system to open or close the door.
  5. 根据权利要求3所述的车辆厢门控制方法，其特征在于：A vehicle door control method according to claim 3, wherein:
    由所述移动设备进行所述距离和相对位置的判断；Determining the distance and the relative position by the mobile device;
    如果所述移动设备在所述执行区域内，则由所述移动设备向厢门锁定系统发送开启或关闭信号，从而开启或关闭厢门。If the mobile device is within the execution zone, an on or off signal is sent by the mobile device to the door lock system to open or close the door.
  6. 根据权利要求1-5中任意一项所述的车辆厢门控制方法，其特征在于：A vehicle door control method according to any one of claims 1 to 5, characterized in that:
    测量移动设备与车辆上预设参照点间的距离包括：Measuring the distance between the mobile device and the preset reference point on the vehicle includes:
    在车辆厢门上安装至少一个iBeacon信号发射器，作为预设参照点；Installing at least one iBeacon signal transmitter on the vehicle door as a preset reference point;
    移动设备接收iBeacon信号发射器发出的iBeacon信号；The mobile device receives the iBeacon signal sent by the iBeacon signal transmitter;
    根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和所述iBeacon信号发射器的距离。Determining a distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device.
  7. 根据权利要求6所述的车辆厢门控制方法，其特征在于：The vehicle door control method according to claim 6, wherein:
    在所述车身上安装三个iBeacon信号发射器，分别为第一iBeacon信号发射器、第二iBeacon信号发射器和第三iBeacon信号发射器。Three iBeacon signal transmitters are mounted on the vehicle body, namely a first iBeacon signal transmitter, a second iBeacon signal transmitter and a third iBeacon signal transmitter.
  8. 根据权利要求7所述的车辆厢门控制方法，其特征在于：The vehicle door control method according to claim 7, wherein:
    所述第一iBeacon信号发射器、第二iBeacon信号发射器安装在车辆厢门上，关于车辆厢门中轴线对称，所述第三iBeacon信号发射器安装在车身上或车内,且位于第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的垂直平分线上。The first iBeacon signal transmitter and the second iBeacon signal transmitter are mounted on a vehicle door, and the third iBeacon signal transmitter is mounted on the vehicle body or in the vehicle, and is located at the first position. The vertical bisector of the two mounting points of the iBeacon signal transmitter and the second iBeacon signal transmitter.
  9. 根据权利要求8所述的车辆厢门控制方法，其特征在于：The vehicle door control method according to claim 8, wherein:
    根据所述iBeacon信号及一移动设备发出的反馈信号确定所述移动设备和iBeacon信号发射器的距离包括：Determining the distance between the mobile device and the iBeacon signal transmitter according to the iBeacon signal and a feedback signal sent by a mobile device includes:
    根据所述iBeacon信号及一移动设备发出的反馈信号获取相应的RSSI值；Obtaining a corresponding RSSI value according to the iBeacon signal and a feedback signal sent by a mobile device;
    根据所述RSSI值计算所述移动设备和iBeacon信号发射器的距离:Calculating the distance between the mobile device and the iBeacon signal transmitter according to the RSSI value:
    计算公式为：The calculation formula is:
    r＝10^((abs(RSSI)-A)/(10*n))r=10^((abs(RSSI)-A)/(10*n))
    其中：among them:
    r为所述移动设备和iBeacon信号发射器的距离；r is the distance between the mobile device and the iBeacon signal transmitter;
    RSSI为接收信号强度；RSSI is the received signal strength;
    A为iBeacon信号发射器和移动设备相隔1米时的信号强度；A is the signal strength when the iBeacon signal transmitter is separated from the mobile device by 1 meter;
    n为环境衰减因子。n is the environmental attenuation factor.
  10. 根据权利要求9所述的车辆厢门控制方法，其特征在于：The vehicle door control method according to claim 9, wherein:
    当所述移动设备和所有iBeacon信号发射器的距离均小于等于第一阈值时，且所述移动设备和所有iBeacon信号发射器的距离均继续变小，则所述移动设备进入监测区域。When the distance between the mobile device and all iBeacon signal transmitters is less than or equal to the first threshold, and the distance between the mobile device and all iBeacon signal transmitters continues to decrease, the mobile device enters the monitoring area.
  11. 根据权利要求9或10所述的车辆厢门控制方法，其特征在于：A vehicle door control method according to claim 9 or 10, wherein:
    判断所述移动设备是否在执行区域包括：Determining whether the mobile device is in an execution area includes:
    以iBeacon信号发射器安装点设置坐标系，根据所设置的坐标系计算计算所述移动设备所在位置的坐标，得到所述移动设备和车辆的相对位置，从而判断所述移动设备是否在执行区域。The coordinate system is set by the iBeacon signal transmitter installation point, and the coordinates of the location of the mobile device are calculated according to the set coordinate system, and the relative position of the mobile device and the vehicle is obtained, thereby determining whether the mobile device is in the execution region.
  12. 根据权利要求11所述的车辆厢门控制方法，其特征在于：A vehicle door control method according to claim 11, wherein:
    若所述移动设备在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，且所述移动设备到中点O的距离小于第二预设距离，所述第二预设距离小于第一预设距离，则判断所述移动设备在执行区域内。If the mobile device is at a vertex of a midpoint O of two mounting points of the first iBeacon signal transmitter and the second iBeacon signal transmitter, 45 degrees is a vertex angle, and a bottom surface is parallel to a plane of the vehicle door plane, And the distance from the mobile device to the midpoint O is less than the second preset distance, and the second preset distance is less than the first preset distance, and the mobile device is determined to be in the execution region.
  13. 根据权利要求11所述的车辆厢门控制方法，其特征在于：A vehicle door control method according to claim 11, wherein:
    设所述移动设备第一次监测区域内的坐标为E，第一次进入执行区域内的坐标为F，坐标E和坐标F连线构成方位矢量，如果所述方位矢量在以第一iBeacon信号发射器和第二iBeacon信号发射器两个安装点的中点O为顶点，45度为顶角，底面与车辆厢门平面平行的锥形区域内，则判断所述移动设备在执行区域内。It is assumed that the coordinate in the first monitoring area of the mobile device is E, the coordinate entering the execution region for the first time is F, and the connection between the coordinate E and the coordinate F constitutes an orientation vector, if the orientation vector is in the first iBeacon signal The midpoint O of the two mounting points of the transmitter and the second iBeacon signal transmitter is an apex, 45 degrees is a vertex angle, and the bottom surface is in a tapered region parallel to the plane of the vehicle door, and then the mobile device is judged to be in the execution region.
  14. 一种车辆厢门控制装置，其特征在于：所述装置包括：A vehicle door control device, characterized in that the device comprises:
    距离测量模块，用于测量移动设备与车辆上预设参照点间的距离；a distance measuring module for measuring a distance between the mobile device and a preset reference point on the vehicle;
    监测区域判断模块，用于根据所述移动设备与车辆上预设参照点间的距离判断所述移动设备是否在监测区域内；a monitoring area determining module, configured to determine, according to a distance between the mobile device and a preset reference point on the vehicle, whether the mobile device is in a monitoring area;
    相对位置测量模块，用于所述移动设备在监测区域内时，测量所述移动设备与所述车辆的相对位置；a relative position measuring module, configured to measure a relative position of the mobile device and the vehicle when the mobile device is in a monitoring area;
    执行区域判断模块，用于根据所述移动设备与所述车辆的相对位置判断所述移动设备是否在执行区域内；An execution area determining module, configured to determine, according to a relative position of the mobile device and the vehicle, whether the mobile device is in an execution area;
    厢门控制模块，用于在所述移动设备在所述执行区域内时，控制厢门开启或关闭。a door control module for controlling the door to open or close when the mobile device is within the execution area.
  15. 根据权利要求14所述的车辆厢门控制装置，其特征在于：所述装置还包括用于执行权利要求2-13中任一权利要求所述操作步骤的模块。A vehicle door control apparatus according to claim 14, wherein said apparatus further comprises means for performing the operational steps of any of claims 2-13.
  16. 一种计算机可读存储介质，其特征在于：所述存储介质包含多条指令，所述指令被处理器执行时实现如权利要求1至13中任一权利要求所述步骤。A computer readable storage medium, characterized in that the storage medium comprises a plurality of instructions which, when executed by a processor, carry out the steps of any one of claims 1 to 13.
PCT/CN2018/084140 2017-07-06 2018-04-24 Vehicle door control method and apparatus WO2019007137A1 (en)

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