WO2022042218A1 - 一种车辆控制方法、车辆、移动终端和可读存储介质 - Google Patents

一种车辆控制方法、车辆、移动终端和可读存储介质 Download PDF

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Publication number
WO2022042218A1
WO2022042218A1 PCT/CN2021/110088 CN2021110088W WO2022042218A1 WO 2022042218 A1 WO2022042218 A1 WO 2022042218A1 CN 2021110088 W CN2021110088 W CN 2021110088W WO 2022042218 A1 WO2022042218 A1 WO 2022042218A1
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WIPO (PCT)
Prior art keywords
mobile terminal
vehicle
bluetooth device
positioning
positioning information
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PCT/CN2021/110088
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English (en)
French (fr)
Inventor
段仕涛
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中兴通讯股份有限公司
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Publication of WO2022042218A1 publication Critical patent/WO2022042218A1/zh

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • 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
    • H04W4/025—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
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup

Definitions

  • the embodiments of the present application relate to, but are not limited to, the field of vehicle control, and specifically, but are not limited to, a vehicle control method, a vehicle, a mobile terminal, and a readable storage medium.
  • the current keyless entry through the air interface interaction between the key and the car machine can only realize the function of using the mobile terminal as a wireless key.
  • the user needs to manually control the function modules on the mobile terminal to realize the corresponding function.
  • the user experience of the current solution is not good.
  • the vehicle control method, vehicle, mobile terminal and readable storage medium provided by the embodiments of the present application solve the following technical problems at least to a certain extent: the current vehicle cannot automatically control the door of the vehicle according to the distance and position information between the user and the vehicle to operate.
  • an embodiment of the present application provides a vehicle control method.
  • the vehicle control method includes: a first Bluetooth device located in the vehicle receives first positioning information sent by a mobile terminal, and determines the first positioning information according to the first positioning information. The distance between the mobile terminal and the vehicle; when the distance between the mobile terminal and the vehicle is less than a preset value, the positioning starts, the first Bluetooth device activates the second Bluetooth device located outside the vehicle, and sends a message to the mobile terminal.
  • the first Bluetooth device receives the second positioning information sent by the mobile terminal
  • the second Bluetooth device receives the third positioning information sent by the mobile terminal, according to the second positioning information and the The third positioning information determines the location information of the mobile terminal, and performs a preset operation on the door closest to the mobile terminal.
  • An embodiment of the present application further provides a vehicle control method, the vehicle control method comprising: a mobile terminal sending first location information to a first Bluetooth device, where the first location information is used to determine the relationship between the mobile terminal and the vehicle The mobile terminal enters the positioning state after receiving the positioning instruction, sends second positioning information to the first Bluetooth device, and sends third positioning information to the second Bluetooth device, the second positioning information and the third positioning information.
  • the positioning information is used to determine the location information of the mobile terminal to determine the relative distance and relative position of the mobile terminal and the vehicle.
  • An embodiment of the present application further provides a vehicle, the vehicle includes: a first Bluetooth device disposed in the vehicle and a second Bluetooth device disposed on the vehicle shell, the first Bluetooth device and the second Bluetooth device Both support the positioning function; the first Bluetooth device is set to receive the first positioning information sent by the mobile terminal, and determine the distance between the mobile terminal and the vehicle according to the first positioning information; When the distance of the vehicle is less than the preset value, start positioning, start the second Bluetooth device located outside the vehicle, send a positioning instruction to the mobile terminal, and receive the second positioning information sent by the mobile terminal; The positioning information and the third positioning information determine the position information of the mobile terminal, and perform a preset operation on the door closest to the mobile terminal; the second Bluetooth device is configured to receive the first information sent by the mobile terminal. Three positioning information.
  • An embodiment of the present application further provides a mobile terminal, the mobile terminal includes: a communication module and a positioning module; the communication module is configured to send first position information to a first Bluetooth device, and the first position information is used for to determine the distance between the mobile terminal and the vehicle; the positioning module is configured to enter a positioning state when receiving a positioning command, send second positioning information to the first Bluetooth device, and send the second positioning information to the second Bluetooth device. Three positioning information, the second positioning information and the third positioning information are used to determine the position information of the mobile terminal, so as to determine the relative distance and relative position of the mobile terminal and the vehicle.
  • Embodiments of the present application further provide a computer storage medium, where the computer-readable storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the above-mentioned Steps of a vehicle control method.
  • FIG. 1 is a schematic flowchart of a vehicle control method provided in Embodiment 1 of the present application;
  • FIG. 2 is a schematic flowchart of a vehicle control method according to Embodiment 2 of the present application.
  • FIG. 3 is a flowchart of initial user binding according to Embodiment 3 of the present application.
  • FIG. 4 is a flowchart of a user opening a vehicle door from far to near according to Embodiment 3 of the present application;
  • FIG. 5 is a schematic structural diagram of a vehicle according to Embodiment 4 of the present application.
  • FIG. 6 is a schematic structural diagram of a mobile terminal according to Embodiment 4 of the present application.
  • the mobile terminal is usually carried by the user, so the location information of the user can be known by judging the location information of the mobile terminal, and the location of the user can be realized by locating the mobile terminal.
  • an embodiment of the present application provides a vehicle control method, and the vehicle control method includes:
  • the first Bluetooth device located in the vehicle receives the first positioning information sent by the mobile terminal, and determines the distance between the mobile terminal and the vehicle according to the first positioning information;
  • the first Bluetooth device activates a second Bluetooth device located outside the vehicle, and sends a positioning instruction to the mobile terminal;
  • the first Bluetooth device receives the second positioning information sent by the mobile terminal, and the second Bluetooth device receives the third positioning information sent by the mobile terminal, according to the second positioning information and the third positioning information.
  • the location information of the mobile terminal is determined, and a preset operation is performed on the door closest to the mobile terminal.
  • FIG. 1 is a schematic flowchart of a vehicle control method provided in this embodiment. Process steps include:
  • Step S101 a first Bluetooth device located in the vehicle receives first positioning information sent by a mobile terminal, and determines a distance between the mobile terminal and the vehicle according to the first positioning information.
  • the first positioning information sent by the mobile terminal is received through the first Bluetooth device in the car to determine the distance between the mobile terminal and the vehicle.
  • the distance between the mobile terminal and the vehicle is often far more than ten meters or tens of meters.
  • the primary positioning of the mobile terminal is performed, and the distance between the mobile terminal and the vehicle can be roughly estimated.
  • Step S102 starting positioning when the distance between the mobile terminal and the vehicle is less than a preset value, the first Bluetooth device activates a second Bluetooth device located outside the vehicle, and sends a positioning instruction to the mobile terminal.
  • the mobile terminal can accurately determine the distance of the mobile terminal relative to the vehicle by calculating the angle of arrival and the distance between the mobile terminal and the first Bluetooth device, as well as the angle of arrival and distance between the mobile terminal and the second Bluetooth device. and location.
  • Step S103 the first Bluetooth device receives the second positioning information sent by the mobile terminal, and the second Bluetooth device receives the third positioning information sent by the mobile terminal.
  • the position of the first Bluetooth device relative to the vehicle and the position of the second Bluetooth device relative to the vehicle are determined.
  • Step S104 Determine the location information of the mobile terminal according to the second positioning information and the third positioning information, and perform a preset operation on the door closest to the mobile terminal.
  • the first positioning assistance information can be calculated through the second positioning information received by the first Bluetooth device, and the second positioning assistance information can be calculated through the second Bluetooth device.
  • the third positioning information received by the device calculates the second positioning assistance information, and the precise location information of the mobile terminal can be determined according to the first positioning assistance information and the second positioning assistance information.
  • the vehicle door performs preset operations including but not limited to unlocking the vehicle door, opening the vehicle door and rolling down the lathe.
  • the method before the first Bluetooth device receives the first positioning information sent by the mobile terminal, the method further includes: performing, by the first Bluetooth device, Bluetooth authentication and authentication on the mobile terminal.
  • the first Bluetooth device in the car also needs to authenticate the mobile terminal before receiving the first positioning information.
  • the first Bluetooth device in the vehicle and the Bluetooth device in the mobile terminal are both Broadcast and scan the surrounding bluetooth signals.
  • the mobile terminal scans the bluetooth signal of the vehicle, it connects with the bluetooth signal. After the connection, the bluetooth authentication and authentication are carried out. Encrypted data transmission used. It can be understood that when the mobile terminal is connected to the first Bluetooth device for the first time, a process of Bluetooth information pairing and authentication information pairing will also be included, so as to ensure that the mobile terminal and the first Bluetooth device can be connected later. Bluetooth authentication and authentication.
  • performing the Bluetooth authentication on the mobile terminal by the first Bluetooth device includes: the first Bluetooth device receives a Bluetooth pairing request sent by the mobile terminal, and parses the Bluetooth pairing request to obtain a terminal pairing code; The first Bluetooth device matches the terminal pairing code according to the Bluetooth pairing code, and the matching successfully completes the Bluetooth authentication.
  • the mobile terminal After the mobile terminal is connected to the Bluetooth of the first Bluetooth device, it first sends a Bluetooth pairing request to the first Bluetooth device, and the first Bluetooth device performs Bluetooth authentication on the mobile terminal. Keep the connection state, when the match fails, disconnect the connection with the mobile terminal.
  • the first Bluetooth device performing authentication on the mobile terminal includes: completing Bluetooth authentication and realizing Bluetooth pairing; the first Bluetooth device sending a secret key to the mobile terminal; the mobile terminal The terminal obtains the first sequence by using a preset algorithm according to the secret key, the terminal public key and the terminal password, and sends the first sequence to the first Bluetooth device; the first Bluetooth device obtains the first sequence according to the secret key, The Bluetooth public key and the Bluetooth password are obtained by using a preset algorithm to obtain a second sequence, and the second sequence is matched with the first sequence, and the authentication is successfully completed after the matching.
  • the terminal public key on the mobile terminal includes, but is not limited to, the Bluetooth public key obtained from the first Bluetooth device when the mobile terminal communicates with the first Bluetooth device for the first time, or the public key corresponding to the vehicle obtained from the network side; and the terminal password includes but It is not limited to the terminal password input by the user, or the terminal password obtained according to the preset algorithm; the first Bluetooth device sends a secret key to the mobile terminal, the secret key includes but is not limited to the temporary secret key; the Bluetooth public key includes but is not limited to the factory preset.
  • the set Bluetooth secret key, or the public key related to the vehicle obtained from the network side; the Bluetooth password includes but is not limited to the terminal password obtained when connecting with the mobile terminal last time, or the terminal password obtained from the network side.
  • the preset algorithm includes: MD5 algorithm.
  • the first Bluetooth device receives the first positioning information sent by the mobile terminal, and determining the distance between the mobile terminal and the vehicle according to the first positioning information includes: the first Bluetooth device receives the mobile The first positioning information sent by the terminal, the first positioning information includes at least RSSI information, and the distance between the mobile terminal and the vehicle is determined according to the RSSI information.
  • the approximate distance between the mobile terminal and the vehicle can be determined by judging the strength of the Bluetooth signal received by the mobile terminal. It can be understood that the vehicle needs to continuously judge the distance between the mobile terminal and the vehicle, and therefore needs to receive the first positioning information sent by the mobile terminal after a period of time.
  • the positioning starts when the distance between the mobile terminal and the vehicle is less than a preset value, and the positioning method includes Bluetooth AOA positioning.
  • Bluetooth AOA positioning is to arrange a Bluetooth module that supports the Bluetooth direction finding function in the vehicle and on the roof. Both Bluetooth modules are used as receivers of the AOA positioning solution.
  • the Bluetooth in the mobile terminal also needs to support the Bluetooth direction finding function as AOA.
  • the sender of the positioning solution; and the Bluetooth module in the car also acts as the main control module, responsible for receiving the connection request of the mobile phone, performing primary positioning, and receiving the data transmitted by the Bluetooth module on the roof for precise positioning, and through precise positioning and calculation The precise location of the mobile phone and send a message to the car to open a certain door.
  • the first Bluetooth device activates a second Bluetooth device located outside the vehicle, and sending a positioning instruction to the mobile terminal includes: the first Bluetooth device sends the MAC address of the mobile terminal to the mobile terminal.
  • the second Bluetooth device the second Bluetooth device starts to enter the directional broadcast state, and directionally receives the third positioning information sent by the mobile terminal; the first Bluetooth device sends an AOA positioning instruction to the mobile terminal to control the The external device enters the AOA positioning state.
  • the first Bluetooth device After enabling AOA positioning, the first Bluetooth device enters the AOA positioning state, and simultaneously starts the second Bluetooth device outside the vehicle to enter the AOA positioning state, and sends an AOA positioning command to the mobile terminal to control the mobile terminal to enter the AOA positioning state.
  • the second Bluetooth device To perform connection matching and authentication with the mobile terminal, it is necessary to send the MAC address of the mobile terminal to the second Bluetooth device, so that the second Bluetooth device can identify whether the positioning information sent by the mobile terminal is correct.
  • the outside of the vehicle in this embodiment refers to the outer casing of the vehicle, but is not separated from the vehicle.
  • both the second positioning information and the third positioning information include CTE (Constant Tone Extension) packets;
  • the first Bluetooth device controls the first antenna array to operate on different antennas
  • the second positioning information is received through different antennas, and the first distance and the first azimuth angle between the mobile terminal and the vehicle are calculated according to the CTE messages in the second positioning information received by different antennas.
  • the second Bluetooth device controls the second antenna array to switch between different antennas, receives the third positioning information through different antennas, and calculates the the second distance and the second azimuth angle between the mobile terminal and the vehicle; according to the first distance and the first azimuth angle, as well as the second distance and the second azimuth angle, determine the relative relationship between the mobile terminal and the vehicle distance and relative position.
  • the CTE message is a piece of extended data added after the CRC check information of some messages. This part of the data will be sent to the receiver at a fixed frequency.
  • the first Bluetooth device has a corresponding first antenna array
  • the second Bluetooth device has a corresponding second antenna array.
  • the antenna array can allow different antennas to receive the positioning information sent by the mobile terminal by continuously switching antennas, thereby determining The azimuth angle of the mobile terminal, at the same time, the distance between the mobile terminal and the vehicle is determined according to the CTE message. After determining the two azimuth angles and two distance data of the mobile terminal, the position and distance of the mobile terminal relative to the vehicle can be accurately known. distance.
  • the method before performing the preset operation on the vehicle door closest to the mobile terminal, the method further includes: judging whether the distance between the position of the mobile terminal and the closest vehicle door is within a preset range, within a preset range , perform a preset operation on the door.
  • a vehicle control method provided by an embodiment of the present application includes: a first Bluetooth device located in the vehicle receives first positioning information sent by a mobile terminal, and determines a distance between the mobile terminal and the vehicle according to the first positioning information; When the distance is less than the preset value, the positioning starts, the first Bluetooth device starts the second Bluetooth device located outside the car, and sends a positioning instruction to the mobile terminal; the first Bluetooth device receives the second positioning information sent by the mobile terminal, and the second Bluetooth device The third positioning information sent by the mobile terminal is received, the position information of the mobile terminal is determined according to the second positioning information and the third positioning information, and a preset operation is performed on the door closest to the mobile terminal.
  • the mobile terminal is initially positioned through the first bluetooth device, when the distance is less than the preset value, the first bluetooth device and the second bluetooth device are used to precisely position the mobile terminal, and the door is controlled to perform a preset operation according to the precise positioning result.
  • the purpose of determining the distance between the user and the vehicle, and at the same time determining the user's location information through precise positioning, so as to control the corresponding door to perform a preset operation is achieved through Bluetooth.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the vehicle control method includes: a mobile terminal sends first location information to a first Bluetooth device, where the first location information is used to determine the relationship between the mobile terminal and the vehicle. distance;
  • the mobile terminal enters the positioning state after receiving the positioning instruction, sends second positioning information to the first Bluetooth device, and sends third positioning information to the second Bluetooth device, and the second positioning information and the third positioning information are used. for determining the position information of the mobile terminal to determine the relative distance and relative position of the mobile terminal and the vehicle.
  • FIG. 2 is a schematic flowchart of a vehicle control method provided in this embodiment. Process steps include:
  • Step S201 The mobile terminal sends first location information to a first Bluetooth device, where the first location information is used to determine the distance between the mobile terminal and the vehicle.
  • Step S202 the mobile terminal enters the positioning state after receiving the positioning instruction, sends second positioning information to the first Bluetooth device, and sends third positioning information to the second Bluetooth device, the second positioning information and the third positioning information are sent to the second Bluetooth device.
  • the positioning information is used to determine the location information of the mobile terminal to determine the relative distance and relative position of the mobile terminal and the vehicle.
  • a vehicle control method provided by an embodiment of the present application includes: the mobile terminal sends first position information to a first Bluetooth device, where the first position information is used to determine the distance between the mobile terminal and the vehicle; the mobile terminal receives a positioning instruction and enters positioning state, the second positioning information is sent to the first Bluetooth device, and the third positioning information is sent to the second Bluetooth device.
  • the second positioning information and the third positioning information are used to determine the location information of the mobile terminal to determine the relative relationship between the mobile terminal and the vehicle. distance and relative position.
  • This implementation takes an actual application scenario as an example to provide an example of a vehicle control method provided by an embodiment of the present application based on a Bluetooth AOA positioning method. Include the following steps:
  • FIG. 3 is a flowchart of the initial user binding provided in this embodiment. Include the following steps:
  • the vehicle on the vehicle can also obtain the public key through the network, and the public key can also It is cured into the vehicle body at the factory.
  • the second step is to turn on the bluetooth of the car machine, which refers to the master bluetooth module or the first bluetooth device.
  • the mobile phone APP searches for the Bluetooth of the car, and the Bluetooth of the car will carry part of the data of the pairing code in the scan response.
  • the mobile APP receives the scan response of the Bluetooth of the car, it parses the scan response to obtain part of the pairing code.
  • the other part of the pairing code is a fixed value, which exists as a constant in the APP.
  • the fourth step the mobile APP initiates a connection to the Bluetooth of the car, and after the connection is completed, enter the fifth step;
  • the car machine requires the APP to be paired.
  • the APP uses the combination of its internal constants and the partial pairing code extracted in the third step as a complete pairing code to complete the pairing process.
  • the sixth step after the pairing is completed, is the authentication process.
  • the APP sends a request to the vehicle side to obtain the temporary secret key.
  • the APP uses the public key in the first step to temporarily
  • the secret key and the user's default password are combined to calculate the MD5 sequence through the MD5 algorithm, and then send the sequence to the vehicle;
  • Step 7 After the vehicle side receives the MD5 sequence sent by the APP, it uses the public key, temporary secret key, and user default password stored in the vehicle to calculate the MD5 sequence through the MD5 algorithm, and then compare the two. If the sequence is consistent, the authentication is passed, and the eighth step is entered, otherwise the connection is disconnected. In addition, if the vehicle side does not receive a request from the APP side to obtain the temporary key after the pairing is completed, it will be considered an illegal connection, the connection will be disconnected, and the pairing information will be deleted.
  • the eighth step after the authentication is passed, the user modifies the user password through the APP, the APP will send the password to the device, the device saves the new password set by the user, and the subsequent authentication process in the user APP connection process will use the new user password.
  • FIG. 4 is a flowchart of the user opening the vehicle door from far to near provided in this embodiment. Include the following steps:
  • the main control Bluetooth module on the vehicle continues to broadcast after the user has finished using the vehicle last time, and the mobile APP initiates a search when the user approaches the vehicle;
  • the second step is to initiate a connection after the mobile APP searches for the bound Bluetooth device
  • the third step after the connection is completed, the device will require security authentication, mainly the security authentication of Bluetooth itself, and the linkkey needs to be exchanged between the mobile phone side and the device side.
  • This linkkey is the linkkey generated during pairing during the initial binding process. After Bluetooth security authentication, all subsequent interaction messages are encrypted.
  • the fourth step after the Bluetooth security authentication is successful, it enters the user authentication process, mainly the APP obtains the temporary secret key from the device side, adds the previous public key, and the user's password, calculates the MD5 sequence through the MD5 algorithm, and then Sent to the device, the device side also applies the public key, temporary secret key, and user password, calculates the MD5 sequence through the MD5 algorithm, and then authenticates the MD5 sequence sent by the APP. If the authentication passes, it will enter the primary positioning process, otherwise it will be disconnected. connect. In addition, if the mobile phone does not initiate a request to obtain a temporary key within a certain period of time after the third step is completed, the device side will also disconnect from the mobile phone.
  • the fifth step the device side sends a notification to start the primary positioning to the mobile APP;
  • the sixth step after the mobile APP receives the notification, it starts timing (the timing interval is 100ms) to obtain the RSSI of the message sent by the received device for the connection with the device, and then sends the RSSI to the device;
  • the device side estimates the distance from the mobile phone according to the RSSI fed back by the mobile phone.
  • the device continuously estimates the distance between the two through the RSSI continuously sent by the mobile phone. When the estimated distance is less than 5 meters, precise positioning is triggered.
  • the master bluetooth module starts the bluetooth module on the roof, and sends the MAC address of the connected mobile phone to the bluetooth module on the roof.
  • the bluetooth module on the roof enters the scannable directed advertising state, and only accepts and communicates with the master bluetooth module The scan request of the mobile phone in the connected state; on the other hand, the master Bluetooth module sends a command to the mobile phone APP, so that the mobile phone APP starts the AOA positioning process;
  • the ninth step the mobile phone starts the AOA process, that is, sends a connection message to the main control Bluetooth module, and adds CTE after the message; at the same time, starts scanning, and adds CTE after the scanning request message;
  • the main control Bluetooth module starts AOA positioning.
  • the main control Bluetooth module When receiving the connection message of the mobile phone, it controls its antenna array to switch between different antennas to receive the CTE in the connection message of the mobile phone, and then according to the message received by different antennas.
  • the phase of the message is used to determine the angle of arrival of the message, and according to the frequency used by the CTE when sending, the wavelength when the message is sent, and the distance between different antennas, calculate the distance and azimuth between the mobile phone and the vehicle;
  • the Bluetooth module on the roof also calculates the distance and azimuth between the mobile phone and the vehicle through the CTE in the received scan request message, and then sends the data to the main control Bluetooth module;
  • the main control Bluetooth module determines the actual position of the user according to the distance and azimuth angle between the mobile phone and the vehicle calculated by the two modules. When the position is within a certain range, the door of the corresponding position is opened.
  • the Bluetooth module in the vehicle communicates with the user through the Bluetooth module in the vehicle.
  • the vehicle can locate the user's location, and then select the door to be opened according to the user's location.
  • the vehicle can locate the user's location, then close the doors and close the vehicle.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • FIG. 5 is a schematic structural diagram of a vehicle provided in this embodiment.
  • the vehicle 1 includes: a first Bluetooth device 110 arranged in the vehicle 1 and a second Bluetooth device 120 arranged on the vehicle shell, and both the first Bluetooth device 110 and the second Bluetooth device 120 support positioning;
  • the first Bluetooth device 110 is configured to receive the first positioning information sent by the mobile terminal, and determine the distance between the mobile terminal and the vehicle according to the first positioning information; when the distance between the mobile terminal and the vehicle is When the distance is less than the preset value, start positioning, start the second Bluetooth device 120 located outside the vehicle, send a positioning instruction to the mobile terminal, and receive the second positioning information sent by the mobile terminal; according to the second positioning information and The third positioning information determines the position information of the mobile terminal, and performs a preset operation on the door closest to the mobile terminal;
  • the second Bluetooth device 120 is configured to receive the third positioning information sent by the mobile terminal.
  • the first Bluetooth device 110 is fixedly arranged inside the vehicle, including but not limited to the middle frame of the vehicle, and the second Bluetooth device 120 is fixedly arranged on the outer shell of the vehicle, including but not limited to the roof. After the first bluetooth device 110 and the second bluetooth device 120 are fixed, the positions of the first bluetooth device 110 and the second bluetooth device 120 relative to the vehicle have been determined, so that the first bluetooth device 110 and the second bluetooth device 120 can pass the From the received positioning information, the position information of the mobile terminal is obtained by calculation.
  • FIG. 6 is a schematic structural diagram of a mobile terminal provided by this embodiment.
  • the mobile terminal 2 includes: a communication module 210 and a positioning module 220;
  • the communication module 210 is configured to send first location information to a first Bluetooth device, where the first location information is used to determine the distance between the mobile terminal and the vehicle;
  • the positioning module 220 is configured to enter a positioning state when receiving a positioning instruction, send second positioning information to the first Bluetooth device, and send third positioning information to the second Bluetooth device, the second positioning information and all The third positioning information is used to determine the position information of the mobile terminal to determine the relative distance and relative position of the mobile terminal and the vehicle.
  • This embodiment also provides a computer program, which can be distributed on a computer-readable medium and executed by a computer-readable device, so as to implement at least one step of the vehicle control method in the foregoing Embodiments 1 to 3; And in some cases, at least one of the steps shown or described may be performed in an order different from that described in the above embodiments.
  • a vehicle control method, vehicle, mobile terminal, and readable storage medium include: a first Bluetooth device located in the vehicle receives first positioning information sent by the mobile terminal, and determines movement according to the first positioning information The distance between the terminal and the vehicle; when the distance between the mobile terminal and the vehicle is less than the preset value, the positioning starts, the first Bluetooth device starts the second Bluetooth device located outside the vehicle, and sends a positioning instruction to the mobile terminal; the first Bluetooth device receives the mobile terminal.
  • the second Bluetooth device receives the third positioning information sent by the mobile terminal, determines the position information of the mobile terminal according to the second positioning information and the third positioning information, and performs a preset operation on the door closest to the mobile terminal.
  • the mobile terminal is initially positioned through the first bluetooth device, when the distance is less than the preset value, the first bluetooth device and the second bluetooth device are used to precisely position the mobile terminal, and the door is controlled to perform a preset operation according to the precise positioning result.
  • the purpose of determining the distance between the user and the vehicle, and at the same time determining the user's location information through precise positioning, so as to control the corresponding door to perform a preset operation is achieved through Bluetooth.
  • the functional modules/units in the system, and the device can be implemented as software (which can be implemented by computer program codes executable by a computing device). ), firmware, hardware, and their appropriate combination.
  • the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical components Components execute cooperatively.
  • Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit .
  • communication media typically embodies computer readable instructions, data structures, computer program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and can include any information delivery, as is well known to those of ordinary skill in the art medium. Therefore, the present application is not limited to any particular combination of hardware and software.

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Abstract

一种车辆控制方法、车辆、移动终端和可读存储介质，包括：位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据第一定位信息确定移动终端与车辆的距离(S101)；当移动终端与车辆的距离小于预设值时开始定位，第一蓝牙设备启动位于车外的第二蓝牙设备，并向移动终端发送定位指令(S102)；第一蓝牙设备接收移动终端发送的第二定位信息，第二蓝牙设备接收移动终端发送的第三定位信息(S103)，根据第二定位信息和第三定位信息确定移动终端的位置信息，对距离移动终端最近的车门执行预设操作(S104)。

Description

一种车辆控制方法、车辆、移动终端和可读存储介质
相关申请的交叉引用
本申请基于申请号为202010870787.2、申请日为2020年8月26日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请实施例涉及但不限于汽车控制领域，具体而言，涉及但不限于一种车辆控制方法、车辆、移动终端和可读存储介质。
背景技术
随着经济的发展以及人民生活水平的提高，汽车的保有量也不断升高，人们对汽车使用的便捷性的需求也在不断提高。当前，大部分的车钥匙还是以物理钥匙为主，数量有限，容易损坏和丢失，还容易遗忘钥匙，用户体验很差。少部分汽车采用无钥匙进入，也有部分通过手机上的蓝牙来作为虚拟汽车钥匙来控制汽车。
目前的无钥匙进入通过钥匙与车机之间通过空口交互，只能实现将移动终端作为无线钥匙的功能，通过移动终端对汽车的控制用户需要手动控制移动终端上的功能模块来实现对应的功能，这在一些场景下，例如当用户的双手腾不开，此时又需要对车门进行操作时，目前的方案用户体验并不好。
发明内容
本申请实施例提供的一种车辆控制方法、车辆、移动终端和可读存储介质，至少在一定程度上解决以下技术问题：目前的汽车无法根据用户与车辆的距离和位置信息对车辆的车门自动进行操作。
有鉴于此，本申请实施例提供一种车辆控制方法，所述车辆控制方法包括：位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离；当所述移动终端与所述车辆的距离小于预设值时开始定位，所述第一蓝牙设备启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令；所述第一蓝牙设备接收所述移动终端发送的第二定位信息，所述第二蓝牙设备接收所述移动终端发送的第三定位信息，根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作。
本申请实施例还提供一种车辆控制方法，所述车辆控制方法包括：移动终端将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离；所述移动终端接收到定位指令进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
本申请实施例还提供一种车辆，所述车辆中包括：设置在车辆内的第一蓝牙设备和设置在车辆外壳上的第二蓝牙设备，所述第一蓝牙设备和所述第二蓝牙设备均支持定位功能；所述第一蓝牙设备，被设置成接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离；当所述移动终端与所述车辆的距离小于预设值时开始定位，启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令，接收所述移动 终端发送的第二定位信息；根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作；所述第二蓝牙设备，被设置成接收所述移动终端发送的第三定位信息。
本申请实施例还提供一种移动终端，所述移动终端包括：通信模块和定位模块；所述通信模块，被设置成将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离；所述定位模块，被设置成接收到定位指令时进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
本申请实施例还提供一种计算机存储介质，所述计算机可读存储介质存储有一个或者多个计算机程序，所述一个或者多个计算机程序可被一个或者多个处理器执行，以实现上述的车辆控制方法的步骤。
本申请其他特征和相应的有益效果在说明书的后面部分进行阐述说明，且应当理解，至少部分有益效果从本申请说明书中的记载变的显而易见。
附图说明
图1为本申请实施例一提供的一种车辆控制方法的流程示意图；
图2为本申请实施例二提供的一种车辆控制方法的流程示意图；
图3为本申请实施例三提供的用户初次绑定的流程图；
图4为本申请实施例三提供的用户由远及近打开车门的流程图；
图5为本申请实施例四提供的一种车辆的结构示意图；
图6为本申请实施例四提供的一种移动终端的结构示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，下面通过具体实施方式结合附图对本申请实施例作进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本申请实施例中，移动终端通常被用户随身携带，因此判断移动终端的位置信息即可知道用户的位置信息，通过对移动终端进行定位即可实现对用户的定位。
实施例一：
为了实现确定用户和车辆之间的距离的效果，以及判断用户的位置信息对车辆的车门进行控制目的，本申请实施例提供了一种车辆控制方法，所述车辆控制方法包括：
位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离；
当所述移动终端与所述车辆的距离小于预设值时开始定位，所述第一蓝牙设备启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令；
所述第一蓝牙设备接收所述移动终端发送的第二定位信息，所述第二蓝牙设备接收所述移动终端发送的第三定位信息，根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作。
请参见图1，图1为本实施例提供的一种车辆控制方法的流程示意图。流程步骤包括：
步骤S101、位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离。
通过车内的第一蓝牙设备接收移动终端发送的第一定位信息，以确定移动终端与车辆的距离，此时移动终端与车辆之间的距离往往比较的远一般在十几米或者几十米，此时是对移动终端进行初级定位，可以粗略的估计移动终端和车辆之间的距离。
步骤S102、当所述移动终端与所述车辆的距离小于预设值时开始定位，所述第一蓝牙设备启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令。
当移动终端与车辆的之间的距离小于预设值(例如10米以内)时，开启定位，以精确的确定移动终端的位置信息，定位需要第一蓝牙设备和第二蓝牙设备作为定位信息接收设备，移动终端作为定位信息发送设备，通过计算移动终端与第一蓝牙设备的到达角和距离，以及移动终端与第二蓝牙设备的到达角和距离，来精确的确定移动终端相对于车辆的距离和位置。
步骤S103、所述第一蓝牙设备接收所述移动终端发送的第二定位信息，所述第二蓝牙设备接收所述移动终端发送的第三定位信息。
在本实施中，第一蓝牙设备相对于车辆的位置，以及第二蓝牙设备相对于车辆的位置是确定的。
步骤S104、根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作。
由于第一蓝牙设备相对于车辆的位置，以及第二蓝牙设备相对于车辆的位置是确定的，因此可以通过第一蓝牙设备接收的第二定位信息计算出第一定位辅助信息，通过第二蓝牙设备接收的第三定位信息计算出第二定位辅助信息，根据第一定位辅助信息和第二定位辅助信息就可以确定移动终端精确的位置信息。车门执行预设操作包括但不限于解锁车门、开启车门和摇下车床等操作，这里的车门包括但不限于，车辆的座位两侧的车门、车尾门以及发动机盖板等。
在一些实施例中，所述第一蓝牙设备接收移动终端发送的第一定位信息之前还包括：所述第一蓝牙设备对所述移动终端进行蓝牙认证和鉴权认证。
为了保证车辆的安全，车内的第一蓝牙在接收第一定位信息前还需要对移动终端进行身份验证，当用户与开始靠近车辆时，车辆内的第一蓝牙设备和移动终端中的蓝牙均对周围的蓝牙信号进行广播和扫描，当移动终端扫描到车辆的蓝牙信号时，与该蓝牙信号连接，连接以后进行蓝牙认证和鉴权认证，在整个蓝牙认证和鉴权认证的过程中均是采用的加密数据传输。可以理解的是，在移动终端第一次与第一蓝牙设备连接时，还会包括一个蓝牙信息配对和鉴权信息配对的过程，以保证移动终端和第一蓝牙设备之后的连接中，能够进行蓝牙认证和鉴权认证。
在一些实施例中，所述第一蓝牙设备对所述移动终端进行蓝牙认证包括：所述第一蓝牙设备接收所述移动终端发送的蓝牙配对请求，解析所述蓝牙配对请求得到终端配对码；所述第一蓝牙设备根据蓝牙配对码对所述终端配对码进行匹配，匹配成功完成蓝牙认证。
当移动终端与第一蓝牙设备的蓝牙连接上以后，先向第一蓝牙设备发送蓝牙配对请求，第一蓝牙设备对移动终端进行蓝牙认证，只有通过蓝牙认证，移动终端才能与第一蓝牙设备长期保持连接状态，匹配不通过时，断开与移动终端的连接。
在一些实施例中，所述第一蓝牙设备对所述移动终端进行鉴权认证包括：完成蓝牙认证，实现蓝牙配对后；所述第一蓝牙设备向所述移动终端发送秘钥；所述移动终端根据所述秘钥、终端公钥和终端密码，采用预设算法得到第一序列，将所述第一序列发送给所述 第一蓝牙设备；所述第一蓝牙设备根据所述秘钥、蓝牙公钥和蓝牙密码，采用预设算法得到第二序列，将所述第二序列与所述第一序列进行匹配，匹配成功完成鉴权认证。
在完成蓝牙匹配认证以后，进一步的进行鉴权认证，对用户的身份进行认证，以进一步的提高安全性。移动终端上的终端公钥包括但不限于第一次与第一蓝牙设备时从第一蓝牙设备上获取的蓝牙公钥，或者从网络侧获取的与车辆对于的公钥；而终端密码包括但不限于用户输入的终端密码，或者根据预设算法得出的终端密码；第一蓝牙设备向移动终端发送秘钥，该秘钥包括但不限于临时秘钥；蓝牙公钥包括但不限于出厂预设的蓝牙秘钥，或者从网络侧获取的与车辆对于的公钥；蓝牙密码包括但不限上一次与移动终端连接时获取的终端密码，或者从网络侧获取的终端密码。
在一些实施例中，所述预设算法包括：MD5算法。
在一些实施例中，所述第一蓝牙设备接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离包括：所述第一蓝牙设备接收移动终端发送的第一定位信息，所述第一定位信息中至少包括RSSI信息，根据所述RSSI信息确定所述移动终端与所述车辆的距离。
RSSI(Received Signal Strength Indication接收的信号强度指示)信息，通过判断移动终端接收的蓝牙信号的强度即可确定移动终端与车辆的大概距离。可以理解的是，车辆需要持续的判断移动终端距车辆的距离，因此需要在一段时间间隔后就接收一次移动终端发送的第一定位信息。
在一些实施例中，所述当所述移动终端与所述车辆的距离小于预设值时开始定位，所述定位方式包括蓝牙AOA定位。
蓝牙AOA定位是将车辆内和车顶分别布置一个支持蓝牙寻向功能的蓝牙模块，两个蓝牙模块都作为AOA定位方案的接收者，移动终端中的蓝牙也需要支持蓝牙寻向功能，作为AOA定位方案的发送者；而车内的蓝牙模块同时还作为主控模块，负责接收手机的连接请求，进行初级定位，以及接收车顶的蓝牙模块传递的数据进行精确定位，并通过精确定位并计算手机的精确位置，并给车机发送打开某个车门的消息。
在一些实施例中，所述第一蓝牙设备启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令包括：所述第一蓝牙设备将所述移动终端的MAC地址发送给所述第二蓝牙设备，所述第二蓝牙设备启动进入定向广播状态，定向接收所述移动终端发送的第三定位信息；所述第一蓝牙设备向所述移动终端发送AOA定位指令，控制所述外部设备进入AOA定位状态。
开启AOA定位后，第一蓝牙设备进入AOA定位状态，同时启动车外的第二蓝牙设备进入AOA定位状态，并向移动终端发送AOA定位指令控制移动终端进入AOA定位状态，由于第二蓝牙设备没有与移动终端进行连接匹配和认证，因此需要将移动终端的MAC地址发送给第二蓝牙设备，让第二蓝牙设备可以识别是否为正确的移动终端发送的定位信息。需要说明的是，本实施例所指的车外表示的是车辆的外壳，而没有脱离车辆。
在一些实施例中，述第二定位信息和所述第三定位信息中均包括CTE(Constant Tone Extension定频扩展报文)报文；所述第一蓝牙设备控制第一天线阵列在不同的天线之间切换，通过不同的天线接收所述第二定位信息，根据不同天线接收到的第二定位信息中的CTE报文，计算所述移动终端与车辆之间的第一距离和第一方位角；所述第二蓝牙设备控制第二天线阵列在不同的天线之间切换，通过不同的天线接收所述第三定位信息，根据不 同天线接收到的第三定位信息中的CTE报文，计算所述移动终端与车辆之间的第二距离和第二方位角；根据所述第一距离和第一方位角，以及第二距离和第二方位角，确定所述移动终端与所述车辆的相对距离和相对位置。
CTE报文，是在某些报文CRC校验信息后增加的一段扩展数据，这部分数据将会以固定的频率发送给接收者。
第一蓝牙设备有对应的第一天线阵列，第二蓝牙设备有对应的第二天线阵列，天线阵列通过不断的切换天线，就可以让不同的天线来接收移动终端发送的定位信息，从而确定出移动终端的方位角，同时根据CTE报文来确定移动终端与车辆之间的距离，确定移动终端的两个方位角和两个距离数据后，基于可以准确的知道移动终端相对于车辆的位置和距离。
在一些实施例中，所述对距离所述移动终端最近的车门执行预设操作之前还包括：判断所述移动终端的位置与最近的车门的距离是否处于预设范围内，处于预设范围内时，对车门执行预设操作。
本申请实施例提供的一种车辆控制方法，包括：位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据第一定位信息确定移动终端与车辆的距离；当移动终端与车辆的距离小于预设值时开始定位，第一蓝牙设备启动位于车外的第二蓝牙设备，并向移动终端发送定位指令；第一蓝牙设备接收移动终端发送的第二定位信息，第二蓝牙设备接收移动终端发送的第三定位信息，根据第二定位信息和第三定位信息确定移动终端的位置信息，对距离移动终端最近的车门执行预设操作。通过第一蓝牙设备对移动终端进行初级定位，当距离小于预设值时使用第一蓝牙设备和第二蓝牙设备对移动终端进行精确定位，根据精确定位结果控制车门执行预设操作。通过蓝牙实现了确定用户与车辆之间的距离，同时通过精确定位确定用户的位置信息，以控制对应的车门执行预设操作的目的。
实施例二：
本实施例提供了一种车辆控制方法，所述车辆控制方法包括：移动终端将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离；
所述移动终端接收到定位指令进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
请参见图2，图2为本实施例提供的一种车辆控制方法的流程示意图。流程步骤包括：
步骤S201、移动终端将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离。
步骤S202、所述移动终端接收到定位指令进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
本申请实施例提供的一种车辆控制方法，包括：移动终端将第一位置信息发送给第一蓝牙设备，第一位置信息用于确定移动终端与车辆的距离；移动终端接收到定位指令进入定位状态，向第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，第二定位信息和第三定位信息用于确定移动终端的位置信息，以确定移动终端与车辆的相对距离和相对位置。移动终端通过向第一蓝牙设备发送第一位置信息，就可以让车辆初级定位 移动终端与车辆之间的距离，当接收到定位指令时，向第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，即可精确的定位移动终端相对于车辆的位置和距离，实现了确定移动终端与车辆之间的相对距离和相对位置的目的。
实施例三：
本实施以实际的应用场景为例给本申请实施例提供的一种车辆控制方法基于蓝牙AOA定位方式提供的一种示例。包括以下步骤：
1、用户初次绑定过程：参见图3，图3为本实施例提供的用户初次绑定的流程图。包括以下步骤：
第一步，用户手机安装APP后，输入车辆关键信息，然后从网络上获取公钥，车辆上的车机(车机内包含蓝牙设备)也可以通过网络获取公钥，另外该公钥也可以在出厂时固化到车辆车机内。
第二步，开启车机的蓝牙，这里指的是主控蓝牙模块或者第一蓝牙设备。
第三步，手机APP搜索车机的蓝牙，车机的蓝牙在scan response中会携带配对码的一部分数据，手机APP接收到车机蓝牙的scan response时，对scan response进行解析得到部分配对码，配对码的另外一部分是固定值，在APP中作为常量存在。
第四步，手机APP向车机的蓝牙发起连接，连接完成之后，进入第五步；
第五步，车机要求APP进行配对，APP使用其内部的常量和第三步提取到的部分配对码组合之后作为完整的配对码，完成配对过程。
第六步，配对完成之后，是鉴权过程，APP向车机侧发送请求，获取临时秘钥，APP接收到车机侧发送过来的临时秘钥之后，使用第一步中的公钥，临时秘钥，以及用户默认密码，组合之后通过MD5算法计算出MD5序列，然后将该序列发送给车机；
第七步，车机侧接收到APP发送过来的MD5序列后，使用车机存储的公钥，临时秘钥，以及用户默认密码，通过MD5算法计算出MD5序列，然后对比二者，如果两个序列一致，则鉴权通过，进入第八步，否则断开连接。此外，如果车机侧在配对完成之后，长时间未接收到APP侧获取临时秘钥的请求，则认为是非法连接，将会断开连接，并删除配对信息。
第八步，鉴权通过之后用户通过APP修改用户密码，APP会将密码发送给设备，设备保存用户设置的新密码，后续用户APP连接过程中的鉴权过程将会使用新的用户密码。
2、用户由远及近打开车门过程：参见图4，图4为本实施例提供的用户由远及近打开车门的流程图。包括以下步骤：
第一步，车辆上的主控蓝牙模块在用户上次使用完毕车辆之后，持续进行广播，手机APP在用户接近车辆的时候发起搜索；
第二步，手机APP搜索到绑定的蓝牙设备后，发起连接；
第三步，连接完成之后，设备会要求进行安全鉴权，主要是蓝牙本身的安全鉴权，须要手机侧和设备侧交换linkkey，此linkkey就是初次绑定过程中配对时产生的linkkey，经过了蓝牙的安全鉴权之后，后续所有交互报文都是加密的。
第四步，蓝牙的安全鉴权成功之后，就进入用户鉴权过程，主要是APP从设备侧获取临时秘钥，加上之前的公钥，以及用户的密码，通过MD5算法计算MD5序列，然后发给设备，设备侧同样适用公钥，临时秘钥，以及用户密码，通过MD5算法计算MD5序列，然后对APP发送过来的MD5序列进行鉴权，鉴权通过则进入初级定位过程，否则断开连接。此外，如果第三步完成之后，手机在一定时间内不发起获取临时秘钥的请求的话，设备侧也 会断开与手机的连接。
第五步，设备侧向手机APP发送启动初级定位的通知；
第六步，手机APP接收到通知后，开始定时(定时间隔为100ms)获取与设备之间的连接的，接收到的设备发送的报文的RSSI，然后将RSSI发送给设备；
第七步，设备侧根据手机反馈的RSSI，估算与手机之间的距离。
设备通过手机不断发过来的RSSI，不断估算二者之间的距离，当估算距离小于5米时，触发精确定位。
第八步，主控蓝牙模块启动车顶的蓝牙模块，并将所连接的手机的MAC地址发送给车顶的蓝牙模块，车顶的蓝牙模块进入scannable directed advertising状态，仅接受与主控蓝牙模块处于连接状态的手机的scan request；另一方面，主控蓝牙模块发送指令给手机APP，让手机APP启动AOA定位过程；
第九步，手机启动AOA过程，也就是在向主控蓝牙模块发送连接报文式，在报文后增加CTE；同时启动扫描，并在扫描请求报文后增加CTE；
第十步，主控蓝牙模块启动AOA定位，在接收手机的连接报文时，控制其天线阵列在不同天线之间切换，来接收手机连接报文中的CTE，然后根据不同天线接收到的报文的相位来确定报文的到达角，并根据CTE在发送的时候使用的频率得到发送报文时的波长，还有不同天线之间的距离，计算手机与车辆之间的距离和方位角；同样，车顶的蓝牙模块也通过接收到的扫描请求报文中的CTE，计算出手机与车辆之间的距离和方位角，然后将数据发送给主控蓝牙模块；
第十一步，主控蓝牙模块根据两个模块计算出来的手机与车辆之间的距离和方位角，确定用户的实际位置，当位置处于一定范围内的时候，打开对应位置的车门。
本申请实施例的应用场景，当车辆的用户的手机上的APP与用户的车辆绑定之后，在车辆处于锁状态的时候，用户由远及近靠近车辆时，通过车辆内的蓝牙模块与用户手机APP的交互，车辆能够定位用户的位置，然后根据用户的位置选择需要打开的车门。另外，在用户远离车辆的时候，车辆能够定位用户的位置，然后关闭车门及关闭车辆。
实施例四：
本实施例提供了一种车辆，可参见图5，图5为本实施例提供的一种车辆的结构示意图。车辆1包括：设置在车辆1内的第一蓝牙设备110和设置在车辆外壳上的第二蓝牙设备120，所述第一蓝牙设备110和所述第二蓝牙设备120均支持定位；
所述第一蓝牙设备110，被设置成接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离；当所述移动终端与所述车辆的距离小于预设值时开始定位，启动位于车外的第二蓝牙设备120，并向所述移动终端发送定位指令，接收所述移动终端发送的第二定位信息；根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作；
所述第二蓝牙设备120，被设置成接收所述移动终端发送的第三定位信息。
第一蓝牙设备110固定设置在车辆内部，包括但不限于汽车中框台上，第二蓝牙设备120固定设设置在车辆的外壳上，包括但不限于车顶。当第一蓝牙设备110和第二蓝牙设备120固定完成后，第一蓝牙设备110和第二蓝牙设备120相对于车辆的位置就已经确定，从而可以通过第一蓝牙设备110和第二蓝牙设备120接收的定位信息，通过计算得出移动终端的位置信息。
本实施例还提供了一种移动终端，可参见图6，图6为本实施例提供的一种移动终端的结构示意图。移动终端2包括：通信模块210和定位模块220；
所述通信模块210，被设置成将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离；
所述定位模块220，被设置成接收到定位指令时进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
本实施例还提供了一种计算机程序，该计算机程序可以分布在计算机可读介质上，由可计算装置来执行，以实现上述实施例1至实施例3中的车辆控制方法的至少一个步骤；并且在某些情况下，可以采用不同于上述实施例所描述的顺序执行所示出或描述的至少一个步骤。
根据本申请实施例提供的一种车辆控制方法、车辆、移动终端和可读存储介质，包括：位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据第一定位信息确定移动终端与车辆的距离；当移动终端与车辆的距离小于预设值时开始定位，第一蓝牙设备启动位于车外的第二蓝牙设备，并向移动终端发送定位指令；第一蓝牙设备接收移动终端发送的第二定位信息，第二蓝牙设备接收移动终端发送的第三定位信息，根据第二定位信息和第三定位信息确定移动终端的位置信息，对距离移动终端最近的车门执行预设操作。通过第一蓝牙设备对移动终端进行初级定位，当距离小于预设值时使用第一蓝牙设备和第二蓝牙设备对移动终端进行精确定位，根据精确定位结果控制车门执行预设操作。通过蓝牙实现了确定用户与车辆之间的距离，同时通过精确定位确定用户的位置信息，以控制对应的车门执行预设操作的目的。
可见，本领域的技术人员应该明白，上文中所公开方法中的全部或某些步骤、系统、装置中的功能模块/单元可以被实施为软件(可以用计算装置可执行的计算机程序代码来实现)、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块/单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。
此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、计算机程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。所以，本申请不限制于任何特定的硬件和软件结合。
以上内容是结合具体的实施方式对本申请实施例所作的进一步详细说明，不能认定本申请的具体实施只局限于这些说明。对于本申请所属技术领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本申请的保护范围。

Claims (13)

  1. 一种车辆控制方法，包括：
    位于车内的第一蓝牙设备接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离；
    当所述移动终端与所述车辆的距离小于预设值时开始定位，所述第一蓝牙设备启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令；
    所述第一蓝牙设备接收所述移动终端发送的第二定位信息，所述第二蓝牙设备接收所述移动终端发送的第三定位信息，根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作。
  2. 如权利要求1所述的车辆控制方法，其中，所述第一蓝牙设备接收移动终端发送的第一定位信息之前还包括：
    所述第一蓝牙设备对所述移动终端进行蓝牙认证和鉴权认证。
  3. 如权利要求2所述的车辆控制方法，其中，所述第一蓝牙设备对所述移动终端进行蓝牙认证包括：
    所述第一蓝牙设备接收所述移动终端发送的蓝牙配对请求，解析所述蓝牙配对请求得到终端配对码；
    所述第一蓝牙设备根据蓝牙配对码对所述终端配对码进行匹配，匹配成功完成蓝牙认证。
  4. 如权利要求2所述的车辆控制方法，其中，所述第一蓝牙设备对所述移动终端进行鉴权认证包括：完成蓝牙认证，实现蓝牙配对后；
    所述第一蓝牙设备向所述移动终端发送秘钥；
    所述移动终端根据所述秘钥、终端公钥和终端密码，采用预设算法得到第一序列，将所述第一序列发送给所述第一蓝牙设备；
    所述第一蓝牙设备根据所述秘钥、蓝牙公钥和蓝牙密码，采用预设算法得到第二序列，将所述第二序列与所述第一序列进行匹配，匹配成功完成鉴权认证。
  5. 如权利要求1所述的车辆控制方法，其中，所述第一蓝牙设备接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离包括：
    所述第一蓝牙设备接收移动终端发送的第一定位信息，所述第一定位信息中至少包括RSSI信息，根据所述RSSI信息确定所述移动终端与所述车辆的距离。
  6. 如权利要求1所述的车辆控制方法，其中，所述当所述移动终端与所述车辆的距离小于预设值时开始定位，所述定位方式包括蓝牙AOA定位。
  7. 如权利要求6所述的车辆控制方法，其中，所述第一蓝牙设备启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令包括：
    所述第一蓝牙设备将所述移动终端的MAC地址发送给所述第二蓝牙设备，所述第二蓝牙设备启动进入定向广播状态，定向接收所述移动终端发送的第三定位信息；
    所述第一蓝牙设备向所述移动终端发送AOA定位指令，控制所述外部设备进入AOA定位状态。
  8. 如权利要求7所述的车辆控制方法，其中，所述第二定位信息和所述第三定位信息中均包括CTE报文；
    所述第一蓝牙设备控制第一天线阵列在不同的天线之间切换，通过不同的天线接收所 述第二定位信息，根据不同天线接收到的第二定位信息中的CTE报文，计算所述移动终端与车辆之间的第一距离和第一方位角；
    所述第二蓝牙设备控制第二天线阵列在不同的天线之间切换，通过不同的天线接收所述第三定位信息，根据不同天线接收到的第三定位信息中的CTE报文，计算所述移动终端与车辆之间的第二距离和第二方位角；
    根据所述第一距离和第一方位角，以及第二距离和第二方位角，确定所述移动终端与所述车辆的相对距离和相对位置。
  9. 如权利要求1-8任一项所述的车辆控制方法，其中，所述对距离所述移动终端最近的车门执行预设操作之前还包括：
    判断所述移动终端的位置与最近的车门的距离是否处于预设范围内，处于预设范围内时，对车门执行预设操作。
  10. 一种车辆控制方法，包括：
    移动终端将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离；
    所述移动终端接收到定位指令进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
  11. 一种车辆，包括：设置在车辆内的第一蓝牙设备和设置在车辆外壳上的第二蓝牙设备，所述第一蓝牙设备和所述第二蓝牙设备均支持定位功能；
    所述第一蓝牙设备，被设置成接收移动终端发送的第一定位信息，根据所述第一定位信息确定所述移动终端与所述车辆的距离；当所述移动终端与所述车辆的距离小于预设值时开始定位，启动位于车外的第二蓝牙设备，并向所述移动终端发送定位指令，接收所述移动终端发送的第二定位信息；根据所述第二定位信息和所述第三定位信息确定所述移动终端的位置信息，对距离所述移动终端最近的车门执行预设操作；
    所述第二蓝牙设备，被设置成接收所述移动终端发送的第三定位信息。
  12. 一种移动终端，包括：通信模块和定位模块；
    所述通信模块，被设置成将第一位置信息发送给第一蓝牙设备，所述第一位置信息用于确定所述移动终端与所述车辆的距离；
    所述定位模块，被设置成接收到定位指令时进入定位状态，向所述第一蓝牙设备发送第二定位信息，向第二蓝牙设备发送第三定位信息，所述第二定位信息和所述第三定位信息用于确定所述移动终端的位置信息，以确定所述移动终端与所述车辆的相对距离和相对位置。
  13. 一种计算机可读存储介质，存储有一个或者多个计算机程序，其中，所述一个或者多个计算机程序可被一个或者多个处理器执行，以实现如权利要求1至9中任一项所述的车辆控制方法的步骤，或实现如权利要求10所述的车辆控制方法的步骤。
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