CN115195761A - Vehicle control method and device, vehicle and storage medium - Google Patents
Vehicle control method and device, vehicle and storage medium Download PDFInfo
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- CN115195761A CN115195761A CN202110387753.2A CN202110387753A CN115195761A CN 115195761 A CN115195761 A CN 115195761A CN 202110387753 A CN202110387753 A CN 202110387753A CN 115195761 A CN115195761 A CN 115195761A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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Abstract
The application discloses a vehicle control method and device, a vehicle and a storage medium, wherein the method comprises the following steps: the method comprises the steps that a first signal is sent through a first antenna arranged on a vehicle, and the moment when the first antenna sends the first signal is a first moment; receiving a second signal sent by the terminal equipment through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time; determining a distance between the terminal device and the first antenna based on the first time and the second time; if the distance is smaller than or equal to the first threshold, determining the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna and the position of the third antenna; and if the position of the terminal equipment meets a specific condition, controlling a target component of the vehicle to execute a target operation.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, a vehicle, and a storage medium.
Background
The terminal device can be used as a control end to control a specific part of the vehicle, for example, a mobile phone can unlock a door of the vehicle. The vehicle control is realized through a non-inductive technology, the user experience can be greatly optimized, and the non-inductive technology has the important characteristic that the terminal equipment can realize the vehicle control without manual operation of a user. The existing non-inductive technology has high cost and cannot be applied in a large area; or the position of the terminal equipment cannot be accurately judged, so that the vehicle cannot be safely and accurately controlled.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a vehicle control method and apparatus, a vehicle, and a storage medium.
The embodiment of the application provides a vehicle control method, which comprises the following steps:
the method comprises the steps that a first signal is sent through a first antenna arranged on a vehicle, and the time when the first antenna sends the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal;
receiving a second signal sent by a terminal device through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time;
determining a distance between the terminal device and the first antenna based on the first time and the second time;
if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, determining the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna and the position of the third antenna;
and if the position of the terminal equipment meets a specific condition, controlling a target component of the vehicle to execute a target operation.
The vehicle control device provided by the embodiment of the application comprises:
the communication unit is used for sending a first signal through a first antenna arranged on a vehicle, wherein the time when the first antenna sends the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal; receiving a second signal sent by a terminal device through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time;
a determining unit, configured to determine a distance between the terminal device and the first antenna based on the first time and the second time; if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, determining the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna and the position of the third antenna;
and the control unit is used for controlling a target component of the vehicle to execute target operation if the position of the terminal equipment meets a specific condition.
The embodiment of the application also provides a vehicle, wherein the vehicle is provided with a first antenna, a second antenna and a third antenna; the first antenna, the second antenna and the third antenna are used for signal transmission between the vehicle and a terminal device; the vehicle includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the vehicle control method according to the above embodiment.
The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the vehicle control method according to the above embodiment.
According to the technical scheme, at least 3 antennas are arranged on the vehicle. The vehicle sends a first signal through a first antenna in the 3 antennas, the terminal equipment sends a second signal after receiving the first signal, and the vehicle respectively receives the second signal sent by the terminal equipment through the 3 antennas; the vehicle can determine the distance between the terminal device and the first antenna based on the time when the first antenna sends the first signal and the time when the first antenna receives the second signal, and if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold value, the position of the terminal device is accurately calculated based on the time when the 3 antennas receive the second signal and the positions of the 3 antennas, so that the non-inductive control of the vehicle is realized based on the position of the terminal device. Since a precondition for controlling the vehicle is that the distance between the terminal device and the first antenna is equal to or less than the first threshold, the safety of vehicle control can be ensured. The other precondition for controlling the vehicle is that the position of the terminal equipment meets the specific condition, the position of the terminal equipment is determined only by the vehicle, and the clocks of the two communication parties of the vehicle and the terminal equipment are not required to be synchronized, so that the positioning precision can be very high, and further, the positioning precision of the terminal equipment is improved, so that the precision of vehicle control can be improved. In addition, the implementation of the technical scheme of the embodiment of the application only needs to install 3 antennas on the vehicle, the cost is low, and the antenna can be applied in a large area.
Drawings
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for controlling a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustration of another vehicle control method provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a coordinate location provided by an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;
fig. 6 is a schematic structural component diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In order to facilitate understanding of technical solutions of the embodiments of the present application, the following description of related art of the embodiments of the present application is provided for understanding the technical solutions of the embodiments of the present application and is not intended to limit the technical solutions of the embodiments of the present application.
The terminal device can be used as a control end to control a specific part of the vehicle, for example, a mobile phone can unlock a door of the vehicle. The vehicle is controlled through a non-inductive technology, user experience can be greatly optimized, and the non-inductive technology has the important characteristic that the vehicle can be controlled by the terminal equipment without manual operation of a user. Currently, the implementation of the non-inductive technology may be based on bluetooth Communication or Ultra-wideband (UWB) Communication, and it should be noted that Near Field Communication (NFC) does not belong to the category of the non-inductive technology because it needs to manually swipe a card.
For the non-inductive technology based on the bluetooth communication, since the distance between the terminal device and the vehicle is calculated based on the signal strength received by the bluetooth antenna, the following disadvantages are caused: 1. the distance measurement precision is low, and is typically 3-5 m or even worse, so that the vehicle cannot be accurately controlled. 2. For the condition that the terminal equipment is far away from the vehicle, the lawless person amplifies the signal intensity through the Bluetooth signal amplifier, so that the vehicle is controlled by the lawless person, and the safety is low.
Therefore, the following technical scheme of the embodiment of the application is provided. According to the technical scheme, the terminal equipment can be accurately positioned, so that the vehicle can be accurately, safely and noninductively controlled.
The vehicle control method provided by the embodiment of the application is applied to a vehicle control device, and the vehicle control device can be arranged on a vehicle. Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application, where a vehicle is taken as an example, and a terminal device is taken as an example. In the technical scheme of the embodiment of the application, at least 3 antennae are installed on the automobile and used for realizing communication with the mobile phone. At least 1 antenna is installed on the mobile phone and used for realizing communication with an automobile. It is noted that the above application scenarios are merely exemplary. In the embodiment of the application, the vehicle is not limited to an automobile, and can also be a kart, a bicycle, a scooter and the like. The terminal equipment is not limited to a mobile phone, and can be a tablet personal computer, wearable equipment and the like.
It should be noted that, in the technical solution of the embodiment of the present application, 3 antennas are installed on a vehicle, and 1 antenna is installed on a terminal device for example, but not limited to this, a vehicle may be installed with a greater number of antennas (e.g., 4 antennas, 5 antennas, etc.), and a terminal device may also be installed with a greater number of antennas (e.g., 2 antennas, 3 antennas, etc.). The case of a larger number of antennas is also applicable to the technical solutions of the embodiments of the present application, and falls within the protection scope of the present application.
The following describes a vehicle control method and a vehicle control device provided in an embodiment of the present application.
It should be noted that, in the following description, the description of the "first signal" may be replaced by the "first communication frame", and the description of the "second signal" may be replaced by the "second communication frame".
Fig. 2 is a schematic flowchart of a vehicle control method provided in an embodiment of the present application, and as shown in fig. 2, the vehicle control method includes the following steps:
step 201: the method comprises the steps that a first signal is sent through a first antenna arranged on a vehicle, and the time when the first antenna sends the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal.
In the embodiment of the application, the terminal device can realize the control of the vehicle, and the control of the vehicle is referred to as 'carrying out non-inductive control on the vehicle'. The phrase "to perform a non-sensory control of the vehicle" means that the vehicle can be controlled without manual operation by the user.
In order to realize the control of the terminal device to the vehicle, the vehicle and the terminal device need to have the following hardware conditions:
for a vehicle, the vehicle at least has 3 antennas, and each antenna in the 3 antennas has an independent radio frequency path, so that the 3 radio frequency paths can work simultaneously.
For the terminal equipment, the terminal equipment at least has 1 antenna, and 1 antenna has an independent radio frequency path.
In some optional embodiments of the present application, both the antenna on the vehicle and the antenna on the terminal device are bluetooth antennas, and it can be understood that the signal transmitted through the bluetooth antennas is a bluetooth signal. Without limitation, the antenna on the vehicle and the antenna on the terminal device may each be other types of antennas.
In the embodiment of the application, a vehicle sends a first signal through a first antenna of the vehicle, wherein the time when the first antenna sends the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal. That is, the terminal device transmits the second signal after receiving the first signal.
In some optional embodiments of the present application, the vehicle periodically transmits a first signal via its first antenna. As an example, the transmission period of the first signal is, for example, 100ms.
Step 202: receiving a second signal sent by terminal equipment through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time.
In the embodiment of the application, the terminal device sends the second signal through the antenna of the terminal device, and the vehicle receives the second signal through the antenna of the vehicle. The vehicle is provided with 3 antennas which are a first antenna, a second antenna and a third antenna respectively, and the 3 antennas receive second signals respectively, wherein the time when the first antenna receives the second signals is a second time, the time when the second antenna receives the second signals is a third time, and the time when the third antenna receives the second signals is a fourth time.
Step 203: determining a distance between the terminal device and the first antenna based on the first time and the second time.
In some optional embodiments of the present application, before determining the precise position of the terminal device, the terminal device is roughly located, where roughly locating the terminal device is implemented by: determining whether the distance between the terminal equipment and the first antenna is closer; if the distance is close, determining the accurate position of the terminal equipment; if the vehicle is far away, the process is ended, and the terminal equipment cannot control the vehicle; therefore, the efficiency of accurate positioning can be effectively improved, and computing resources are saved.
Based on the above consideration, in the embodiment of the present application, the distance between the terminal device and the first antenna is determined based on the first time and the second time; if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, executing the step of determining the position of the terminal device (i.e. the following step 204); and if the distance between the terminal equipment and the first antenna is larger than the first threshold value, ending the process. Here, the first time is a time when the first antenna of the vehicle transmits the first signal, and the second time is a time when the first antenna of the vehicle receives the second signal.
In this embodiment, the second signal may be sent immediately after the terminal device receives the first signal, or the second signal may also be sent after the terminal device receives the first signal and delays for a first duration. In the following, how to determine the distance between the terminal device and the first antenna will be described separately in connection with these two cases. It should be noted that, in the technical solution of the embodiment of the present application, a method of Time of flight (TOF) is used to calculate a distance between the terminal device and the first antenna.
In some optional embodiments of the present application, the second signal is sent immediately after the terminal device receives the first signal, and for this case, the distance between the terminal device and the first antenna is determined based on the first time and the second time. As an example, assume that the first time is Y 1 Send, the second time is T 1 Receive, the transmission speed of the electromagnetic wave in the air is C, then the distance between the terminal device and the first antenna is: l is a radical of an alcohol 1 ＝(T 1 _receive-T 1 _send)*C/2。
In some optional embodiments of the present application, the second signal is sent with a delay of a first duration after the terminal device receives the first signal, and for this case, the second signal carries first information, where the first information is used to indicate the first duration; and determining the distance between the terminal equipment and the first antenna based on the first time, the second time and the first duration. As an example, assume a first time is T 1 Send, the second time is T 1 If the first duration is T _ delay, the transmission speed of the electromagnetic wave in the air is C, then the distance between the terminal device and the first antenna is: l is a radical of an alcohol 1 ＝(T 1 _receive-T 1 _send-T_delay)*C/2。
In order to ensure the safety of the first information, the second signal is subjected to safety protection processing, and after the vehicle receives the second signal through an antenna of the vehicle, safety verification is carried out on the second signal; and if the security verification passes, acquiring the first information from the second signal, so that a first time length can be determined according to the first information, and further, the distance between the terminal equipment and the first antenna can be determined according to the first time, the second time and the first time length.
When the distance between the terminal device and the first antenna is calculated by the above scheme, because the first time length (T _ delay) is introduced, the problem of intervention of other illegal relay devices can be avoided, for example: under the condition that the terminal equipment is far away from the vehicle, a lawbreaker amplifies the signal of the terminal equipment through the signal amplifier and then sends the amplified signal to the vehicle, and the signal amplifier forwards the signal of the terminal equipment, so that extra time delay is brought to the forwarding.
When the distance between the terminal device and the first antenna is calculated by the above scheme, since the first time length (T _ delay) is introduced, in order to ensure the accuracy of the distance calculation, the first time length needs to be calibrated. Specifically, the following calibration method may be employed:
a) The laboratory calibration method comprises the steps of completing the test of the first time length (T _ delay) before the terminal equipment leaves a factory, and embedding the test into the terminal equipment.
B) The user calibration method, a user actually measures a distance between a terminal device and a first antenna of a vehicle, calculates the distance between the terminal device and the first antenna of the vehicle by a default first time period (T _ delay), and calibrates the first time period (T _ delay) according to the actually measured distance and the calculated distance.
In some optional embodiments of the present application, the performing of the security protection process on the second signal may be implemented by: key information is carried within the second signal.
Step 204: if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, determining the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna and the position of the third antenna.
In this embodiment of the application, after the distance between the terminal device and the first antenna is determined in step 203, it is determined whether the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, if yes, the terminal device is considered to be closer to the vehicle, and the step of determining the position of the terminal device is executed.
In the embodiment of the application, determining the position of the terminal device can be understood as accurately positioning the terminal device. The technical solution of the embodiment of the present application calculates the position of the terminal device by using a time difference of arrival method, which is described below.
In some optional embodiments of the present application, a first distance difference from the terminal device to the first antenna and the second antenna is determined based on the second time and the third time; determining a second distance difference from the terminal device to the second antenna and the third antenna based on the third time and the fourth time; determining coordinates of the terminal device based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna, and the coordinates of the third antenna.
It should be noted that the coordinates of the first antenna, the coordinates of the second antenna, and the coordinates of the third antenna are calibrated and are known quantities. And the coordinates of the terminal equipment are the position quantity to be determined.
As an example, assume that the second time is T 1 A receiving time, and a third time is T 2 A receive at a fourth time T 3 Receive, the transmission speed of electromagnetic waves in air is C, then,
the first distance difference between the terminal device and the first antenna and the second antenna is:
D 12 ＝(T 1 _receive-T 2_ receive)*C。
the second distance difference between the terminal device and the second antenna and the third antenna is:
D 23 ＝(T 2 _receive-T 3 _receire)*C。
in addition, D is 12 ，D 23 The method has positive and negative points, but does not influence the implementation of the technical scheme of the embodiment of the application.
Let the first antenna coordinate be (x) 1 ，y 1 ) The coordinates of the second antenna are (x) 2 ，y 2 ) The coordinate of the third antenna is (x) 3 ，y 3 ) The coordinates of the terminal device are (x, y), wherein (x) 1 ，y 1 )，(x 2 ，y 2 ) And (x) 3 ，y 3 ) Are known quantities and (x, y) are unknown quantities. The coordinates (x, y) of the terminal device can be determined by the following formula:
the coordinates (x, y) of the terminal equipment can be determined through the formula, and after the coordinates of the terminal equipment are determined, the position of the terminal equipment is also determined.
Step 205: and if the position of the terminal equipment meets a specific condition, controlling a target component of the vehicle to execute a target operation.
In some optional embodiments of the present application, if a distance between the location of the terminal device and the target location of the vehicle is less than or equal to a second threshold, the target component of the vehicle is controlled to perform the target operation.
Here, the target position of the vehicle may be any one of calibrated positions on the vehicle. As an example, the target position of the vehicle may be a position of a target component of the vehicle, such as a position of a door, a position of a center control, a position of a window. As an example, the target position of the vehicle may be a position of one of the antennas of the vehicle.
If the distance between the position of the terminal device and the target position of the vehicle is smaller than or equal to a second threshold value, the terminal device is represented to be closer to the vehicle or closer to a target component of the vehicle, and the target component of the vehicle can be controlled to execute target operation; if the distance between the position of the terminal device and the target position of the vehicle is larger than a second threshold value, the terminal device is far away from the vehicle or far away from a target component of the vehicle, the process is finished, and the terminal device cannot control the vehicle.
In some optional embodiments of the present application, the target component of the vehicle is controlled to perform the target operation if the location of the terminal device is within a target range, wherein the target range is determined based on the target location of the vehicle.
Here, the target range is determined based on the target position of the vehicle, and alternatively, the target range may be a quadrangular region or a polygonal region or a circular region centered on the target position, but is not limited thereto, and the target range may also be an irregular region in the vicinity of the target position. Wherein the understanding of the target position can be referred to the foregoing related description.
If the position of the terminal device is within the target range, the terminal device is close to the vehicle or close to the target component of the vehicle, and the target component of the vehicle can be controlled to execute target operation; if the position of the terminal device is out of the target range, the terminal device is far away from the vehicle or far away from a target component of the vehicle, the process is finished, and the terminal device cannot control the vehicle.
In an embodiment of the present application, the controlling a target component of the vehicle to perform a target operation includes at least one of: controlling a door of the vehicle to open; controlling a lamp of the vehicle to be turned on; controlling a horn of the vehicle to whistle; controlling a window of the vehicle to open. It should be noted that any of the above operations for the vehicle may be understood as an unlocking operation for the vehicle.
According to the technical scheme of the embodiment of the application, when the position of the terminal equipment is determined, the position of the terminal equipment is calculated by adopting a time difference of arrival method, so that the problem of illegal relay equipment intervention can be avoided, such as: under the condition that the terminal equipment is far away from the vehicle, a lawless person amplifies the signal of the terminal equipment through the signal amplifier and then sends the signal to the vehicle, and the remote communication between the vehicle and the terminal equipment is realized.
According to the technical scheme of the embodiment of the application, when the position of the terminal equipment is determined, the position of the terminal equipment is calculated by adopting a time difference of arrival method instead of a TOF (time of flight) sampling method, so that the positioning accuracy of the terminal equipment only depends on a vehicle and does not depend on the parameter of T _ delay at the side of the terminal equipment, and the positioning accuracy can be greatly improved. It should be noted that the parameter T _ delay is related to the behavior of the terminal device, and is a dynamic parameter to some extent, and even if calibration is performed, it can only be corrected to some extent, and it cannot be completely accurate. According to the technical scheme, the position of the terminal equipment is calculated by using a method of time difference that signals reach 3 antennas, the influence of time change caused by behaviors of the terminal equipment side is eliminated, and the calculation accuracy only depends on the sampling accuracy of the vehicle receiving signals. Because 3 antennas are all installed on the vehicle, the clock that 3 antennas used is same set of system, does not have the clock deviation, so the time difference that the signal arrived 3 antennas is an absolute accurate value, and theoretical positioning accuracy can accomplish centimetre level, and the precision of actually realizing can accomplish decimeter level.
Fig. 3 is a third schematic flowchart of a vehicle control method provided in the embodiment of the present application, and as shown in fig. 3, the vehicle control method includes the following steps:
step 301: the vehicle determines the coordinates of the 3 antennas on the vehicle.
Here, the vehicle has 3 antennas, which are respectively denoted as ANT1, ANT2, and ANT3. Here, ANT1 may correspond to a first antenna, ANT2 may correspond to a second antenna, and ANT3 may correspond to a third antenna.
In the embodiment of the application, a coordinate system is established for the vehicle, and the coordinates of the 3 antennae on the vehicle under the coordinate system are determined to be (x) respectively 1 ，y 1 )，(x 2 ，y 2 )，(x 3 ，y 3 ). Wherein (x) 1 ，y 1 ) Is the ANT1 coordinate, (x) 2 ，y 2 ) Is the ANT2 coordinate, (x) 3 ，y 3 ) Coordinates of ANT3. In addition, the coordinates of the terminal device in the coordinate system may be denoted as (x, y). The coordinates of the 3 antennas are known quantities, and the coordinates of the terminal equipment are unknown quantities.
Step 302: the vehicle sends a signal A through the ANT1, and the time T of the ANT1 sending the signal A is recorded 1 _send。
Here, the vehicle may select one of the 3 antennas to transmit the signal a, and the vehicle transmits the signal a through the ANT1 is taken as an example for explanation.
Here, the signal a may also be referred to as a ranging TOF signal (i.e., frame _ TOF), and after the vehicle has sent the signal a through the ANT1, the vehicle enters a waiting state for reception.
Step 303: and after receiving the signal A, the terminal equipment delays for T _ delay time and then sends a signal B.
Here, after the terminal device receives the signal a, the signal B is transmitted with a delay of T _ delay duration, that is, the duration from the time when the terminal device receives the signal a to the time when the terminal device transmits the signal B is T _ delay duration.
Here, the terminal device may add some information to the signal a to obtain the signal B, and as an example, the terminal device may add information indicating T _ delay and key information to the signal a. It is understood that signal B is a forwarded frame of signal a.
Step 304: the vehicle receives the signal B through the 3 antennae respectively, and the time T of the signal B received by the 3 antennae is recorded 1 _receive、T 2 _receive、T 3 _receive。
Here, T 1 _receive is the time of ANT1 receiving signal B, T 2 "receive" is the time when ANT2 receives signal B, T 3 Receive is the time ANT3 receives signal B.
Step 305: vehicle according to T 1 _send、T 1 Calculating the distance L between the terminal equipment and the ANT1 through the _ receive and the T _ delay 1 。
Here, for ANT1, the propagation time of the first signal and the second signal in the air is T 1 _receive-T 1 seen-send-T _ delay, the distance between the terminal device and ANT1 is: l is 1 ＝(T 1 -receive-T 1 send-T delay) C/2, where C is the transmission speed of electromagnetic waves in air.
Step 306: vehicle judgment distance L 1 Whether the current value is less than or equal to a first threshold value; if yes, go to step 307; if not, the process ends.
Here, if the distance L is 1 If the current value is less than or equal to the first threshold value, the terminal equipment is close to the vehicle; if the distance L is 1 If the value is larger than the first threshold value, the terminal device is far away from the vehicle, and the terminal device cannot control the vehicle.
For the situation that the terminal device is closer to the vehicle, a positioning algorithm may be started to achieve accurate positioning of the terminal device, and the following steps 307 and 308 are referred to in the flow of the accurate positioning.
Step 307: vehicle according to T 1 _receive、T 2 "receive and T 3 Calculating distance difference D between the terminal device and ANT1 and ANT2 12 And the distance difference D of the terminal device from ANT2 and ANT3 23 。
Here, the times when the 3 antennas receive the signal B may be sorted, assuming that the sorting results are as follows: t is 1 _receive＞T 2 _receive＞T 3 Receive, that is, the signal B from the terminal device first arrives at ANT3, then at ANT2, and finally at ANT1.
Wherein, the time difference between the signals B from the terminal device and the ANT1 and ANT2 is multiplied by the transmission speed of the electromagnetic wave, so as to determine the distance difference between the terminal device and the ANT1 and ANT2, specifically,
the distance difference between the terminal device and the ANT1 and ANT2 is:
D 12 ＝(T 1 _receive-T 2 _receive)*C。
the distance difference between the terminal device and the ANT2 and ANT3 is:
D 23 ＝(T 2 _receive-T 3 _receive)*C。
step 308: vehicle according to D 12 ，D 23 And coordinates of the 3 antennas, and coordinates of the terminal device are calculated.
Suppose A 1 Denotes the distance, A, of the terminal device to the ANT1 2 Denotes the distance of the terminal device from the ANT2, A 3 Representing the distance of the terminal device from ANT3, then:
A 1 -A 2 ＝D 12 ＝(T 1 _receive-T 2 _receive)*C；
A 2 -A 3 ＝D 23 ＝(T 2 _receive-T 3 _receive)*C。
based on the above equation, the following equation can be derived:
the coordinates (x, y) of the terminal device can be calculated by the above formula.
Step 309: and if the coordinates of the terminal equipment indicate that the terminal equipment is close to the vehicle door of the vehicle, controlling the vehicle door to open.
The technical solution of the embodiment of the present application is illustrated below by referring to specific application examples.
Referring to fig. 4, fig. 4 is a schematic diagram of a coordinate system of a vehicle having 3 antennas ANT1, ANT2, ANT3, respectively. The layout of 3 antennas on a vehicle can be flexibly adjusted, for example: 3 antennas are distributed at 3 corners of the vehicle, and a plane formed by the 3 antennas is parallel to the ground, so that the actually calculated coordinates of the terminal equipment are more accurate. As an example, ANT1 and ANT3 may be distributed at the head of the vehicle, ANT2 may be distributed at the tail of the vehicle, and 3 antennas form a right triangle. Furthermore, the terminal device has an antenna. As an example, a coordinate system is established in meters, coordinates of ANT1, ANT2, ANT3 are (0, 3), (0, 0), (2, 3), respectively, and further, coordinates of the terminal device are assumed to be (x, y).
1) The vehicle uses the Bluetooth technology to send a signal A through the ANT1 in a period of 100ms and waits for a signal B returned by the mobile phone, wherein the time when the ANT1 sends the signal A is T 1send = Ons. If the ANT1 does not receive the signal B for a certain time (e.g., 10 us), it indicates that the terminal device is not within the vehicle recognizable range.
2) After receiving the signal A, the terminal equipment adds key information and time delay information to the signal A to obtain a signal B, and transmits the signal B through an antenna thereof by using a Bluetooth technology after delaying for 10 ns. Here, the delay information is used to indicate T delav ＝10ns。
3) The ANT1 of the vehicle receives the signal B at the time T 1 -receive =20.5ns, and the distance between the computing terminal device and the vehicle is:
L 1 ＝(20.5-0-10)*10 -9 *3*10 8 /2=1.575 m.
Assume that the first threshold is 20 meters, L 1 And when the distance is less than 20 meters, the terminal equipment is close to the vehicle, and the coordinates of the terminal equipment can be further determined.
4) If it is T 1 _receive＝20.5ns，T 2 _receive＝13.4ns，T 3 The technical scheme of the embodiment of the application can be used for calculating the coordinate of the terminal device to be (-1,0).
Referring to fig. 4, ANT1 is located at the left front of the vehicle head, ANT3 is located at the right front of the vehicle head, ANT2 is located at the left rear of the vehicle tail, and a target range can be defined, wherein the target range is a rectangular area formed by two points from (-1, -1) to (o.5, 0.5) which are opposite angles, the coordinates of the terminal device are within the target range, and the left rear door of the vehicle can be opened.
Fig. 5 is a schematic structural composition diagram of a vehicle control device provided in an embodiment of the present application, and as shown in fig. 5, the vehicle control device includes:
a communication unit 501, configured to transmit a first signal through a first antenna provided on a vehicle, where a time when the first antenna transmits the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal; receiving a second signal sent by a terminal device through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time;
a determining unit 502, configured to determine a distance between the terminal device and the first antenna based on the first time and the second time; if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, determining the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna and the position of the third antenna;
a control unit 503, configured to control a target component of the vehicle to perform a target operation if the location of the terminal device satisfies a specific condition.
In some optional embodiments of the present application, the second signal is sent with a delay of a first duration after the terminal device receives the first signal; the second signal carries first information, and the first information is used for indicating the first duration;
the determining unit 502 is configured to determine a distance between the terminal device and the first antenna based on the first time, the second time, and the first duration.
In some optional embodiments of the present application, the second signal is processed by security protection, and the apparatus further includes:
an obtaining unit 504, configured to perform security verification on the second signal after receiving the second signal; and if the security verification is passed, acquiring the first information from the second signal.
In some optional embodiments of the present application, the communication unit 501 is configured to periodically transmit a first signal through the first antenna.
In some optional embodiments of the present application, the determining unit 502 is configured to determine a first distance difference from the terminal device to the first antenna and the second antenna based on the second time and the third time; determining a second distance difference from the terminal device to the second antenna and the third antenna based on the third time and the fourth time; determining coordinates of the terminal device based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna, and the coordinates of the third antenna.
In some optional embodiments of the present application, the control unit 503 is configured to control a target component of the vehicle to perform a target operation if a distance between the location of the terminal device and the target location of the vehicle is smaller than or equal to a second threshold.
In some optional embodiments of the present application, the control unit 503 is configured to control a target component of the vehicle to perform a target operation if the location of the terminal device is within a target range, where the target range is determined based on the target location of the vehicle.
In some optional embodiments of the present application, controlling a target component of the vehicle to perform a target operation may include:
controlling a door of the vehicle to open;
controlling a lamp of the vehicle to be turned on;
controlling a horn of the vehicle to whistle;
controlling a window of the vehicle to open.
It should be noted that, in the above-mentioned solution of the embodiment of the present application, the "target operation performed by the target component of the vehicle is only exemplary, and is not limited to the above-mentioned operations, and may also be other types of operations, such as controlling the air conditioner of the vehicle to be turned on, and the like, and the embodiment of the present application does not limit the type of the operation.
Those skilled in the art will appreciate that the functions implemented by the units in the vehicle control apparatus shown in fig. 5 may be understood with reference to the foregoing description of the vehicle control method. The functions of the respective units in the vehicle control device shown in fig. 5 may be realized by a program running on a processor, or may be realized by a specific logic circuit.
The training apparatus for neural network according to the embodiment of the present invention may also be stored in a storage medium (for example, a computer-readable storage medium) if it is implemented in the form of a software functional module and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device (which may be an electronic device in a vehicle) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk, and various media capable of storing program codes. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, the present application also provides a computer-readable storage medium, in which a computer program (i.e., computer-executable instructions) is stored, and when the computer program is executed, the computer program can implement the above-mentioned method of the present application.
FIG. 6 is a schematic structural component diagram of a vehicle with a first antenna, a second antenna and a third antenna disposed thereon according to an embodiment of the present application; the first antenna, the second antenna and the third antenna are used for signal transmission between the vehicle and a terminal device; as shown in fig. 6, the vehicle may include one or more processors 602 (only one of which is shown in the figure), the processors 602 may include, but are not limited to, a processing device such as a Microprocessor (MCU) or a Programmable logic device (FPGA), a memory 604 for storing data, and a transmission device 606 for communication functions. It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, the vehicle may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
The memory 604 may be used to store software programs and modules of application software, such as program instructions/modules corresponding to the methods in the embodiments of the present application, and the processor 602 executes various functional applications and data processing by running the software programs and modules stored in the memory 604, so as to implement the methods described above. The memory 604 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 604 may further include memory located remotely from the processor 602, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 606 is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the vehicle. In one example, the transmission device 606 includes a Network adapter (NIC) that can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmitting device 606 can be a Radio Frequency (RF) module, which is used to communicate with the internet via wireless.
The technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.
In the several embodiments provided in the present application, it should be understood that the disclosed method and intelligent device may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one second processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
Claims (15)
1. A vehicle control method, characterized by comprising:
the method comprises the steps that a first signal is sent through a first antenna arranged on a vehicle, and the time when the first antenna sends the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal;
receiving a second signal sent by a terminal device through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time;
determining a distance between the terminal device and the first antenna based on the first time and the second time;
if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, determining the position of the terminal device based on the second time, the third time, the fourth time, the position of the first antenna, the position of the second antenna and the position of the third antenna;
and if the position of the terminal equipment meets a specific condition, controlling a target component of the vehicle to execute a target operation.
2. The method of claim 1, wherein the second signal is transmitted with a delay of a first duration after the terminal device receives the first signal; the second signal carries first information, and the first information is used for indicating the first duration;
the determining the distance between the terminal device and the first antenna based on the first time and the second time comprises:
and determining the distance between the terminal equipment and the first antenna based on the first time, the second time and the first duration.
3. The method of claim 2, wherein the second signal is subject to a security protection process, the method further comprising:
after receiving the second signal, carrying out security verification on the second signal;
and if the security verification is passed, acquiring the first information from the second signal.
4. The method of any one of claims 1 to 3, wherein the determining the location of the terminal device based on the second time, the third time, the fourth time, the location of the first antenna, the location of the second antenna, and the location of the third antenna comprises:
determining a first distance difference from the terminal device to the first antenna and the second antenna based on the second time and the third time;
determining a second distance difference from the terminal device to the second antenna and the third antenna based on the third time and the fourth time;
and determining the coordinates of the terminal device based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna and the coordinates of the third antenna.
5. The method according to any one of claims 1 to 3, wherein the controlling a target component of the vehicle to perform a target operation if the location of the terminal device satisfies a certain condition includes:
if the distance between the position of the terminal equipment and the target position of the vehicle is smaller than or equal to a second threshold value, controlling a target component of the vehicle to execute target operation; alternatively, the first and second electrodes may be,
and if the position of the terminal equipment is within a target range, controlling a target component of the vehicle to execute target operation, wherein the target range is determined based on the target position of the vehicle.
6. The method of any one of claims 1-3, wherein the controlling the target component of the vehicle to perform a target operation comprises at least one of:
controlling a door of the vehicle to open;
controlling a lamp of the vehicle to be turned on;
controlling a horn of the vehicle to whistle;
controlling a window of the vehicle to open.
7. A vehicle control apparatus, characterized by comprising:
the communication unit is used for sending a first signal through a first antenna arranged on a vehicle, and the time when the first antenna sends the first signal is a first time; the first signal is used for triggering the terminal equipment to send a second signal; receiving a second signal sent by a terminal device through a first antenna, a second antenna and a third antenna which are arranged on the vehicle, wherein the time when the first antenna receives the second signal is a second time, the time when the second antenna receives the second signal is a third time, and the time when the third antenna receives the second signal is a fourth time;
a determining unit, configured to determine a distance between the terminal device and the first antenna based on the first time and the second time; if the distance between the terminal device and the first antenna is smaller than or equal to a first threshold, determining the position of the terminal device based on the second moment, the third moment, the fourth moment, the position of the first antenna, the position of the second antenna and the position of the third antenna;
and the control unit is used for controlling a target component of the vehicle to execute target operation if the position of the terminal equipment meets a specific condition.
8. The apparatus of claim 7, wherein the second signal is transmitted with a delay of a first duration after the terminal device receives the first signal; the second signal carries first information, and the first information is used for indicating the first duration;
the determining unit is configured to determine a distance between the terminal device and the first antenna based on the first time, the second time, and the first duration.
9. The apparatus of claim 8, wherein the second signal is subjected to a security protection process, the apparatus further comprising:
the acquisition unit is used for carrying out safety verification on the second signal after receiving the second signal; and if the security verification is passed, acquiring the first information from the second signal.
10. The apparatus according to any of claims 7 to 9, wherein the determining unit is configured to determine a first distance difference from the terminal device to the first antenna and the second antenna based on the second time and the third time; determining a second distance difference from the terminal device to the second antenna and the third antenna based on the third time and the fourth time; and determining the coordinates of the terminal device based on the first distance difference, the second distance difference, the coordinates of the first antenna, the coordinates of the second antenna and the coordinates of the third antenna.
11. The apparatus according to any one of claims 7 to 9, characterized by the control unit being configured to:
if the distance between the position of the terminal equipment and the target position of the vehicle is smaller than or equal to a second threshold value, controlling a target component of the vehicle to execute target operation; alternatively, the first and second electrodes may be,
and if the position of the terminal equipment is within a target range, controlling a target component of the vehicle to execute target operation, wherein the target range is determined based on the target position of the vehicle.
12. The apparatus according to any one of claims 7 to 9, characterized in that the control of the target component of the vehicle to perform a target operation includes at least one of:
controlling a door of the vehicle to open;
controlling a lamp of the vehicle to be turned on;
controlling a horn of the vehicle to whistle;
controlling a window of the vehicle to open.
13. A vehicle is characterized in that a first antenna, a second antenna and a third antenna are arranged on the vehicle; the first antenna, the second antenna and the third antenna are used for signal transmission between the vehicle and a terminal device; wherein the content of the first and second substances,
the vehicle comprises a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, causes the processor to carry out the method of any one of claims 1 to 6.
14. The vehicle of claim 13, characterized in that the first, second and third antennas are distributed at three locations of the vehicle, the plane formed by the first, second and third antennas being parallel to the ground.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN202110387753.2A CN115195761A (en) | 2021-04-09 | 2021-04-09 | Vehicle control method and device, vehicle and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116946010A (en) * | 2023-09-19 | 2023-10-27 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116946010A (en) * | 2023-09-19 | 2023-10-27 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
| CN116946010B (en) * | 2023-09-19 | 2023-12-26 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
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