CN116513105A - A vehicle keyless entry method and system - Google Patents

Abstract

The invention provides a vehicle keyless entry method and a system, the method comprises the steps of acquiring digital key information in real time, wherein the digital key information at least comprises position coordinates, a key ID and a key, judging whether the digital key is in a first preset area according to the position coordinates of the current moment, if yes, continuing to judge whether the key ID and the key are matched with preset key information, acquiring the position coordinates of the next moment when judging that the key information is matched, judging whether the digital key has the intention of entering a second preset area from the first preset area according to the position coordinates of the current moment and the position coordinates of the next moment, and if yes, controlling a corresponding vehicle door to open by a preset angle to finish the vehicle keyless entry when the digital key is in the second preset area. In the process, the keyless entry of the vehicle can be realized without pulling a door handle, and intelligent experience is brought to a user.

Description

A vehicle keyless entry method and system

technical field

The invention belongs to the technical field of vehicle keyless entry, and in particular relates to a vehicle keyless entry method and system.

Background technique

Ultra Wide Band (UWB) technology is a wireless carrier communication technology. It does not use sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range.

With the popularization and development of automobile electrification and the continuous improvement of vehicle appearance design, people's requirements for the appearance and automation of automobile outer door handles are also getting higher and higher while the degree of electrification and automation of automobiles is getting higher and higher. There are two types of vehicle door handles on the market today: traditional door handles and concealed door handles. When they cooperate with the keyless entry function of the vehicle, the traditional door handle needs to press and hold the designated area or button and pull to open the door manually, while the hidden door handle pops up automatically or manually and then manually pulls to open the door.

However, both of the above two vehicle door handles affect the coordination of the appearance of the vehicle to a certain extent. When the hidden door handle is used in winter, it is easy to be damaged due to freezing and cannot be ejected. The requirements for vehicle intelligence are getting higher and higher, and the existing vehicle keyless entry technology cannot meet people's needs for vehicle intelligent experience.

Contents of the invention

Based on this, the embodiment of the present invention provides a vehicle keyless entry method and system, which aims to solve the problems in the prior art that the use of traditional and hidden door handles affects the appearance and is easy to be damaged in special environments. Bring a more intelligent experience to passengers.

The first aspect of the embodiments of the present invention provides a method for keyless entry of a vehicle, the method comprising:

Acquiring digital key information in real time, said digital key information at least including location coordinates, key ID and key key;

According to the position coordinates at the current moment, it is judged whether the digital key is in the first preset area;

If so, judge whether the key ID and the key key match the preset key information;

If so, obtain the position coordinates at the next moment, and judge whether the digital key enters the second preset area from the first preset area according to the position coordinates at the current moment and the position coordinates at the next moment. the intent of the area;

If so, when the digital key is in the second preset area, control the corresponding door to open a preset angle, so as to complete the keyless entry of the vehicle.

Further, before the step of obtaining digital key information in real time, the digital key information includes at least position coordinates, key ID and key key, including:

Obtaining the geographic location of the vehicle and vehicle size information, wherein the vehicle size information includes at least the length of the front door, the length of the rear door and the width of the vehicle body;

According to the length of the front door, the length of the rear door and the width of the vehicle body, determine the center intersection point and the first geographic location corresponding to the center intersection point, and establish a coordinate system according to the first geographic location, wherein the center The intersection point is the intersection point perpendicular to the symmetry axis of the vehicle with respect to the longitudinal direction between the end point of the front door near the front end and the end point of the rear door near the rear of the car, and the first geographic location is the origin of the coordinate system;

Generate ultra-wideband base station coordinates according to the origin and the coordinate system, and the ultra-wideband base station coordinates are used to determine the position coordinates of the target;

Obtain a first preset radius and a second preset radius, generate a corresponding first preset area on the coordinate system according to the first preset radius and the origin, and generate a corresponding first preset area according to the second preset radius and the origin The origin generates a corresponding second preset area on the coordinate system, wherein the length of the second preset radius is the length of the distance between the origin and the front door close to the end point of the front of the car, and the first The preset radius is greater than the second preset radius.

Further, before the step of obtaining digital key information in real time, the digital key information includes at least location coordinates, key ID and key key, further includes:

According to the length of the front door, the length of the rear door and the coordinate system, the coordinates of the connection point are generated, wherein the coordinates of the connection point are the coordinates of the connection between the front door and the rear door on both sides;

According to the connection point coordinates, the vehicle body width and the second preset area, generate a target position coordinate field corresponding to each door in the second preset area, wherein the target position coordinate field is based on the The line connecting the coordinates of the connection points and the line connecting the center point of the vehicle body width divides the second preset area into a target position coordinate domain corresponding to each door;

According to the target position coordinate domain and the vehicle door, establish a first mapping model between the target position coordinate domain and the vehicle door, the first mapping model is used to input the position coordinates, and according to the target where the position coordinates are located Position coordinate field, the output corresponds to the door.

Further, the acquisition of the location coordinates at the next moment, and according to the location coordinates at the current moment and the location coordinates at the next moment, it is judged whether the digital key enters the second preset area from the first preset area. After the step of presetting the intent of the area includes:

When the digital key intends to enter the second preset area from the first preset area, it is determined in real time according to the coordinates of the ultra-wideband base station and the distance between the coordinates of the ultra-wideband base station and the target person. All personnel movement coordinates in the first preset area;

According to all the movement coordinates of the persons in the first preset area, the movement coordinates of the persons corresponding to the persons are connected to generate the movement trajectories of the persons.

Further, when the digital key is in the second preset area, the step of controlling the corresponding door to open a preset angle to complete the keyless entry of the vehicle includes:

When the digital key is in the second preset area, filter out the target personnel movement trajectory that is currently in the second preset area and whose tangential direction of the personnel movement trajectory points to the door;

According to the movement trajectory of the target person, determine the last obtained movement coordinates of the target person in the movement trajectory of the target person, input the movement coordinates of the target person and the current position coordinates of the digital key into the first mapping model, and obtain Corresponding to the car door, and controlling the opening of the preset angle corresponding to the car door, so as to complete the keyless entry of the vehicle.

Further, after the step of judging whether the digital key is in the first preset area according to the position coordinates at the current moment includes:

When the digital key is in the first preset area, the vehicle controller sends a pairing request to the digital key;

Obtain the key ID and the key key returned by the digital key, and determine whether the key ID and the key key match the preset key information;

If so, execute the step of obtaining the location coordinates at the next moment, and judge whether the digital key enters the second preset area from the first preset area according to the location coordinates at the current moment and the location coordinates at the next moment. Step 2: Preset the intention of the area.

Further, the acquisition of the location coordinates at the next moment, and according to the location coordinates at the current moment and the location coordinates at the next moment, it is judged whether the digital key enters the second preset area from the first preset area. The steps of presetting the intent of the area include:

According to the position coordinates at the current moment and the position coordinates at the next moment, calculate the current moment linear distance between the position coordinates at the current moment and the origin, and the position coordinates at the next moment and the The straight-line distance between the origins at the next moment;

Comparing the straight-line distance at the current moment with the straight-line distance at the next moment, when the straight-line distance at the current moment is greater than the straight-line distance at the next moment, it is judged that the digital key is entered from the first preset area The intention of the second preset area, when the straight-line distance at the current moment is less than or equal to the straight-line distance at the next moment, it is judged that the digital key does not have the possibility of entering the second preset area from the first preset area intention.

A second aspect of the embodiments of the present invention provides a vehicle keyless entry system, the system comprising:

A key information acquisition module, configured to acquire the digital key information in real time, the digital key information at least including position coordinates, key ID and key key;

The first preset area judging module is used to judge whether the digital key is in the first preset area according to the position coordinates at the current moment;

A key matching judging module, configured to judge whether the key ID and the key key match preset key information when the digital key is in a first preset area;

An intention judging module, configured to obtain the location coordinates at the next moment when the key ID and the key key match the preset key information, and obtain the location coordinates at the next moment according to the location coordinates at the current moment and the location at the next moment coordinates, judging whether the digital key intends to enter the second preset area from the first preset area;

a car door control module, configured to control the opening of the corresponding car door when the digital key intends to enter a second preset area from the first preset area and the digital key is in the second preset area Preset angles to complete vehicle keyless entry.

A third aspect of the embodiments of the present invention provides a readable storage medium, including:

The readable storage medium stores one or more programs, and when the programs are executed by the processor, the vehicle keyless entry method described in any one of the above-mentioned methods is realized.

A fourth aspect of the embodiments of the present invention provides an electronic device, wherein the device includes a memory and a processor, wherein:

The memory is used to store computer programs;

When the processor is used to execute the computer program stored in the memory, it can realize the vehicle keyless entry method described in any one of the above.

In the vehicle keyless entry method in the embodiment of the present invention, by obtaining digital key information in real time, the digital key information includes at least position coordinates, key ID and key key, and judging whether the digital key is in the first predetermined position according to the current position coordinates. Set the area, if so, continue to judge whether the key ID and the key key match the preset key information. coordinates, judging whether the digital key has the intention to enter the second preset area from the first preset area, and if so, when the digital key is in the second preset area, control the corresponding door to open the preset angle, To complete the vehicle keyless entry. During this process, the keyless entry of the vehicle can be realized without pulling the door handle, bringing an intelligent experience to the user.

Description of drawings

FIG. 1 is a flow chart of the implementation of a keyless entry method for a vehicle provided by Embodiment 1 of the present invention;

Fig. 2 is a structural block diagram of a vehicle keyless entry provided by Embodiment 3 of the present invention;

Fig. 3 is a structural block diagram of an electronic device provided by Embodiment 4 of the present invention.

The following specific embodiments will be further described in conjunction with the above-mentioned drawings.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Several embodiments of the invention are shown in the drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and complete.

It should be noted that when an element is referred to as being “fixed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Embodiment one

Please refer to FIG. 1 . FIG. 1 shows an implementation flowchart of a keyless entry method for a vehicle provided by Embodiment 1 of the present invention, and the method specifically includes steps S01 to S05 .

Step S01, acquiring digital key information in real time, the digital key information at least including location coordinates, key ID and key key.

It should be noted that the location coordinates in the digital key information are based on the two-way time-of-flight method to calculate the straight-line distances between at least three UWB base stations in different locations and the digital key at the same time, and then according to the UWB base station coordinates, pass through the circle The positioning method is calculated, and the two-way time-of-flight (TW-TOF) method mainly uses the time of flight between two asynchronous transceivers (or reflected surfaces) to measure the distance between nodes. The distance, the circular positioning method (Time of Arrival, TOA) is to draw a circle according to the measured distance as the radius, and determine the position of the target object through the intersection of the circle.

Specifically, the ultra-wideband signal is transmitted through the ultra-wideband base station on the vehicle, and the transmission time is recorded as Ta1. The digital key returns the corresponding signal after receiving the signal, and respectively records the time Tb1 of receiving the signal and the time Tb2 of returning the corresponding signal. When the ultra-wideband base station receives When the signal returned by the digital key, record the receiving time Ta2, and then calculate the straight-line distance R1 between the UWB base station and the digital key through the formula of the two-way time-of-flight method. The formula of the two-way time-of-flight method is: R1=light speed C×[( Ta2-Ta1)-(Tb2-Tb1)]/2. After obtaining the distances R1, R2, and R3 between the UWB base station and the digital key at least three different locations at the same time, according to the coordinates of the three UWB base stations: (x1, y1), (x2, y2), (x3, y3), the position coordinates (x0, y0) in the digital key information are calculated by the formula of the circular positioning method, and the formula is:

It can be understood that the key ID in the digital key information is the unique ID number of the key set when the vehicle is offline, and the key key in the digital key information is the key key code stored during key learning.

Step S02, according to the position coordinates at the current moment, it is judged whether the digital key is in the first preset area, and if so, step S03 is executed.

Specifically, the first preset area is a circular area formed with the preset origin (0,0) on the vehicle as the center and the preset distance as the radius R. After obtaining the current position coordinates of the digital key (x0 ,y0), by calculating the linear distance from the position coordinates to the origin and comparing it with the radius of the first preset area, that is, when x02+y0 ² ≤ R ² , it is judged that the digital key is in the first preset area, when x0 ² +y0 ² >R ² , it is judged that the digital key is not in the first preset area.

Step S03, judging whether the key ID and the key key match the preset key information, if yes, execute step S04.

It can be understood that the preset key information is stored in the vehicle controller, which records the key ID number set when the vehicle goes offline and the key key learned and stored when the digital key is paired. When the digital key is in the first preset area, the vehicle controller sends a pairing request to the digital key through the ultra-wideband base station, and the digital key returns the key ID and key key after receiving the request. When the ultra-wideband base station receives the key from the digital key When the ID number and key key are used, it will be fed back to the vehicle controller, and the vehicle controller will match the key ID number and key key fed back by the UWB base station with the key ID number and key key in the stored preset key information , when the key ID number and the key key are all consistent, it is judged that the key ID and the key key are successfully matched with the preset key information.

Step S04, acquiring the location coordinates at the next moment, and judging whether the digital key enters the second preset area from the first preset area according to the location coordinates at the current moment and the location coordinates at the next moment. The intent of the area, if yes, execute step S05.

Specifically, when the key ID and the key key are successfully matched with the preset key information, the position coordinates (a, b) of the digital key at the next moment are obtained, since the area of the first preset area is larger than the area of the second preset area , and they all take the preset origin (0,0) on the vehicle as the center of the circle, so by comparing the distance between the current position coordinates (x0,y0) and the preset origin (0,0) on the vehicle and the distance between the position coordinates (a,b) at the next moment and the preset origin (0,0) on the vehicle Then it can be judged whether the digital key has the intention to enter the second preset area from the first preset area, that is, when L2<L1, it is judged that the digital key has the intention to enter the second preset area from the first preset area, when When L2≥L1, it is determined that the digital key does not intend to enter the second preset area from the first preset area.

Step S05 , when the digital key is in the second preset area, control the corresponding door to open at a preset angle, so as to complete the keyless entry of the vehicle.

It can be understood that when the digital key intends to enter the second preset area from the first preset area, the position coordinates of the digital key are obtained in real time, and when the position coordinates of the digital key are in the second preset area, the digital key The key is already close to the car door. Specifically, the second preset area is a circular area formed with the preset origin (0,0) on the vehicle as the center and the preset distance as the radius r. When the position of the digital key When the distance between the coordinates and the origin is less than or equal to r, it is determined that the digital key is in the second preset area. Then, the vehicle controller judges according to the position coordinates of the digital key which door the digital key is in the target position coordinate domain of the vehicle, and sends the judgment result to the body controller, for example: the target position coordinate domain of the cab door is The target position coordinate domain of the passenger compartment door is The area of the left rear door is /> and the area of the right rear door is If the position coordinates of the digital key obtained in real time are (2,3), it is judged that the digital key is in the target position coordinate domain of the passenger compartment door, and the judgment result is sent to the body controller through the body control signal to send the unlock command PEPS_Rke_UnlockCmd to control the unlocking of the corresponding door And control the door control motor to open the door at a preset angle. Among them, the body control signal (BCAN) is mainly used for CAN communication between body accessories, and the body controller (body control module, BCM) refers to the electronic control system used to control the body electrical system. unit.

To sum up, the vehicle keyless entry method in the above-mentioned embodiments of the present invention obtains digital key information in real time. The digital key information includes at least position coordinates, key ID and key key, and judges whether the digital key is based on the current position coordinates. If it is in the first preset area, if so, continue to judge whether the key ID and the key key match the preset key information, when it is judged that the key information matches, then obtain the position coordinates at the next moment, and Position coordinates at a moment, judging whether the digital key has the intention to enter the second preset area from the first preset area, if it is determined that the intention exists, when the digital key is in the second preset area, Control the corresponding door to open the preset angle to complete the keyless entry of the vehicle. During this process, the keyless entry of the vehicle can be realized without pulling the door handle, bringing an intelligent experience to the user.

Embodiment two

Embodiment 2 of the present invention provides an implementation flow of a keyless entry method for a vehicle, the method specifically includes steps S10 to S23.

Step S10, acquiring the geographic location of the vehicle and vehicle size information, wherein the vehicle size information at least includes the length of the front door, the length of the rear door and the width of the vehicle body.

Step S11, according to the length of the front door, the length of the rear door and the width of the vehicle body, determine the center intersection point and the first geographic location corresponding to the center intersection point, and establish a coordinate system according to the first geographic location, wherein, The central intersection point is the intersection point between the end point of the front door near the front and the end point of the rear door near the rear, which is perpendicular to the symmetry axis of the vehicle with respect to the length direction, and the first geographic location is the origin of the coordinate system.

It should be noted that this coordinate system is a two-dimensional coordinate system established on the projection plane of the vehicle's top view angle. The origin of the coordinate system is determined as follows: take the endpoint of the front door on one side of the vehicle close to the front end of the vehicle and the rear door on the same side close to it. The midpoint of the connection line is obtained by connecting the end points of the rearmost end of the car, and a vertical line is made on the midpoint of the connection line, and then according to the symmetry axis of the vehicle in the length direction, the distance between the symmetry axis and the vertical line is obtained. The intersection point is the origin of the coordinate system, and the vertical line and the axis of symmetry are defined as the x-axis and y-axis, respectively.

Step S12, generating UWB base station coordinates according to the origin and the coordinate system, and the UWB base station coordinates are used to determine the position coordinates of the target object.

Specifically, according to the placement position of the ultra-wideband base station on the vehicle, the coordinates on the coordinate system are determined through top-view projection, and the specific coordinates of the ultra-wideband base station are stored. The coordinates of the ultra-wideband base station are used to determine the digital key and personnel in the coordinate system specific coordinates on .

Step S13, obtaining a first preset radius and a second preset radius, generating a corresponding first preset area on the coordinate system according to the first preset radius and the origin, and generating a corresponding first preset area according to the second preset radius Assuming the radius and the origin, a corresponding second preset area is generated on the coordinate system, wherein the length of the second preset radius is the length of the distance between the origin and the front door close to the end point of the front of the car, and the The first preset radius is larger than the second preset radius.

Specifically, the second preset area is a circle with the length of the second preset radius, that is, the length of the projected distance between the origin of the coordinate system and the end point of the front door near the front end of the vehicle as the radius, and the origin of the coordinate system as the center. Therefore, the left front door is close to the front end of the front, the left rear door is close to the rear end, the right front door is close to the front end, and the right rear door is close to the rear end. In terms of the set area, ensure that the range of the second preset area covers all the car doors and is a relatively small area.

It can be understood that the first preset area is also a circular area with the origin of the coordinate system as the center and the first preset radius length greater than but not equal to the second preset radius length as the radius.

Step S14, generating connection point coordinates according to the length of the front door, the length of the rear door and the coordinate system, wherein the coordinates of the connection point are the coordinates of the connection between the front doors and the rear doors on both sides.

It should be noted that the coordinates of the connection point are the coordinates of the points where the left and right front doors meet the rear doors projected on the coordinate system, and the coordinates of the connection point are the boundary points used to distinguish the areas of the doors in the coordinate system.

Step S15, according to the connection point coordinates, the vehicle body width and the second preset area, generate a target position coordinate field corresponding to each door in the second preset area, wherein the target position coordinate field The second preset area is divided into target position coordinate domains corresponding to the vehicle doors according to the line connecting the coordinates of the connection points and the symmetry axis of the vehicle with respect to the longitudinal direction.

It should be noted that the target position coordinate domain corresponding to each vehicle door is divided into four corresponding to four vehicle doors by the line connecting the connection points on both sides of the vehicle and the symmetry axis (ie, the y-axis) of the vehicle with respect to the length direction. area, and then according to the vehicle body width and the second preset radius length, the parts overlapping with the vehicle body in the four areas are removed to obtain the corresponding target position coordinate field of each car door. For example, the second preset radius length is 4, and the body width is 2. The coordinates of the connection points on both sides are (-1,0) and (1,0) respectively, then the second preset area is divided into the area of the cab door according to the connection line of the connection points and the symmetry axis of the vehicle about the length direction as The area of the passenger compartment door is /> The area of the left rear door is

and the area of the right rear door is /> According to the length of the second preset radius being 4 and the width of the vehicle body being 2, it is calculated that the overlapping part with the vehicle body in the second preset area is /> After removing the parts overlapping with the body in the four areas, we get: the coordinate domain of the target position of the cab door is /> The target position coordinate domain of the passenger compartment door is /> The target position coordinate domain of the left rear door is And the target position coordinate domain of the right rear door is

Step S16: Establish a first mapping model between the target position coordinate domain and the vehicle door according to the target position coordinate domain and the vehicle door, the first mapping model is used to input the position coordinates, and according to the position where the position coordinates are located The target position coordinate field is output corresponding to the vehicle door.

Step S17, acquiring the digital key information in real time, the digital key information at least including location coordinates, key ID and key key.

Step S18, according to the position coordinates at the current moment, it is judged whether the digital key is in the first preset area, and if so, step S19 is executed.

Step S19, judging whether the key ID and the key key match the preset key information, if yes, execute step S20.

Step S20, acquiring the location coordinates at the next moment, and judging whether the digital key enters the second preset area from the first preset area according to the location coordinates at the current moment and the location coordinates at the next moment. The intention of the area, if yes, execute step S21.

Step S21: Determine the movement coordinates of all persons currently in the first preset area according to the UWB base station coordinates and the distance between the UWB base station coordinates and the target person in real time.

It should be noted that the ultra-wideband base station transmits ultra-wideband pulse signals into the first preset area, and receives the echoes of the pulse signals reflected by obstacles, and judges whether there are Objects (or people), specifically, the ultra-wideband base station detects surrounding objects and their movement through the received channel impulse response (Channel Impulse Response, CIR). When the surrounding objects move, due to the Doppler effect, the corresponding CIR value It will change, and according to the time difference T between the time when the ultra-wideband base station transmits the signal and the time when the echo is received, the distance S between the ultra-wideband base station and the target person is calculated by the formula. The formula is distance S=light speed C×T/2, and at least three The distance between the ultra-broadband base stations at different locations and the target person, and then according to the coordinates of at least three ultra-broadband base stations at different locations, the movement coordinates of the target person are determined by a circular positioning method.

Step S22, according to the movement coordinates of all the persons in the first preset area, the movement coordinates of the persons corresponding to each person are connected to generate the movement trajectory of each person.

It can be understood that the movement coordinates of the target personnel at different times are obtained in real time, and the continuous movement coordinates of each target person will be recorded at different times, and the movement coordinates of each target person are connected to obtain the movement coordinates of each target person Trajectories, where the connecting lines can be straight lines or curved lines.

Step S23, when the digital key is in the second preset area, control the corresponding door to open a preset angle, so as to complete the keyless entry of the vehicle.

It should be noted that when the digital key is in the second preset area, the target personnel movement trajectory that is currently in the second preset area and the tangent direction of the personnel movement trajectory points to the door is screened out. According to the target personnel movement trajectory, determine The target person's movement coordinates obtained last in the target person's movement track, input the target person's movement coordinates and the current position coordinates of the digital key into the first mapping model, and obtain the corresponding car door, and the vehicle controller controls the door to open at a preset angle, To complete the vehicle keyless entry.

Specifically, the method for judging whether the tangent direction of the movement trajectory of the person points to the door is to determine the coordinate range of the straight line under the top view projection of the door in the coordinate system according to the width of the vehicle body and the length of the door, and then make a straight line according to the tangent direction of the movement trajectory of the person. When there is an intersection point between the straight line and the coordinate range of the straight line under the top view projection of the car door, it is judged that the tangent direction of the movement track of the person points to the door; The tangent direction of the trajectory does not point to the door. For example, if the width of the car body is 2, and the length of the front and rear doors is 2, the coordinate range of the straight line under the top view projection of the door can be obtained as and /> When the target person's movement coordinates obtained last in the target person's movement trajectory are (1.5,1), and the target person's movement coordinates at the previous position on the target person's movement trajectory are (2,1.5), the tangent of the target person's movement trajectory can be obtained Direction straight line is y=x-0.5, when x=1, y=0.5 description and /> If there is an intersection point, it is judged that the tangent direction of the movement track of the person points to the door.

To sum up, the vehicle keyless entry method in the above embodiments of the present invention obtains the geographical location of the vehicle and the vehicle size information, wherein the vehicle size information includes at least the length of the front door, the length of the rear door and the width of the vehicle body. The length of the door, the length of the rear door and the width of the vehicle body determine the center intersection point and the first geographic location corresponding to the center intersection point, and establish a coordinate system according to the first geographic location, wherein the center intersection point is the end point of the front door close to the front of the car and the rear door close The middle point between the end points of the rear of the vehicle is perpendicular to the intersection point of the symmetry axis of the vehicle about the length direction, the first geographic location is the origin of the coordinate system, and the ultra-wideband base station coordinates are generated according to the origin and the coordinate system, and the ultra-wideband base station coordinates are used To determine the position coordinates of the target object. Then obtain the first preset radius and the second preset radius, generate the corresponding first preset area on the coordinate system according to the first preset radius and the origin, and generate the corresponding first preset area on the coordinate system according to the second preset radius and the origin Corresponding to the second preset area, wherein the length of the second preset radius is the length of the distance between the origin and the end point of the front door near the front of the vehicle, and the first preset radius is larger than the second preset radius. Then, according to the length of the front door, the length of the rear door and the coordinate system, the coordinates of the connection point are generated, wherein the coordinates of the connection point are the coordinates of the connection between the front door and the rear door on both sides, and according to the coordinates of the connection point, the width of the vehicle body and the second preset In the second preset area, a target position coordinate domain corresponding to each vehicle door is generated, wherein the target position coordinate domain divides the second preset area according to the connection line of the connection point coordinates and the symmetry axis of the vehicle with respect to the length direction, and The overlapping part with the body is removed to obtain the target position coordinate field corresponding to each door, and then according to the target position coordinate field and the door, the first mapping model between the target position coordinate field and the door is established. The first mapping model is used to input the position coordinates, and according to the position coordinates The target position coordinate domain where the output corresponds to the door. Obtain digital key information in real time. The digital key information includes at least position coordinates, key ID and key key. According to the current position coordinates, determine whether the digital key is in the first preset area. If so, continue to determine the key ID and key key. Whether it matches the preset key information, when it is judged that the key information matches, the position coordinates at the next moment are obtained, and according to the position coordinates at the current moment and the position coordinates at the next moment, it is judged whether the digital key exists. The intention of a preset area to enter the second preset area, if it is judged that there is such an intention, all personnel currently in the first preset area are determined in real time according to the coordinates of the UWB base station and the distance between the coordinates of the UWB base station and the target person Movement coordinates, according to the movement coordinates of all personnel in the first preset area, connect the movement coordinates of each person corresponding to each person to generate the movement trajectory of each person, when the digital key is in the second preset area, filter out preset area, and the tangent direction of the personnel movement trajectory points to the target personnel movement trajectory of the car door, according to the target personnel movement trajectory, determine the target personnel movement coordinates obtained last in the target personnel movement trajectory, and combine the target personnel movement coordinates and the number The current position coordinates of the key are input into the first mapping model to control the corresponding door opening preset angle, so as to complete the keyless entry of the vehicle. In this process, the keyless entry of the vehicle can be realized without pulling the door handle, and when the driver carrying the digital key enters the vehicle, it can also correspondingly open the doors of other passengers who need to get on the vehicle, bringing intelligence to the user experience.

Embodiment three

Please refer to FIG. 2 . FIG. 2 is a structural block diagram of a vehicle keyless entry system provided by Embodiment 3 of the present invention. The vehicle keyless entry system 300 includes: a key information acquisition module 31, a first preset area judging module 32, a key matching judging module 33, an intention judging module 34 and an intention judging module 35, wherein:

A key information acquisition module 31, configured to acquire the digital key information in real time, the digital key information at least including position coordinates, key ID and key key;

The first preset area judging module 32 is used to judge whether the digital key is in the first preset area according to the position coordinates at the current moment;

A key matching judging module 33, configured to judge whether the key ID and the key key match preset key information when the digital key is in a first preset area;

Intention judging module 34, configured to acquire the position coordinates at the next moment when the key ID and the key key match the preset key information, and according to the position coordinates at the current moment and the position coordinates at the next moment, position coordinates, judging whether the digital key intends to enter a second preset area from the first preset area;

A door control module 35, configured to control the corresponding door when the digital key intends to enter a second preset area from the first preset area and the digital key is in the second preset area Open the preset angle to complete the vehicle keyless entry.

Further, in some optional embodiments of the present invention, the vehicle keyless entry system 300 also includes:

The vehicle basic information acquisition module is used to acquire the geographic location of the vehicle and vehicle size information, wherein the vehicle size information includes at least the length of the front door, the length of the rear door and the width of the vehicle body;

A coordinate system establishment module, configured to determine a central intersection point and a first geographic location corresponding to the central intersection point according to the length of the front door, the length of the rear door, and the width of the vehicle body, and establish coordinates according to the first geographic location system, wherein, the central intersection point is the intersection point perpendicular to the symmetry axis of the vehicle with respect to the longitudinal direction between the middle point between the end point of the front door near the front and the end point of the rear door near the rear, and the first geographic location is the coordinate origin of the system;

An ultra-wideband base station coordinate acquisition module, configured to generate ultra-wideband base station coordinates according to the origin and the coordinate system, and the ultra-wideband base station coordinates are used to determine the position coordinates of the target;

A preset area generating module, configured to acquire a first preset radius and a second preset radius, generate a corresponding first preset area on the coordinate system according to the first preset radius and the origin, and generate a corresponding first preset area according to The second preset radius and the origin generate a corresponding second preset area on the coordinate system, wherein the length of the second preset radius is the distance between the origin and the end point of the front door near the front of the car length, and the first preset radius is greater than the second preset radius.

Further, in some optional embodiments of the present invention, the vehicle keyless entry system 300 also includes:

A connection point acquisition module, configured to generate connection point coordinates according to the length of the front door, the length of the rear door, and the coordinate system, wherein the coordinates of the connection point are the coordinates of the joints between the front doors and the rear doors on both sides ;

A target position coordinate field generating module, configured to generate a target position coordinate field corresponding to each door in the second preset area according to the connection point coordinates, the vehicle body width, and the second preset area, wherein, The target position coordinate domain divides the second preset area into target position coordinate domains corresponding to the vehicle doors according to the connection line of the connection point coordinates and the symmetry axis of the vehicle with respect to the length direction;

The first mapping model establishment module is used to establish a first mapping model between the target position coordinate domain and the vehicle door according to the target position coordinate domain and the vehicle door, and the first mapping model is used to input the position coordinates, according to the target position coordinate domain and the vehicle door. The target position coordinate field in which the position coordinates are located is outputted corresponding to the vehicle door.

Further, in some optional embodiments of the present invention, the vehicle keyless entry system 300 also includes:

A human motion coordinate acquisition module, configured to, when the digital key has an intention to enter the second preset area from the first preset area, according to the coordinates of the ultra-wideband base station and the coordinates of the ultra-wideband base station and the coordinates of the ultra-wideband base station The distance of the target person is used to determine the movement coordinates of all the people currently in the first preset area;

The personnel movement trajectory generation module is used to connect the personnel movement coordinates corresponding to each personnel according to all the personnel movement coordinates in the first preset area to generate each personnel movement trajectory.

Further, in some optional embodiments of the present invention, the vehicle keyless entry system 300 also includes:

A digital key pairing request module, configured to send a pairing request to the digital key by the vehicle controller when the digital key is in the first preset area;

A digital key matching judging module, configured to acquire the key ID and the key key returned by the digital key, and judge whether the key ID and the key key match the preset key information;

Further, in some optional embodiments of the present invention, the door control module 35 includes:

A target personnel movement trajectory screening unit, configured to filter out a target that is currently in the second preset region and whose tangential direction of the personnel movement trajectory points to the door when the digital key is in the second preset region Personnel movement trajectory;

The target person's door control unit is configured to determine the last obtained target person's movement coordinates in the target person's movement trajectory according to the target person's movement trajectory, and input the target person's movement coordinates and the current position coordinates of the digital key into the In the above-mentioned first mapping model, the corresponding vehicle door is obtained, and the preset angle corresponding to the vehicle door is controlled to be opened, so as to complete the keyless entry of the vehicle.

Further, in some optional embodiments of the present invention, the intention judging module 34 includes:

a straight line distance calculation unit, configured to calculate the current time straight line distance between the current time position coordinates and the origin according to the current time position coordinates and the next time position coordinates, and the next time point The next moment straight-line distance between the location coordinates of the moment and the origin;

The linear distance comparison unit is used to compare the linear distance at the current moment with the linear distance at the next moment. When the linear distance at the current moment is greater than the linear distance at the next moment, it is judged that the digital key exists The intention of the first preset area to enter the second preset area, when the straight-line distance at the current moment is less than or equal to the straight-line distance at the next moment, it is judged that the digital key does not exist by the first preset area Intent to enter the second preset area.

Embodiment four

Another aspect of the present invention also proposes an electronic device, please refer to FIG. 3, which is a structural block diagram of the electronic device in the fourth embodiment of the present invention, including a memory 20, a processor 10, and a memory that is stored in the memory and can be processed. A computer program 30 running on the computer, the processor 10 implements the above-mentioned keyless entry method for a vehicle when executing the computer program 30 .

Wherein, the processor 10 may be a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments, and is used to run program codes stored in the memory 20 or Processing data, such as executing access restriction programs, etc.

Wherein, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (eg, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 20 may be an internal storage unit of the electronic device, such as a hard disk of the electronic device. The memory 20 may also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (FlashCard), etc. Further, the memory 20 may also include both an internal storage unit of the electronic device and an external storage device. The memory 20 can not only be used to store application software and various data of the electronic device, but also can be used to temporarily store data that has been output or will be output.

It should be noted that the structure shown in FIG. 3 does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than shown in the figure, or combine certain components, or be different layout of the components.

The embodiment of the present invention also proposes a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method for keyless vehicle entry is realized.

Those skilled in the art will understand that the logic and/or steps shown in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, which can be specifically implemented in on any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, apparatus, or device and execute them), or Used in conjunction with these instruction execution systems, devices or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device.

More specific examples (non-exhaustive list) of computer readable media include the following; Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, as it may be possible, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or other suitable processing if necessary. The program is processed electronically and stored in computer memory.

It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples" or "some examples" mean specific features described in connection with the embodiment or example, A structure, material or characteristic is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. A method of keyless entry for a vehicle, the method comprising:

acquiring digital key information in real time, wherein the digital key information at least comprises position coordinates, a key ID and a key;

judging whether the digital key is in a first preset area or not according to the position coordinates of the current moment;

if yes, judging whether the key ID and the key are matched with preset key information;

if yes, acquiring a position coordinate of the next moment, and judging whether the digital key has an intention of entering a second preset area from the first preset area according to the position coordinate of the current moment and the position coordinate of the next moment;

If yes, when the digital key is in the second preset area, the corresponding vehicle door is controlled to be opened by a preset angle, so that the keyless entry of the vehicle is completed.

2. The keyless entry method of claim 1, wherein the step of acquiring digital key information in real time, the digital key information including at least a location coordinate, a key ID, and a key, comprises, prior to:

acquiring the geographic position of a vehicle and vehicle size information, wherein the vehicle size information at least comprises the length of a front door, the length of a rear door and the width of a vehicle body;

determining a center intersection point and a first geographic position corresponding to the center intersection point according to the length of the front vehicle door and the length of the rear vehicle door and the width of the vehicle body, and establishing a coordinate system according to the first geographic position, wherein the center intersection point is an intersection point of a middle point between an end point of the front vehicle door, which is close to a vehicle head, and an end point of the rear vehicle door, which is close to a vehicle tail, which is perpendicular to a symmetry axis of the vehicle in the length direction, and the first geographic position is an origin of the coordinate system;

generating ultra-wideband base station coordinates according to the origin and the coordinate system, wherein the ultra-wideband base station coordinates are used for determining the position coordinates of the target object;

Obtaining a first preset radius and a second preset radius, generating a corresponding first preset area on the coordinate system according to the first preset radius and the origin, and generating a corresponding second preset area on the coordinate system according to the second preset radius and the origin, wherein the length of the second preset radius is the length of the distance between the origin and the front vehicle door, which is close to the vehicle head end point, and the first preset radius is larger than the second preset radius.

3. The keyless entry method of claim 2, wherein the step of acquiring digital key information in real time, the digital key information including at least a location coordinate, a key ID, and a key, further comprises, prior to:

generating a connecting point coordinate according to the length of the front door, the length of the rear door and the coordinate system, wherein the connecting point coordinate is the coordinate of the connecting position of the front door and the rear door at two sides;

generating a target position coordinate domain corresponding to each vehicle door in the second preset area according to the connection point coordinates, the vehicle body width and the second preset area, wherein the target position coordinate domain divides the second preset area into target position coordinate domains corresponding to each vehicle door according to the connecting line of the connection point coordinates and the symmetry axis of the vehicle about the length direction;

And establishing a first mapping model of the target position coordinate domain and the vehicle door according to the target position coordinate domain and the vehicle door, wherein the first mapping model is used for inputting the position coordinate and outputting a corresponding vehicle door according to the target position coordinate domain in which the position coordinate is located.

4. The keyless entry method of claim 3, wherein the step of acquiring the position coordinates of the next time and determining whether the digital key has an intention to enter a second preset area from the first preset area based on the position coordinates of the current time and the position coordinates of the next time comprises:

when the digital key has the intention of entering the second preset area from the first preset area, determining all personnel motion coordinates currently in the first preset area in real time according to the ultra-wideband base station coordinates and the distance between the ultra-wideband base station coordinates and a target personnel;

and connecting the personnel motion coordinates corresponding to each personnel according to all the personnel motion coordinates in the first preset area to generate each personnel motion track.

5. The method of keyless entry for a vehicle of claim 4, wherein the step of controlling the corresponding door to open by a predetermined angle when the digital key is within the second predetermined area to complete the keyless entry for the vehicle comprises:

When the digital key is in the second preset area, screening out a target person motion track which is currently in the second preset area and points to a vehicle door in the tangential direction of the person motion track;

and determining the last acquired target person motion coordinate in the target person motion track according to the target person motion track, inputting the target person motion coordinate and the current position coordinate of the digital key into the first mapping model to obtain a corresponding vehicle door, and controlling the corresponding vehicle door to open by a preset angle so as to finish keyless entry of the vehicle.

6. The keyless entry method of claim 5, wherein the step of determining whether the digital key is in the first preset area according to the position coordinates of the current time comprises:

when the digital key is in the first preset area, the vehicle controller sends a pairing request to the digital key;

acquiring the key ID and the key returned by the digital key, and judging whether the key ID and the key are matched with preset key information;

if yes, executing the step of acquiring the position coordinate of the next moment, and judging whether the digital key has the intention of entering a second preset area from the first preset area according to the position coordinate of the current moment and the position coordinate of the next moment.

7. The keyless entry method of claim 6, wherein the step of acquiring the position coordinates of the next time and determining whether the digital key has an intention to enter a second preset area from the first preset area based on the position coordinates of the current time and the position coordinates of the next time comprises:

calculating a current moment linear distance between the current moment position coordinate and the origin and a next moment linear distance between the next moment position coordinate and the origin according to the current moment position coordinate and the next moment position coordinate;

comparing the current moment linear distance with the next moment linear distance, judging that the digital key has the intention of entering a second preset area from the first preset area when the current moment linear distance is larger than the next moment linear distance, and judging that the digital key has no intention of entering the second preset area from the first preset area when the current moment linear distance is smaller than or equal to the next moment linear distance.

8. A keyless entry system for a vehicle, the system comprising:

The key information acquisition module is used for acquiring the digital key information in real time, wherein the digital key information at least comprises position coordinates, a key ID and a key;

the first preset area judging module is used for judging whether the digital key is in a first preset area or not according to the position coordinates of the current moment;

the key matching judging module is used for judging whether the key ID and the key are matched with preset key information or not when the digital key is in a first preset area;

the intention judging module is used for acquiring a position coordinate of the next moment when the key ID and the key are matched with preset key information, and judging whether the digital key has intention of entering a second preset area from the first preset area according to the position coordinate of the current moment and the position coordinate of the next moment;

and the vehicle door control module is used for controlling the corresponding vehicle door to open by a preset angle when the digital key has the intention of entering a second preset area from the first preset area and the digital key is positioned in the second preset area so as to finish keyless entry of the vehicle.

9. A readable storage medium, comprising:

the readable storage medium stores one or more programs which when executed by a processor implement the vehicle keyless entry method of any of claims 1-7.

10. An electronic device comprising a memory and a processor, wherein:

the memory is used for storing a computer program;

the processor is configured to implement the vehicle keyless entry method of any one of claims 1-7 when executing a computer program stored on the memory.