Vehicle control method, system, device, vehicle, electronic device and storage medium

Abstract

The present invention provides a vehicle control method, system, device, vehicle, electronic device and storage medium. By monitoring that a vehicle control device establishes a communication connection with a vehicle to be controlled, a control positioning module is triggered to send a positioning signal, so that the vehicle positioning module of the vehicle to be controlled receives the positioning signal and determines the current relative position, receives the current relative position sent by the vehicle to be controlled, obtains the original gesture action of the vehicle control device, matches the original gesture action with multiple preset gesture actions, determines the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action, determines a target vehicle control instruction according to the current relative position and the current gesture action, and sends the target vehicle control instruction to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction; through accurate gesture action recognition and high-precision positioning capabilities, a more convenient and accurate vehicle control method is provided, which improves the comfort and convenience of daily vehicle use.

Description

Technical Field

[0001] The present application relates to the field of automotive technology, and in particular to a vehicle control method, system, device, vehicle, electronic device, and computer-readable storage medium. Background Art

[0002] With the development of society and technology, cars have become an indispensable means of transportation in people's lives. Driven by user needs, the automotive industry is rapidly developing, and intelligent vehicle use has become a development trend. To enhance the comfort and convenience of daily driving, many improvements have also been made in vehicle control.

[0003] Currently, vehicle control is mainly done through remote control keys, which are often large, inconvenient to carry, and have relatively simple functions. Existing smart wearable devices cannot complete corresponding commands conveniently and accurately. For example, when approaching a car and needing to unlock it, the user must manually start the car control application on the smart wearable device, then enter the vehicle control page, and click the unlock button. The operation steps are relatively cumbersome. For another example, when a user approaches a vehicle with a smart wearable device, the vehicle automatically unlocks, but the user does not want the vehicle to unlock, but opens the trunk to put something in. The user temporarily gets off the car to get something, and the vehicle automatically locks after closing the door, and needs to unlock it again when getting back on. This shows that the vehicle control operation of the relevant technology is not convenient, the vehicle control scenarios are limited, and there are safety hazards of false triggering. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a vehicle control method, system, device, vehicle, electronic device and storage medium to solve the above-mentioned technical problems.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to one aspect of an embodiment of the present application, a vehicle control method is provided, comprising: if it is monitored that a vehicle control device establishes a communication connection with a vehicle to be controlled, triggering a control positioning module of the vehicle control device to send a positioning signal, so that a vehicle positioning module of the vehicle to be controlled receives the positioning signal and determines a current relative position, wherein the vehicle positioning module comprises at least three signal receivers; receiving the current relative position sent by the vehicle to be controlled, wherein the current relative position is determined by the sending time and receiving time of the positioning signal; obtaining an original gesture action of the vehicle control device, matching the original gesture action with a plurality of preset gesture actions, and if the match is successful, determining the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action; determining a target vehicle control instruction according to the current relative position and the current gesture action, and sending the target vehicle control instruction to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction.

[0007] In one embodiment of the present invention, based on the aforementioned scheme, before monitoring that the vehicle control device establishes a communication connection with the vehicle to be controlled, it also includes: if the vehicle control device receives a vehicle connection broadcast message of the vehicle to be controlled, controlling the vehicle control device to establish a first communication connection channel with the vehicle to be controlled, and controlling the control positioning module and the vehicle positioning module to establish a second communication connection channel, completing the establishment of a communication connection between the vehicle control device and the vehicle to be controlled, wherein the first communication connection channel is used to receive the current relative position and send the target vehicle control instruction, and the second communication connection channel is used to send the positioning signal.

[0008] In one embodiment of the present invention, based on the aforementioned scheme, before obtaining the original gesture action of the vehicle control device, it also includes: performing position matching based on the current relative position and the preset vehicle control instruction position; if the position matching is successful, obtaining the existence status of the preset vehicle control instruction of the successfully matched preset vehicle control instruction position; if the existence status of the preset vehicle control instruction is existence, triggering the vehicle control device to collect its own original gesture action.

[0009] In one embodiment of the present invention, based on the aforementioned scheme, after determining the target vehicle control instruction according to the current relative position and the current gesture action, and before sending the target vehicle control instruction to the vehicle to be controlled, it also includes: controlling the vehicle control device to display an instruction sending confirmation message; receiving the user's instruction confirmation feedback message, if the instruction confirmation feedback message includes a confirmation sending message, triggering the message sending task of sending the target vehicle control instruction to the vehicle to be controlled, so as to send the target vehicle control instruction to the vehicle to be controlled.

[0010] In one embodiment of the present invention, based on the aforementioned scheme, after sending the target vehicle control instruction to the vehicle to be controlled, it also includes: receiving control object status data sent by the vehicle to be controlled, the control object status data being the current state of the control object of the vehicle to be controlled after executing the target vehicle control instruction; controlling the vehicle control device to perform at least one of the following result feedback actions, issuing a voice reminder, issuing a vibration reminder, issuing a light reminder, and displaying the control object status data.

[0011] In one embodiment of the present invention, based on the above-mentioned solution, the original gesture action includes at least one of raising the wrist, shaking, waving the hand to the left, waving the hand to the right, sliding up, sliding down, sliding forward, and sliding backward.

[0012] According to one aspect of an embodiment of the present application, a vehicle control method is provided, comprising: if it is monitored that a communication connection is established between a vehicle to be controlled and a vehicle control device, receiving a positioning signal sent by a control positioning module of the vehicle control device through a vehicle positioning module of the vehicle to be controlled, the vehicle positioning module comprising at least three signal receivers; determining a current relative position between the vehicle to be controlled and the vehicle control device based on a reception time of the positioning signal received by different signal receivers and a transmission time of the positioning signal; sending the current relative position to the vehicle control device; receiving a target vehicle control instruction sent by the vehicle control device, and executing the target vehicle control instruction to control the vehicle to be controlled.

[0013] In one embodiment of the present invention, based on the aforementioned scheme, after executing the target vehicle control instruction, it also includes: collecting the execution result of executing the target vehicle control instruction, generating control object status data, and sending the control object status data to the vehicle control device, wherein the control object status data is the current state of the control object of the vehicle to be controlled after executing the target vehicle control instruction.

[0014] In one embodiment of the present invention, based on the aforementioned scheme, the current relative position between the vehicle to be controlled and the vehicle control device is determined based on the reception time of the positioning signal received by different signal receivers and the sending time of the positioning signal, including: determining the current relative angle and current relative distance between the vehicle control device and the vehicle to be controlled according to the reception time of the positioning signal received by different signal receivers and the sending time of the positioning signal, and the setting position of each signal receiver; determining the current preset area where the vehicle control device is located based on the current relative angle and the current relative distance, and using the current preset area as the current relative position.

[0015] According to one aspect of an embodiment of the present application, a vehicle control device is provided, including: a positioning signal sending module, configured to trigger the control positioning module of the vehicle control device to send a positioning signal if it is monitored that the vehicle control device establishes a communication connection with the vehicle to be controlled, so that the vehicle positioning module of the vehicle to be controlled receives the positioning signal and determines the current relative position, and the vehicle positioning module includes at least three signal receivers; a current relative position receiving module, configured to receive the current relative position sent by the vehicle to be controlled, and the current relative position is determined by the sending time and receiving time of the positioning signal; a gesture action acquisition module, configured to acquire the original gesture action of the vehicle control device, and match the original gesture action with multiple preset gesture actions based on the original gesture action. If the match is successful, the preset gesture action corresponding to the successfully matched original gesture action is determined as the current gesture action; a target vehicle control instruction determination module, configured to determine the target vehicle control instruction based on the current relative position and the current gesture action, and send the target vehicle control instruction to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction.

[0016] According to one aspect of an embodiment of the present application, a vehicle is provided, comprising: a positioning signal receiving module, configured to receive a positioning signal sent by a control positioning module of the vehicle control device through the vehicle positioning module of the vehicle to be controlled if it is monitored that a communication connection is established between the vehicle to be controlled and the vehicle control device, the vehicle positioning module comprising at least three signal receivers; a current relative position determining module, configured to determine the current relative position between the vehicle to be controlled and the vehicle control device based on the reception time of the positioning signal received by different signal receivers and the transmission time of the positioning signal; a current relative position sending module, configured to send the current relative position to the vehicle control device; and a target vehicle control instruction executing module, configured to receive a target vehicle control instruction sent by the vehicle control device and execute the target vehicle control instruction to control the vehicle to be controlled.

[0017] According to one aspect of an embodiment of the present application, a vehicle control system is provided, comprising: a vehicle control device and a vehicle, the vehicle control device comprising a control positioning module, the vehicle comprising a vehicle control module, a vehicle positioning module and an execution module; the control positioning module is configured to send a positioning signal to the vehicle positioning module; the vehicle positioning module is configured to receive the positioning signal sent by the control positioning module; the vehicle control module is configured to determine a current relative position between a vehicle to be controlled and the vehicle control device based on a reception time of the positioning signal and a transmission time of the positioning signal, and to send the current relative position to the vehicle control device; the vehicle control device is configured to receive the current relative position sent by the vehicle control module, obtain an original gesture action, and based on the original gesture action and a plurality of The preset gesture action is matched, and the preset gesture action corresponding to the successfully matched original gesture action is determined as the current gesture action; the target vehicle control instruction is determined according to the current relative position and the current gesture action, and the user's instruction confirmation feedback message is received to send the target vehicle control instruction to the vehicle control module; the vehicle control module is also used to receive the target vehicle control instruction of the vehicle control device and control the execution module to execute the target vehicle control instruction; the execution module is used to execute the target vehicle control instruction and generate an execution result; the vehicle control module is also used to collect the execution result, generate control object status data, and send the control object status data to the vehicle control device; the vehicle control device is also used to receive the control object status data, execute and display the result feedback action.

[0018] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle control method as described above.

[0019] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the vehicle control method as described above.

[0020] Beneficial effects of the invention: The invention provides a new vehicle control method, which is different from the traditional method of taking out the key and pressing the button to control the vehicle or the method of automatic unlocking by approaching. It uses a smart wearable device as a trigger device, gesture actions and preset areas as trigger conditions, and the user customizes the trigger area and trigger gesture. Through accurate gesture action recognition and high-precision positioning capabilities, it provides users with a more convenient and accurate vehicle control method, thereby improving the comfort and convenience of daily car use.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0023] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0024] Figure 2 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present application;

[0025] Figure 3 1 is a schematic diagram of an effective coverage area R of a vehicle-mounted low-power Bluetooth broadcast signal of a vehicle control method according to an exemplary embodiment of the present application;

[0026] Figure 4 is a flow chart of a vehicle control method shown in another exemplary embodiment of the present application;

[0027] Figure 5 is a schematic diagram of a preset area of a vehicle control method shown in an exemplary embodiment of the present application;

[0028] Figure 6 is a wrist-raising schematic diagram of a vehicle control method according to an exemplary embodiment of the present application;

[0029] Figure 7 1 is a schematic diagram of a vehicle control method according to an exemplary embodiment of the present application;

[0030] Figure 8 1 is a schematic diagram of a left-waving hand in a vehicle control method according to an exemplary embodiment of the present application;

[0031] Figure 9 is a schematic diagram of a right-waving hand in a vehicle control method according to an exemplary embodiment of the present application;

[0032] Figure 10 is an upward sliding schematic diagram of a vehicle control method shown in an exemplary embodiment of the present application;

[0033] Figure 11 is a downward sliding schematic diagram of a vehicle control method shown in an exemplary embodiment of the present application;

[0034] Figure 12 is a schematic diagram of a forward sliding vehicle control method shown in an exemplary embodiment of the present application;

[0035] Figure 13 is a schematic diagram of a backward sliding of a vehicle control method shown in an exemplary embodiment of the present application;

[0036] Figure 14 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application;

[0037] Figure 15 is a block diagram of a vehicle shown in an exemplary embodiment of the present application;

[0038] Figure 16 A schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown;

[0039] Figure 17 is a schematic diagram of a system block diagram of a vehicle control method shown in an exemplary embodiment of the present application;

[0040] Figure 18 is a schematic diagram of current relative position calculation of a vehicle control method shown in an exemplary embodiment of the present application;

[0041] Figure 19 It is a functional logic diagram of a vehicle control method shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0043] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0044] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0045] First, it's important to note that UWB (UltraWideBand) technology is a new type of wireless communication technology that differs significantly from traditional communications. In traditional communications, data transmission typically requires a carrier wave. UWB does not require this. Instead, it transmits data by sending and receiving extremely narrow pulses at the nanosecond or even sub-nanosecond level. A single information bit can be mapped into hundreds of these pulses. According to the Fourier time-frequency transform, the shorter the time-domain width of a single-cycle UWB pulse, the wider the corresponding frequency-domain bandwidth. These nanosecond-level time-domain pulse signals can often produce frequency-domain bandwidths in the order of gigahertz. Therefore, this technology is also called UWB ultra-wideband technology. It is precisely these nanosecond-level time-domain pulses that give UWB signals extremely high temporal resolution, making them ideal for high-precision positioning.

[0046] The Controller Area Network (CAN) bus protocol is a serial communication protocol bus designed for real-time applications that uses twisted-pair wiring for signal transmission. The CAN protocol is used for communication between various components in automobiles, replacing expensive and bulky distribution wiring harnesses. The protocol's robustness has extended its use to other automation and industrial applications. Features of the CAN protocol include complete serial data communication, real-time support, transmission rates up to 1 Mb / s, 11-bit addressing, and error detection.

[0047] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0048] Reference Figure 1As shown, the system architecture may include a vehicle control device 101 and a computer device 102. The computer device 102 may be at least one of a desktop graphics processing unit (GPU) computer, a GPU computing cluster, a neural network computer, and the like. Relevant technicians may use the computer device 102 to process the positioning signal and obtain the current relative position. They may also use the vehicle control device 101 to process the gesture action, obtain the original gesture action of the vehicle control device 101, and match the original gesture action with multiple preset gesture actions. If the match is successful, the preset gesture action corresponding to the successfully matched original gesture action is determined as the current gesture action. The target vehicle control instruction is determined based on the current relative position and the current gesture action, and the target vehicle control instruction is sent to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction, thereby achieving control of the vehicle to be controlled.

[0049] Illustratively, after detecting that the vehicle to be controlled has established a communication connection with the vehicle control device, the computer device 102 can receive a positioning signal sent by the control positioning module of the vehicle control device through the vehicle positioning module of the vehicle to be controlled; determine the current relative position between the vehicle to be controlled and the vehicle control device based on the reception time of the positioning signal by different signal receivers and the transmission time of the positioning signal; send the current relative position to the vehicle control device; receive a target vehicle control command sent by the vehicle control device, and execute the target vehicle control command to control the vehicle to be controlled. It can be seen that the technical solution of the embodiment of the present application can achieve vehicle control by performing gesture actions.

[0050] It should be noted that the vehicle control method provided in the embodiment of the present application is generally executed by the computer device 102 , and accordingly, the vehicle control system is generally set in the computer device 102 .

[0051] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment of the present application. The vehicle control method may be executed by a computing and processing device. The computing and processing device may be Figure 1 The computer device 102 shown in FIG. Figure 2 As shown, the vehicle control method includes at least steps S210 to S240, which are described in detail as follows:

[0052] In step S210, if it is monitored that the vehicle control device establishes a communication connection with the vehicle to be controlled, the control positioning module of the vehicle control device is triggered to send a positioning signal, so that the vehicle positioning module of the vehicle to be controlled can receive the positioning signal and determine the current relative position.

[0053] Wherein, the vehicle positioning module includes at least three signal receivers.

[0054] In one embodiment of the present application, a user carries a vehicle control device into the effective coverage area of the communication connection signal of the vehicle to be controlled. If the vehicle control device receives the vehicle connection broadcast of the vehicle to be controlled, the vehicle control device is controlled to establish a first communication connection channel with the vehicle to be controlled, and the control positioning module of the vehicle control device is controlled to establish a second communication connection channel with the vehicle positioning module of the vehicle to be controlled, so as to complete the communication connection between the vehicle control device and the vehicle to be controlled, wherein the first communication connection channel is used to receive the current relative position and send the target vehicle control instruction, and the second communication connection channel is used to send the positioning signal. After the communication connection is successful, the control positioning module and the vehicle control module of the vehicle control device are started, and the control positioning module of the vehicle control device is triggered to send a positioning signal to the vehicle positioning module of the vehicle to be controlled. The vehicle positioning module of the vehicle to be controlled receives the positioning signal and determines the current relative position of the vehicle control device and the vehicle to be controlled based on the sending time and receiving time of the positioning signal. The communication connection includes but is not limited to at least one of a Bluetooth connection and a network connection. The vehicle control device includes but is not limited to at least one of a smart wearable device, a remote control key, a smart phone, a smart watch, and smart glasses. The control positioning module of the vehicle control device includes but is not limited to a UWB module in the smart wearable device. The vehicle positioning module of the vehicle to be controlled includes but is not limited to a vehicle-mounted UWB module. Figure 3 FIG. 1 is a schematic diagram of an effective coverage area R of a vehicle-mounted low-power Bluetooth broadcast signal of a vehicle control method according to an exemplary embodiment of the present application. Figure 3 As shown, a user carrying a smart wearable device enters the effective coverage area R of the vehicle's low-power Bluetooth broadcast signal. After the smart wearable device recognizes the vehicle's low-power Bluetooth broadcast signal, a Bluetooth connection is established. After the smart wearable device and the vehicle's low-power Bluetooth are successfully connected, the vehicle's UWB module and the vehicle control module are activated. The vehicle's UWB module and the UWB module in the smart wearable device receive and send positioning signals. The vehicle control module receives the positioning signal from the vehicle's UWB module and calculates the current relative position of the smart wearable device and the vehicle to be controlled based on the transmission and reception time of the positioning signal.

[0055] In step S220, the current relative position sent by the vehicle to be controlled is received, and the current relative position is determined by the sending time and receiving time of the positioning signal.

[0056] In one embodiment of the present application, the vehicle control device receives the current relative position sent by the vehicle to be controlled, and the current relative position is determined by the time difference and the speed of wireless signal transmission. The time difference is the time difference between the sending time of the positioning signal and the receiving time of the positioning signal.

[0057] In step S230, the original gesture action of the vehicle control device is obtained, and the original gesture action is matched with multiple preset gesture actions. If the match is successful, the preset gesture action corresponding to the successfully matched original gesture action is determined as the current gesture action.

[0058] In one embodiment of the present application, a position match is performed with a preset gesture action position and a preset vehicle control instruction position based on the current relative position; if the position matches are successful, the existence status of the preset vehicle control instruction of the successfully matched preset vehicle control instruction position is obtained. If the current relative position has a preset gesture action and a corresponding target vehicle control instruction, the existence status of the preset vehicle control instruction is "existing". If the current relative position does not have a preset gesture action or a corresponding target vehicle control instruction, the existence status of the preset vehicle control instruction is "non-existing". If the existence status of the preset vehicle control instruction is "existing", the vehicle control device is triggered to collect its own original gesture action. The vehicle control device obtains the original gesture action of the user when carrying the vehicle control device, matches the original gesture action with multiple preset gesture actions, and if the match is successful, determines the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action.

[0059] In one embodiment, if there is no preset gesture action or no preset target vehicle control instruction at the current relative position, or the original gesture action of the user when carrying the vehicle control device fails to match multiple preset gesture actions, the vehicle control device does not respond.

[0060] In step S240, a target vehicle control instruction is determined according to the current relative position and the current gesture action, and the target vehicle control instruction is sent to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction.

[0061] In one embodiment of the present application, the current relative position and current gesture action of the user when carrying a vehicle control device to perform the original gesture action are collected, and a target vehicle control instruction is determined based on the current relative position and the current gesture action. The vehicle control device sends the target vehicle control instruction to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction, thereby controlling the vehicle to be controlled.

[0062] In one embodiment of the present application, after determining the target vehicle control instruction based on the current relative position and the current gesture action, the vehicle control device is controlled to display the instruction sending confirmation message, including but not limited to issuing a voice reminder, issuing a vibration reminder, issuing a light reminder, and displaying at least one of the instruction sending confirmation message, and receiving the user's instruction confirmation feedback message, including but not limited to at least one of voice confirmation, button click confirmation, and gesture action confirmation. If the instruction confirmation feedback message includes a confirmation sending message, then the message sending task of sending the target vehicle control instruction to the vehicle to be controlled is triggered to send the target vehicle control instruction to the vehicle to be controlled.

[0063] In one embodiment of the present application, after the target vehicle control instruction is sent to the vehicle to be controlled, the control object status data sent by the vehicle to be controlled is received, and the control object status data is the current state of the control object of the vehicle to be controlled after executing the target vehicle control instruction; the vehicle control device is controlled to perform at least one of the following result feedback actions, issuing a voice reminder, issuing a vibration reminder, issuing a light reminder, and displaying the control object status data.

[0064] Figure 4 is a flowchart of a vehicle control method shown in another exemplary embodiment of the present application. The vehicle control method can be executed by a computing and processing device. The computing and processing device can be Figure 1 The computer device 102 shown in FIG. Figure 4 As shown, the vehicle control method includes at least steps S410 to S440, which are described in detail as follows:

[0065] In step S410, if it is monitored that a communication connection is established between the vehicle to be controlled and the vehicle control device, a positioning signal sent by the control positioning module of the vehicle control device is received by the vehicle positioning module of the vehicle to be controlled.

[0066] Wherein, the vehicle positioning module includes at least three signal receivers.

[0067] In one embodiment of the present application, if the vehicle to be controlled detects that a communication connection has been established between the vehicle to be controlled and the vehicle control device, the vehicle positioning module of the vehicle to be controlled receives a positioning signal transmitted by the control positioning module of the vehicle control device. This communication connection includes a first communication connection channel for transmitting the current relative position and receiving the target vehicle control command, and a second communication connection channel for receiving the positioning signal.

[0068] In step S420, the current relative position between the vehicle to be controlled and the vehicle control device is determined based on the reception time of the positioning signal received by different signal receivers and the transmission time of the positioning signal.

[0069] In one embodiment of the present application, the current relative angle and current relative distance between the vehicle control device and the vehicle to be controlled are determined based on the reception time of the positioning signal received by different signal receivers and the sending time of the positioning signal, as well as the setting position of each signal receiver; the current preset area where the vehicle control device is located is determined based on the current relative angle and the current relative distance, and the current preset area is used as the current relative position.

[0070] In one embodiment of the present application, a time difference is obtained based on the reception time of the positioning signal received by different signal receivers and the transmission time of the positioning signal, and the current relative distance between each signal receiver and the vehicle control device is calculated by the time difference and the speed of wireless signal transmission. A circle is drawn with the current relative distance between any signal receiver and the vehicle control device as the radius, and the position corresponding to the intersection of each circle is the current position of the vehicle control device. The center of the vehicle to be controlled is the origin of the coordinate axis, and the current position of the vehicle control device relative to the position of the center of the vehicle to be controlled is determined as the current relative position between the vehicle to be controlled and the vehicle control device. Figure 18 This is a schematic diagram of the current relative position calculation of the vehicle control method shown in an exemplary embodiment of the present application, with reference to Figure 18 As shown, for example, circle A is drawn with UWB1 as the center and the current relative distance r1 between the smart wearable device and UWB1 as the radius, circle B is drawn with UWB2 as the center and the current relative distance r2 between the smart wearable device and UWB2 as the radius, and circle C is drawn with UWB3 as the center and the current relative distance r3 between the smart wearable device and UWB3 as the radius. The intersection of circles A, B, and C is the current position of the smart wearable device, and the distance L between it and the center O of the vehicle to be controlled is the current relative position between the vehicle to be controlled and the vehicle control device. It should be noted that this embodiment is only an example. Figure 18 This is only a schematic diagram and should not limit the functionality and scope of use of the embodiments of the present application. The vehicle positioning module achieves high-precision positioning through the coordinated measurement of multiple signal receivers.

[0071] In step S430 , the current relative position is sent to the vehicle control device.

[0072] In one embodiment of the present application, the vehicle to be controlled sends the current relative position to the vehicle control device through a first communication connection channel for sending the current relative position.

[0073] In step S440, a target vehicle control instruction sent by the vehicle control device is received, and the target vehicle control instruction is executed to control the vehicle to be controlled.

[0074] In one embodiment of the present application, after the vehicle to be controlled receives the target vehicle control instruction sent by the vehicle control device, the target vehicle control instruction is forwarded to the vehicle control module, and the vehicle control module forwards the target vehicle control instruction to the corresponding component controller, that is, the aforementioned control object, including but not limited to at least one of the window controller, sunroof controller, lock controller, door controller, tailgate controller, light controller, and seat controller, and the corresponding component controller executes the target vehicle control instruction to control the vehicle to be controlled.

[0075] In one embodiment of the present application, the vehicle control device is a smart wearable device, the control and positioning module of the vehicle control device is a UWB module of the smart wearable device, the vehicle positioning module of the vehicle to be controlled is a UWB module of the vehicle to be controlled, and the vehicle controller is a body controller. For example, the smart wearable device and the vehicle to be controlled both have UWB modules and on-board low-power Bluetooth modules; the smart wearable device and the on-board low-power Bluetooth module send the current relative position and send the target vehicle control instruction via Bluetooth, and the UWB module of the smart wearable device and the UWB module of the vehicle to be controlled are connected through communication to send and receive data and record timestamps; the smart wearable device triggers the target vehicle control instruction corresponding to the preset gesture action and sends the target vehicle control instruction to the on-board low-power Bluetooth module; after receiving the target vehicle control instruction sent by the smart wearable device, the on-board low-power Bluetooth module sends the target vehicle control instruction via CAN to the body controller, and after receiving the target vehicle control instruction, the body controller sends a control signal to each component controller via CAN, including but not limited to at least one of the window controller, sunroof controller, car lock controller, door controller, tailgate controller, light controller, and seat controller, and the corresponding terminal component executes an action to control the vehicle to be controlled, such as Figure 17 As shown, Figure 17 It is a schematic diagram of a system block diagram of a vehicle control method shown in an exemplary embodiment of the present application.

[0076] Figure 19 It is a functional logic diagram of a vehicle control method shown in an exemplary embodiment of the present application.

[0077] Reference Figure 19As shown, in one embodiment of the present application, taking the vehicle control device as a smart wearable device, the vehicle positioning module of the vehicle to be controlled as a vehicle-mounted UWB module, the vehicle controller as a body controller, and the control object as a vehicle terminal controller as an example, wherein there is an on-board low-power Bluetooth module in the vehicle to be controlled; the user carries the smart wearable device, that is, the wearer enters the effective coverage area R broadcast by the on-board low-power Bluetooth module, and the smart wearable device initiates a Bluetooth connection request. If the on-board low-power Bluetooth module is authenticated and the on-board low-power Bluetooth module is successfully connected, the on-board UWB module is triggered to start, and the current relative position of the smart wearable device and the vehicle to be controlled is determined in real time; the wearer executes the original The smart wearable device starts a gesture action, obtains the original gesture action, and determines whether it is within the preset area. If it is not within the preset area, the relevant operation is terminated; if it is within the preset area, it is determined whether it is the preset gesture action of the preset area. If it is determined not to be the preset gesture action of the preset area, the relevant operation is terminated; if it is determined to be the preset gesture action of the preset area, the Bluetooth control instruction is output to the on-board low-power Bluetooth module, and the on-board low-power Bluetooth module verifies the Bluetooth control instruction. If the verification is successful, the target vehicle control instruction is sent to the body control module, and the body control module forwards the target vehicle control instruction to the vehicle terminal controller and executes the target vehicle control instruction to control the vehicle to be controlled.

[0078] In one embodiment of the present application, after the vehicle to be controlled executes the target vehicle control instruction, the execution result of the target vehicle control instruction is collected, control object status data is generated, and the control object status data is sent to the vehicle control device. The control object status data is the current state of the control object of the vehicle to be controlled after executing the target vehicle control instruction.

[0079] In one embodiment of the present application, the current preset area is determined according to the current relative position, wherein the current relative position includes the current relative angle and the current relative distance. Figure 5 is a schematic diagram of a preset area of a vehicle control method shown in an exemplary embodiment of the present application, such as Figure 5 As shown, for example, the preset areas are A / B / C / D / E / F / G / H / I areas.

[0080] In one embodiment of the present application, the gesture action of flipping the user's hand from palm down to palm up by a first preset angle is determined as wrist raising; the gesture action of the user's hand swinging frequency being greater than or equal to the first preset frequency and less than or equal to the second preset frequency, and the number of hand swings being greater than or equal to the first preset number, is determined as shaking, and the first preset frequency is less than the second preset frequency; the gesture action of the user's hand swinging to the left by an angle greater than or equal to the third preset angle and less than or equal to the fourth preset angle, or the gesture action of the user's hand swinging to the left by a lateral distance greater than or equal to the first preset distance is determined as waving the hand to the left, and the third preset angle is less than the fourth preset angle; the gesture action of the user's hand swinging to the right by an angle greater than or equal to the third preset angle and less than or equal to the fourth preset angle is determined as waving the hand to the left, and the third preset angle is less than the fourth preset angle. The gesture action of the user's hand sliding from bottom to top with a longitudinal distance greater than or equal to the third preset distance is determined to be an upward slide; the gesture action of the user's hand sliding from top to bottom with a longitudinal distance greater than or equal to the fourth preset distance is determined to be a downward slide; the gesture action of the user's hand sliding from back to front with a horizontal distance greater than or equal to the fifth preset distance is determined to be a forward slide; the gesture action of the user's hand sliding from front to back with a horizontal distance greater than or equal to the sixth preset distance is determined to be a backward slide.

[0081] In one embodiment, for example, a gesture of the user's hand turning 180 degrees from palm down to palm up is determined as a wrist raise. Figure 6 As shown, Figure 6 This is a wrist-raising diagram of a vehicle control method shown in an exemplary embodiment of the present application; a gesture action in which the user's hand swing frequency is greater than or equal to once per second and less than or equal to twice per second, and the number of hand swings is greater than or equal to two times is determined as a shake, such as Figure 7 As shown, Figure 7 This is a schematic diagram of a vehicle control method shown in an exemplary embodiment of the present application; a gesture action in which the user's hand swings to the left at an angle greater than or equal to 30 degrees and less than or equal to 180 degrees, or the user's hand swings to the left at a lateral distance greater than or equal to 50 cm and less than or equal to 120 cm is determined as a left hand swing, such as Figure 8 As shown, Figure 8 This is a schematic diagram of a left hand swinging method for a vehicle control method shown in an exemplary embodiment of the present application; a gesture action in which the user's hand swings to the right at an angle greater than or equal to 30 degrees and less than or equal to 180 degrees, or the user's hand swings to the right with a lateral distance greater than or equal to 50 cm and less than or equal to 120 cm is determined as a right hand swinging gesture, such as Figure 9 As shown, Figure 9is a schematic diagram of a vehicle control method waving to the right shown in an exemplary embodiment of the present application; a gesture action in which the longitudinal distance of the user's hand sliding from bottom to top is greater than or equal to 50 cm and less than or equal to 120 cm is determined as an upward slide, such as Figure 10 As shown, Figure 10 is a schematic diagram of an upward slide of a vehicle control method shown in an exemplary embodiment of the present application; a gesture action in which the longitudinal distance of the user's hand sliding from top to bottom is greater than or equal to 50 cm and less than or equal to 120 cm is determined as a downward slide, such as Figure 11 As shown, Figure 11 is a schematic diagram of a downward sliding of a vehicle control method shown in an exemplary embodiment of the present application; a gesture action in which the user's hand slides from back to front with a horizontal distance greater than or equal to 50 cm and less than or equal to 120 cm is determined as a forward slide, such as Figure 12 As shown, Figure 12 is a schematic diagram of a forward slide of a vehicle control method shown in an exemplary embodiment of the present application; a gesture action in which the horizontal distance of the user's hand sliding from front to back is greater than or equal to 50 cm and less than or equal to 120 cm is determined as a backward slide, such as Figure 13 As shown, Figure 13 This is a backward sliding diagram of a vehicle control method according to an exemplary embodiment of the present application. This embodiment is merely an example and should not limit the functionality and scope of use of the embodiment of the present application.

[0082] In one embodiment, wrist-raising to trigger a target vehicle control command includes two forms. First, the user brings the vehicle control device into a preset area and performs a wrist-raising gesture. The vehicle control device recognizes the wrist-raising gesture and directly outputs the vehicle control command. Second, the user brings the vehicle control device into a preset area and performs a wrist-raising gesture. The vehicle control device recognizes the wrist-raising gesture and activates the preset vehicle control command. The user then confirms the command by clicking or pressing a button, and the command is output. If the user does not confirm the command again, no control command is output.

[0083] In one embodiment of the present application, when a user uses a vehicle control device for the first time, it is necessary to customize the trigger gesture actions and target vehicle control instructions for a preset area. To ensure the safety of the vehicle, the user needs to carry the vehicle control device into the effective coverage area, and the vehicle control device establishes a connection with the vehicle control module and the UWB module. The vehicle control module wakes up and accurately identifies the current relative position of the vehicle control device and the vehicle to be controlled. The user carries the vehicle control device into any preset area, selects any preset gesture action on the vehicle control device, including but not limited to raising the wrist, shaking, waving the hand to the left, waving the hand to the right, sliding up, sliding down, sliding forward, and sliding backward, and selects the target vehicle control instruction corresponding to the preset gesture action, including but not limited to opening the window, closing the window, opening the sunroof, closing the sunroof, opening the car lock, closing the car lock, opening the car door, closing the car door, opening the tailgate, closing the tailgate, adjusting the lights, adjusting the seat, and save this setting. The current position of the vehicle control device is not in correspondence with the preset area, that is, the preset area that the user enters with the vehicle control device is not necessarily the preset area to be set. For example, if Figure 3 As shown, the user needs to bring the vehicle control device into the effective coverage area, select area D on the smart wearable device, select the preset wrist-raise gesture action and the target vehicle control command of opening the tailgate, and save it. That is, the user brings the vehicle control device into area D, performs the wrist-raise gesture action, and the controlled vehicle will open the tailgate. During this process, the vehicle control module and UWB module must be in a continuous working state so that the vehicle control module can effectively identify the preset area where the vehicle control device is currently located and accurately receive the signal of the target vehicle control command.

[0084] Figure 14 This is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application. Figure 1 The implementation environment shown is specifically configured in the computer device 102. The apparatus may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the apparatus is applicable.

[0085] like Figure 14 As shown, the exemplary vehicle control device includes: a positioning signal sending module 1410, a current relative position receiving module 1420, a gesture action obtaining module 1430 and a target vehicle control instruction determining module 1440.

[0086] Among them, the sending positioning signal module 1410 is configured to trigger the control positioning module of the vehicle control device to send a positioning signal if it monitors that the vehicle control device establishes a communication connection with the vehicle to be controlled, so that the vehicle positioning module of the vehicle to be controlled can receive the positioning signal and determine the current relative position. The vehicle positioning module includes at least three signal receivers; the receiving current relative position module 1420 is configured to receive the current relative position sent by the vehicle to be controlled, and the current relative position is determined by the sending time and receiving time of the positioning signal; the obtaining gesture action module 1430 is configured to obtain the original gesture action of the vehicle control device, and match the original gesture action with multiple preset gesture actions. If the match is successful, the preset gesture action corresponding to the successfully matched original gesture action is determined as the current gesture action; the determining target vehicle control instruction module 1440 is configured to determine the target vehicle control instruction based on the current relative position and the current gesture action, and send the target vehicle control instruction to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction.

[0087] Figure 15 is a block diagram of a vehicle shown in an exemplary embodiment of the present application.

[0088] like Figure 15 As shown, the exemplary vehicle includes: a positioning signal receiving module 1510, a current relative position determining module 1520, a current relative position sending module 1530 and a target vehicle control instruction executing module 1540.

[0089] Among them, the receiving positioning signal module 1510 is configured to receive the positioning signal sent by the control positioning module of the vehicle control device through the vehicle positioning module of the vehicle to be controlled if it is monitored that a communication connection is established between the vehicle to be controlled and the vehicle control device, and the vehicle positioning module includes at least three signal receivers; the determining current relative position module 1520 is configured to determine the current relative position between the vehicle to be controlled and the vehicle control device based on the reception time of the positioning signal received by different signal receivers and the sending time of the positioning signal; the sending current relative position module 1530 is configured to send the current relative position to the vehicle control device; the executing target vehicle control instruction module 1540 is configured to receive the target vehicle control instruction sent by the vehicle control device and execute the target vehicle control instruction to control the vehicle to be controlled.

[0090] It should be noted that the vehicle control device and vehicle provided in the above-described embodiments share the same concept as the vehicle control method provided in the above-described embodiments. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the vehicle control device and vehicle provided in the above-described embodiments may, as needed, allocate the aforementioned functions to different functional modules, i.e., divide the internal structure of the device into different functional modules to perform all or part of the functions described above. This is not intended to be limiting herein.

[0091] An embodiment of the present application also provides a vehicle control system, characterized in that it includes: a vehicle control device and a vehicle, wherein the vehicle control device includes a control positioning module, and the vehicle includes a vehicle control module, a vehicle positioning module and an execution module; the control positioning module is used to send a positioning signal to the vehicle positioning module; the vehicle positioning module is used to receive the positioning signal sent by the control positioning module; the vehicle control module is used to determine the current relative position between the vehicle to be controlled and the vehicle control device based on the reception time of the positioning signal and the transmission time of the positioning signal, and send the current relative position to the vehicle control device; the vehicle control device is used to receive the current relative position sent by the vehicle control module, obtain the original gesture action, and based on the original gesture action Match with multiple preset gesture actions, and determine the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action; determine the target vehicle control instruction according to the current relative position and the current gesture action, receive the user's instruction confirmation feedback message, and send the target vehicle control instruction to the vehicle control module; the vehicle control module is also used to receive the target vehicle control instruction of the vehicle control device, and control the execution module to execute the target vehicle control instruction; the execution module is used to execute the target vehicle control instruction and generate an execution result; the vehicle control module is also used to collect the execution result, generate the control object status data, and send the control object status data to the vehicle control device; the vehicle control device is also used to receive the control object status data, execute and display the result feedback action.

[0092] It should be noted that the vehicle control system provided in the above-described embodiment and the vehicle control method provided in the above-described embodiment are based on the same concept. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the vehicle control system provided in the above-described embodiment can, as needed, allocate the aforementioned functions to different functional modules. That is, the internal structure of the device can be divided into different functional modules to perform all or part of the functions described above. This is not a limitation herein.

[0093] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle control method provided in each of the above embodiments.

[0094] Figure 16 The following is a schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application. Figure 16 The computer system 1600 of the electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0095] like Figure 16 As shown, computer system 1600 includes a central processing unit (CPU) 1601, which can perform various appropriate actions and processes according to the program stored in read-only memory (ROM) 1602 or the program loaded from storage part 1608 into random access memory (RAM) 1603, such as executing the method in the above embodiment. Various programs and data required for system operation are also stored in RAM 1603. CPU 1601, ROM 1602 and RAM 1603 are connected to each other via bus 1604. Input / output (I / O) interface 1605 is also connected to bus 1604.

[0096] The following components are connected to the I / O interface 1605: an input section 1606 including a keyboard, a mouse, and the like; an output section 1607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1608 including a hard disk; and a communication section 1609 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 1609 performs communication processing via a network such as the Internet. A drive 1610 is also connected to the I / O interface 1605 as needed. Removable media 1611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1610 as needed, so that computer programs read from the removable media can be installed in the storage section 1608 as needed.

[0097] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1609, and / or installed from a removable medium 1611. When the computer program is executed by the central processing unit (CPU) 1601, the various functions defined in the system of the present application are executed.

[0098] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0099] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0100] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0101] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer program causes the computer to perform the vehicle control method described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0102] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle control method provided in each of the above embodiments.

[0103] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A vehicle control method, characterized in that: include: If it is detected that the vehicle control device establishes a communication connection with the vehicle to be controlled, the control positioning module of the vehicle control device is triggered to send a positioning signal, so that the vehicle positioning module of the vehicle to be controlled receives the positioning signal and determines the current relative position, and the vehicle positioning module includes at least three signal receivers; Receiving a current relative position sent by the vehicle to be controlled, wherein the current relative position is determined by a sending time and a receiving time of the positioning signal; Acquiring an original gesture action of the vehicle control device, matching the original gesture action with a preset gesture action, and if the match is successful, determining the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action; A target vehicle control instruction is determined according to the current relative position and the current gesture action, and the target vehicle control instruction is sent to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction.

2. The vehicle control method according to claim 1, characterized in that: Before the vehicle control device is monitored to establish a communication connection with the vehicle to be controlled, the method further includes: If the vehicle control device receives the vehicle connection broadcast message of the vehicle to be controlled, it controls the vehicle control device to establish a first communication connection channel with the vehicle to be controlled, and controls the control positioning module and the vehicle positioning module to establish a second communication connection channel, thereby completing the establishment of a communication connection between the vehicle control device and the vehicle to be controlled, wherein the first communication connection channel is used to receive the current relative position and send the target vehicle control instruction, and the second communication connection channel is used to send the positioning signal.

3. The vehicle control method according to claim 1, characterized in that: Before obtaining the original gesture action of the vehicle control device, the method further includes: Performing position matching based on the current relative position and a preset vehicle control command position; If the position is matched successfully, the existence status of the preset vehicle control command at the matched preset vehicle control command position is obtained; If the preset vehicle control instruction exists, the vehicle control device is triggered to collect its own original gesture action.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that: After determining the target vehicle control instruction according to the current relative position and the current gesture action, and before sending the target vehicle control instruction to the vehicle to be controlled, the method further includes: Controlling the vehicle control device to display an instruction to send a confirmation message; Receive a command confirmation feedback message from the user. If the command confirmation feedback message includes a confirmation sending message, trigger a message sending task of sending the target vehicle control command to the vehicle to be controlled, so as to send the target vehicle control command to the vehicle to be controlled.

5. The vehicle control method according to any one of claims 1 to 3, characterized in that: After sending the target vehicle control instruction to the vehicle to be controlled, the method further includes: Receiving control object state data sent by the vehicle to be controlled, wherein the control object state data is the current state of the control object of the vehicle to be controlled after executing the target vehicle control instruction; Control the vehicle control device to perform at least one of the following result feedback actions: issuing a voice reminder, issuing a vibration reminder, issuing a light reminder, and displaying the control object status data.

6. The vehicle control method according to any one of claims 1 to 3, characterized in that: The original gesture action includes at least one of raising the wrist, shaking, waving the hand to the left, waving the hand to the right, sliding up, sliding down, sliding forward, and sliding backward.

7. A vehicle control method, characterized in that: include: If it is monitored that the vehicle to be controlled establishes a communication connection with the vehicle control device, a positioning signal sent by the control positioning module of the vehicle control device is received by the vehicle positioning module of the vehicle to be controlled, wherein the vehicle positioning module includes at least three signal receivers; determining a current relative position between the vehicle to be controlled and the vehicle control device based on a reception time of the positioning signal by different signal receivers and a transmission time of the positioning signal; sending the current relative position to the vehicle control device; Receive the target vehicle control instruction sent by the vehicle control device, and execute the target vehicle control instruction to control the vehicle to be controlled.

8. The vehicle control method according to claim 7, characterized in that: After executing the target vehicle control instruction, the method further includes: The execution result of the target vehicle control instruction is collected to generate control object state data, and the control object state data is sent to the vehicle control device. The control object state data is the current state of the control object of the vehicle to be controlled after executing the target vehicle control instruction.

9. The vehicle control method according to any one of claims 7 or 8, characterized in that: Determining a current relative position between the vehicle to be controlled and the vehicle control device based on reception times of the positioning signals by different signal receivers and transmission times of the positioning signals includes: Determining a current relative angle and a current relative distance between the vehicle control device and the vehicle to be controlled based on the reception time of the positioning signal and the transmission time of the positioning signal by different signal receivers, and the setting position of each signal receiver; A current preset area where the vehicle control device is located is determined based on the current relative angle and the current relative distance, and the current preset area is used as the current relative position.

10. A vehicle control device, characterized in that: include: a positioning signal sending module, configured to trigger the control positioning module of the vehicle control device to send a positioning signal upon detecting that a communication connection has been established between the vehicle control device and the vehicle to be controlled, so that the vehicle positioning module of the vehicle to be controlled can receive the positioning signal and determine the current relative position; the vehicle positioning module includes at least three signal receivers; A current relative position receiving module is used to receive the current relative position sent by the vehicle to be controlled, wherein the current relative position is determined by the sending time and receiving time of the positioning signal; a gesture action acquisition module, configured to acquire an original gesture action of the vehicle control device, match the original gesture action with a preset gesture action, and if the match is successful, determine the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action; The target vehicle control instruction determination module is used to determine the target vehicle control instruction according to the current relative position and the current gesture action, and send the target vehicle control instruction to the vehicle to be controlled to trigger the vehicle to be controlled to execute the target vehicle control instruction.

11. A vehicle, characterized in that: include: A positioning signal receiving module is configured to receive a positioning signal sent by a control positioning module of the vehicle control device through the vehicle positioning module of the vehicle to be controlled if a communication connection is detected between the vehicle to be controlled and the vehicle control device, wherein the vehicle positioning module includes at least three signal receivers; a current relative position determination module, configured to determine the current relative position between the vehicle to be controlled and the vehicle control device based on the reception time of the positioning signal received by different signal receivers and the transmission time of the positioning signal; a current relative position sending module, configured to send the current relative position to the vehicle control device; The target vehicle control instruction execution module is used to receive the target vehicle control instruction sent by the vehicle control device and execute the target vehicle control instruction to control the vehicle to be controlled.

12. A vehicle control system, characterized in that: include: A vehicle control device and a vehicle, wherein the vehicle control device includes a control and positioning module, and the vehicle includes a vehicle control module, a vehicle positioning module, and an execution module; The control positioning module is used to send a positioning signal to the vehicle positioning module; The vehicle positioning module is used to receive the positioning signal sent by the control positioning module; The vehicle control module is configured to determine a current relative position between the vehicle to be controlled and the vehicle control device based on a reception time of the positioning signal and a transmission time of the positioning signal, and to send the current relative position to the vehicle control device; The vehicle control device is configured to receive the current relative position sent by the vehicle control module, obtain an original gesture action, match the original gesture action with a preset gesture action, and determine the preset gesture action corresponding to the successfully matched original gesture action as the current gesture action; determining a target vehicle control instruction according to the current relative position and the current gesture action, receiving a user's instruction confirmation feedback message, and sending the target vehicle control instruction to the vehicle control module; The vehicle control module is further configured to receive the target vehicle control instruction of the vehicle control device and control the execution module to execute the target vehicle control instruction; The execution module is used to execute the target vehicle control instruction and generate an execution result; The vehicle control module is further configured to collect the execution results, generate control object status data, and send the control object status data to the vehicle control device; The vehicle control device is further configured to receive the control object status data, execute and display result feedback actions.

13. An electronic device, characterized in that: The electronic device comprises: processor; A storage device for storing a program, which, when executed by the processor, enables the electronic device to implement the vehicle control method according to any one of claims 1 to 9.

14. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the vehicle control method according to any one of claims 1 to 9.

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