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

Abstract

The present application discloses a vehicle control method, a control device, an electronic device, a vehicle and a computer-readable storage medium. The vehicle control method comprises the following steps: obtaining positioning parameters of the electronic device according to the device information of the electronic device, wherein the device information is used to characterize the positioning mode of the electronic device and the vehicle; and controlling the vehicle to park in the target parking position according to the positioning parameters. The present application can determine the position information of the vehicle in the current space based on the positioning mode parameters corresponding to the positioning mode that it can support, based on the device information of the electronic device itself. Finally, it can realize remote parking by controlling the vehicle using the electronic device according to the position information determined by the above positioning, which can maximize the advantages of different positioning modes, improve the accuracy of Bluetooth positioning, and further conveniently eliminate the lack of reliability caused by unstable Bluetooth signals for users.

Description

Technical Field

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

[0002] Currently, there is the Remote Parking Assist (RPA) technology, which is generally implemented using Bluetooth connection. However, due to the characteristics of Bluetooth signals, even if the distance between the vehicle and the remote control device is within the range required by relevant regulations, the positioning error is still high, and the positioning result cannot achieve the positioning accuracy required by RPA technology. Summary of the invention

[0003] The present application provides a vehicle control method, a control device, an electronic device, a vehicle and a computer-readable storage medium to solve at least one technical problem described in the background technology.

[0004] The vehicle control method involved in the embodiment of the present application comprises the following steps:

[0005] Acquire positioning parameters of the electronic device according to device information of the electronic device, wherein the device information is used to characterize a positioning mode between the electronic device and the vehicle;

[0006] The vehicle is controlled to park in a target parking position according to the positioning parameters.

[0007] In this way, the present application can use the device information of the electronic device itself as a benchmark, and the vehicle can obtain the positioning mode parameters that the electronic device can support based on the above device information, and further locate the position information of the vehicle in the current space based on the above positioning mode parameters. Ultimately, remote parking can be achieved by controlling the vehicle using the electronic device according to the position information determined by the above positioning, which can maximize the advantages of different positioning modes, improve the Bluetooth positioning accuracy, and further conveniently eliminate the lack of reliability caused by unstable Bluetooth signals for users.

[0008] In some implementations, acquiring the positioning parameter of the electronic device according to the device information of the electronic device includes:

[0009] Determine, according to the device information, a preset positioning mode currently corresponding to the vehicle;

[0010] According to the preset positioning mode, the positioning parameters corresponding to the preset positioning mode are obtained.

[0011] In this way, the present application can determine the positioning mode used when the vehicle and the electronic device cooperate to perform remote parking based on the device information of the electronic device itself, and further determine the corresponding positioning parameters during the execution of the above positioning mode.

[0012] In some embodiments, controlling the vehicle to park in a target parking position according to the positioning parameter includes:

[0013] In a case where the preset positioning mode is a first mode, in response to a target operation on the electronic device, determining first positioning information between the vehicle and the electronic device according to the positioning parameters corresponding to the first mode;

[0014] Acquire second positioning information of the electronic device itself;

[0015] The positioning information of the vehicle is determined according to the first positioning information and the second positioning information to control the vehicle to park in the target parking position, wherein the vehicle is connected to the electronic device based on Bluetooth communication.

[0016] In this way, the present application can use the UWB ranging data between the vehicle and the electronic device and the IMU positioning information of the electronic device itself to determine the vehicle's own positioning information in the positioning mode using UWB signal ranging, thereby realizing remote parking.

[0017] In certain embodiments, the method further comprises:

[0018] When it is determined according to the first positioning information that the vehicle and the electronic device satisfy a first position relationship, sending a first prompt message to the user, wherein the first prompt message is configured to prompt the user that the current vehicle control method is temporarily unavailable;

[0019] The first positioning information is determined according to the positioning parameters.

[0020] In this way, when the distance between the vehicle and the electronic device is large, the present application can prompt the user that remote parking is temporarily not possible, and restart using UWB to measure the distance between the vehicle and the electronic device until the distance meets the requirement.

[0021] In some embodiments, the first positioning information is ultra-wideband ranging data between the vehicle and the electronic device, and the second positioning information is inertial positioning data of the electronic device.

[0022] In some embodiments, the vehicle control method further includes:

[0023] When the preset positioning mode is the second mode, obtaining third positioning information of the electronic device;

[0024] The positioning information of the vehicle is determined according to the Bluetooth positioning information between the electronic device and the vehicle and the third positioning information, so as to control the vehicle to park in the target parking position.

[0025] In this way, the present application can also adopt the Bluetooth positioning mode when the electronic device does not support UWB, and use the IMU positioning information of the electronic device itself combined with the Bluetooth connection to achieve Bluetooth positioning of the vehicle.

[0026] In some implementations, when the preset positioning mode is the second mode, obtaining third positioning information of the electronic device includes:

[0027] When the preset positioning mode is the second mode, sending a second prompt message to the user, wherein the second prompt message is configured to prompt the user to place the electronic device at a preset initial position and turn on the positioning function;

[0028] In response to a target operation on the electronic device located at the preset initial position, third positioning information of the electronic device is acquired.

[0029] In this way, the present application can also adopt the Bluetooth positioning mode when the electronic device does not support UWB. On the one hand, it can prompt the user to place the electronic device in a fixed position on the vehicle to facilitate the activation of Bluetooth positioning. On the other hand, the above-mentioned fixed position can be used to eliminate the problem of insufficient reliability in the Bluetooth positioning process as much as possible.

[0030] In some embodiments, the vehicle control method further includes:

[0031] In response to a target operation on the electronic device that is not located at the preset initial position, the second prompt information is sent to the user.

[0032] In this way, the present application can also prompt the user to place the electronic device at the above-mentioned fixed position again when the user starts the remote parking without placing the electronic device at the fixed position, so as to enable the execution of the Bluetooth positioning mode.

[0033] In some embodiments, the third positioning information is inertial positioning data of the electronic device.

[0034] In some embodiments, the vehicle control method further includes:

[0035] When it is determined according to the positioning information that the vehicle and the electronic device satisfy a second position relationship, a third prompt message is sent to the user, wherein the third prompt message is configured to prompt the user that the current vehicle control method is terminated.

[0036] In this way, the present application can also terminate the remote control parking process and prompt the user when the distance between the vehicle and the electronic device exceeds a certain range.

[0037] In some embodiments, the vehicle control method further includes:

[0038] When the vehicle and the electronic device satisfy a third position relationship, controlling the vehicle to establish a Bluetooth communication relationship with the electronic device;

[0039] The vehicle is controlled to obtain the device information of the electronic device based on the Bluetooth communication relationship.

[0040] In this way, the present application can also establish Bluetooth communication when the vehicle and the electronic device are close to each other, and control the vehicle to obtain device information of the electronic device, so as to determine the positioning mode that the electronic device can support.

[0041] The control device in the embodiment of the present application includes:

[0042] A transceiver module, used to obtain positioning parameters of the electronic device according to device information of the electronic device, wherein the device information is used to characterize a positioning mode between the electronic device and the vehicle;

[0043] The processing module is used to control the vehicle to park in a target parking position according to the positioning parameters.

[0044] The electronic device in the implementation mode of the present application includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the above method is implemented.

[0045] The vehicle in the implementation manner of the present application includes the above-mentioned control device or electronic device.

[0046] The computer-readable storage medium in the embodiments of the present application stores a computer program, and when the computer program is executed by one or more processors, the above method is implemented.

[0047] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0049] Figure 1 This is one of the flowcharts of the vehicle control method in the implementation manner of the present application;

[0050] Figure 2 This is the second flow chart of the vehicle control method in the implementation manner of the present application;

[0051] Figure 3 This is the third flow chart of the vehicle control method in the implementation manner of the present application;

[0052] Figure 4 This is a fourth flow chart of the vehicle control method in the implementation manner of the present application;

[0053] Figure 5 This is a fifth flow chart of the vehicle control method in the implementation manner of the present application;

[0054] Figure 6 This is the sixth flow chart of the vehicle control method in the implementation manner of the present application;

[0055] Figure 7 This is the seventh flow chart of the vehicle control method in the implementation manner of the present application. DETAILED DESCRIPTION

[0056] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0057] See also Figure 1 The vehicle control method in the embodiment of the present application specifically comprises the following steps:

[0058] 01: According to the device information of the electronic device, obtain the positioning parameters of the electronic device,

[0059] The device information is used to characterize the positioning mode between the electronic device and the vehicle;

[0060] 02: According to the positioning parameters, control the vehicle to park in the target parking position.

[0061] The control device in the embodiment of the present application can implement the above-mentioned vehicle control method. Specifically, the control device includes a transceiver module and a processing module, wherein the transceiver module is used to obtain the positioning parameters of the electronic device according to the device information of the electronic device, and the processing module is used to control the vehicle to park in the target parking position according to the positioning parameters.

[0062] The electronic device in the embodiment of the present application can implement the above-mentioned vehicle control method. Specifically, the electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor is used to obtain the positioning parameters of the electronic device according to the device information of the electronic device, and is used to control the vehicle to park in the target parking position according to the positioning parameters.

[0063] Specifically, based on the aforementioned background, some mobile phone models currently support UWB or other ranging functions. If the ranging results of the above ranging functions can be combined with other positioning signals to participate in the Bluetooth positioning process, the accuracy and reliability of Bluetooth positioning can be greatly improved.

[0064] Therefore, in order to avoid the problems of poor Bluetooth positioning accuracy and insufficient reliability in the related art, the present application proposes the above-mentioned vehicle control method.

[0065] First, after the vehicle and the supporting electronic device establish a Bluetooth communication connection relationship, the vehicle determines the positioning parameters used by the electronic device itself for the positioning process when the vehicle and the electronic device are jointly positioned based on the above Bluetooth connection relationship and the device information of the electronic device itself. The above positioning parameters are mainly parameters that need to be referenced during the normal positioning process of the vehicle and the electronic device to ensure the correctness of the positioning process. Generally, the above positioning parameters can represent the ranging function introduced by the electronic device during the positioning process, and the ranging function is the ranging function that the electronic device model can support.

[0066] Next, when the above positioning parameters are determined, the vehicle is positioned in the positioning process corresponding to the above positioning parameters based on the above positioning parameters, and the remote control parking function between the electronic device and the vehicle is realized based on the real-time vehicle positioning information. In this way, by introducing the ranging function supported by the electronic device, the ranging parameters based on the above ranging function are introduced into the Bluetooth positioning process, and the ranging results are used to improve the accuracy and reliability of Bluetooth positioning, thereby achieving the technical purpose of improving the accuracy and reliability of remote control parking.

[0067] In this way, the present application can use the device information of the electronic device itself as a benchmark, and the vehicle can obtain the positioning mode parameters that the electronic device can support based on the above device information, and further locate the position information of the vehicle in the current space based on the above positioning mode parameters. Ultimately, it can be achieved that the electronic device is used to control the vehicle to achieve remote parking based on the position information determined by the above positioning, which can maximize the respective advantages of different positioning modes on electronic devices, improve the Bluetooth positioning accuracy, and further conveniently eliminate the lack of reliability caused by unstable Bluetooth signals for users.

[0068] See also Figure 2 In some embodiments, step 01 includes:

[0069] 011: Determine the preset positioning mode corresponding to the vehicle according to the device information;

[0070] 012: According to the preset positioning mode, obtain the positioning parameters corresponding to the preset positioning mode.

[0071] In some embodiments, the transceiver module is further used to determine the preset positioning mode currently corresponding to the vehicle based on the device information, and to obtain positioning parameters corresponding to the preset positioning mode based on the preset positioning mode.

[0072] In some implementations, the processor is further configured to obtain positioning parameters corresponding to the preset positioning mode according to the preset positioning mode.

[0073] Specifically, based on the above implementation, regarding the process of determining the positioning parameters, since the positioning parameters are generated based on the corresponding preset positioning mode, it is necessary to predetermine the preset positioning mode in order to determine the positioning parameters.

[0074] Therefore, for example, after a Bluetooth communication relationship is established between the vehicle and the electronic device, the vehicle can obtain various attribute information of the electronic device itself in real time through the Bluetooth communication connection relationship, including the model information of the electronic device. Then, after obtaining the above model information, the vehicle queries whether the electronic device supports a specific preset positioning mode based on the above model information in the electronic device function database stored on the server side based on the Internet.

[0075] Exemplarily, the vehicle queries whether the electronic device supports ultra-wideband (hereinafter referred to as UWB, Ultra Wide Band) ranging based on the above-mentioned model information from the electronic device function database saved on the server side based on the Internet. According to the current relevant technology, electronic devices such as smart phones have functional support for communication, even if the electronic device does not support UWB ranging, it must support the vehicle's Bluetooth positioning based on Bluetooth communication connection with other devices. Therefore, in the above-mentioned query process, if it is found that the current model of electronic equipment supports UWB ranging, it can be determined that the current preset positioning mode of the vehicle and the electronic device is the UWB ranging mode, otherwise, it can be determined that the current preset positioning mode of the vehicle and the electronic device is the Bluetooth positioning mode.

[0076] Then, the vehicle can obtain the corresponding positioning parameters from the electronic device according to the above-mentioned preset positioning mode. For example, in the UWB positioning mode, the user starts the UWB ranging operation on the electronic device, and the electronic device will generate the key data required for the current UWB ranging process. The above-mentioned key data is the positioning parameter required to be used in the UWB positioning mode. Only based on the positioning parameter can the UWB ranging result be obtained, and the positioning of the vehicle can be further realized. After that, the vehicle obtains the UWB key from the electronic device based on the Bluetooth communication relationship with the electronic device. Then on this basis, the vehicle can further pair with the electronic device based on the above-mentioned UWB key, and finally determine the UWB ranging result between the vehicle and the electronic device, so as to facilitate the execution of the subsequent Bluetooth positioning and remote parking process.

[0077] In this way, the present application can determine the positioning mode used when the vehicle and the electronic device cooperate to perform remote parking based on the device information of the electronic device itself, and further determine the corresponding positioning parameters during the execution of the above positioning mode.

[0078] See also Figure 3 In some embodiments, step 02 includes:

[0079] 021: when the preset positioning mode is the first mode, in response to a target operation on the electronic device, determining first positioning information between the vehicle and the electronic device according to positioning parameters corresponding to the first mode;

[0080] 022: Obtain second positioning information of the electronic device itself;

[0081] 023: Determine the positioning information of the vehicle according to the first positioning information and the second positioning information to control the vehicle to park in the target parking position,

[0082] The vehicle and the electronic device are connected based on Bluetooth communication.

[0083] In some embodiments, the processing module is also used to determine, in response to a target operation on the electronic device when the preset positioning mode is the first mode, first positioning information between the vehicle and the electronic device according to positioning parameters corresponding to the first mode, and to obtain second positioning information of the electronic device itself, and to determine the positioning information of the vehicle based on the first positioning information and the second positioning information to control the vehicle to park in the target parking position.

[0084] In some embodiments, the processor is also used to, when the preset positioning mode is the first mode, respond to the target operation on the electronic device, determine the first positioning information between the vehicle and the electronic device according to the positioning parameters corresponding to the first mode, and to obtain the second positioning information of the electronic device itself, and to determine the positioning information of the vehicle based on the first positioning information and the second positioning information to control the vehicle to park in the target parking position.

[0085] Specifically, based on the above implementation, when the vehicle determines that the electronic device supports UWB ranging based on the model information of the electronic device, the vehicle enters the UWB ranging mode (corresponding to the first mode) and obtains the key data for UWB ranging from the electronic device (corresponding to the positioning parameters corresponding to the first mode). In this case, the vehicle and the electronic device start the UWB ranging process between the two based on the above key data, and solve the ultra-wideband ranging data between the two in real time (corresponding to the first positioning information). Generally speaking, the generation method of the key data of UWB ranging can refer to the digital key CCC3.0 standard in the relevant technology.

[0086] Furthermore, in some examples, in order to further determine the vehicle's positioning information based on the above relative distance data, the positioning information of the electronic device itself can be superimposed and solved with the above ultra-wideband ranging data, thereby converting the positioning information of the electronic device itself into the positioning information of the vehicle. Based on this, the electronic device uses its own inertial measurement unit (IMU, Inertial Measurement Unit) to obtain and update its own inertial positioning data (corresponding to the second positioning information, for the convenience of description, hereinafter referred to as IMU data) in real time. At the same time, the vehicle obtains the IMU data of the electronic device from the electronic device in real time based on the above Bluetooth communication relationship, and combines the relative distance data obtained by real-time solution to calculate the vehicle's own positioning information, thereby realizing the remote control parking process for the vehicle based on the vehicle's own positioning information.

[0087] Generally speaking, the remote control parking process is executed by the vehicle based on its own positioning information obtained in real time based on the above implementation mode and the environmental information around the vehicle. The above environmental information can be map data of the current environment of the vehicle, or can be photo information of the current environment acquired by the image acquisition device on the vehicle. The specific execution logic of the remote control parking process can be adjusted according to the actual situation, and this application does not make specific limitations.

[0088] In this way, the present application can use the UWB ranging data between the vehicle and the electronic device and the IMU positioning information of the electronic device itself to determine the vehicle's own positioning information in the positioning mode using UWB signal ranging, thereby realizing remote parking.

[0089] See also Figure 4 In some embodiments, the vehicle control method further includes:

[0090] 0011: when it is determined according to the first positioning information that the vehicle and the electronic device satisfy a first position relationship, sending a first prompt message to the user,

[0091] The first prompt information is configured to prompt the user that the current vehicle control method is temporarily unavailable;

[0092] 0012: Determine the first positioning information according to the positioning parameters.

[0093] In some embodiments, the processing module is further used to send a first prompt message to the user when it is determined that the vehicle and the electronic device satisfy a first position relationship based on the first positioning information, and to determine the first positioning information based on the positioning parameters.

[0094] In some embodiments, the processor is further used to send a first prompt message to the user when it is determined that the vehicle and the electronic device satisfy a first position relationship based on the first positioning information, and to determine the first positioning information based on the positioning parameters.

[0095] Specifically, based on the above implementation, when the UWB ranging mode is being executed and the relative distance data between the vehicle and the electronic device is being obtained, due to the provisions of relevant laws and regulations, and the reliability requirements of Bluetooth positioning and information transmission based on Bluetooth communication, it is necessary to control the distance between the vehicle and the electronic device. If the relative distance between the vehicle and the electronic device exceeds a preset threshold (corresponding to the vehicle and the electronic device satisfying the first position relationship), the reliability of Bluetooth positioning cannot meet the requirements at this time, even if the relative distance data obtained by the UWB ranging process is combined, the reliability cannot meet the requirements. At this time, the above-mentioned vehicle control method is in a temporarily unavailable state. Only when the relative distance between the vehicle and the electronic device is restored to within the above-mentioned preset threshold, the above-mentioned vehicle control method is restored to an available state. Therefore, illustratively, at this time, the vehicle can control the electronic device to send the first prompt information to the user through a pop-up window, voice, vibration, etc. through the Bluetooth connection between the electronic device, such as "the distance between the vehicle and the mobile phone is too far, the current remote parking function is not available, please hold the mobile phone appropriately close to the vehicle", etc. Exemplarily, the above-mentioned threshold can generally be set to 6 meters with reference to relevant laws and regulations and reliability requirements.

[0096] In addition to the vehicle control electronic device sending the above-mentioned first prompt information to the user, in order to maintain the execution of the UWB ranging mode for a certain period of time, illustratively, the vehicle will also continuously obtain the relative distance data between the vehicle and the electronic device. If the relative distance data is still greater than 6 meters, the vehicle will continue to send the above-mentioned first prompt information to the user based on Bluetooth communication. If the relative distance data is less than or equal to 6 meters, the above-mentioned vehicle control method will be further executed to determine the vehicle's positioning information, thereby realizing the remote control parking process.

[0097] In this way, when the distance between the vehicle and the electronic device is large, the present application can prompt the user that remote parking is temporarily not possible, and restart using UWB to measure the distance between the vehicle and the electronic device until the distance meets the requirement.

[0098] In some embodiments, the first positioning information is ultra-wideband ranging data (ie, UWB ranging data) between the vehicle and the electronic device, and the second positioning information is inertial positioning data (ie, IMU data) of the electronic device.

[0099] See also Figure 5 In some embodiments, the vehicle control method further includes:

[0100] 0021: When the preset positioning mode is the second mode, obtaining third positioning information of the electronic device;

[0101] 0022: Determine the positioning information based on the Bluetooth connection between the electronic device and the vehicle and the third-party positioning information.

[0102] In some embodiments, the processing module is further used to obtain third positioning information of the electronic device when the preset positioning mode is the second mode, and to determine the positioning information based on the Bluetooth connection between the electronic device and the vehicle and the third positioning information.

[0103] In some embodiments, the processor is further used to obtain third positioning information of the electronic device when the preset positioning mode is the second mode, and to determine the positioning information based on the Bluetooth connection between the electronic device and the vehicle and the third positioning information.

[0104] Specifically, based on the above implementation, if the vehicle learns through querying the model information of the device that the current electronic device does not support UWB ranging, the vehicle will enter the Bluetooth positioning mode (corresponding to the second mode).

[0105] On this basis, the Bluetooth positioning mode is officially started, and the electronic device uses its own inertial measurement unit to obtain and update its own IMU data (corresponding to the third positioning information) in real time. At the same time, the vehicle obtains the IMU data of the electronic device from the electronic device in real time based on the above-mentioned Bluetooth communication relationship. Finally, the vehicle can solve the vehicle's own positioning information based on the parameters of the communication signal of the Bluetooth connection between the vehicle and the electronic device, combined with the above-mentioned IMU data obtained from the electronic device, thereby further realizing the remote parking process.

[0106] In this way, the present application can also adopt the Bluetooth positioning mode when the electronic device does not support UWB, and use the IMU positioning information of the electronic device itself combined with the Bluetooth connection to achieve Bluetooth positioning of the vehicle.

[0107] See also Figure 6 In some embodiments, step 0021 includes:

[0108] 00211: When the preset positioning mode is the second mode, a second prompt message is sent to the user.

[0109] The second prompt information is configured to prompt the user to place the electronic device at a preset initial position and turn on the positioning function;

[0110] 00212: In response to a target operation on the electronic device located at a preset initial position, obtaining third positioning information of the electronic device.

[0111] In some embodiments, the processing module is further used to send a second prompt message to the user when the preset positioning mode is the second mode, and to obtain third positioning information of the electronic device in response to a target operation on the electronic device located at a preset initial position.

[0112] In some embodiments, the processor is further used to send a second prompt message to the user when the preset positioning mode is the second mode, and to obtain third positioning information of the electronic device in response to a target operation on the electronic device located at a preset initial position.

[0113] Specifically, based on the above-mentioned implementation, considering the signal fluctuation and reliability deficiencies of the Bluetooth positioning process in the current related technology, in some examples, the Bluetooth positioning mode adopted in the implementation of the present application will first set the initial position of the electronic device to a known fixed position (corresponding to the preset initial position), such as the NFC information reading point set on the vehicle, each preset Bluetooth anchor point, the B-pillar of the vehicle and other fixed positions with known position information. In order to smoothly start the execution of the above-mentioned Bluetooth positioning mode, it is necessary for the user to place the electronic device at the above-mentioned fixed position when starting Bluetooth positioning. Therefore, illustratively, the vehicle will control the electronic device to send a second prompt message to the user through a pop-up window, voice, vibration, etc. based on the Bluetooth communication connection relationship between the vehicle and the electronic device, such as "Please place the mobile phone at the designated position on the vehicle before turning on the positioning function". In this way, by fixing the initial position of the electronic device, the large error caused by signal fluctuations during the Bluetooth positioning process can be corrected to a certain extent, thereby improving the accuracy of Bluetooth positioning.

[0114] On this basis, if the user places the electronic device at any of the above-mentioned fixed positions according to the instructions of the second prompt information after knowing it, and starts the Bluetooth positioning function through operation, the Bluetooth positioning mode is officially started, and the electronic device uses its own inertial measurement unit to obtain and update its own IMU data (corresponding to the third positioning information) in real time, and the vehicle obtains the IMU data of the electronic device from the electronic device in real time based on the above-mentioned Bluetooth communication relationship. Finally, the vehicle can solve the vehicle's own positioning information based on the parameters of the communication signal of the Bluetooth connection between the vehicle and the electronic device, combined with the above-mentioned IMU data obtained from the electronic device, thereby further realizing the remote control parking process.

[0115] In this way, the present application can also adopt the Bluetooth positioning mode when the electronic device does not support UWB. On the one hand, it can prompt the user to place the electronic device in a fixed position on the vehicle to facilitate the activation of Bluetooth positioning. On the other hand, the above-mentioned fixed position can be used to eliminate the problem of insufficient reliability in the Bluetooth positioning process as much as possible.

[0116] Please refer again Figure 6 In some embodiments, the vehicle control method further includes:

[0117] 00213: In response to a target operation on the electronic device that is not located at a preset initial position, a second prompt message is sent to the user.

[0118] In some embodiments, the processing module is further configured to send a second prompt message to the user in response to a target operation on the electronic device that is not located at a preset initial position.

[0119] In some embodiments, the processor is further configured to send a second prompt message to the user in response to a target operation on the electronic device that is not located at a preset initial position.

[0120] Specifically, based on the above implementation, in some cases, the user may attempt to start Bluetooth positioning through operation without placing the electronic device in the above fixed position. Since the lack of initial location information will have a greater impact on the accuracy and reliability of Bluetooth positioning, if the electronic device is not currently located in one of the above fixed positions, if the user performs an operation to start the Bluetooth positioning function on the electronic device (corresponding to the target operation), the electronic device will not start the Bluetooth positioning function at this time, and the vehicle control electronic device will resend the above second prompt information to the user, once again prompting the user to place the electronic device in one of the above fixed positions before starting Bluetooth positioning. The above process can be repeated until the user places the electronic device in one of the above fixed positions before starting Bluetooth positioning, and the electronic device starts the Bluetooth positioning mode.

[0121] In this way, the present application can also prompt the user to place the electronic device at the above-mentioned fixed position again when the user starts the remote parking without placing the electronic device at the fixed position, so as to enable the execution of the Bluetooth positioning mode.

[0122] In some embodiments, the third positioning information is inertial positioning data (ie, IMU data) of the electronic device.

[0123] In some embodiments, the vehicle control method further includes:

[0124] When it is determined according to the positioning information that the vehicle and the electronic device satisfy the second position relationship, a third prompt message is sent to the user,

[0125] The third prompt information is configured to prompt the user that the current vehicle control method has been terminated.

[0126] In some embodiments, the processing module is further configured to send a third prompt message to the user when it is determined based on the positioning information that the vehicle and the electronic device satisfy a second position relationship.

[0127] In some embodiments, the processor is further configured to send a third prompt message to the user when it is determined based on the positioning information that the vehicle and the electronic device satisfy a second position relationship.

[0128] Specifically, on the basis of the above-mentioned implementation modes, when the vehicle positioning information can be determined in real time and the remote control parking process for the vehicle based on the electronic device has started or is being executed, in order to ensure the safety of the vehicle during the execution of the remote control parking process, the distance between the vehicle and the electronic device needs to be controlled within a reasonable range. If the distance between the two exceeds a certain range, the vehicle may be out of the user's line of sight. At the same time, the Bluetooth connection signal strength between the vehicle and the electronic device may become unstable, further causing the vehicle positioning information to be inaccurate and unreliable, thereby having a negative impact on the execution of the remote control parking process and even a security threat.

[0129] Therefore, for example, when the vehicle starts or is executing a remote parking process based on an electronic device, if it is detected that the relative distance between the vehicle and the electronic device exceeds a preset threshold (corresponding to the vehicle and the electronic device satisfying the second position relationship), the safety and reliability of the remote parking process cannot be guaranteed at this time. Therefore, for the sake of safety and reliability, the vehicle will immediately terminate the remote parking process and send a third prompt message to the user through an electronic device pop-up window, voice, vibration, etc. based on the Bluetooth communication connection, such as "the current distance between the mobile phone and the vehicle is too far, the remote parking process has been terminated and exited". After receiving the third prompt message, the user can restart the remote parking process by re-activating the corresponding preset positioning mode through the target operation in the above embodiment.

[0130] Exemplarily, the above threshold can generally be set to 6 meters with reference to relevant laws and regulations and reliability requirements. When the relative distance between the vehicle and the electronic device is greater than 6 meters, the vehicle will immediately terminate the remote parking process and send a third prompt message to the user through an electronic device pop-up window, voice, vibration, etc. based on the Bluetooth communication connection. When the relative distance between the vehicle and the electronic device is less than or equal to 6 meters, the remote parking process will continue.

[0131] In this way, the present application can also terminate the remote control parking process and prompt the user when the distance between the vehicle and the electronic device exceeds a certain range.

[0132] See also Figure 7 In some embodiments, the vehicle control method further includes:

[0133] 0031: When the vehicle and the electronic device satisfy the third position relationship, control the vehicle and the electronic device to establish a Bluetooth communication relationship;

[0134] 0032: Control the vehicle to obtain device information of the electronic device based on the Bluetooth communication relationship.

[0135] In some embodiments, the processing module is also used to control the vehicle to establish a Bluetooth communication relationship with the electronic device when the vehicle and the electronic device satisfy a third position relationship, and to control the vehicle to obtain device information of the electronic device based on the Bluetooth communication relationship.

[0136] In some embodiments, the processor is further used to control the vehicle to establish a Bluetooth communication relationship with the electronic device when the vehicle and the electronic device satisfy a third position relationship, and to control the vehicle to obtain device information of the electronic device based on the Bluetooth communication relationship.

[0137] Specifically, before a vehicle and an electronic device establish a Bluetooth communication connection, considering the reliability of the established Bluetooth communication connection, the distance between the vehicle and the electronic device needs to be controlled within a reasonable range. If the distance between the two exceeds the reasonable range, the Bluetooth communication connection relationship may not be established, and even if it is established, its reliability may not meet the requirements for Bluetooth positioning or even Bluetooth communication.

[0138] Therefore, illustratively, in order to enable the established Bluetooth communication relationship to meet the requirements of Bluetooth communication, Bluetooth positioning and subsequent remote parking, the vehicle and the electronic device will establish a Bluetooth communication relationship only when the electronic device is located within a certain distance around the vehicle. The specific distance range can be adaptively adjusted according to the communication signal power specified in the Bluetooth protocol between the vehicle and the electronic device, and this application does not make specific restrictions. After the Bluetooth communication connection relationship is established, the vehicle can obtain device information including the model information of the electronic device from the electronic device through the relationship, thereby starting the Bluetooth positioning and remote parking process in the above-mentioned implementation.

[0139] In this way, the present application can also establish Bluetooth communication when the vehicle and the electronic device are close to each other, and control the vehicle to obtain device information of the electronic device, so as to determine the positioning mode that the electronic device can support.

[0140] The vehicle in the implementation manner of the present application includes the above-mentioned control device or electronic device.

[0141] The computer-readable storage medium in the embodiments of the present application stores a computer program, and when the computer program is executed by one or more processors, the above method is implemented.

[0142] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0143] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0144] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determining a preset positioning mode currently corresponding to the vehicle according to device information of the electronic device, wherein the device information is used to characterize the positioning mode of the electronic device and the vehicle; According to the preset positioning mode, obtaining positioning parameters corresponding to the preset positioning mode; According to the positioning parameters, controlling the vehicle to park in a target parking position; When the preset positioning mode is the second mode, sending a second prompt message to the user, wherein the second prompt message is configured to prompt the user to place the electronic device at a preset initial position and turn on the positioning function; In response to a target operation on the electronic device located at the preset initial position, acquiring third positioning information of the electronic device; The positioning information of the vehicle is determined according to the Bluetooth positioning information between the electronic device and the vehicle and the third positioning information, so as to control the vehicle to park in the target parking position.

2. The method according to claim 1, characterized in that The step of controlling the vehicle to park in a target parking position according to the positioning parameters includes: In a case where the preset positioning mode is a first mode, in response to a target operation on the electronic device, determining first positioning information between the vehicle and the electronic device according to the positioning parameters corresponding to the first mode; Acquire second positioning information of the electronic device itself; The positioning information of the vehicle is determined according to the first positioning information and the second positioning information to control the vehicle to park in the target parking position, wherein the vehicle is connected to the electronic device based on Bluetooth communication.

3. The method according to claim 2, characterized in that The method further comprises: When it is determined according to the first positioning information that the vehicle and the electronic device satisfy a first position relationship, sending a first prompt message to the user, wherein the first prompt message is configured to prompt the user that the current vehicle control method is temporarily unavailable; The first positioning information is determined according to the positioning parameters.

4. The method according to claim 2, characterized in that: The first positioning information is ultra-wideband ranging data between the vehicle and the electronic device, and the second positioning information is inertial positioning data of the electronic device.

5. The method according to claim 1, characterized in that: The method further comprises: In response to a target operation on the electronic device that is not located at the preset initial position, the second prompt information is sent to the user.

6. The method according to claim 1, characterized in that The third positioning information is inertial positioning information of the electronic device.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When it is determined according to the positioning information of the vehicle that the vehicle and the electronic device satisfy a second position relationship, a third prompt message is sent to the user, wherein the third prompt message is configured to prompt the user that the current vehicle control method is terminated.

8. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the vehicle and the electronic device satisfy a third position relationship, controlling the vehicle to establish a Bluetooth communication relationship with the electronic device; The vehicle is controlled to obtain the device information of the electronic device based on the Bluetooth communication relationship.

9. A control device, characterized in that: The control device comprises: A transceiver module, used to determine a preset positioning mode currently corresponding to the vehicle according to device information of the electronic device, and to obtain positioning parameters corresponding to the preset positioning mode according to the preset positioning mode, wherein the device information is used to characterize the positioning mode of the electronic device and the vehicle; A processing module, configured to control the vehicle to park in a target parking position according to the positioning parameters; The transceiver module is further used to send a second prompt message to the user when the preset positioning mode is the second mode, wherein the second prompt message is configured to prompt the user to place the electronic device at a preset initial position and turn on the positioning function, and to obtain third positioning information of the electronic device in response to a target operation on the electronic device at the preset initial position; The processing module is further used to determine the positioning information of the vehicle according to the Bluetooth positioning information between the electronic device and the vehicle and the third positioning information, so as to control the vehicle to park in the target parking position.

10. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 8 is implemented.

11. A vehicle, characterized in that: The vehicle comprises the control device according to claim 9 or the electronic device according to claim 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 8 is implemented.

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