Method for controlling vehicle, vehicle and storage medium

Abstract

The invention provides a method for controlling a vehicle, the vehicle and a storage medium. When the target vehicle meets the non-temporary parking condition, whether a target object on the target seat has a getting-off intention or not is determined; and when the target object has the getting-off intention, the target vehicle door corresponding to the target seat is controlled to be unlocked. Namely, when the user sits on the seat corresponding to the target vehicle door and the user has the get-off intention, the target vehicle door is unlocked. The situation that a thief unlocks the target vehicle door when no user sits on the seat corresponding to the target vehicle door can be avoided, and the situation that when the target vehicle door is a non-driving vehicle door, the thief opens the target vehicle door at the moment when a driver gets off the vehicle and closes the door, and then property in the vehicle is stolen is avoided. Therefore, the method can ensure the property safety in the vehicle. In addition, after the target object gets off and the target vehicle door is closed, the target vehicle door is locked. In this way, after the target object gets off the vehicle, the situation that a thief steals properties in the vehicle through the unlocked target vehicle door can be avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method for controlling a vehicle, a vehicle, and a storage medium in the field of vehicles. Background Art

[0002] With the continuous innovation of vehicle technology and the significant improvement of people's living standards, vehicles are integrating into people's daily lives at an unprecedented speed and becoming an indispensable part of people's lives. However, there are also more and more vehicle-related problems, including the safety of property inside vehicles.

[0003] Currently, after the vehicle is parked and the engine is turned off, the driver unlocks the main door, which will cause other doors to be unlocked as well, which will provide thieves with an opportunity to take advantage, especially when driving alone. Specifically, in the following scenario, many drivers unlock the door and get off the car, then directly lock the door with the remote control key and leave without checking whether all the doors are locked successfully. In the above scenario, the thief may have targeted the target vehicle in advance, and when the driver gets off the car and closes the door, the thief secretly opens the back door of the vehicle. The above scenario will cause the driver to mistakenly believe that the remote control key has locked all the doors, while the back door of the vehicle is open at this time, resulting in the risk of theft of property in the car.

[0004] Therefore, there is an urgent need for a method for controlling a vehicle to ensure the safety of property inside the vehicle. Summary of the invention

[0005] The present application provides a method for controlling a vehicle, a vehicle and a storage medium, wherein the method can ensure the safety of property inside the vehicle.

[0006] In a first aspect, a method for controlling a vehicle is provided, the method comprising: when a target vehicle satisfies a preset parking condition, determining whether a target object on a target seat in the target vehicle has an intention to get off the vehicle, the preset parking condition being used to indicate a non-temporary parking condition; when the target object has the intention to get off the vehicle, controlling a target door corresponding to the target seat to be unlocked; after the target object gets off the vehicle and closes the target door, upon receiving a locking signal from the target door, controlling the target door to be locked.

[0007] In the above technical solution, when the target vehicle meets the non-temporary parking condition, the vehicle determines whether the target object on the target seat has the intention to get off; and then the target door corresponding to the target seat is controlled to be unlocked only when the target object has the intention to get off. That is to say, the target door is unlocked only when the user is sitting on the seat corresponding to the target door and the user has the intention to get off. This can avoid the target door being unlocked when the seat corresponding to the target door is not occupied by the user, which provides an opportunity for the thief to take advantage of, and avoid the thief secretly opening the target door and stealing the property in the car at the moment when the driver gets off and closes the door when the target door is a non-main driving door. Therefore, the method can ensure the property safety inside the vehicle. In addition, after the target object gets off and closes the target door, the target door is controlled to be locked when the locking signal of the target door is received. This can also avoid the thief from stealing the property in the car through the unlocked target door after the target object gets off and closes the target door. In other words, the method can prevent the thief from stealing the property in the car through any door on the target vehicle.

[0008] In combination with the first aspect, in certain possible implementations, controlling the target door corresponding to the target seat to unlock includes: when the target seat is a seat other than the driver's seat, determining whether an unlock signal of the target door corresponding to the other seat is received; and when an unlock signal of the target door corresponding to the other seat is received, controlling the target door corresponding to the other seat to unlock.

[0009] In the above technical solution, when the target seat is other seats other than the main driver's seat, if the unlocking signal of the target door corresponding to the other seat is received, the target door corresponding to the other seat is controlled to be unlocked, allowing the target door corresponding to the other seat to be further opened. In this way, it is possible to avoid accidents such as collisions when the target object sitting on the other seat is a minor. Therefore, the method can improve the safety of vehicle users on other seats getting off the vehicle.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in certain possible implementation methods, when the target object has the intention to get off the vehicle, the target door corresponding to the target seat is controlled to be unlocked, including: when the target object has the intention to get off the vehicle, determining whether the current load on the target seat is greater than a preset weight, which is the average weight of an adult; when the current load is greater than the preset weight, controlling the target door corresponding to the target seat to be unlocked.

[0011] In the above technical solution, when the target object intends to get off the vehicle, if the current load on the target seat is greater than the preset weight, it can indirectly reflect that the target object is an adult. Only when the current load is greater than the preset weight, the target door corresponding to the target seat is controlled to be unlocked. In other words, when an adult is sitting on the target seat and the adult intends to get off the vehicle, the vehicle automatically unlocks the target door corresponding to the target seat. This can improve the convenience of the process of adults getting off the vehicle when they intend to get off the vehicle, and improve the vehicle user experience.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the current load is less than or equal to the preset weight, obtaining an upper body image of the target object through a vehicle-mounted camera; based on the upper body image, determining the age group of the target object; when the age group indicates that the target object is an adult, controlling the target door corresponding to the target seat to unlock.

[0013] In the above technical solution, the weight of some adults is less than the average weight of adults, that is, the current load is less than or equal to the preset weight. For the above situation, the method obtains the upper body image of the target object through the vehicle-mounted camera; and based on the upper body image, determines the age group of the target object. In this way, it is possible to clearly and accurately determine whether the target object is an adult. Furthermore, when the age group indicates that the target object is an adult, the target door corresponding to the target seat is controlled to unlock. Therefore, the method can exclude the situation where the target door is automatically unlocked when the person is not an adult. In addition, it can also improve the convenience of the process of getting off the vehicle when a real adult intends to get off the vehicle, thereby improving the vehicle user experience.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the age group of the target object based on the upper body image includes: determining the facial image of the target object from the upper body image; performing feature extraction on the facial image to obtain facial features, which include spot features, skin color features, sagging features and wrinkle features on the target object's face; based on the facial features, identifying the age group of the target object; or, performing feature extraction on the upper body image to obtain clothing features, which include color features and style features of clothing; based on the clothing features, identifying the age group of the target object.

[0015] In the above technical scheme, the age group of the target object is determined based on the upper body image of the target object in two ways. Specifically, the age group of the target object is determined by facial features, that is, the spot features, skin color features, sagging features and wrinkle features on the face of the target object. This is because the facial features of users of different age groups are different. For example, the younger the age, the fewer spots on the face, the more tender and shiny the skin color, the smaller the sagging degree, and the fewer wrinkles. Alternatively, the age group of the target object is also inferred by the clothing features of the top worn by the target object, that is, the color features and style features of the clothing. This is because the characteristics of the clothing worn by users of different age groups are different. For example, the younger the age, the brighter and more lively the color of the clothing, and the more fashionable, bold and personalized the style of the clothing. Therefore, the method can more accurately determine the age group of the target object in a variety of ways.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the current load is greater than the preset weight, the target door corresponding to the target seat is controlled to be unlocked, including: when the current load is greater than the preset weight, determining the leg length of the target object; determining whether the leg length is greater than the target length, the target length being the distance between the chassis of the target vehicle and the ground; when the leg length is greater than the target length, controlling the target door corresponding to the target seat to be unlocked.

[0017] In the above technical solution, when the side reflects that the target object is an adult, the vehicle determines the leg length of the target object. When the leg length is greater than the distance between the chassis of the target vehicle and the ground, it indicates that the sole of the target object's foot can directly touch the ground when getting off the vehicle without the help of other external forces. At this time, the target door corresponding to the target seat is controlled to unlock. In other words, when the target object is an adult and can get off the vehicle smoothly without the help of other external forces, the vehicle automatically unlocks the target door. This can improve the safety of adults getting off the vehicle when they intend to get off the vehicle, and improve the vehicle user experience.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the target door to be locked, the method also includes: detecting whether all the doors in the target vehicle are successfully locked; when all the doors are successfully locked, outputting a first reminder message, and the first reminder message is used to remind that all the doors are safely locked; when all the doors are not successfully locked, outputting a first warning message, and the first warning message is used to warn that at least one of all the doors is not successfully locked.

[0019] In the above technical solution, after controlling the target door to lock, the vehicle in the method detects whether all doors in the target vehicle are successfully locked. When all doors are successfully locked, the vehicle outputs a first reminder message. This can remind the target object that all doors are safely locked, allowing the target object to safely leave the target vehicle and improve the target object's vehicle experience. When all doors are not successfully locked, the vehicle outputs a first warning message. This can remind the target object that at least one door is not successfully locked, allowing the target object to return to the vicinity of the target vehicle and lock all doors again. This can significantly improve the safety of property in the vehicle and reduce the risk of theft.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: in the case where the locking signal of the target door is not received, detecting whether there is a first object for performing a preset picking behavior inside the target vehicle; in the case where there is a first object for performing a preset picking behavior inside the target vehicle, determining whether the first object is the target object; in the case where the first object is not the target object, determining the degree of association between the first object and the target object, and the degree of association is used to quantify the relationship between the first object and the target object; in the case where the degree of association is less than the preset degree, outputting a second warning information, and the second warning information is used to warn that there is a safety hazard inside the target vehicle.

[0021] In the above technical solution, if the locking signal of the target door is not received, it indicates that the target door can be opened by any user, which may lead to the risk of theft of property in the vehicle. For the above situation, the vehicle in the method detects whether there is a first object for performing a preset taking action inside the target vehicle, and when there is a first object for performing a preset taking action, further determines whether the first object is the target object. In other words, the identity of the first object is determined. When the first object is not the target object, the relationship between the first object and the target object, that is, the degree of association, is determined. When the degree of association is small, that is, for the target object, the first object is not an acquaintance, the second early warning information is output. This can remind the target object that the property inside the current target vehicle may be stolen, and the target object can take countermeasures in time. This method can minimize the risk of property theft in the vehicle.

[0022] In a second aspect, a device for controlling a vehicle is provided, the device comprising: a determination module, for determining whether a target object on a target seat in a target vehicle has an intention to get off the vehicle when the target vehicle satisfies a preset parking condition, the preset parking condition being used to indicate a non-temporary parking condition; a control module, for: controlling a target door corresponding to the target seat to unlock when the target object has the intention to get off the vehicle; and controlling the target door to lock when a locking signal of the target door is received after the target object gets off the vehicle and closes the target door.

[0023] In combination with the second aspect, in some possible implementations, the determination module is specifically used to determine whether an unlocking signal of a target door corresponding to the other seat is received when the target seat is a seat other than the driver's seat; the control module is specifically used to control the unlocking of the target door corresponding to the other seat when an unlocking signal of the target door corresponding to the other seat is received.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to determine whether the current load on the target seat is greater than a preset weight when the target object intends to get off the vehicle, and the preset weight is the average weight of an adult; the control module is specifically used to control the target door corresponding to the target seat to unlock when the current load is greater than the preset weight.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: an acquisition module, used to acquire the upper body image of the target object through a vehicle-mounted camera when the current load is not greater than the preset weight; the determination module is also used to determine the age group of the target object based on the upper body image; the control module is also used to control the unlocking of the target door corresponding to the target seat when the age group indicates that the target object is an adult.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: determine the facial image of the target object from the upper body image; perform feature extraction on the facial image to obtain facial features, which include spot features, skin color features, sagging features and wrinkle features on the target object's face; based on the facial features, identify the age group of the target object; or, perform feature extraction on the upper body image to obtain clothing features, which include color features and style features of clothing; based on the clothing features, identify the age group of the target object.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine the leg length of the target object when the current load is greater than the preset weight; determine whether the leg length is greater than the target length, the target length being the distance between the chassis of the target vehicle and the ground; the control module is specifically used to control the unlocking of the target door corresponding to the target seat when the leg length is greater than the target length.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the target door to be locked, the device also includes: a detection module, used to detect whether all the doors in the target vehicle are successfully locked; the device also includes: an output module, used to: when all the doors are successfully locked, output a first reminder message, and the first reminder message is used to remind that all the doors are safely locked; when all the doors are not successfully locked, output a first warning message, and the first warning message is used to warn that at least one of all the doors is not successfully locked.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the detection module is also used to detect whether there is a first object for performing a preset picking behavior inside the target vehicle when the locking signal of the target door is not received; the determination module is also used to: when there is a first object for performing a preset picking behavior inside the target vehicle, determine whether the first object is the target object; when the first object is not the target object, determine the degree of association between the first object and the target object, and the degree of association is used to quantify the relationship between the first object and the target object; the output module is also used to output a second warning information when the degree of association is less than a preset degree, and the second warning information is used to warn that there is a safety hazard inside the target vehicle.

[0030] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0031] In a fourth aspect, a computer-readable storage medium is provided, which stores an executable program code. When the executable program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of a scenario of using a vehicle provided in an embodiment of the present application;

[0033] Figure 2 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of determining a first position of a hip joint provided by an embodiment of the present application;

[0035] Figure 4 is a system framework diagram for controlling a vehicle provided in an embodiment of the present application;

[0036] Figure 5 is a logic diagram of a method for controlling a vehicle provided in an embodiment of the present application;

[0037] Figure 6 is a schematic diagram of the structure of a device for controlling a vehicle provided in an embodiment of the present application;

[0038] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0040] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0041] Figure 1 It is a schematic diagram of a scenario of using a vehicle provided in an embodiment of the present application.

[0042] Exemplary, the driver can drive the vehicle to various destinations. After the vehicle arrives at the destination and stops and turns off, the driver unlocks the main driving door, which causes other doors to be unlocked, which can give thieves an opportunity to take advantage of, especially after a single person driving.

[0043] In such Figure 1In the embodiment of a single-driver vehicle shown in (a), after the driver stops vehicle A and turns off the engine, he unlocks the main driving door, opens the main driving door and gets out of the vehicle, and locks all the doors with the remote control key while getting out of the vehicle. In this embodiment, the driver unlocking the main driving door will cause all other doors to be unlocked, which will cause the thief to secretly open the rear door of vehicle A at the moment the driver gets out of the vehicle and closes the door. The above-mentioned scenario will cause the driver to hear the sound of the door being locked, but it is actually the sound of the main driving door being locked, which will cause the driver to mistakenly believe that the remote control key has locked all the doors, and at this time the rear door of the vehicle is unlocked, causing the thief to enter vehicle A through the rear door of the vehicle and steal the property inside the vehicle.

[0044] In such Figure 1 In the embodiment of a single-driver vehicle shown in (b), after the driver parks vehicle A and turns off the engine, he unlocks the main driving door, opens the main driving door and gets out of the vehicle, and locks all the doors with the remote control key while getting out of the vehicle. If the thief uses a signal jammer when the driver locks all the doors with the remote control key, this will cause vehicle A to not receive the locking signal of all the doors, and the remote control car locking will not work, and all the doors will remain unlocked. In addition to the interference of the signal jammer, the reason for this phenomenon also includes the driver not caring whether all the doors are locked. The scenario exemplified above will result in a situation where the driver leaves vehicle A and the thief enters vehicle A through any door to steal the property inside the vehicle.

[0045] In order to solve the above problems, this application proposes a method for controlling a vehicle to ensure the safety of property inside the vehicle. The specific implementation steps are as follows: Figure 2 .

[0046] Figure 2 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0047] It should be understood that the method for controlling a vehicle provided in the embodiment of the present application can be applied to the following examples: Figure 1 The vehicle shown (e.g., vehicle A, i.e., the target vehicle mentioned later). Specifically, the method for controlling a vehicle can be applied to a target controller in the vehicle. The target controller is any one of a vehicle controller and a body domain controller. The body domain controller is used to control various vehicle components in the vehicle. In the method for controlling a vehicle of the present application, the vehicle component includes a door.

[0048] For example, Figure 2 As shown, the method 200 includes:

[0049] Step 201, when the target vehicle meets a preset parking condition, the vehicle determines whether the target object on the target seat in the target vehicle has the intention to get off the vehicle, and the preset parking condition is used to indicate a non-temporary parking condition.

[0050] It should be understood that the "target vehicle" in step 201 is a vehicle whose doors can be unlocked or locked by a remote control key. The "preset parking condition" in step 201 refers to a non-temporary parking condition, that is, a long-term parking condition. In some embodiments, the preset parking condition includes that the speed of the target vehicle is zero and the engine is in a shutdown state.

[0051] In some embodiments, when it is detected that the speed of the target vehicle is not zero, the vehicle controls all doors in the target vehicle to remain locked. In some embodiments, when it is detected that the engine is not in an ignition-off state, the vehicle determines whether the gear position in the target vehicle is the parking gear; when the gear position is the parking gear, the vehicle controls all doors in the target vehicle to be converted from a locked state to an unlocked state, and the unlocked state allows the object in the target vehicle to temporarily get off; when the gear position is not the parking gear, the vehicle controls all doors in the target vehicle to remain locked.

[0052] In some embodiments, the vehicle in step 201 determines whether the target object on the target seat in the target vehicle has the intention to get off, including: when the target object unfastens the seat belt, the vehicle determines that the target object has the intention to get off; when the target object does not unfasten the seat belt, the vehicle determines whether the target object performs a preset behavior of packing items; when the target object performs the preset behavior of packing items, the vehicle determines whether the current load of the target seat changes from a first weight to a second weight, and the first weight is greater than the second weight; when the current load changes from the first weight to the second weight, the vehicle determines that the target object has the intention to get off; when the target object does not perform the preset behavior of packing items and the current load has not changed from the first weight to the second weight, the vehicle determines that the target object does not have the intention to get off.

[0053] In some embodiments, the second weight is zero.

[0054] Step 202, when the target object intends to get off the vehicle, the vehicle controls the target door corresponding to the target seat to unlock.

[0055] It should be understood that "controlling the target door corresponding to the target seat to unlock" in the above step 202 means controlling the target door to be converted from a locked state to an unlocked state so that the target object can directly open the target door when getting off the vehicle. In addition, all doors of the target vehicle are in a locked state during driving.

[0056] In one possible implementation, the vehicle in step 202 controls the target door corresponding to the target seat to unlock, including: when the target seat is a seat other than the driver's seat, the vehicle determines whether an unlock signal of the target door corresponding to the other seat is received; when an unlock signal of the target door corresponding to the other seat is received, the vehicle controls the target door corresponding to the other seat to unlock.

[0057] It should be understood that the "other seats" in the above scheme include the front passenger seat and the rear seat, or the front passenger seat, the middle row seat and the rear seat, which mainly depends on the model of the target vehicle. Correspondingly, when the other seats include the front passenger seat and the rear seat, the target doors corresponding to the other seats include the front passenger door and the rear door; when the other seats include the front passenger seat, the middle row seat and the rear seat, the target doors corresponding to the other seats include the front passenger door, the middle row door and the rear door. In some embodiments, for a four-door vehicle, the four-door vehicle includes a main driver's seat, a front passenger seat, a rear left seat and a rear right seat, and correspondingly, the target door corresponding to the main driver's seat is the main driver's door, the target door corresponding to the front passenger seat is the front passenger door, the target door corresponding to the rear left seat is the left rear door, and the target door corresponding to the rear right seat is the right rear door, wherein the other seats include the front passenger seat, the rear left seat and the rear right seat.

[0058] It should also be understood that the "unlock signal of the target doors corresponding to other seats" in the above scheme includes the signal for unlocking the target doors corresponding to other seats output by the remote control key, or the signal for unlocking the target doors corresponding to other seats output by pressing the unlock button on the center console in the target vehicle.

[0059] In the above technical solution, when the target seat is other seats other than the main driver's seat, if the unlocking signal of the target door corresponding to the other seat is received, the target door corresponding to the other seat is controlled to be unlocked, allowing the target door corresponding to the other seat to be further opened. In this way, it is possible to avoid accidents such as collisions when the target object sitting on the other seat is a minor. Therefore, the method can improve the safety of vehicle users on other seats getting off the vehicle.

[0060] In one possible implementation, step 202 includes: when the target object intends to get off the vehicle, the vehicle determines whether the current load on the target seat is greater than a preset weight, which is the average weight of an adult; when the current load is greater than the preset weight, the vehicle controls the target door corresponding to the target seat to unlock.

[0061] It should be understood that the "current load on the target seat" in the above solution can be regarded as the weight of the target object. In the above solution, the current load on the target seat is greater than the average weight of an adult, which indirectly reflects that the target object is an adult.

[0062] In the above technical solution, when the target object intends to get off the vehicle, if the current load on the target seat is greater than the preset weight, it can indirectly reflect that the target object is an adult. Only when the current load is greater than the preset weight, the target door corresponding to the target seat is controlled to be unlocked. In other words, when an adult is sitting on the target seat and the adult intends to get off the vehicle, the vehicle automatically unlocks the target door corresponding to the target seat. This can improve the convenience of the process of adults getting off the vehicle when they intend to get off the vehicle, and improve the vehicle user experience.

[0063] In some embodiments, a pressure sensor is installed under the target seat, and the method for determining the current load on the target seat includes: the vehicle detects the current load through the pressure sensor.

[0064] In one possible implementation, when the current load is greater than the preset weight, the vehicle controls the target door corresponding to the target seat to unlock, including: when the current load is greater than the preset weight, the vehicle determines the leg length of the target object; the vehicle determines whether the leg length is greater than the target length, the target length being the distance between the chassis of the target vehicle and the ground; when the leg length is greater than the target length, the vehicle controls the target door corresponding to the target seat to unlock.

[0065] It should be understood that the "leg length of the target subject" in the above scheme refers to the straight-line distance from the hip joint (thigh root) to the ankle.

[0066] In the above technical solution, when the side reflects that the target object is an adult, the vehicle determines the leg length of the target object. When the leg length is greater than the distance between the chassis of the target vehicle and the ground, it indicates that the sole of the target object's foot can directly touch the ground when getting off the vehicle without the help of other external forces. At this time, the target door corresponding to the target seat is controlled to unlock. In other words, when the target object is an adult and can get off the vehicle smoothly without the help of other external forces, the vehicle automatically unlocks the target door. This can improve the safety of adults getting off the vehicle when they intend to get off the vehicle, and improve the vehicle user experience.

[0067] In some embodiments, the vehicle determines the leg length of the target object, including: the vehicle determines the contact area between the target object's legs and the target seat when the target object sits on the target seat based on a pressure sensor under the target seat; the vehicle determines a first position of the hip joint based on the contact area and the target position of the target seat in a world coordinate system; the vehicle detects a second position of the target object's knee joint and a third position of the ankle through a radar sensor in the target vehicle; the vehicle converts the second position and the third position into a fourth position and a fifth position in the world coordinate system; the vehicle determines a first distance based on the first position and the fourth position, and determines a second distance based on the fourth position and the fifth position; the vehicle determines the sum of the first distance and the second distance as the leg length.

[0068] It should be understood that in the above scheme, the "first position", "fourth position" and "fifth position" are positions in the world coordinate system, which can be represented by three-dimensional world coordinates. The "second position" and "third position" are positions in the radar coordinate system, which can be represented by two-dimensional radar coordinates.

[0069] In some embodiments, the vehicle determines the first position of the hip joint based on the contact area and the target position of the target seat in the world coordinate system, including: the vehicle determines the projection position of the hip joint on the contact area based on the contour line of the contact area; the vehicle determines the first position based on the position of the projection position relative to the target seat and the target position.

[0070] Figure 3 It is a schematic diagram for determining a first position of a hip joint provided in an embodiment of the present application.

[0071] For example, Figure 3 As shown, the left figure is a side view of the target seat, and the right figure is a top view of the target seat. When the target object sits in the target seat, he can sit in the position indicated by a in the side view. After the target object is seated, there will be a contact area between the target object and the target seat, such as the area indicated by b in the top view. Based on the contour line of the contact area, the vehicle determines the projection position of the hip joint on the contact area, that is, the position indicated by c. Furthermore, the vehicle determines the first position of the hip joint based on the position of the projection position relative to the target seat and the target position of the target seat in the world coordinate system. Among them, the first position is the position in the world coordinate system.

[0072] In some embodiments, after the vehicle determines whether the leg length is greater than the target length, the method 200 also includes: when the leg length is less than or equal to the target length, the vehicle determines whether there is an obstacle outside the target door corresponding to the target seat; when there is no obstacle outside the target door corresponding to the target seat, the vehicle controls the foot pedal under the target door corresponding to the target seat outside the target vehicle to extend, and controls the target door corresponding to the target seat to unlock.

[0073] It should be understood that "there is no obstacle outside the target door corresponding to the target seat" in the above solution means that there is no obstacle outside the target vehicle and in the area corresponding to the target door corresponding to the target seat, and the target object will not collide with the obstacle during the process of getting off the vehicle, and will not cause a traffic accident. The obstacle can be a moving vehicle in front of or behind the target vehicle or a pedestrian around the target vehicle.

[0074] In one possible implementation, the method 200 also includes: when the current load is less than or equal to the preset weight, the vehicle obtains an upper body image of the target object through a vehicle-mounted camera; the vehicle determines the age group of the target object based on the upper body image; when the age group indicates that the target object is an adult, the vehicle controls the target door corresponding to the target seat to unlock.

[0075] It should be understood that the "upper body image of the target object" in the above scheme refers to the image of the body part (upper body) above the upper limbs of the target object from a visual perspective. It should also be understood that in order to make the upper body image completely include the upper body of the target object, this method has requirements for the location and shooting angle of the vehicle-mounted camera. In some embodiments, the vehicle-mounted camera is installed in front of the target seat inside the target vehicle, and the shooting angle of the vehicle-mounted camera is greater than a°, and the shooting angle is related to the width of the target seat.

[0076] It should also be understood that, generally, users' age groups can be divided into five age groups, including the first age group (0-6 years old), i.e. childhood, the second age group (7-17 years old), i.e. adolescence, the third age group (18-40 years old), i.e. youth, the fourth age group (41-65 years old), i.e. middle age, and the fifth age group (after 66 years old), i.e. old age.

[0077] It should also be understood that when the age group includes any one of the third age group, the fourth age group and the fifth age group mentioned above, the target object is an adult.

[0078] In the above technical solution, the weight of some adults is less than the average weight of adults, that is, the current load is less than or equal to the preset weight. For the above situation, the method obtains the upper body image of the target object through the vehicle-mounted camera; and based on the upper body image, determines the age group of the target object. In this way, it is possible to clearly and accurately determine whether the target object is an adult. Furthermore, when the age group indicates that the target object is an adult, the target door corresponding to the target seat is controlled to unlock. Therefore, the method can exclude the situation where the target door is automatically unlocked when the person is not an adult. In addition, it can also improve the convenience of the process of getting off the vehicle when a real adult intends to get off the vehicle, thereby improving the vehicle user experience.

[0079] In one possible implementation, the vehicle determines the age group of the target object based on the upper body image, including: the vehicle determines the facial image of the target object from the upper body image; the vehicle performs feature extraction on the facial image to obtain facial features, and the facial features include spot features, skin color features, sagging features, and wrinkle features on the target object's face; the vehicle identifies the age group of the target object based on the facial features; or, the vehicle performs feature extraction on the upper body image to obtain clothing features, and the clothing features include color features and style features of the clothing; the vehicle identifies the age group of the target object based on the clothing features.

[0080] It should be understood that users of different age groups have different facial features. The younger the age, the fewer spots on the face, the more pink and shiny the skin color, the less sagging, and the fewer wrinkles. Users of different age groups have different characteristics of clothing. The younger the age, the brighter and more lively the color of the clothing, and the more fashionable, bold, and personalized the style of the clothing.

[0081] In the above technical scheme, the age group of the target object is determined based on the upper body image of the target object in two ways. Specifically, the age group of the target object is determined by facial features, that is, the spot features, skin color features, sagging features and wrinkle features on the face of the target object. This is because the facial features of users of different age groups are different. For example, the younger the age, the fewer spots on the face, the more tender and shiny the skin color, the smaller the sagging degree, and the fewer wrinkles. Alternatively, the age group of the target object is also inferred by the clothing features of the top worn by the target object, that is, the color features and style features of the clothing. This is because the characteristics of the clothing worn by users of different age groups are different. For example, the younger the age, the brighter and more lively the color of the clothing, and the more fashionable, bold and personalized the style of the clothing. Therefore, the method can more accurately determine the age group of the target object in a variety of ways.

[0082] In some embodiments, the vehicle determines a facial image from the upper torso image, including: the vehicle determines a plurality of facial key points in the upper torso image, the plurality of facial key points including eyes, eyebrows, nose and chin; the vehicle predicts a facial region in the upper torso image based on the plurality of facial key points; the vehicle crops out the facial region in the upper torso image, and determines the facial region as the facial image.

[0083] In some embodiments, the vehicle predicts a facial area in the upper torso image based on the multiple facial key points, including: the vehicle marks the multiple facial key points in the upper torso image; the vehicle determines an upper boundary of the facial area based on positions of two eyebrows among the multiple facial key points in the upper torso image and a first vertical distance between the eyebrows and the hairline of the forehead; the vehicle determines a left boundary and a right boundary of the facial area based on two eyes, a nose, a second vertical distance between the eyes and the hairline of the temples, and a third vertical distance between the nose and the hairline of the temples among the multiple facial key points; the vehicle determines a lower boundary of the facial area based on a contour line of the chin among the multiple facial key points; the vehicle determines the facial area in the upper torso image based on the upper boundary, the left boundary, the right boundary, and the lower boundary.

[0084] It should be understood that in the above scheme, "the first vertical distance between the eyebrows and the forehead hairline" refers to the shortest distance between the eyebrows and the forehead hairline in the predicted upper body image, that is, the vertical distance. "The second vertical distance between the human eyes and the temple hairline" refers to the shortest distance between the eyes and the temple hairline in the predicted upper body image, that is, the vertical distance. "The third vertical distance between the nose and the temple hairline" refers to the shortest distance between the nose and the temple hairline in the predicted upper body image, that is, the vertical distance. Among them, the left eyebrow is not distinguished from the right eyebrow, and the left eye is not distinguished from the right eye.

[0085] In some embodiments, a method for determining a first vertical distance between the eyebrows and the forehead hairline includes: a vehicle obtains the resolution, image size, vertical distance between the eyebrows and the forehead hairline in each sample facial image, and the resolution and image size of the upper body image of each sample facial image in multiple sample facial images; the vehicle determines from the multiple sample facial images multiple candidate facial images that match the resolution and image size of the upper body image; the vehicle averages the vertical distances between the eyebrows and the forehead hairline in the multiple candidate facial images to obtain the first vertical distance.

[0086] It should be understood that the "resolution of the image" in the above solution refers to the density of pixels in the image, which is usually expressed in pixels per centimeter. Resolution is used to determine the clarity of the image. The higher the resolution, the more pixels are contained in the image, and the richer the details of the image. The "image size of the image" refers to the actual physical size of the image, usually in inches or centimeters.

[0087] It should also be understood that the method for determining the "second vertical distance from the human eye to the hairline at the temples" and the method for determining the "third vertical distance from the nose to the hairline at the temples" in the above scheme are based on the same principles as the method for determining the "first vertical distance from the eyebrow to the hairline at the forehead", and will not be repeated here.

[0088] In some embodiments, after the vehicle determines the age group of the target object, the method 200 also includes: when the age group indicates that the target object is not an adult, the vehicle determines whether an unlock signal of the target door corresponding to the target seat is received; when an unlock signal of the target door corresponding to the target seat is received, the vehicle controls the target door corresponding to the target seat to unlock.

[0089] Step 203 , after the target object gets off the vehicle and closes the target door, upon receiving a locking signal from the target door, the vehicle controls the target door to be locked.

[0090] It should be understood that “controlling the target door to be locked” in the above step 203 refers to controlling the target door to be converted from a closed state to a locked state.

[0091] It should also be understood that the "target door locking signal" in the above step 203 is a signal output remotely by the remote control key to lock the target door corresponding to the target seat.

[0092] In some embodiments, the target seat in steps 201 to 203 is a driver's seat.

[0093] In one possible implementation, after the vehicle in step 203 controls the target door to lock, the method 200 also includes: the vehicle detects whether all doors in the target vehicle are successfully locked; when all doors are successfully locked, the vehicle outputs a first reminder message, and the first reminder message is used to remind that all doors are safely locked; when all doors are not successfully locked, the vehicle outputs a first warning message, and the first warning message is used to warn that at least one of all doors is not successfully locked.

[0094] In the above technical solution, after controlling the target door to lock, the vehicle in the method detects whether all doors in the target vehicle are successfully locked. When all doors are successfully locked, the vehicle outputs a first reminder message. This can remind the target object that all doors are safely locked, allowing the target object to safely leave the target vehicle and improve the target object's vehicle experience. When all doors are not successfully locked, the vehicle outputs a first warning message. This can remind the target object that at least one door is not successfully locked, allowing the target object to return to the vicinity of the target vehicle and lock all doors again. This can significantly improve the safety of property in the vehicle and reduce the risk of theft.

[0095] In some embodiments, when all the doors are successfully locked, the vehicle outputs a first reminder message, including any one of the following: when all the doors are successfully locked, the vehicle outputs the first reminder message by voice; when all the doors are successfully locked, the vehicle sends the first reminder message to a target terminal, which is a terminal with control authority over the target vehicle; when all the doors are successfully locked, the vehicle controls the headlights to flash at a first flashing rate to output the first reminder message; when all the doors are successfully locked, the vehicle controls the horn in the target vehicle to sound a first preset number of times within a preset time to output the first reminder message.

[0096] It should be understood that among the multiple reminder methods mentioned in the above scheme, the first one, "outputting the first reminder information by voice", can enable the target object to obtain the first reminder information that all doors are successfully locked at a location close to the target vehicle. The second one, "sending the first reminder information to the target terminal", can enable the target object to obtain the first reminder information that all doors are successfully locked at any location. The third one, "flashing the lights at a first flashing rate", can enable the target object to obtain the first reminder information that all doors are successfully locked at night or in a dark scene. The fourth one, "the horn emits a first preset number of sounds within a preset time" can enable the target object to obtain the first reminder information that all doors are successfully locked at a location far away from the target vehicle.

[0097] In some embodiments, when all the vehicle doors are not locked successfully, the vehicle outputs a first warning message, including any one of the following: when all the vehicle doors are not locked successfully, the vehicle outputs the first warning message by voice; when all the vehicle doors are not locked successfully, the vehicle sends the first warning message to the target terminal; when all the vehicle doors are not locked successfully, the vehicle controls the headlights to flash at a second flashing rate to output the first warning message, and the second flashing rate is greater than the first flashing rate; when all the vehicle doors are not locked successfully, the vehicle controls the horn to emit a second preset number of sounds within the preset time length to output the first warning message, and the second preset number of sounds is greater than the first preset number of sounds.

[0098] It should be understood that the understanding of the various warning methods mentioned in the above scheme is the same as the understanding of the various reminder methods mentioned in the aforementioned scheme. Please refer to the understanding process of the four reminder methods mentioned in the aforementioned scheme, and no further details will be given here.

[0099] In one possible implementation, the method 200 also includes: in the case where the locking signal of the target door is not received, the vehicle detects whether there is a first object for performing a preset picking behavior inside the target vehicle; in the case where there is a first object for performing a preset picking behavior inside the target vehicle, the vehicle determines whether the first object is the target object; in the case where the first object is not the target object, the vehicle determines the degree of association between the first object and the target object, and the degree of association is used to quantify the relationship between the first object and the target object; in the case where the degree of association is less than the preset degree, the vehicle outputs a second warning information, and the second warning information is used to warn that there is a safety hazard inside the target vehicle.

[0100] It should be understood that the "preset picking behavior" in the above solution is a behavior obtained through a simulation experiment of multiple subjects picking up things in multiple test vehicles. The multiple test vehicles include the model corresponding to the target vehicle, and the preset picking behavior includes multiple behaviors.

[0101] In the above technical solution, if the locking signal of the target door is not received, it indicates that the target door can be opened by any user, which may lead to the risk of theft of property in the vehicle. For the above situation, the vehicle in the method detects whether there is a first object for performing a preset taking action inside the target vehicle, and when there is a first object for performing a preset taking action, further determines whether the first object is the target object. In other words, the identity of the first object is determined. When the first object is not the target object, the relationship between the first object and the target object, that is, the degree of association, is determined. When the degree of association is small, that is, for the target object, the first object is not an acquaintance, the second early warning information is output. This can remind the target object that the property inside the current target vehicle may be stolen, and the target object can take countermeasures in time. This method can minimize the risk of property theft in the vehicle.

[0102] In some embodiments, the method 200 also includes: when it is detected that there is no first object for performing a preset picking behavior inside the target vehicle, or, when the first object is the target object, or, when the degree of association is greater than the preset degree, the vehicle outputs a second reminder message, and the second reminder message is used to remind that the target door is not locked.

[0103] In some embodiments, the vehicle determines the degree of association between the first object and the target object, including any one of the following: the vehicle determines the degree of association as the similarity between the facial image and the facial image based on the facial image of the first object and the facial image of the target object; the vehicle determines the degree of association based on a first number of times the first object uses the target vehicle and a second number of times the target object uses the target vehicle.

[0104] It should be understood that the target vehicle can determine the number of times the target vehicle is used by the target vehicle by collecting a facial image (face image) of the user (a certain object) once during a trip. For private vehicles, the time the target vehicle takes during a trip is usually long, and the target vehicle inevitably collects the facial image of the target vehicle during the interaction between the target vehicle and the target vehicle; for passenger vehicles, in order to ensure the driving safety of passengers (objects), the target vehicle will collect the facial image of the target vehicle after the target vehicle is seated during a trip. Therefore, the "first number" and "second number" in the above scheme can be determined by collecting a facial image (face image) of the user (a certain object) once during a trip.

[0105] In some embodiments, the vehicle determines the degree of association based on a first number of times the first object uses the target vehicle and a second number of times the target object uses the target vehicle, including any of the following: the vehicle determines the ratio between the first number and the second number as the degree of association; when the first number is different from the second number, the vehicle determines the difference between the second number and the first number, and determines the ratio between the difference and the second number as the degree of association.

[0106] In some embodiments, when the degree of association is less than a preset degree, the vehicle outputs a second warning message, including any one of the following: when the degree of association is less than a preset degree, the vehicle outputs the second warning message by voice; when the degree of association is less than a preset degree, the vehicle sends the second warning message to the target terminal; when the degree of association is less than a preset degree, the vehicle controls the headlights to flash at a third flashing rate to output the second warning message, and the third flashing rate is greater than the second flashing rate; when the degree of association is less than a preset degree, the vehicle controls the horn to emit a third preset number of sounds within the preset time length to output the second warning message, and the third preset number of sounds is greater than the second preset number of sounds.

[0107] It should be understood that the first flashing rate is used for the process of the headlights reminding the target object when all doors in the target vehicle are securely locked (scenario one); the second flashing rate is used for the process of the headlights reminding the target object when at least one of all doors in the target vehicle is not successfully locked (scenario two); the third flashing rate is used for the process of the headlights reminding the target object when the locking signal of the target door is not received and there is a thief in the target vehicle who performs a preset taking behavior (scenario three). For the above three scenarios, scenario three poses the greatest threat to the property safety of the target vehicle, followed by scenario two, and finally scenario one. Therefore, the third flashing rate in the above scheme is greater than the second flashing rate, and the second flashing rate is greater than the first flashing rate. Similarly, the third preset number of times in the above scheme is greater than the second preset number of times, and the second preset number of times is greater than the first preset number of times.

[0108] It should also be understood that the understanding of the various warning methods mentioned in the above scheme is the same as the understanding of the various warning methods mentioned in the aforementioned scheme. Please refer to the understanding process of the four warning methods mentioned in the aforementioned scheme, and no further details will be given here.

[0109] Figure 4 It is a system framework diagram for controlling a vehicle provided in an embodiment of the present application.

[0110] For example, Figure 4As shown, the target vehicle includes multiple systems, including an algorithm system, a sensor system, a voice system, a door system, a controller system, a storage system, and a lighting system. Among them, multiple sensors in the sensor system detect various sensor signals and send them to the algorithm system. The multiple sensors include pressure sensors, which can be used to detect whether the target object on the target seat has the intention to get off the vehicle, and sensors for detecting whether the locking signal of the target door is received after the target object gets off the vehicle and closes the target door; the algorithm system receives various sensor signals, processes various sensor signals, and triggers different control instructions, which include unlocking control instructions for the target door corresponding to the target seat when the target object has the intention to get off the vehicle, locking control instructions for the target door when the locking signal of the target door is received, and alarm control instructions when the thief steals things in the target vehicle when the locking signal of the target door is not received; the voice system receives the alarm control instruction and reminds the target object by voice; the door system receives the control instruction and unlocks or locks the target door; the controller system receives the control instruction output by the algorithm system and controls various vehicle components; the storage system stores various sensor signals of a certain time limit; the light system receives the alarm control instruction and controls the light to flash to remind the target object.

[0111] Figure 5 It is a logic diagram of a method for controlling a vehicle provided in an embodiment of the present application.

[0112] For example, Figure 5As shown, during the driving process of the target vehicle, the vehicle (target vehicle) detects the speed of the target vehicle, and when the speed is zero, the vehicle determines whether the engine is turned off. When the engine is turned off, the vehicle determines whether the target object on the target seat in the target vehicle has the intention to get off. When the target object has the intention to get off, the vehicle controls the target door corresponding to the target seat to unlock. After the target object gets off and closes the target door, the vehicle determines whether the locking signal of the target door is received, and when the locking signal of the target door is received, the target door is controlled to lock. When the speed is not zero, the vehicle controls all doors to remain locked. When the engine is not turned off, the vehicle determines whether the gear is the parking gear, and when the gear is the parking gear, the vehicle controls all doors to unlock (i.e., convert to the unlocked state), and when the gear is not the parking gear, the vehicle controls all doors to remain locked. When the locking signal of the target door is not received, the vehicle determines whether there is a first object for performing a preset picking behavior inside the target vehicle. When there is a first object for performing a preset taking action inside the target vehicle, the vehicle determines whether the first object is a target object. When the first object is not a target object, the vehicle determines the degree of association between the first object and the target object. When the degree of association is less than a preset degree, the vehicle outputs a second warning message to warn that there is a safety hazard inside the target vehicle. When there is no first object for performing a preset taking action inside the target vehicle, or the first object is a target object, or the degree of association is greater than or equal to a preset degree, the vehicle outputs a second reminder message to remind the target vehicle door that it is not locked.

[0113] Figure 6 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0114] For example, Figure 6 As shown, the device 600 includes:

[0115] A determination module 601 is used to determine whether a target object on a target seat in the target vehicle has an intention to get off the vehicle when the target vehicle satisfies a preset parking condition, wherein the preset parking condition is used to indicate a condition for non-temporary parking;

[0116] The control module 602 is used to:

[0117] When the target object intends to get off the vehicle, controlling the target door corresponding to the target seat to unlock;

[0118] After the target object gets off the vehicle and closes the target door, the target door is controlled to be locked when a locking signal of the target door is received.

[0119] Optionally, the determination module 601 is specifically used to determine whether an unlocking signal of a target door corresponding to the other seat is received when the target seat is a seat other than the driver's seat; the control module 602 is specifically used to control the unlocking of the target door corresponding to the other seat when an unlocking signal of the target door corresponding to the other seat is received.

[0120] Optionally, the determination module 601 is further specifically used to determine whether the current load on the target seat is greater than a preset weight when the target object intends to get off the vehicle, and the preset weight is the average weight of an adult; the control module 602 is further specifically used to control the target door corresponding to the target seat to unlock when the current load is greater than the preset weight.

[0121] Optionally, the device 600 also includes: an acquisition module, used to acquire the upper body image of the target object through a vehicle-mounted camera when the current load is less than or equal to the preset weight; the determination module 601, also used to determine the age group of the target object based on the upper body image; the control module 602, also used to control the unlocking of the target door corresponding to the target seat when the age group indicates that the target object is an adult.

[0122] Optionally, the determination module 601 is further used to: determine the facial image of the target object from the upper body image; perform feature extraction on the facial image to obtain facial features, which include spot features, skin color features, sagging features and wrinkle features on the target object's face; based on the facial features, identify the age group of the target object; or, perform feature extraction on the upper body image to obtain clothing features, which include color features and style features of clothing; based on the clothing features, identify the age group of the target object.

[0123] Optionally, the determination module 601 is further specifically used to: determine the leg length of the target object when the current load is greater than the preset weight; determine whether the leg length is greater than a target length, the target length being the distance between the chassis of the target vehicle and the ground; the control module 602 is further specifically used to control the unlocking of the target door corresponding to the target seat when the leg length is greater than the target length.

[0124] Optionally, after controlling the target vehicle door to be locked, the device 600 further includes: a detection module, used to detect whether all the doors in the target vehicle are successfully locked; the device 600 further includes: an output module, used to: when all the doors are successfully locked, output a first reminder message, the first reminder message is used to remind that all the doors are safely locked; when all the doors are not successfully locked, output a first warning message, the first warning message is used to warn that at least one of all the doors is not successfully locked.

[0125] Optionally, the detection module is further used to detect whether there is a first object for performing a preset picking behavior inside the target vehicle when the locking signal of the target door is not received; the determination module 601 is further used to: when there is a first object for performing a preset picking behavior inside the target vehicle, determine whether the first object is the target object; when the first object is not the target object, determine the degree of association between the first object and the target object, and the degree of association is used to quantify the relationship between the first object and the target object; the output module is further used to output a second warning message when the degree of association is less than a preset degree, and the second warning message is used to warn that there is a safety hazard inside the target vehicle.

[0126] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0127] For example, Figure 7 As shown, the vehicle 700 includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 703, and the processor 702 is used to call and execute the executable program code 703 to perform a method for controlling a vehicle.

[0128] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling a vehicle provided in an embodiment of the present application.

[0129] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0130] In the case of dividing each functional module according to each function, the device may also include a determination module, a control module, an acquisition module, a detection module, an output module, etc. It should be noted that all relevant contents involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0131] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0132] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related executable program codes, etc.

[0133] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0134] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0135] This embodiment also provides a computer-readable storage medium, in which an executable program code is stored. When the executable program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0136] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0137] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0138] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0139] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: In the case where the target vehicle satisfies a preset parking condition, determining whether a target object on a target seat in the target vehicle has an intention to get off the vehicle, wherein the preset parking condition is used to indicate a condition for non-temporary parking; When the target object intends to get off the vehicle, controlling the target door corresponding to the target seat to unlock; After the target object gets off the vehicle and closes the target door, upon receiving a locking signal of the target door, the target door is controlled to be locked.

2. The method according to claim 1, characterized in that The controlling the target door corresponding to the target seat to be unlocked comprises: In the case where the target seat is a seat other than the driver's seat, determining whether an unlocking signal of a target door corresponding to the other seat is received; When an unlocking signal of the target door corresponding to the other seat is received, the target door corresponding to the other seat is controlled to be unlocked.

3. The method according to claim 1, characterized in that When the target object intends to get off the vehicle, controlling the target door corresponding to the target seat to unlock includes: In the case where the target object intends to get off the vehicle, determining whether the current load on the target seat is greater than a preset weight, the preset weight being the average weight of an adult; When the current load is greater than the preset weight, the target door corresponding to the target seat is controlled to be unlocked.

4. The method according to claim 3, characterized in that The method further comprises: When the current load is less than or equal to the preset weight, acquiring an upper body image of the target object through a vehicle-mounted camera; Determining the age group of the target object based on the upper body image; When the age group indicates that the target object is an adult, the target door corresponding to the target seat is controlled to be unlocked.

5. The method according to claim 4, characterized in that The step of determining the age group of the target object based on the upper body image includes: determining a facial image of the target object from the upper body image; Extracting features from the facial image to obtain facial features, wherein the facial features include spot features, skin color features, sagging features, and wrinkle features on the face of the target object; Based on the facial features, identifying the age group of the target object; or, Extracting features from the upper body image to obtain clothing features, wherein the clothing features include color features and style features of the clothing; Based on the clothing features, the age group of the target object is identified.

6. The method according to claim 3, characterized in that When the current load is greater than the preset weight, controlling the target door corresponding to the target seat to be unlocked includes: In a case where the current load is greater than the preset weight, determining the leg length of the target object; Determining whether the leg length is greater than a target length, the target length being the distance between a chassis of the target vehicle and the ground; When the leg length is greater than the target length, the target door corresponding to the target seat is controlled to be unlocked.

7. The method according to claim 1, characterized in that After controlling the target door to be locked, the method further includes: Detecting whether all doors in the target vehicle are successfully locked; When all the vehicle doors are successfully locked, outputting a first reminder message, wherein the first reminder message is used to remind that all the vehicle doors have been safely locked; In the case that all the vehicle doors are not locked successfully, a first warning message is output, where the first warning message is used to warn that at least one of all the vehicle doors is not locked successfully.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: In the case where a locking signal of the target vehicle door is not received, detecting whether there is a first object for performing a preset taking action inside the target vehicle; In the case where there is a first object for performing a preset picking behavior inside the target vehicle, determining whether the first object is the target object; In a case where the first object is not the target object, determining a degree of association between the first object and the target object, the degree of association being used to quantify a relationship between the first object and the target object; When the correlation degree is less than a preset degree, a second warning information is output, where the second warning information is used to warn that there is a potential safety hazard inside the target vehicle.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores executable program codes, and when the executable program codes are executed, the method according to any one of claims 1 to 8 is implemented.

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