Vehicle control method and device

Abstract

The invention discloses a vehicle control method and device, and belongs to the technical field of automobile safety. The invention provides a vehicle control scheme based on wireless communication signal perception. According to the scheme, the sentry mode can be activated or closed by monitoring the wireless communication signal, namely the activation of the sentry mode needs to meet a certain activation condition. In detail, after parking, wireless communication signal monitoring is firstly carried out, and the dynamic environment around the vehicle is preliminarily detected based on a distance measurement mode of an RSSI value. Afterwards, according to the scheme, whether to switch to a more accurate distance measurement mode based on channel detection or not is judged based on the intensity change of the wireless communication signal and the preliminarily measured distance. And if the range finding mode based on channel detection completes range finding, the activation condition of the sentry mode is determined to be satisfied at present, the sentry mode is activated, the scheme realizes that the sentry mode is activated when necessary, the monitoring cost is effectively reduced, and the power consumption of the vehicle is low.

Description

Technical Field

[0001] The present application relates to the field of automobile safety technology, and in particular to a vehicle control method and device. Background Art

[0002] With the continuous technological iteration of new energy vehicles, in order to solve the parking safety problem of new energy vehicles, sentinel mode is widely used in new energy vehicles. Among them, sentinel mode means that the vehicle can sense and record dangerous factors around the vehicle and accidents such as collisions or scratches that occur in the vehicle through the perception system (such as sensors and cameras installed on the vehicle), and then provide users with traceable proof. However, at present, the sentinel mode is turned on after the vehicle is parked, that is, the camera and sensors will be in a state of continuous working after parking, and the vehicle power consumption is relatively large. Summary of the invention

[0003] The embodiment of the present application provides a vehicle control method and device. The technical solution is as follows:

[0004] In one aspect, a vehicle control method is provided, the method comprising:

[0005] When the vehicle is in a parked state, wireless communication signal monitoring is performed, and a first distance between the vehicle and the target object is determined according to an RSSI (Received Signal Strength Indication) value obtained; wherein the RSSI value is used to measure the strength of the received wireless communication signal;

[0006] If the RSSI value obtained gradually increases and the first distance is less than a first threshold, determining a second distance between the vehicle and the target object according to a first duration; wherein the first duration refers to the time required for the vehicle and the target object to exchange data packets via a wireless communication channel;

[0007] If the category of the target object is a preset category and the second distance is less than a second threshold and the distance between the target object and the vehicle continues to decrease, controlling the vehicle to enter a safety warning mode;

[0008] Wherein, in the safety warning mode, the target component of the vehicle is in working state, and the target component is at least one of a camera or a sensor.

[0009] In some embodiments, controlling the vehicle to enter a safety warning mode includes:

[0010] Starting the target component and acquiring data collected by the target component;

[0011] Determine the motion characteristics of the target object according to the data collected by the target component; wherein the motion characteristics include at least one of motion speed, motion trajectory or motion trend;

[0012] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, the vehicle is controlled to issue an alarm.

[0013] In some other embodiments, the method further comprises:

[0014] Acquiring the parking position and parking environment of the vehicle;

[0015] If the ambient brightness in the parking environment is less than a brightness threshold, the exterior lighting assembly of the vehicle is started, and according to the safety risk level corresponding to the parking position, a camera installed at a target position on the vehicle is controlled to collect data.

[0016] In some other embodiments, the method further comprises:

[0017] Obtaining a parking position of the vehicle;

[0018] According to the obstacle situation at the parking position, controlling the target type sensor on the vehicle to collect data;

[0019] The obstacle condition includes at least one of the position of the obstacle relative to the vehicle, the obstacle type or the obstacle volume.

[0020] In other embodiments, if it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, controlling the vehicle to issue an alarm includes at least one of the following:

[0021] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, controlling the vehicle to output a voice warning and controlling the external light components of the vehicle to flash;

[0022] If it is determined that the vehicle has a safety risk based on the movement characteristics of the target object, the vehicle is controlled to send an alarm notification to the target terminal; wherein the alarm notification carries multimedia resources for indicating that the vehicle has a safety risk.

[0023] In some other embodiments, determining the second distance between the vehicle and the target object according to the first duration includes:

[0024] When the vehicle is used as the initiator and the target object is used as the reflector, the round trip time of the encrypted data packet is obtained; wherein the round trip time refers to the time required for the initiator to receive the encrypted data packet returned by the reflector after the initiator sends the encrypted data packet to the reflector;

[0025] The first duration is determined according to the round-trip time, and the second distance is determined according to the first duration and the speed of light.

[0026] In some other embodiments, determining the first duration according to the round-trip time includes:

[0027] Determine the first duration according to the round-trip time and the second duration;

[0028] The second duration refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator.

[0029] In some other embodiments, after controlling the vehicle to enter the safety warning mode, the method further includes:

[0030] If it is determined based on the currently acquired first duration that the current second distance is greater than the second threshold, and the duration reaches the third threshold, the target component is controlled to be turned off.

[0031] In some other embodiments, after controlling the vehicle to enter the safety warning mode, the method further includes:

[0032] If it is determined based on the currently acquired first duration that the current second distance is greater than the fourth threshold, and the duration reaches the fifth threshold, a step of determining the first distance between the vehicle and the target object based on the acquired RSSI value is executed.

[0033] In another aspect, a vehicle control device is provided, the device comprising:

[0034] A first determination module is configured to monitor the wireless communication signal when the vehicle is in a parked state, and determine a first distance between the vehicle and the target object according to the acquired RSSI value; wherein the RSSI value is used to measure the strength of the received wireless communication signal;

[0035] A second determination module is configured to determine a second distance between the vehicle and the target object according to a first duration if the acquired RSSI value gradually increases and the first distance is less than a first threshold; wherein the first duration refers to a time required for the vehicle and the target object to exchange data packets via a wireless communication channel;

[0036] a control module configured to control the vehicle to enter a safety warning mode if the category of the target object is a preset category and the second distance is less than a second threshold and the distance between the target object and the vehicle continues to decrease;

[0037] Wherein, in the safety warning mode, the target component of the vehicle is in working state, and the target component is at least one of a camera or a sensor.

[0038] In some embodiments, the control module is configured to:

[0039] Starting the target component and acquiring data collected by the target component;

[0040] Determine the motion characteristics of the target object according to the data collected by the target component; wherein the motion characteristics include at least one of motion speed, motion trajectory or motion trend;

[0041] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, the vehicle is controlled to issue an alarm.

[0042] In some other embodiments, the control module is further configured to:

[0043] Acquiring the parking position and parking environment of the vehicle;

[0044] If the ambient brightness in the parking environment is less than a brightness threshold, the exterior lighting assembly of the vehicle is started, and according to the safety risk level corresponding to the parking position, a camera installed at a target position on the vehicle is controlled to collect data.

[0045] In some other embodiments, the control module is further configured to:

[0046] Obtaining a parking position of the vehicle;

[0047] According to the obstacle situation at the parking position, controlling the target type sensor on the vehicle to collect data;

[0048] The obstacle condition includes at least one of the position of the obstacle relative to the vehicle, the obstacle type or the obstacle volume.

[0049] In some other embodiments, the control module is configured to perform at least one of the following:

[0050] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, controlling the vehicle to output a voice warning and controlling the external light components of the vehicle to flash;

[0051] If it is determined that the vehicle has a safety risk based on the movement characteristics of the target object, the vehicle is controlled to send an alarm notification to the target terminal; wherein the alarm notification carries multimedia resources for indicating that the vehicle has a safety risk.

[0052] In some other embodiments, the second determining module is configured to:

[0053] When the vehicle is used as the initiator and the target object is used as the reflector, the round trip time of the encrypted data packet is obtained; wherein the round trip time refers to the time required for the initiator to receive the encrypted data packet returned by the reflector after the initiator sends the encrypted data packet to the reflector;

[0054] The first duration is determined according to the round-trip time, and the second distance is determined according to the first duration and the speed of light.

[0055] In some other embodiments, the second determining module is configured to:

[0056] Determine the first duration according to the round-trip time and the second duration;

[0057] The second duration refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator.

[0058] In some other embodiments, the control module is further configured to:

[0059] After the vehicle is controlled to enter the safety warning mode, if it is determined that the current second distance is greater than the second threshold value based on the currently acquired first duration, and the duration reaches a third threshold value, the target component is controlled to be turned off.

[0060] In some other embodiments, the first determining module is further configured to:

[0061] After controlling the vehicle to enter the safety warning mode, if it is determined based on the currently acquired first duration that the current second distance is greater than the fourth threshold, and the duration reaches the fifth threshold, the step of determining the first distance between the vehicle and the target object based on the acquired RSSI value is executed.

[0062] On the other hand, a vehicle is provided, the device comprising a processor and a memory, the memory storing at least one program code, the at least one program code being loaded and executed by the processor to implement the above-mentioned vehicle control method.

[0063] On the other hand, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the above-mentioned vehicle control method.

[0064] On the other hand, a computer program product or computer program is provided, which includes a computer program code, which is stored in a computer-readable storage medium, and a vehicle's processor reads the computer program code from the computer-readable storage medium, and the processor executes the computer program code, so that the vehicle executes the above-mentioned vehicle control method.

[0065] The embodiment of the present application provides a vehicle control scheme based on wireless communication signal perception. The scheme can activate or deactivate the sentinel mode by monitoring the wireless communication signal, that is, the activation of the sentinel mode needs to meet certain activation conditions. In detail, after parking, the wireless communication signal is first monitored, and the dynamic environment around the vehicle is preliminarily detected based on the ranging method of the RSSI value. After that, the scheme will determine whether to switch to a more accurate ranging method based on channel detection based on the intensity change of the wireless communication signal and the preliminarily measured distance. If the ranging method based on channel detection completes the ranging, it is determined that the activation conditions of the sentinel mode are currently met, then the sentinel mode is activated. The scheme realizes that the sentinel mode is activated only when necessary, effectively reducing the monitoring cost and the vehicle power consumption. In addition, the dual ranging method also ensures the accuracy of vehicle control. At the same time, since the camera or sensor is not in a continuous working state, it also indirectly reduces the risk of infringing on the personal privacy of others. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0067] Figure 1 It is a structural schematic diagram of a safety warning system based on wireless communication signal perception provided by an embodiment of the present application;

[0068] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0069] Figure 3 It is a workflow diagram for controlling the activation and deactivation of the sentry mode safety warning system provided in an embodiment of the present application;

[0070] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0071] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0073] In this application, the terms "first", "second", etc. are used to distinguish the same or similar items with substantially the same role and function. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there a limitation on the quantity and execution order. It should also be understood that although the following description uses the terms first, second, etc. to describe various elements, these elements should not be limited by the terms.

[0074] These terms are only used to distinguish one element from another element. For example, without departing from the scope of various examples, a first element can be referred to as a second element, and similarly, a second element can also be referred to as a first element. Both the first element and the second element can be elements, and in some cases, can be separate and different elements.

[0075] Here, at least one means one or more than one, for example, at least one element can be one element, two elements, three elements, or any other integer greater than or equal to one. And multiple means two or more than two, for example, multiple elements can be two elements, three elements, or any other integer greater than or equal to two.

[0076] The "and / or" mentioned in this article indicates 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. The character " / " generally indicates that the objects before and after are in an "or" relationship.

[0077] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards in the relevant regions.

[0078] Figure 1 Schematic diagram of a safety warning system based on wireless communication signal perception provided by an embodiment of the present application. Figure 1 The system includes: an ECU (Electronic Control Unit) 1, a wireless communication signal monitoring module 2 and a channel detection module 3 based on wireless communication signals.

[0079] As an example, the wireless communication signal in this article refers to a Bluetooth signal, which is not limited in this application. Accordingly, the wireless communication signal monitoring module 2 is a Bluetooth monitoring module (also known as a vehicle-mounted Bluetooth module), and the channel detection module 3 based on the wireless communication signal is a Bluetooth-based channel detection module.

[0080] Taking Bluetooth signals as an example, the following steps are used to introduce the functions and effects of the ECU, the Bluetooth monitoring module and the Bluetooth-based channel detection module in the embodiment of the present application.

[0081] S1. Data initialization: After the driver completes parking, the data initialization process begins, during which the Bluetooth monitoring module is activated.

[0082] This step is performed by the ECU. For example, the vehicle's sleep state and monitoring mode are controlled by the ECU. For an introduction to the monitoring mode, please refer to the following description. As an example, the embodiment of the present application initializes Bluetooth-related data, data collected by a camera, or data collected by a sensor, and the present application does not limit this.

[0083] S2. Real-time monitoring of vehicle-side data: The Bluetooth monitoring module monitors the Bluetooth signal, enters the first monitoring mode, and performs distance measurement based on the ranging method of the RSSI value to preliminarily monitor the dynamic environment around the vehicle.

[0084] As an example, the Bluetooth monitoring module complies with the Bluetooth 6.0 technical specification, which is not limited in this application. In addition, this step can determine one or more targets, that is, whether one target is approaching the vehicle or multiple targets are approaching the vehicle, it will not affect the execution of this solution.

[0085] S3, switching mode to measure the distance to the target object, at this time the Bluetooth-based channel detection module is activated and enters the second monitoring mode, that is, enters the advanced warning stage.

[0086] After entering the second monitoring mode, distance measurement is performed based on the Bluetooth channel detection method.

[0087] For any target object, when the monitored Bluetooth signal gradually strengthens and the target object enters the range of R1 meter (for example, 30 meters) from the vehicle, the Bluetooth-based channel detection module begins to measure and analyze the distance to accurately locate and identify the transmission path and characteristics of the signal, and then determine the distance between the target object and the vehicle and the signal source category (that is, the category to which the target object belongs).

[0088] As an example, when the Bluetooth-based channel detection module performs distance measurement, it uses the distance estimation method based on RTT (Round Trip Time) in the channel detection characteristics. For an introduction to RTT, please refer to the following description.

[0089] S4, Sentry mode activation: When the signal source category meets the preset category, and the measured distance is less than the set threshold (such as 5 meters), and the distance between the target object and the vehicle continues to decrease, the Sentry mode is activated.

[0090] Among them, the sentinel mode is also referred to as the security warning mode in this article.

[0091] S5. Camera monitoring and response: After the sentry mode is activated, the camera begins to monitor and analyze possible security risks, and implement corresponding security measures.

[0092] As an example, camera monitoring and analysis refers to the camera determining the motion characteristics of the target object, such as motion trajectory or motion trend, etc., which is not limited in this application.

[0093] In addition, after the sentry mode is activated, the sensors on the vehicle (which can be some or all of the sensors on the vehicle) will also enter the working state, that is, data collection, and based on the data collected by the sensors, it can be determined whether the target object has impact or leaning behaviors, etc., and this application does not limit this.

[0094] As another example, safety measures refer to recording a video and storing the recorded video locally, sending an alarm notification to a target terminal (such as a terminal used by the car owner), and controlling the vehicle's external lighting components to flash and issue a voice alarm, which is not limited in this application.

[0095] S6, Camera Sleep: The camera senses that there is no safety risk to the vehicle, turns off the sentinel mode, and re-enters the first monitoring mode, that is, re-enters the primary warning stage. In addition, after turning off the sentinel mode, the sensors on the vehicle will also stop working and enter a dormant state. For the conditions under which it is determined that there is no safety risk to the vehicle, please refer to the following description.

[0096] The above steps S1-S6 are only the basic process of the embodiment of the present application. The solution provided by the embodiment of the present application is further explained below based on a specific implementation method. Figure 2 is a flow chart of a vehicle control method provided in an embodiment of the present application, the execution subject of the method is a vehicle, see Figure 2 The method flow includes:

[0097] 201. When the vehicle is in a parked state, monitor the wireless communication signal, and determine a first distance between the vehicle and a target object according to the acquired RSSI value.

[0098] Taking the wireless communication signal as a Bluetooth signal as an example, this step is performed by the Bluetooth monitoring module shown in the above steps S1-S6. That is, the Bluetooth monitoring module monitors the Bluetooth signal and preliminarily estimates the distance between the target and the vehicle based on the strength change of the received Bluetooth signal. This distance is also referred to as the first distance in this article.

[0099] In the embodiments of the present application, the parked state refers to the state in which the vehicle stops and is fixed in one position. In the automotive field, for manual transmission vehicles, parking not only includes parking, but also includes using the handbrake while parking to keep the vehicle stably parked. In addition, some types of vehicles currently have automatic parking functions. Among them, automatic parking is an automatic braking function. After activating this function, it is equivalent to not having to pull the handbrake, which can avoid using the handbrake or electronic handbrake and simplify the operation. For automatic transmission models, there is no need to frequently switch back and forth from D gear to N gear and D gear to P gear.

[0100] For Bluetooth signals, the distance measurement method based on RSSI value is to use the correlation between Bluetooth signal attenuation and distance to complete the distance measurement. Among them, RSSI is a negative value expressed in dBm (decibel milliwatt) to indicate the strength of the received Bluetooth signal.

[0101] The first point to be explained is that the implementation of this solution requires the vehicle to keep the Bluetooth function turned on, and the target object must be equipped with or carry a Bluetooth device and keep it turned on. For example, the Bluetooth monitoring module will emit Bluetooth signals at a certain power. When there are other Bluetooth devices around, these devices can receive the transmitted Bluetooth signals. In the real-time monitoring of vehicle-side data, the Bluetooth monitoring module will continue to receive Bluetooth signals emitted by surrounding Bluetooth devices.

[0102] The second point that needs to be explained is that the target object can be either a moving object or a stationary object, and its types include but are not limited to: people, animals, plants, other means of transportation other than the vehicle, roadblocks or buildings, etc. This application does not limit this.

[0103] 202. If the acquired RSSI value gradually increases and the first distance is less than the first threshold, determine the second distance between the vehicle and the target object according to the first duration; wherein the first duration refers to the time required for the vehicle and the target object to exchange data packets via the wireless communication channel.

[0104] For a certain target, if the distance roughly measured by the ranging method based on the RSSI value is less than the pre-set distance threshold (also called the first threshold), and the monitored Bluetooth signal gradually increases, it proves that the target is gradually approaching the vehicle. At this time, it is necessary to switch the method to measure the distance of the target, and the Bluetooth-based channel detection module is activated to enter the second monitoring mode, that is, enter the advanced warning stage. Exemplarily, the value of the first threshold is 30 meters, which is not limited in this application.

[0105] The first point to be explained is that in the Bluetooth distance measurement, there is a distance measurement method that uses the RTT-based distance estimation in the channel detection characteristics. The specific process is that the vehicle and the target exchange encrypted data packets with each other, and then estimate the ToF (flight time), that is, the first duration, by recording the ToD (departure time) and ToA (arrival time), and finally use this ToF to measure the distance between the vehicle and the target.

[0106] In some embodiments, the embodiment of the present application determines the second distance between the vehicle and the target object according to the first duration in the following manner:

[0107] When the vehicle is used as the initiator and the target object is used as the reflector, the RTT of the encrypted data packet is obtained. The RTT refers to the time required for the initiator to receive the encrypted data packet returned by the reflector after the initiator sends the encrypted data packet to the reflector. Then, the ToF is determined based on the RTT, and the second distance is determined based on the ToF and the speed of light c.

[0108] The timestamp recorded by the vehicle as the initiator when sending the encrypted data packet is called ToD. When it receives the encrypted data packet returned by the target object as the reflector, it records another timestamp, called ToA. The time from ToD to ToA is RTT.

[0109] The second point to be explained is that, assuming that the time bases on the initiator and the reflector are the same, the relative distance measurements of ToD and ToA are accurate enough, there is line of sight between the two devices and there is no reflection, then the second distance (represented by the symbol X) can be calculated according to the following formula.

[0110] X = (ToA - ToD) / 2 × c

[0111] In other embodiments, in order to achieve more accurate distance measurement, the embodiments of the present application will consider the time taken by the reflector device to receive the encrypted data packet, process the encrypted data packet, generate a response, and send the response when acquiring ToF. Assuming that the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator (also referred to as the second duration) is known, the embodiments of the present application determine ToF according to RTT in the following manner: ToF is determined according to RTT and the second duration, that is, the difference between RTT and the second duration is used as ToF. Among them, the second duration refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator.

[0112] As an example, the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator can be obtained through experiments, and this application does not limit this.

[0113] 203. If the category of the target object is a preset category and the second distance is less than the second threshold and the distance between the target object and the vehicle continues to decrease, control the vehicle to enter a safety warning mode; in the safety warning mode, the target component of the vehicle is in a working state, wherein the target component is at least one of a camera or a sensor.

[0114] It should be noted that the sensors referred to in this article refer to sensors other than cameras (also known as visual cameras).

[0115] In some embodiments, the category of the target object can be determined by: determining the category of the signal source based on a comprehensive analysis of the signal transmission path, characteristics, and various parameters previously measured. For example, if the signal has a certain type of specific coding format and its transmission path shows that it is emitted from a fixed position in the car, combined with its power and other conditions, it may be judged to be a car-mounted Bluetooth device, that is, the target object is another vehicle. For example, if the characteristics of the signal meet the common mobile phone Bluetooth characteristics, and its transmission path is relatively flexible and the power is relatively low, it can be inferred that it is a mobile phone Bluetooth device, that is, the target object is a pedestrian.

[0116] In other embodiments, controlling the vehicle to enter the safety warning mode includes but is not limited to the following methods:

[0117] Start a target component on the vehicle and obtain data collected by the target component; determine the motion characteristics of the target object based on the data collected by the target component; wherein the motion characteristics of the target object include at least one of motion speed, motion trajectory or motion trend; if it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, control the vehicle to issue an alarm.

[0118] As an example, the data collected by the target component includes image data or video data; accordingly, the method provided in the embodiment of the present application also includes:

[0119] The parking position and parking environment of the vehicle are obtained; if the ambient brightness in the parking environment is less than the brightness threshold, that is, the environment is dark, the vehicle's external lighting components are started, and according to the safety risk level corresponding to the parking position, the camera installed at the target position on the vehicle is controlled to collect data.

[0120] Among them, parking locations include but are not limited to: streets, parking lots, sections of roads with no parking signs and markings, intersections, railway crossings, sharp bends, narrow roads with a width less than a width threshold, bridges, steep slopes, tunnels, sidewalks or blind paths, etc., and this application does not limit this.

[0121] For the above parking positions, a safety risk level can be determined for each parking position according to the risk that the vehicle may face, and a corresponding relationship with the vehicle-mounted camera can be set for each safety risk level. For example, the safety risk level of the parking position can be divided into four levels from low to high: low risk, general risk, greater risk, and major risk, which is not limited in this application.

[0122] For example, for low risk levels, you can choose to open only some key cameras, such as the cameras near the front and rear bumpers, to maintain basic monitoring of the front and rear of the vehicle, while temporarily closing the cameras under the rearview mirrors on both sides and the rearview mirrors inside the vehicle. For another example, for general risk levels, you can choose to open the cameras under the front and rear bumpers and the rearview mirrors on both sides to fully monitor the situation around the vehicle, including pedestrians and non-motor vehicles that may approach the vehicle on both sides.

[0123] As another example, the data collected by the target component includes sensor data. Accordingly, the method provided in the embodiment of the present application also includes: obtaining the parking position of the vehicle; and controlling the target type sensor on the vehicle to collect data according to the obstacle situation at the parking position.

[0124] The obstacle condition includes at least one of the position of the obstacle relative to the vehicle, the obstacle type, or the obstacle volume. The obstacle type can be divided into movable obstacles and stationary obstacles, which are not limited in this application.

[0125] Taking obstacle volume as an example, when a small obstacle appears near the parking position, such as a small traffic cone or a low road pile on the roadside, the ultrasonic sensor or short-range millimeter-wave radar can be activated. When a medium-sized obstacle appears near the parking position, such as other vehicles, large road signs, or vehicles parked on the roadside, the medium-range millimeter-wave radar can be activated. When a large obstacle appears near the parking position, such as a large building, a mountain, or a large vehicle formation in the distance, the long-range millimeter-wave radar can be activated.

[0126] In another embodiment, if it is determined based on the motion characteristics of the target object that the vehicle has a safety risk, controlling the vehicle to issue an alarm includes at least one of the following:

[0127] 1. If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, the vehicle is controlled to output a voice warning and the vehicle's external lighting components are controlled to flash.

[0128] 2. If the vehicle is determined to be at risk based on the motion characteristics of the target object, the vehicle is controlled to send an alarm notification to the target terminal; wherein the alarm notification carries a multimedia resource for indicating that the vehicle is at risk. For example, the multimedia resource can be in the form of a picture or a video, which is not limited in this application.

[0129] In other embodiments, after controlling the vehicle to enter the safety warning mode, if it is determined based on the currently acquired first time length that the current second distance is greater than a second threshold (e.g., 5 meters), and the duration reaches a third threshold (e.g., 10 seconds), the target component is controlled to be shut down.

[0130] In other embodiments, after controlling the vehicle to enter the safety warning mode, if it is determined based on the currently acquired first time duration that the current second distance is greater than a fourth threshold value (e.g., 25 meters), and the duration reaches a fifth threshold value (e.g., 5 seconds), the primary warning stage is re-entered, and the step of determining the first distance between the vehicle and the target object based on the acquired RSSI value is executed.

[0131] In summary, the embodiment of the present application provides a vehicle control scheme based on wireless communication signal perception. The scheme can activate or deactivate the sentinel mode by monitoring the wireless communication signal, that is, the activation of the sentinel mode needs to meet certain activation conditions. In detail, after parking, the wireless communication signal is first monitored, and the dynamic environment around the vehicle is preliminarily detected based on the ranging method of the RSSI value. After that, the scheme will determine whether to switch to a more accurate ranging method based on channel detection based on the intensity change of the wireless communication signal and the preliminarily measured distance. If the ranging method based on channel detection completes the ranging, it is determined that the activation conditions of the sentinel mode are currently met, then the sentinel mode is activated. The scheme realizes that the sentinel mode is activated only when necessary, effectively reducing the monitoring cost and the vehicle power consumption. In addition, the dual ranging method also ensures the accuracy of vehicle control. At the same time, since the camera or sensor is not in a continuous working state, it also indirectly reduces the risk of infringing on the personal privacy of others.

[0132] As an example, Figure 3 This is a workflow diagram for controlling the activation and deactivation of the sentry mode safety warning system provided by the embodiment of the present application. Taking Bluetooth signal as an example, see Figure 3 , the workflow diagram includes the following steps:

[0133] 31. After the vehicle has completed parking, it is in a dormant state and data is initialized. At this time, the Bluetooth monitoring module is activated.

[0134] 32. The Bluetooth monitoring module monitors the Bluetooth signal, enters the first monitoring mode, and performs distance measurement based on the ranging method of the RSSI value.

[0135] 33. If the detected Bluetooth signal gradually strengthens and the target object enters the range of 30M from the vehicle, enter the second monitoring mode.

[0136] 34. Switch mode to measure the distance to the target object. At this time, the Bluetooth-based channel detection module is activated to perform accurate distance measurement.

[0137] 35. If the target object is of the preset category and the distance between the target object and the vehicle is less than 5 meters and the distance between the target object and the vehicle continues to decrease, the sentry mode is activated and the vehicle camera and the vehicle body sensor are activated. For this step, the distance measurement is continuously performed based on the Bluetooth channel detection method.

[0138] 36. Determine whether the vehicle has a safety risk based on the data collected by the vehicle body sensor and the camera. For this step, the distance measurement is continuously performed based on the Bluetooth channel detection method.

[0139] 37. If there is a safety risk to the vehicle, send an alarm notification to the target terminal, control the vehicle lights to flash, and output a voice alarm. For this step, the distance measurement is continuously performed based on the Bluetooth channel detection method.

[0140] 38. In the second detection mode, if the measured distance exceeds 5m and lasts for more than 10s, the sentinel mode is turned off. For this step, the distance measurement is continuously performed based on the Bluetooth channel detection method.

[0141] 39. In the second detection mode, if the measured distance exceeds 25m and lasts for more than 5S, turn off the sentinel mode and switch to the first monitoring mode.

[0142] Figure 4 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 4 , the device comprises:

[0143] The first determination module 401 is configured to monitor the wireless communication signal when the vehicle is in a parked state, and determine the first distance between the vehicle and the target object according to the acquired RSSI value; wherein the RSSI value is used to measure the strength of the received wireless communication signal;

[0144] The second determination module 402 is configured to determine a second distance between the vehicle and the target object according to a first duration if the acquired RSSI value gradually increases and the first distance is less than a first threshold; wherein the first duration refers to the time required for the vehicle and the target object to exchange data packets via a wireless communication channel;

[0145] The control module 403 is configured to control the vehicle to enter a safety warning mode if the category of the target object is a preset category and the second distance is less than a second threshold and the distance between the target object and the vehicle continues to decrease;

[0146] Wherein, in the safety warning mode, the target component of the vehicle is in working state, and the target component is at least one of a camera or a sensor.

[0147] The embodiment of the present application provides a vehicle control scheme based on wireless communication signal perception. The scheme can activate or deactivate the sentinel mode by monitoring the wireless communication signal, that is, the activation of the sentinel mode needs to meet certain activation conditions. In detail, after parking, the wireless communication signal is first monitored, and the dynamic environment around the vehicle is preliminarily detected based on the ranging method of the RSSI value. After that, the scheme will determine whether to switch to a more accurate ranging method based on channel detection based on the intensity change of the wireless communication signal and the preliminarily measured distance. If the ranging method based on channel detection completes the ranging, it is determined that the activation conditions of the sentinel mode are currently met, then the sentinel mode is activated. The scheme realizes that the sentinel mode is activated only when necessary, effectively reducing the monitoring cost and the vehicle power consumption. In addition, the dual ranging method also ensures the accuracy of vehicle control. At the same time, since the camera or sensor is not in a continuous working state, it also indirectly reduces the risk of infringing on the personal privacy of others.

[0148] In some embodiments, the control module 403 is configured to:

[0149] Starting the target component and acquiring data collected by the target component;

[0150] Determine the motion characteristics of the target object according to the data collected by the target component; wherein the motion characteristics include at least one of motion speed, motion trajectory or motion trend;

[0151] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, the vehicle is controlled to issue an alarm.

[0152] In some other embodiments, the control module 403 is further configured to:

[0153] Acquiring the parking position and parking environment of the vehicle;

[0154] If the ambient brightness in the parking environment is less than a brightness threshold, the exterior lighting assembly of the vehicle is started, and according to the safety risk level corresponding to the parking position, a camera installed at a target position on the vehicle is controlled to collect data.

[0155] In some other embodiments, the control module 403 is further configured to:

[0156] Obtaining a parking position of the vehicle;

[0157] According to the obstacle situation at the parking position, controlling the target type sensor on the vehicle to collect data;

[0158] The obstacle condition includes at least one of the position of the obstacle relative to the vehicle, the obstacle type or the obstacle volume.

[0159] In some other embodiments, the control module 403 is configured to perform at least one of the following:

[0160] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, controlling the vehicle to output a voice warning and controlling the external light components of the vehicle to flash;

[0161] If it is determined that the vehicle has a safety risk based on the movement characteristics of the target object, the vehicle is controlled to send an alarm notification to the target terminal; wherein the alarm notification carries multimedia resources for indicating that the vehicle has a safety risk.

[0162] In some other embodiments, the second determining module 402 is configured to:

[0163] When the vehicle is used as the initiator and the target object is used as the reflector, the round trip time of the encrypted data packet is obtained; wherein the round trip time refers to the time required for the initiator to receive the encrypted data packet returned by the reflector after the initiator sends the encrypted data packet to the reflector;

[0164] The first duration is determined according to the round-trip time, and the second distance is determined according to the first duration and the speed of light.

[0165] In some other embodiments, the second determining module 402 is configured to:

[0166] Determine the first duration according to the round-trip time and the second duration;

[0167] The second duration refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator.

[0168] In some other embodiments, the control module is further configured to:

[0169] After the vehicle is controlled to enter the safety warning mode, if it is determined that the current second distance is greater than the second threshold value based on the currently acquired first duration, and the duration reaches a third threshold value, the target component is controlled to be turned off.

[0170] In some other embodiments, the first determining module 401 is further configured to:

[0171] After controlling the vehicle to enter the safety warning mode, if it is determined based on the currently acquired first duration that the current second distance is greater than the fourth threshold, and the duration reaches the fifth threshold, the step of determining the first distance between the vehicle and the target object based on the acquired RSSI value is executed.

[0172] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0173] It should be noted that: when the vehicle control device provided in the above embodiment generates a video, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0174] Figure 5 It is a structural diagram of a vehicle provided in an embodiment of the present application. Among them, the vehicle 500 may have relatively large differences due to different configurations or performances, including one or more processors (Central Processing Units, CPU) 501 and one or more memories 502, wherein the memory 502 stores at least one program code, and the at least one program code is loaded and executed by the processor 501 to implement the above-mentioned vehicle control method. Of course, the vehicle 500 also has components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output. The vehicle 500 also includes other components for realizing device functions, which will not be repeated here.

[0175] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including a program code, and the program code can be executed by a processor in a vehicle to perform the above-mentioned vehicle control method. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0176] In an exemplary embodiment, a computer program product or computer program is also provided, which includes a computer program code, which is stored in a computer-readable storage medium. The vehicle's processor reads the computer program code from the computer-readable storage medium, and the processor executes the computer program code, so that the vehicle executes the above-mentioned vehicle control method.

[0177] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0178] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in a parked state, wireless communication signal monitoring is performed, and a first distance between the vehicle and the target object is determined according to an acquired received signal strength indicator RSSI value; wherein the RSSI value is used to measure the strength of the received wireless communication signal; If the RSSI value obtained gradually increases and the first distance is less than a first threshold, determining a second distance between the vehicle and the target object according to a first duration; wherein the first duration refers to the time required for the vehicle and the target object to exchange data packets via a wireless communication channel; If the category of the target object is a preset category and the second distance is less than a second threshold and the distance between the target object and the vehicle continues to decrease, controlling the vehicle to enter a safety warning mode; Wherein, in the safety warning mode, the target component of the vehicle is in working state, and the target component is at least one of a camera or a sensor.

2. The method according to claim 1, characterized in that The controlling the vehicle to enter a safety warning mode comprises: Starting the target component and acquiring data collected by the target component; Determine the motion characteristics of the target object according to the data collected by the target component; wherein the motion characteristics include at least one of motion speed, motion trajectory or motion trend; If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, the vehicle is controlled to issue an alarm.

3. The method according to claim 2, characterized in that The method further comprises: Acquiring the parking position and parking environment of the vehicle; If the ambient brightness in the parking environment is less than a brightness threshold, the exterior lighting assembly of the vehicle is started, and according to the safety risk level corresponding to the parking position, a camera installed at a target position on the vehicle is controlled to collect data.

4. The method according to claim 2, characterized in that: The method further comprises: Obtaining a parking position of the vehicle; According to the obstacle situation at the parking position, controlling the target type sensor on the vehicle to collect data; The obstacle condition includes at least one of the position of the obstacle relative to the vehicle, the obstacle type or the obstacle volume.

5. The method according to claim 2, characterized in that: If it is determined based on the motion characteristics of the target object that the vehicle has a safety risk, controlling the vehicle to issue an alarm includes at least one of the following: If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, controlling the vehicle to output a voice warning and controlling the external light components of the vehicle to flash; If it is determined that the vehicle has a safety risk based on the movement characteristics of the target object, the vehicle is controlled to send an alarm notification to the target terminal; wherein the alarm notification carries multimedia resources for indicating that the vehicle has a safety risk.

6. The method according to claim 2, characterized in that The determining, according to the first duration, a second distance between the vehicle and the target object comprises: When the vehicle is used as the initiator and the target object is used as the reflector, the round trip time of the encrypted data packet is obtained; wherein the round trip time refers to the time required for the initiator to receive the encrypted data packet returned by the reflector after the initiator sends the encrypted data packet to the reflector; The first duration is determined according to the round-trip time, and the second distance is determined according to the first duration and the speed of light.

7. The method according to claim 6, characterized in that The determining the first duration according to the round-trip time includes: Determine the first duration according to the round-trip time and the second duration; The second duration refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the initiator.

8. The method according to any one of claims 1 to 7, characterized in that After controlling the vehicle to enter the safety warning mode, the method further includes: If it is determined based on the currently acquired first duration that the current second distance is greater than the second threshold, and the duration reaches the third threshold, the target component is controlled to be turned off.

9. The method according to any one of claims 1 to 7, characterized in that: After controlling the vehicle to enter the safety warning mode, the method further includes: If it is determined based on the currently acquired first duration that the current second distance is greater than the fourth threshold, and the duration reaches the fifth threshold, a step of determining the first distance between the vehicle and the target object based on the acquired RSSI value is executed.

10. A vehicle control device, characterized in that: The device comprises: A first determination module is configured to monitor the wireless communication signal when the vehicle is in a parked state, and determine a first distance between the vehicle and the target object according to an acquired received signal strength indicator RSSI value; Wherein, the RSSI value is used to measure the strength of the received wireless communication signal; A second determination module is configured to determine a second distance between the vehicle and the target object according to a first duration if the acquired RSSI value gradually increases and the first distance is less than a first threshold; The first duration refers to the time required for the vehicle and the target object to exchange data packets via a wireless communication channel; a control module configured to control the vehicle to enter a safety warning mode if the category of the target object is a preset category and the second distance is less than a second threshold and the distance between the target object and the vehicle continues to decrease; Wherein, in the safety warning mode, the target component of the vehicle is in working state, and the target component is at least one of a camera or a sensor.

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