Vehicle control method and device

Abstract

The application discloses a vehicle control method and device, and belongs to the technical field of automobile safety. The application provides a vehicle control scheme based on wireless communication signal sensing. The scheme can activate or close 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, wireless communication signal monitoring is first performed, and the dynamic environment around the vehicle is preliminarily detected based on the RSSI value ranging mode. Then, whether to switch to a more accurate channel detection-based ranging mode is determined based on the strength change of the wireless communication signal and the preliminarily determined distance. If the channel detection-based ranging mode completes ranging, it is determined that the activation condition of the sentinel mode is met at present, and the sentinel mode is activated. The scheme realizes activation of the sentinel mode only when necessary, effectively reduces the monitoring cost, and the vehicle has low power consumption.

Description

TECHNICAL FIELD

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

[0002] With continuous technical iteration of new energy vehicles, in order to solve the parking safety problem of new energy vehicles, the sentry mode is widely used in new energy vehicles. Among them, the sentry mode refers to that the vehicle can perceive and record the dangerous factors around the vehicle and the accidents such as collision or scratch of the vehicle through a perception system (such as sensors and cameras provided on the vehicle, etc.), and then provide the user with traceable proof. However, the sentry mode is started after the vehicle is parked at present, that is, the cameras and sensors and the like will be in a continuous working state after parking, and the power consumption of the vehicle is large. SUMMARY

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

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

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

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

[0007] If the category of the target object is a preset category, the second distance is less than a second threshold value, and the distance between the target object and the vehicle continuously decreases, the vehicle is controlled to enter a safety warning mode;

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

[0009] In some embodiments, the control of the vehicle entering the safety warning mode comprises:

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

[0011] determine a motion feature of the target object based on the data collected by the target component, wherein the motion feature comprises at least one of a motion speed, a motion trajectory, or a motion trend;

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

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

[0014] obtain a parking position and a parking environment of the vehicle;

[0015] if the ambient brightness in the parking environment is less than a brightness threshold, start an external lighting component of the vehicle, and control a camera installed at a target position on the vehicle to collect data according to a safety risk level corresponding to the parking position.

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

[0017] obtain a parking position of the vehicle;

[0018] control a sensor of a target type on the vehicle to collect data according to an obstacle situation of the parking position;

[0019] wherein the obstacle situation comprises at least one of a position of the obstacle relative to the vehicle, a type of the obstacle, or a volume of the obstacle.

[0020] In some embodiments, the if it is determined that the vehicle has a safety risk based on the motion feature of the target object, control the vehicle to issue an alarm, comprises at least one of:

[0021] if it is determined that the vehicle has a safety risk based on the motion feature of the target object, control the vehicle to output a voice alarm and control an external light component of the vehicle to flash;

[0022] if it is determined that the vehicle has a safety risk based on the motion feature of the target object, control the vehicle to send an alarm notification to a target terminal, wherein the alarm notification carries a multimedia resource for indicating that the vehicle has a safety risk.

[0023] In some embodiments, the determining a second distance between the vehicle and the target object based on the first time length comprises:

[0024] In a case where the vehicle is taken as a starter and the target object is taken as a reflector, obtain a round-trip time of an encrypted data packet, wherein the round-trip time refers to a time required for the starter to receive the encrypted data packet returned by the reflector after the starter sends the encrypted data packet to the reflector.

[0025] determine the first duration according to the round trip time, and determine the second distance according to the first duration and the speed of light.

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

[0027] determining the first duration according to the round trip time and a second duration;

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

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

[0030] If the current second distance determined according to the currently obtained first duration is greater than the second threshold value and the duration reaches a third threshold value, the target component is controlled to be closed.

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

[0032] If the current second distance determined according to the currently obtained first duration is greater than the fourth threshold value and the duration reaches a fifth threshold value, the step of determining the first distance between the vehicle and the target object according to the obtained RSSI value is performed.

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

[0034] A first determining module configured to, in a case where the vehicle is in a parked state, perform wireless communication signal monitoring, and determine a first distance between the vehicle and a target object according to an obtained RSSI value; wherein the RSSI value is used to measure the strength of the received wireless communication signal.

[0035] A second determining module configured to, if the obtained RSSI value gradually increases and the first distance is less than a first threshold value, determine a second distance between the vehicle and the target object according to a first duration; 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, if the category of the target object is a preset category and the second distance is less than a second threshold value and the distance between the target object and the vehicle continuously decreases, control the vehicle to enter a safety warning mode.

[0037] In the safety warning mode, a target component of the vehicle is in a 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] start the target component, and acquire data collected by the target component;

[0040] determine a motion feature of the target object based on the data collected by the target component, wherein the motion feature comprises at least one of a motion speed, a motion trajectory, or a motion trend;

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

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

[0043] acquire a parking position and a parking environment of the vehicle;

[0044] if an ambient brightness in the parking environment is less than a brightness threshold, start an external lighting component of the vehicle, and control a camera installed at a target position on the vehicle to collect data according to a safety risk level corresponding to the parking position.

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

[0046] acquire a parking position of the vehicle;

[0047] control a target type of sensor on the vehicle to collect data according to an obstacle situation of the parking position;

[0048] wherein the obstacle situation comprises at least one of a position of the obstacle relative to the vehicle, a type of the obstacle, or a volume of the obstacle.

[0049] In 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 feature of the target object, control the vehicle to output a voice alarm and control an external light component of the vehicle to flash;

[0051] if it is determined that the vehicle has a safety risk based on the motion feature of the target object, control the vehicle to send an alarm notification to a target terminal, wherein the alarm notification carries a multimedia resource for indicating that the vehicle has a safety risk.

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

[0053] In a case where the vehicle is taken as a starter and the target object is taken as a reflector, a round-trip time of the encrypted data packet is acquired, wherein the round-trip time refers to a time required for the starter to receive the encrypted data packet returned by the reflector after the starter sends the encrypted data packet to the reflector;

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

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

[0056] The first time length is determined according to the round-trip time and a second time length;

[0057] The second time length refers to a time required for the reflector to send the processed encrypted data packet to the starter after processing the received encrypted data packet.

[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 according to the currently acquired first time length that the current second distance is greater than the second threshold value and the duration reaches a third threshold value, the target component is controlled to be closed.

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

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

[0062] In another aspect, 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 vehicle control method described above.

[0063] In another aspect, a computer readable storage medium is provided, the storage medium storing at least one program code, the at least one program code being loaded and executed by a processor to implement the vehicle control method described above.

[0064] In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer program code stored in a computer-readable storage medium, the computer program code being read by a processor of a vehicle from the computer-readable storage medium, the processor executing the computer program code causing the vehicle to perform the vehicle control method described above.

[0065] The embodiment of the present application provides a vehicle control scheme based on wireless communication signal sensing. The scheme can activate or close the sentry mode by monitoring the wireless communication signal, that is, the activation of the sentry mode needs to meet certain activation conditions. In detail, after parking, wireless communication signal monitoring is firstly performed, and the dynamic environment around the vehicle is preliminarily detected based on the RSSI value ranging mode. Then, whether to switch to a more accurate channel detection based ranging mode is determined based on the strength change of the wireless communication signal and the preliminarily determined distance. If the channel detection based ranging mode completes ranging, it is determined that the activation condition of the sentry mode is met at present, and the sentry mode is activated. The scheme realizes the activation of the sentry mode only when necessary, effectively reduces the monitoring cost, and the vehicle has low power consumption. In addition, the double ranging mode also ensures the accuracy of vehicle control, and since the camera or sensor is not in a continuous working state, the risk of infringing on the personal privacy of others is also indirectly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

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

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

[0069] Figure 3 is a working flowchart of a safety warning system for controlling sentry mode activation and closing provided by the embodiment of the present application;

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

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

[0072] For the purpose, technical solutions and advantages of the present application to be clearer, the embodiments of the present application will be described in further detail below with reference to the drawings.

[0073] The terms "first", "second", and the like are used herein to distinguish between elements having substantially the same functions and the same items or similar items, and it should be understood that there is no logical or chronological dependency between "first", "second", and "nth", and the number and execution order are not limited. It should also be understood that although the following description uses the terms first, second, and the like 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. 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. The first element and the second element can both be elements, and in some cases, can be separate and distinct elements.

[0075] Among them, at least one refers to one or more, for example, at least one element can be one element, two elements, three elements, etc. Any integer greater than or equal to one element. And multiple refers to two or more, for example, multiple elements can be two elements, three elements, etc. Any integer greater than or equal to two elements.

[0076] In this paper, "and / or" means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the objects before and after it.

[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 for analysis, stored data, displayed data, etc.) and signals involved in the present application are authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards in relevant regions.

[0078] Figure 1 is a structural schematic diagram of a safety warning system based on wireless communication signal perception provided by an embodiment of the present application. Referring to Figure 1 , the system comprises an ECU (Electronic Control Unit) 1, a wireless communication signal monitoring module 2 and a wireless communication signal based channel detection module 3.

[0079] As an example, the wireless communication signal refers to a Bluetooth signal in the present application, which is not limited in the present application. Correspondingly, the wireless communication signal monitoring module 2 is a Bluetooth monitoring module (also referred to 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 the Bluetooth signal as an example, the functions and roles of the ECU, the Bluetooth monitoring module and the Bluetooth-based channel detection module in the embodiments of the present application are introduced below through the following steps.

[0081] S1, data initialization: after the driver completes parking, the data initialization process is entered, at which time the Bluetooth monitoring module is activated.

[0082] This step is executed by the ECU. For example, the sleep state and monitoring mode of the vehicle are controlled by the ECU. The monitoring mode is described below. As an example, the Bluetooth-related data, the data collected by the camera or the data collected by the sensor are initialized in the embodiments of the present application, which are not limited in the present application.

[0083] S2, real-time monitoring of vehicle-end data: the Bluetooth monitoring module monitors the Bluetooth signal, enters the first monitoring mode, and measures the distance based on 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 the present application. In addition, one or more target objects can be determined in this step, that is, whether one target object approaches the vehicle or multiple target objects approach the vehicle, which does not affect the execution of the present solution.

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

[0086] Among them, after entering the second monitoring mode, the Bluetooth-based channel detection mode is used to measure the distance.

[0087] For any target object, when the monitored Bluetooth signal gradually strengthens and the target object enters the range of R1 meters (such as 30 meters) from the vehicle, the Bluetooth-based channel detection module starts 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 (i.e., the category to which the target object belongs).

[0088] As an example, the Bluetooth-based channel detection module uses the RTT (Round Trip Time) based distance estimation method in the channel detection characteristics when measuring the distance. The RTT is described below.

[0089] S4, Sentinel Mode Activation: When the signal source category matches 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 sentinel mode is activated.

[0090] Herein, the sentinel mode is also referred to as a safety warning mode.

[0091] S5, Camera Monitoring and Response: After the sentinel mode is activated, the camera starts monitoring and analyzing possible safety risks, and performing corresponding safety measures.

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

[0093] In addition, after the sentinel mode is activated, the sensors on the vehicle (both part of the sensors on the vehicle and all the sensors on the vehicle) will also enter the working state, i.e., data acquisition, and according to the data collected by the sensors, it can be determined whether the target object has impact or leaning behavior, which is not limited in the present application.

[0094] As another example, the safety measure refers to recording a video and storing the recorded video locally, sending an alarm notification to the target terminal (such as the terminal used by the vehicle owner), and controlling the external light components of the vehicle to flash and issue a voice alarm, which is not limited in the present application.

[0095] S6, Camera Dormancy: The camera senses that the vehicle has no safety risk, closes the sentinel mode, and reenters the first monitoring mode, i.e., reenters the primary warning stage. In addition, after the sentinel mode is closed, the sensors on the vehicle will stop working and enter the dormant state. For conditions under which it is determined that the vehicle has no safety risk, please refer to the description later.

[0096] The above steps S1-S6 only show the basic flow of the embodiments of the present application, and the following will further describe the scheme provided by the embodiments of the present application based on a specific implementation manner. Figure 2 is a flowchart of a vehicle control method provided by an embodiment of the present application, and the execution subject of the method is a vehicle, please refer to Figure 2 , the method flow includes:

[0097] 201, in the case that the vehicle is in the parked state, the wireless communication signal is monitored, and according to the obtained RSSI value, the first distance between the vehicle and the target object is determined.

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

[0099] In the embodiments of the present application, the parked state refers to a state in which the vehicle stops running and is fixed at a position. In the field of automobiles, for manual transmission vehicles, parking not only includes stopping, but also includes using the hand brake while stopping to make the vehicle stop stably at the original position. In addition, some types of vehicles currently have an automatic parking function. Among them, automatic parking is an automatic braking function. After starting the function, it is equivalent to not pulling the hand brake, which can avoid using the hand brake or electronic hand brake to simplify the operation, and for automatic transmission vehicles, it is also not necessary to frequently switch between D and N, D and P.

[0100] For the Bluetooth signal, the RSSI value-based ranging method uses the correlation between the Bluetooth signal attenuation and the distance to complete distance measurement. Among them, RSSI is a negative number represented by dBm (decibel milliwatt), which is used to represent the strength of the received Bluetooth signal.

[0101] The first point to be explained is that the implementation of this scheme requires the vehicle to continuously turn on the Bluetooth function, and the target object is configured or carries a Bluetooth device and keeps a continuously turned-on state. For example, the Bluetooth monitoring module will transmit Bluetooth signals outward according to a certain power. When other Bluetooth devices exist around, these devices can receive the transmitted Bluetooth signals. In real-time monitoring of vehicle-end data, the Bluetooth monitoring module will continuously receive the Bluetooth signals sent by the surrounding Bluetooth devices.

[0102] The second point to be explained is that the target object can be a moving object or a stationary object, including but not limited to: people, animals, plants, other vehicles except the vehicle, road barrier facilities or buildings, etc., which are not limited by the present application.

[0103] 202、If the obtained RSSI value gradually increases and the first distance is less than a first threshold, a second distance between the vehicle and the target object is determined according to a first time length, wherein the first time length refers to the time required for the vehicle and the target object to exchange data packets through a wireless communication channel.

[0104] For a certain target object, if the distance measured by the RSSI value based ranging method is less than the pre-set distance threshold (also referred to as the first threshold) and the monitored Bluetooth signal gradually strengthens, it proves that the target object is gradually approaching the vehicle, at this time, the ranging method needs to be switched to measure the distance of the target object, the Bluetooth based channel sounding module is activated, and the second monitoring mode is entered, that is, the advanced warning stage is entered. Exemplarily, the value of the first threshold is 30 meters, which is not limited in the present application.

[0105] The first point to be explained is that in the Bluetooth based distance measurement, there is a ranging method that estimates the distance based on RTT in the channel sounding characteristics. The specific process is that the vehicle and the target object exchange encrypted data packets with each other, then ToD (departure time) and ToA (arrival time) are recorded to estimate ToF (time of flight), that is, the first time length, and finally the ToF is used to measure the distance between the vehicle and the target object.

[0106] In some embodiments, the second distance between the vehicle and the target object is determined according to the first time length by the following method:

[0107] In the case of taking the vehicle as the initiator and the target object 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 according to the RTT, and the second distance is determined according to the ToF and the speed of light c.

[0108] Wherein, the time stamp recorded by the vehicle as the initiator when sending the encrypted data packet is referred to as ToD. When it receives the encrypted data packet returned by the target object as the reflector, a time stamp is recorded again, which is referred to as ToA. The time elapsed between ToD and ToA is the 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 measurement distance accuracy of ToD and ToA is sufficient, the line of sight condition between the two devices is met and there is no reflection, the second distance (denoted by symbol X) can be calculated according to the following formula.

[0110] X = (ToA-ToD) / 2×c

[0111] In some embodiments, in order to achieve more accurate distance measurement, the embodiments of the present application consider the time spent by the reflection device in receiving the encrypted data packet, processing the encrypted data packet, generating a response, and sending the response when obtaining the ToF. Assuming that the time (also referred to as the second duration) required by the reflector to process the received encrypted data packet to send the processed encrypted data packet to the initiator is known, then the embodiments of the present application determine the ToF according to the RTT by determining the ToF according to the RTT and the second duration, i.e., taking the difference between the RTT and the second duration as the ToF. The second duration refers to the time required by the reflector to process the received encrypted data packet to send the processed encrypted data packet to the initiator.

[0112] As an example, the time required by the reflector to process the received encrypted data packet to send the processed encrypted data packet to the initiator can be obtained by experiment, which is not limited by the present application.

[0113] 203、If the category of the target object is a preset category, the second distance is less than the second threshold, and the distance between the target object and the vehicle continues to decrease, the vehicle is controlled to enter a safety warning mode; in the safety warning mode, a target component of the vehicle is in an active 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 herein refer to sensors other than cameras (also referred to 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 comprehensive analysis of the signal transmission path, the characteristics, and the previously measured parameters. For example, if the signal has a certain type of encoding format and its transmission path shows that it is emitted from a certain fixed position in the vehicle, combined with its power and the like, it can be judged as a vehicle-mounted Bluetooth device, i.e., the target object is another vehicle. For example, if the characteristics of the signal are consistent with the common characteristics of a mobile phone Bluetooth device, and its transmission path is relatively flexible and its power is relatively low, it can be inferred that it is a mobile phone Bluetooth device, i.e., the target object is a pedestrian.

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

[0117] Starting a target component on the vehicle and obtaining data collected by the target component; determining 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 a motion speed, a motion trajectory, or a motion trend; if it is determined that there is a safety risk for the vehicle based on the motion characteristics of the target object, the vehicle is controlled 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 by the embodiments of the present application further includes:

[0119] The parking position and the parking environment of the vehicle are acquired; if the environmental brightness in the parking environment is less than a brightness threshold, that is, the environment is relatively dark, the external lighting component of the vehicle is started, and the camera installed on the target position on the vehicle is controlled to collect data according to the safety risk level corresponding to the parking position.

[0120] The parking position includes but is not limited to the following: a street side, a parking lot, a road section provided with a no-parking sign and a marking line, an intersection, a railway crossing, a sharp curve, a narrow road with a width less than a width threshold, a bridge, a steep slope, a tunnel, a sidewalk or a blind path, etc., which are not limited by the present application.

[0121] For the above parking position, a safety risk level can be determined for each parking position according to the risk that the vehicle may face, and a corresponding relationship between the vehicle-mounted camera and each safety risk level is set. For example, the safety risk level of the parking position can be divided into four levels from low to high, i.e., low risk, general risk, relatively large risk and major risk, which are not limited by the present application.

[0122] For example, for the low risk level, only the cameras at the key positions such as the cameras near the front and rear bumpers can be turned on to maintain basic monitoring of the front and rear of the vehicle, while the cameras under the side-view mirrors and the rear-view mirror position in the vehicle are temporarily turned off. For example, for the general risk level, the cameras at the front and rear bumpers and under the side-view mirrors can be turned on to comprehensively monitor the situation around the vehicle, including the approach of pedestrians, non-motor vehicles, etc. that may appear on both sides of the vehicle.

[0123] As another example, the data collected by the target component includes sensor data, and accordingly, the method provided by the embodiments of the present application further includes: acquiring the parking position of the vehicle; and controlling the target type of sensor on the vehicle to collect data according to the obstacle situation of the parking position.

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

[0125] For example, when a small obstacle appears near the parking position, such as a small traffic cone or a low road stake, the ultrasonic sensor or the short-range millimeter wave radar can be started. When a medium 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 started. When a large obstacle appears near the parking position, such as a large building, a mountain or a large vehicle formation far away, the long-range millimeter wave radar can be started.

[0126] In another embodiment, 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, including 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 alarm and control the external light component of the vehicle to flash.

[0128] 2. 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 send an alarm notification to the target terminal; wherein the alarm notification carries a multimedia resource for indicating that the vehicle has a safety risk. Exemplarily, the multimedia resource can be in the form of a picture or in the form of a video, which is not limited in the present application.

[0129] In some other embodiments, after the vehicle is controlled to enter the safety warning mode, if it is determined that the current second distance is greater than a second threshold (such as 5 meters) according to the first time length currently obtained, and the duration reaches a third threshold (such as 10 seconds), the target component is controlled to be closed.

[0130] In some other embodiments, after the vehicle is controlled to enter the safety warning mode, if it is determined that the current second distance is greater than a fourth threshold (such as 25 meters) according to the first time length currently obtained, and the duration reaches a fifth threshold (such as 5 seconds), the primary warning stage is re-entered, and the step of determining the first distance between the vehicle and the target object according to the obtained RSSI value is performed.

[0131] In summary, the embodiment of the present application provides a vehicle control scheme based on wireless communication signal sensing. The scheme can activate or turn off the sentinel mode by monitoring wireless communication signals, that is, the activation of the sentinel mode needs to meet certain activation conditions. In detail, after parking, wireless communication signal monitoring is first performed, and the dynamic environment around the vehicle is preliminarily detected based on the RSSI value ranging method. Then, the scheme will further determine whether to switch to a more accurate channel detection-based ranging method based on the strength change of the wireless communication signal and the preliminarily determined distance. If the channel detection-based ranging method completes the ranging, it is determined that the activation condition of the sentinel mode is met at present, and the sentinel mode is activated. The scheme realizes the activation of the sentinel mode only when necessary, effectively reduces the monitoring cost, and the vehicle has low power consumption. In addition, the double ranging method also ensures the accuracy of vehicle control, and 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 is a workflow diagram provided by the embodiment of the present application for controlling the activation and shutdown of the sentinel mode of the safety warning system. Taking a Bluetooth signal as an example, referring to Figure 3 The workflow diagram includes the following steps:

[0133] 31. The vehicle completes parking, the vehicle is in a dormant state, and data initialization is performed. 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 RSSI value ranging method.

[0135] 33. If the monitored Bluetooth signal gradually increases and the target object enters the range of 30M from the vehicle, the second monitoring mode is entered.

[0136] 34. Switching the distance measurement of the target object, at this time, the Bluetooth-based channel detection module is activated, and accurate ranging is performed.

[0137] 35. If the category of the target object is a preset category, the distance between the target object and the vehicle is less than 5 meters, and the distance between the two is continuously reduced, the sentinel mode is started, and the vehicle-mounted camera and the vehicle body sensor are activated. For this step, the Bluetooth-based channel detection method continues to measure the distance.

[0138] 36. Determine whether there is a safety risk based on the data collected by the vehicle body sensor and the camera. For this step, the Bluetooth-based channel detection method continues to measure the distance.

[0139] 37. If there is a safety risk for 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 Bluetooth-based channel sounding mode continues to measure the distance.

[0140] 38. In the second detection mode, if the measured distance exceeds 5 m and lasts for more than 10 s, the sentry mode is turned off. For this step, the Bluetooth-based channel sounding mode continues to measure the distance.

[0141] 39. In the second detection mode, if the measured distance exceeds 25 m and lasts for more than 5 s, the sentry mode is turned off and the first monitoring mode is switched to.

[0142] Figure 4 FIG. 1 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present application. Referring to FIG. 1, Figure 4 The device comprises:

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

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

[0145] A control module 403 is configured to, if the category of the target object is a preset category and the second distance is less than a second threshold value and the distance between the target object and the vehicle continuously decreases, control the vehicle to enter a safety warning mode.

[0146] In the safety warning mode, a target component of the vehicle is in a 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 sensing. The scheme can activate or close the sentry mode by monitoring the wireless communication signal, that is, the activation of the sentry mode needs to meet certain activation conditions. In detail, after parking, wireless communication signal monitoring is firstly performed, and the dynamic environment around the vehicle is preliminarily detected based on the RSSI value ranging mode. Then, whether to switch to a more accurate ranging mode based on channel detection is determined based on the strength change of the wireless communication signal and the preliminarily determined distance. If the ranging based on the channel detection is completed, it is determined that the activation condition of the sentry mode is met at present, and the sentry mode is activated. The scheme realizes the activation of the sentry mode only when necessary, effectively reduces the monitoring cost, and the vehicle has low power consumption. In addition, the double ranging mode also ensures the accuracy of vehicle control, and since the camera or sensor is not in a continuous working state, the risk of infringing on the personal privacy of others is also indirectly reduced.

[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] determining a motion feature of the target object according to the data collected by the target component, wherein the motion feature comprises at least one of a motion speed, a motion trajectory or a motion trend;

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

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

[0153] acquiring a parking position and a parking environment of the vehicle;

[0154] if the ambient brightness in the parking environment is less than a brightness threshold, starting an external lighting component of the vehicle, and controlling a camera installed on a target position on the vehicle to collect data according to a safety risk level corresponding to the parking position.

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

[0156] acquiring a parking position of the vehicle;

[0157] controlling a target type of sensor on the vehicle to collect data according to an obstacle situation of the parking position;

[0158] The obstacle situation comprises at least one of a position of the obstacle relative to the vehicle, a type of the obstacle or a volume of the obstacle.

[0159] In some 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, the control module 403 controls the vehicle to output a voice warning and controls the external light component of the vehicle to flash.

[0161] If it is determined that the vehicle has a safety risk based on the motion characteristics of the target object, the control module 403 controls the vehicle to send an alarm notification to a target terminal; wherein the alarm notification carries a multimedia resource for indicating that the vehicle has a safety risk.

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

[0163] In a case where the vehicle is used as a starter and the target object is used as a reflector, the second determination module 402 acquires a round-trip time of an encrypted data packet; wherein the round-trip time refers to a time required for the starter to receive the encrypted data packet returned by the reflector after the starter sends the encrypted data packet to the reflector.

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

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

[0166] The first time length is determined according to the round-trip time and a second time length.

[0167] The second time length refers to a time required for the reflector to send the processed encrypted data packet to the starter after processing the received encrypted data packet.

[0168] In some embodiments, the control module 403 is further configured to:

[0169] After controlling the vehicle to enter the safety warning mode, if it is determined that the current second distance is greater than the second threshold value according to the currently acquired first time length, and the duration reaches a third threshold value, the control module 403 controls the target component to be turned off.

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

[0171] After controlling the vehicle to enter the safety warning mode, if it is determined that the current second distance is greater than the fourth threshold value according to the currently acquired first time length, and the duration reaches a fifth threshold value, the first determination module 401 performs the step of determining the first distance between the vehicle and the target object according to the acquired RSSI value.

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

[0173] It should be noted that the vehicle control device provided in the above embodiments only takes the division of the above functional modules as an example when generating a video, and in actual application, the above functions can be distributed to different functional modules according to needs, 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 and the vehicle control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0174] Figure 5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. The vehicle 500 can have great 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 processor 501 loads and executes the at least one program code to realize the vehicle control method described above. Of course, the vehicle 500 also has a wired or wireless network interface, a keyboard, an input and output interface and other components for realizing the functions of the device, so as to perform input and output, and the vehicle 500 also includes other components for realizing the functions of the device, which will not be repeated here.

[0175] In an exemplary embodiment, a computer readable storage medium, such as a memory including program code, is also provided, and the above program code can be executed by a processor in the vehicle to complete the vehicle control method described above. 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 and an optical data storage device, etc.

[0176] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer program code stored in a computer readable storage medium, and the processor of the vehicle 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 vehicle control method described above.

[0177] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or can be instructed by a program to complete the related hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0178] The above only describes optional embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method characterized by, The method comprises: In the case that the vehicle is in the parked state, the wireless communication signal monitoring is performed, and a first distance between the vehicle and a target object is determined according to an obtained received signal strength indication (RSSI) value, wherein the RSSI value is used to measure the strength of the received wireless communication signal; If the obtained RSSI value gradually increases and the first distance is less than a first threshold value, in the case that the vehicle is used as a starter and the target object is used as a reflector, a round-trip time of an encrypted data packet is obtained, wherein the round-trip time refers to the time required for the starter to receive the encrypted data packet returned by the reflector after the starter sends the encrypted data packet to the reflector; a first time length is determined according to the round-trip time and a second time length, wherein the second time length refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the starter; a second distance between the vehicle and the target object is determined according to the first time length and the speed of light, wherein the first time length refers to the time required for the vehicle and the target object to exchange data packets through a wireless communication channel; If the category of the target object is a preset category, the second distance is less than a second threshold value, and the distance between the target object and the vehicle continues to decrease, the vehicle is controlled to enter a safety warning mode, wherein in the safety warning mode, a target component of the vehicle is in a working state, the target component is at least one of a camera and a sensor, and the sensor refers to a sensor other than the camera; The control of the vehicle to enter the safety warning mode comprises: Starting the target component and obtaining data collected by the target component; Determining a motion feature of the target object according to the data collected by the target component, wherein the motion feature comprises at least one of a motion speed, a motion trajectory, or a motion trend; If it is determined that the vehicle has a safety risk based on the motion feature of the target object, the vehicle is controlled to issue an alarm.

2. The method of claim 1, wherein, The method further comprises: Obtaining a parking position and a parking environment of the vehicle; If the ambient brightness in the parking environment is less than a brightness threshold value, an external lighting component of the vehicle is started, and a camera installed at a target position on the vehicle is controlled to collect data according to a safety risk level corresponding to the parking position.

3. The method of claim 1, wherein, The method further comprises: Obtaining a parking position of the vehicle; According to an obstacle situation of the parking position, a target type of sensor on the vehicle is controlled to collect data; The obstacle situation comprises at least one of a position of the obstacle relative to the vehicle, a type of the obstacle, or a volume of the obstacle.

4. The method of claim 1, wherein, The control of the vehicle to issue an alarm if it is determined that the vehicle has a safety risk based on the motion feature of the target object comprises at least one of the following: If it is determined that the vehicle has a safety risk based on the motion feature of the target object, the vehicle is controlled to output a voice alarm and control an external light component of the vehicle to flash. If it is determined that the vehicle has a safety risk based on the motion feature of the target object, the vehicle is controlled to send an alarm notification to a target terminal; wherein the alarm notification carries a multimedia resource for indicating that the vehicle has a safety risk.

5. The method according to any one of claims 1 to 4, characterized in that, After the vehicle is controlled to enter the safety warning mode, the method further comprises: If it is determined that the current second distance is greater than the fourth threshold value according to the currently obtained first time length, and the duration reaches the fifth threshold value, the step of determining the first distance between the vehicle and the target object according to the obtained RSSI value is performed.

6. The method according to any one of claims 1 to 4, characterized in that, After the vehicle is controlled to enter the safety warning mode, the method further comprises: If it is determined that the current second distance is greater than the fourth threshold value according to the currently obtained first time length, and the duration reaches the fifth threshold value, the step of determining the first distance between the vehicle and the target object according to the obtained RSSI value is performed.

7. A vehicle control device characterized by comprising: The device comprises: The first determination module is configured to perform wireless communication signal monitoring when the vehicle is in a parked state, and determine a first distance between the vehicle and a target object according to an obtained received signal strength indication (RSSI) value; wherein the RSSI value is used to measure the strength of the received wireless communication signal; The second determination module is configured to, if the obtained RSSI value gradually increases and the first distance is less than a first threshold value, obtain a round-trip time of an encrypted data packet in a case where the vehicle is used as a starter and the target object is used as a reflector; wherein the round-trip time refers to the time required for the starter to receive the encrypted data packet returned by the reflector after the starter sends the encrypted data packet to the reflector; determine a first time length according to the round-trip time and a second time length; wherein the second time length refers to the time required for the reflector to process the received encrypted data packet and send the processed encrypted data packet to the starter; determine a second distance between the vehicle and the target object according to the first time length and the speed of light; wherein the first time length refers to the time required for the vehicle and the target object to exchange data packets through a wireless communication channel; The control module is configured to control the vehicle to enter a safety warning mode if the category of the target object is a preset category, the second distance is less than a second threshold value, and the distance between the target object and the vehicle is continuously decreasing; wherein in the safety warning mode, a target component of the vehicle is in a working state, the target component is at least one of a camera or a sensor, and the sensor refers to a sensor other than the camera; The control module is configured to start the target component and obtain data collected by the target component; determine a motion feature of the target object according to the data collected by the target component; wherein the motion feature includes at least one of a motion speed, a motion trajectory, or a motion trend; and control the vehicle to issue an alarm if it is determined that the vehicle has a safety risk based on the motion feature of the target object.

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