Vehicle control method and device, storage medium and vehicle

Abstract

The invention discloses a vehicle control method and device, a storage medium and a vehicle, and the vehicle control method comprises the steps: obtaining an unmanned automatic driving request and destination information, and controlling the vehicle to enter an unmanned automatic driving state; acquiring real-time position information of the vehicle, and controlling the vehicle to exit the unmanned automatic driving state under the condition that the real-time position information is matched with the destination information; and if the unlocking signal is obtained, the vehicle is controlled to be unlocked. In the embodiment of the invention, after the vehicle arrives at the destination, if the position of the vehicle key is not in the preset vehicle peripheral area, namely, the user holding the vehicle key does not arrive beside the vehicle, the vehicle is not controlled to be unlocked; therefore, user property loss caused by direct unlocking without arriving at the side of the vehicle by the user holding the vehicle key can be avoided, and property safety of the user can be guaranteed.

Description

Technical Field

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

[0002] In unmanned driving mode, the vehicle will automatically drive to the destination without human operation.

[0003] In the related art, in a passenger pickup scenario, the vehicle will automatically unlock after it arrives at the destination without any human operator.

[0004] However, after the vehicle is unlocked, the user's property may be lost, affecting the user's property safety. Summary of the invention

[0005] The present application provides a vehicle control method, device, storage medium and vehicle, aiming to at least solve the technical problem in the prior art that the vehicle will automatically unlock after driving to the destination without human operation, which may cause the user's property to be lost.

[0006] In a first aspect of the implementation of the present application, a vehicle control method is first provided, comprising:

[0007] Obtain unmanned autonomous driving requests and destination information, and control the vehicle to enter unmanned autonomous driving state;

[0008] acquiring real-time location information of the vehicle, and controlling the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information;

[0009] If an unlock signal is obtained, the vehicle is controlled to be unlocked; wherein the unlock signal is generated based on the position of the vehicle key being within a preset vehicle surrounding area.

[0010] Optionally, acquiring the real-time location information of the vehicle, and controlling the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information, includes:

[0011] Acquiring real-time location information of the vehicle, and controlling the vehicle to switch from the unmanned automatic driving state to a parking ready state when the real-time location information matches the destination information;

[0012] The step of acquiring the real-time location information of the vehicle and, if the real-time location information matches the destination information, controlling the vehicle to switch from the unmanned automatic driving state to the parking ready state further includes:

[0013] Controlling the vehicle to exit the parking ready state;

[0014] Control the lighting equipment in the vehicle to execute a preset welcome lighting effect.

[0015] Optionally, if an unlocking signal is obtained, controlling the vehicle to unlock includes:

[0016] Send a key query request to the key module;

[0017] If an unlocking signal sent by the key module is received, controlling the vehicle to unlock;

[0018] The key module is used for wireless communication with the vehicle key, and the key module is used for detecting the position of the vehicle key and generating the unlocking signal when the position of the vehicle key is within the preset vehicle surrounding area.

[0019] Optionally, the preset vehicle surrounding area includes any one of an unlocking area, a locking area, a welcome area and a tailgate area;

[0020] The vehicle key includes any one of a physical vehicle key, a Bluetooth digital key, and an ultra-wideband digital key, wherein the physical vehicle key includes a first Bluetooth module and / or a first ultra-wideband module.

[0021] Optionally, if an unlocking signal sent by the key module is received, controlling the vehicle to unlock includes:

[0022] Recording the time when the key query request is issued;

[0023] If an unlocking signal sent by the key module is received within a preset timeout period after the sending time, the vehicle is controlled to be unlocked.

[0024] Optionally, if an unlocking signal sent by the key module is received, controlling the vehicle to unlock includes:

[0025] If an unlocking signal sent by the key module is received, the identity information of the vehicle key is obtained;

[0026] authenticating the legitimacy of the vehicle key according to the identity information;

[0027] When the legitimacy authentication of the vehicle key is passed, the vehicle is controlled to be unlocked.

[0028] Optionally, after controlling the lighting equipment in the vehicle to execute a preset welcome lighting effect, the method further includes:

[0029] When the duration for which the lighting device executes the preset welcome lighting effect is equal to the preset duration, the lighting device is controlled to stop executing the preset welcome lighting effect; and / or, when the duration for which the lighting device executes the preset welcome lighting effect is less than the preset duration, in response to the user's door opening operation, the lighting device is controlled to stop executing the preset welcome lighting effect.

[0030] In a second aspect of the implementation of the present application, a vehicle control device is also provided, comprising:

[0031] The first control module is used to obtain an unmanned automatic driving request and destination information, and control the vehicle to enter an unmanned automatic driving state;

[0032] a second control module, configured to obtain real-time location information of the vehicle, and control the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information;

[0033] The third control module is used to control the vehicle to unlock if an unlock signal is obtained; wherein the unlock signal is generated based on the position of the vehicle key being within a preset vehicle surrounding area.

[0034] In a third aspect of the implementation of the present application, a readable storage medium is also provided, wherein the readable storage medium stores a computer program, and the computer program implements the above-mentioned vehicle control method when executed by a processor.

[0035] In a fourth aspect of the implementation of the present application, a vehicle is also provided, comprising:

[0036] processor;

[0037] a memory for storing instructions executable by a processor;

[0038] Wherein, the processor is configured to execute the instructions to implement the above-mentioned vehicle control method.

[0039] In the embodiment of the present application, in the scenario of unmanned automatic driving, after the vehicle arrives at the destination, the vehicle will be unlocked only if the position of the vehicle key is in the preset vehicle surrounding area. In the embodiment of the present application, after the vehicle arrives at the destination, if the position of the vehicle key is not in the preset vehicle surrounding area, that is, when the user holding the vehicle key has not arrived next to the vehicle, the vehicle will not be unlocked, thereby avoiding the loss of user property caused by the user holding the vehicle key directly unlocking the vehicle before arriving next to the vehicle, and ensuring the safety of the user's property. In addition, unlocking the vehicle is a senseless unlocking method, which does not require the user to actively trigger the unlocking, and can improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0041] Figure 1 A flow chart of the steps of a vehicle control method provided in an embodiment of the present application;

[0042] Figure 2 A flowchart of another vehicle control method provided in an embodiment of the present application;

[0043] Figure 3 for Figure 1 A flow chart of step 103 in the vehicle control method provided in an embodiment of the present application;

[0044] Figure 4 A flowchart of another vehicle control method provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the structure of a peripheral area of ​​a vehicle provided in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0047] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0049] The embodiments of the present application are only used to explain the present application and are not used to limit the scope of the present application. The present application is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present application.

[0050] In the related art, in the passenger pickup scenario, the vehicle will automatically unlock after it reaches the destination without human operation. However, after the vehicle is unlocked, the user's property may be lost, affecting the user's property safety. For example, after the vehicle is unlocked, the user has not yet reached the location of the vehicle, and other people enter the vehicle and steal the items in the vehicle, causing the user's property to be lost. In order to solve the above problems, the embodiments of the present application provide a vehicle control method, device, storage medium and vehicle. The above-mentioned vehicle control method, device, storage medium and vehicle are described in detail below.

[0051] First, refer to Figure 1, an embodiment of the present application provides a vehicle control method, which can be applied to a processor in a vehicle, and the processor can be a vehicle integration unit (VIU). The vehicle control method can be applied in scenarios of unmanned autonomous driving, such as unmanned AVP (Autonomous Valet Parking), unmanned RPA (Remote Parking Assistance), unmanned RDA (Remote Driving Assistance), and the like.

[0052] The vehicle control method comprises:

[0053] Step 101, obtain an unmanned automatic driving request and destination information, and control the vehicle to enter an unmanned automatic driving state.

[0054] The unmanned automatic driving request is a command signal for triggering the vehicle to perform unmanned automatic driving, and the destination information is information about the destination that the vehicle will eventually reach when performing unmanned automatic driving. Obtaining the unmanned automatic driving request and destination information may include: obtaining the unmanned automatic driving request and destination information in response to a user's input operation and touch operation on a central control screen in the vehicle; or obtaining the unmanned automatic driving request and destination information in response to a user's input operation and touch operation on an external terminal device.

[0055] Specifically, the user can input the destination information through the central control screen in the vehicle or the external terminal device, and click the "OK" button to control the vehicle to perform unmanned automatic driving. After the user clicks the "OK" button, the central control screen or the terminal device will send the unmanned automatic driving request and the destination information entered by the user to the processor. The terminal device is connected to the vehicle for communication. The terminal device can be a mobile phone, and the vehicle control APP (Application) is installed on the terminal device. The user can specifically input the destination information through the vehicle control APP in the terminal device and click the "OK" button.

[0056] After the vehicle enters the unmanned automatic driving state, the vehicle will automatically drive to the destination. Controlling the vehicle to enter the unmanned automatic driving state may include: when the vehicle is in a locked state, controlling the power anti-theft state in the vehicle to the armed state, and controlling the vehicle to start driving. Power anti-theft refers to a security mechanism used to prevent the vehicle from being illegally started and controlled. When the power anti-theft state is the armed state, the vehicle's power system, transmission, and steering system will be protected by the security control strategy, and external attackers cannot control the vehicle's driving state.

[0057] When controlling the vehicle to enter the unmanned automatic driving state, it will first determine whether the vehicle is in a locked state or an unlocked state. If the vehicle is in an unlocked state, the vehicle will be controlled to be locked. If the vehicle is in a locked state, the locking operation will not be repeated. Specifically, when the state of the door lock is a locked state, the vehicle is in a locked state. When the state of the door lock is an unlocked state, the vehicle is in an unlocked state. Controlling the vehicle to lock specifically includes: controlling the door lock to lock.

[0058] Step 102, obtain the real-time location information of the vehicle, and when the real-time location information matches the destination information, control the vehicle to exit the unmanned automatic driving state.

[0059] Among them, the real-time location information of the vehicle is also information indicating the real-time location of the vehicle. If the real-time location information matches the destination information, it means that the vehicle has arrived at the destination. After the vehicle arrives at the destination, it will slow down and stop. After stopping, the vehicle will be controlled to exit the unmanned automatic driving state. The real-time position of the vehicle can be accurately located through UWB (Ultra Wide Band) positioning method and Star Flash positioning method. Star Flash positioning is a high-precision indoor positioning technology. Star Flash positioning adopts the principle of multi-base station positioning and realizes high-precision positioning of the position by receiving the signal transmission time difference between the base station and the vehicle. At the same time, the real-time position of the vehicle can also be located in combination with GPS (Global Positioning System) and map positioning methods to achieve dual redundancy of the real-time position of the vehicle, which can more accurately determine the real-time position of the vehicle so that the subsequent welcoming can be more accurately performed.

[0060] Acquiring the real-time location information of the vehicle, and controlling the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information, may include: acquiring the real-time location information of the vehicle, determining whether the real-time location information matches the destination information, and controlling the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information.

[0061] Determining whether the real-time location information matches the destination information may include: determining whether the minimum distance between the real-time location corresponding to the real-time location information and the destination corresponding to the destination information is less than a preset distance value. If the minimum distance between the real-time location corresponding to the real-time location information and the destination corresponding to the destination information is less than the preset distance value, it means that the real-time location information matches the destination information. Among them, the preset distance value can be set according to actual needs, for example, it can be set to 0 meters-0.5 meters. The minimum distance between the coordinates of the real-time location and the coordinates of the destination can be calculated based on the coordinates of the real-time location and the destination.

[0062] Step 103: If an unlocking signal is obtained, the vehicle is controlled to unlock.

[0063] Among them, the unlocking signal is a command signal for instructing the vehicle to unlock, and the unlocking signal is generated based on the position of the vehicle key in the preset vehicle surrounding area. The vehicle key can be a physical vehicle key or a digital key, and the digital key can be an SLE (Seamless Low Energy) digital key. The digital key can also be a Bluetooth digital key, an ultra-wideband digital key, etc. The preset vehicle surrounding area can be any one of the unlocking area, the locking area, the welcome area, and the tailgate area. Controlling the vehicle unlocking specifically includes: controlling the door lock to unlock.

[0064] It should be noted that when the vehicle is in an unmanned automatic driving state or a manual driving state, the vehicle is usually not controlled to be unlocked. Therefore, in this embodiment, after the vehicle reaches the destination and the vehicle exits the unmanned automatic driving state, the vehicle is controlled to be unlocked to ensure the normal execution of the vehicle unlocking.

[0065] In the embodiment of the present application, in the scenario of unmanned automatic driving, after the vehicle arrives at the destination, the vehicle will be unlocked only if the position of the vehicle key is in the preset vehicle surrounding area. In the embodiment of the present application, after the vehicle arrives at the destination, if the position of the vehicle key is not in the preset vehicle surrounding area, that is, when the user holding the vehicle key has not arrived next to the vehicle, the vehicle will not be unlocked, thereby avoiding the loss of user property caused by the user holding the vehicle key directly unlocking the vehicle before arriving next to the vehicle, and ensuring the safety of the user's property. In addition, unlocking the vehicle is a senseless unlocking method, which does not require the user to actively trigger the unlocking, and can improve the user experience.

[0066] Reference Figure 2 , an embodiment of the present application provides another vehicle control method, the vehicle control method comprising:

[0067] Step 201, obtaining an unmanned automatic driving request and destination information, and controlling the vehicle to enter an unmanned automatic driving state;

[0068] Step 202, obtaining the real-time location information of the vehicle, and when the real-time location information matches the destination information, controlling the vehicle to switch from the unmanned automatic driving state to the parking ready state;

[0069] Step 203, if an unlocking signal is obtained, the vehicle is controlled to be unlocked;

[0070] Step 204, controlling the vehicle to exit the parking ready state;

[0071] Step 205, controlling the lighting equipment in the vehicle to execute a preset welcome lighting effect.

[0072] Among them, the parking ready state, also known as the P-ready state, is a special parking state after the unmanned autonomous driving vehicle reaches the destination. After the vehicle exits the parking ready state, it can enter the user-operable state or the ready-to-drive state. In the user-operable state or the ready-to-drive state, the vehicle's power system has been activated, and the vehicle can be started and driven normally. In the P-ready state, the power anti-theft state is the armed state. After the vehicle exits the parking ready state and enters the user-operable state or the ready-to-drive state, the power anti-theft state will exit the armed state, and the power anti-theft state will be switched from the armed state to the disarmed state. When the power anti-theft state is in the disarmed state, the vehicle's power system and driving control functions are restored, and the vehicle enters a normal operable state.

[0073] The lighting equipment may include vehicle interior lights and / or vehicle exterior lights. The vehicle interior lights include ambient lights, footlights, etc., and the vehicle exterior lights include DLP (Digital Light Processing) headlights, front lights, taillights, etc. The preset welcome lighting effect is a pre-set lighting display effect. The lighting equipment is electrically connected to the processor, and after the vehicle exits the parking ready state, the processor controls the lighting equipment to execute the preset welcome lighting effect.

[0074] It should be noted that controlling the vehicle to unlock and controlling the vehicle to exit the parking ready state and controlling the lighting equipment in the vehicle to execute the preset welcome lighting effect are preferably executed in parallel, that is, whether or not the vehicle is unlocked does not affect the lighting equipment executing the preset welcome lighting effect. In other embodiments, the vehicle may be unlocked first, then the vehicle may be exited from the parking ready state and the lighting equipment in the vehicle may be controlled to execute the preset welcome lighting effect. In this case, the lighting equipment can execute the preset welcome lighting effect only after the vehicle is unlocked.

[0075] In this embodiment, after the vehicle arrives at the destination, the lighting equipment will be controlled to execute the preset welcome lighting effect, which can bring a sense of welcoming ceremony to the user, thereby improving the user experience. In addition, in this embodiment, after exiting the parking ready state, that is, after the power anti-theft state exits the defense state, the lighting equipment in the vehicle is controlled to execute the preset welcome lighting effect to meet the corresponding regulatory requirements.

[0076] In some embodiments, reference Figure 3 , step 103, if the unlocking signal is obtained, the vehicle is controlled to be unlocked, including: step 1031, sending a key query request to the key module; step 1032, if the unlocking signal sent by the key module is received, the vehicle is controlled to be unlocked.

[0077] Among them, the key module in the vehicle is used to wirelessly communicate with the vehicle key, the key module is used to detect the location of the vehicle key, and generate an unlock signal when the location of the vehicle key is in a preset vehicle surrounding area. The key query request is a command signal used to trigger the key module to detect the location of the vehicle key. The key module may include a BLE (Bluetooth Low Energy) submodule, a UWB submodule, etc. After receiving the key query request, the key module will detect the location of the vehicle key through the BLE submodule and / or the UWB submodule. The BLE submodule is used to detect the approximate location of the vehicle key through the strength of the Bluetooth received signal. The UWB submodule is a high-precision positioning module, which is used to accurately detect the location of the vehicle key through flight time and arrival angle.

[0078] In this embodiment, after the vehicle arrives at the destination, a key query request is immediately sent to the key module so that the key module detects the location of the vehicle key and promptly detects whether the location of the vehicle key is within the preset vehicle surrounding area, thereby improving the unlocking response speed.

[0079] In some embodiments, the preset vehicle surrounding area includes any one of an unlocking area, a locking area, a welcome area, and a tailgate area; the vehicle key includes any one of a physical vehicle key, a Bluetooth digital key, and an ultra-wideband digital key.

[0080] The physical car key is a traditional physical remote control key, and the physical car key includes a first Bluetooth module and / or a first ultra-wideband module. The physical car key preferably includes both a first Bluetooth module and a first ultra-wideband module. The first Bluetooth module communicates with the BLE submodule via Bluetooth, and the first ultra-wideband module communicates with the UWB submodule via ultra-wideband.

[0081] The digital key is a virtual key realized through software and communication technology. The carrier device of the digital key can be a mobile phone, smart watch, wearable device, etc. Users no longer need to carry physical car keys. They can control the unlocking and locking of the vehicle by using a mobile phone, smart watch or wearable device. The Bluetooth digital key uses Bluetooth low energy technology. The carrier device of the Bluetooth digital key includes a second Bluetooth module. The carrier device of the Bluetooth digital key is used to communicate with the BLE submodule via Bluetooth. The carrier device of the ultra-wideband digital key includes a second ultra-wideband module. The carrier device of the ultra-wideband digital key is used to communicate with the UWB submodule via ultra-wideband.

[0082] Reference Figure 5, the surrounding area of ​​the vehicle includes an unlocking area, a locking area, a welcome area, and a connection area. The unlocking area can be an area within 2 meters near the door, the locking area can be an area between 2 meters and 5 meters near the door, the welcome area can be an area between 5 meters and 10 meters near the door, and the connection area can be an area between 10 meters and 100 meters near the door. When the position of the vehicle key is in the connection area, the first Bluetooth module or the second Bluetooth submodule is connected to the BLE submodule in communication. When the position of the vehicle key is in an area between 10 meters and 15 meters near the door, the first ultra-wideband module or the second ultra-wideband module can be activated, and the first ultra-wideband module or the second ultra-wideband module is connected to the UWB submodule in communication. The tailgate area can be an area within 2 meters near the tailgate. In this embodiment, when the position of the vehicle key is in any of the unlocking area, the locking area, the welcome area, and the tailgate area, the vehicle can be controlled to be unlocked, which can provide a wider unlocking range.

[0083] In some embodiments, step 1032, if an unlock signal sent by the key module is received, the vehicle is controlled to be unlocked, including: recording the issuance time of the key query request; if the unlock signal sent by the key module is received within a preset timeout period after the issuance time, the vehicle is controlled to be unlocked.

[0084] The preset timeout refers to the time limit for the processor to wait for the key module to send an unlock signal. The preset timeout can be set according to actual needs, for example, it can be set to 400ms (millisecond), 500ms, 600ms, 1000ms, etc. The preset timeout is preferably 500ms. After the key query request is sent, the processor will continue to wait for the response of the key module. If the unlock signal is received within the preset timeout, the vehicle will be unlocked.

[0085] It should be noted that if the unlock signal sent by the key module is not received within the preset timeout period after the sending time, the current process is terminated to avoid unlimited unlocking waiting, thereby reducing resource consumption. If the unlock signal sent by the key module is not received within the preset timeout period after the sending time, the vehicle can be controlled to power off normally.

[0086] In some embodiments, step 1032, if an unlocking signal sent by the key module is received, the vehicle is controlled to be unlocked, including: if an unlocking signal sent by the key module is received, the identity information of the vehicle key is obtained; the legitimacy of the vehicle key is authenticated according to the identity information; if the legitimacy of the vehicle key is authenticated, the vehicle is controlled to be unlocked.

[0087] Specifically, the identity information of the vehicle key is obtained through the key module. The identity information of the vehicle key is the information on the identity of the surface vehicle key. The identity information of the vehicle key may include the unique identification of the vehicle key, such as device ID (identification), Bluetooth MAC (Media Access Control) address, UUID (Universally Unique Identifier), etc. The legitimacy of the vehicle key can be authenticated by determining whether the identity information is in a pre-stored authorized device list. If the identity information is in a pre-stored authorized device list, it means that the legitimacy of the vehicle key has been authenticated. In this embodiment, when the legitimacy of the vehicle key has been authenticated, the vehicle is unlocked again, which can improve the security of unlocking and prevent illegal unlocking.

[0088] Reference Figure 4 , an embodiment of the present application provides another vehicle control method, the vehicle control method comprising:

[0089] Step 301, obtaining an unmanned automatic driving request and destination information, and controlling the vehicle to enter an unmanned automatic driving state;

[0090] Step 302, obtaining the real-time location information of the vehicle, and when the real-time location information matches the destination information, controlling the vehicle to switch from the unmanned automatic driving state to the parking ready state;

[0091] Step 303: if an unlocking signal is obtained, the vehicle is controlled to be unlocked;

[0092] Step 304, controlling the vehicle to exit the parking ready state;

[0093] Step 305, controlling the lighting equipment in the vehicle to execute a preset welcome lighting effect;

[0094] Step 306, when the duration of the lighting device executing the preset welcome lighting effect is equal to the preset duration, control the lighting device to stop executing the preset welcome lighting effect; and / or, when the duration of the lighting device executing the preset welcome lighting effect is less than the preset duration, in response to the user's door opening operation, control the lighting device to stop executing the preset welcome lighting effect.

[0095] The preset duration is the duration for which the preset welcome light effect needs to be executed if it is not interrupted. The preset duration can be set according to actual needs, for example, it can be set to 30 seconds, 1 minute, 1.5 minutes, 2 minutes, etc. If the duration of the preset welcome light effect executed by the lighting device is equal to the preset duration, it means that the preset welcome light effect has been executed.

[0096] After controlling the lighting device to execute the preset welcome light effect, the duration of the lighting device executing the preset welcome light effect is obtained. When the duration is equal to the preset duration, that is, after the preset welcome light effect is completed, the lighting device is controlled to stop executing the preset welcome light effect. In this embodiment, even if the user does not actively trigger the end of the welcome, the welcome will end when the duration of the lighting device executing the preset welcome light effect is equal to the preset duration, which can avoid the waste of resources caused by the long execution of the welcome.

[0097] If the duration of the preset welcome light effect executed by the lighting device is less than the preset duration, it means that the preset welcome light effect has not been completed. Whether the user has performed the door opening operation can be determined by detecting whether the door is opened. When detecting whether the door is opened, it can be determined whether the door is opened based on the opening angle of the door. In this embodiment, when the lighting device has not completed the preset welcome light effect, the preset welcome light effect can be stopped immediately based on the user's door opening operation, without waiting for the lighting device to complete the preset welcome light effect.

[0098] Second, refer to Figure 6 , the embodiment of the present application further provides a vehicle control device, including:

[0099] The first control module 401 is used to obtain an unmanned automatic driving request and destination information, and control the vehicle to enter an unmanned automatic driving state;

[0100] The second control module 402 is used to obtain the real-time location information of the vehicle, and control the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information;

[0101] The third control module 403 is used to control the vehicle to unlock if an unlock signal is obtained; wherein the unlock signal is generated based on the position of the vehicle key being in a preset vehicle surrounding area.

[0102] Optionally, the second control module 402 is used to obtain real-time location information of the vehicle, and when the real-time location information matches the destination information, control the vehicle to switch from the unmanned automatic driving state to the parking ready state;

[0103] The vehicle control device also includes:

[0104] A fourth control module, used for controlling the vehicle to exit the parking ready state;

[0105] The fifth control module is used to control the lighting equipment in the vehicle to execute a preset welcome lighting effect.

[0106] Optionally, the third control module 403 includes:

[0107] A sending unit, used for sending a key query request to a key module;

[0108] A control unit, configured to control the vehicle to unlock if an unlock signal sent by the key module is received;

[0109] Among them, the key module is used for wireless communication with the vehicle key, and the key module is used to detect the position of the vehicle key and generate an unlocking signal when the position of the vehicle key is within a preset vehicle surrounding area.

[0110] Optionally, the preset vehicle surrounding area includes any one of an unlocking area, a locking area, a welcome area, and a tailgate area;

[0111] The vehicle key includes any one of a physical vehicle key, a Bluetooth digital key, and an ultra-wideband digital key, wherein the physical vehicle key includes a first Bluetooth module and / or a first ultra-wideband module.

[0112] Optionally, the control unit is configured to:

[0113] Record the time when the key query request is issued;

[0114] If the unlock signal sent by the key module is received within the preset timeout period after the sending time, the vehicle is controlled to unlock.

[0115] Optionally, the control unit is configured to:

[0116] If an unlock signal sent by the key module is received, the identity information of the vehicle key is obtained;

[0117] Verify the legitimacy of the vehicle key based on identity information;

[0118] When the legitimacy of the vehicle key is authenticated, the vehicle is unlocked.

[0119] Optionally, the vehicle control device further includes:

[0120] The sixth control module is used to control the lighting device to stop executing the preset welcome lighting effect when the duration of the lighting device executing the preset welcome lighting effect is equal to the preset duration; and / or, in response to the user's door opening operation, control the lighting device to stop executing the preset welcome lighting effect when the duration of the lighting device executing the preset welcome lighting effect is less than the preset duration.

[0121] In a third aspect, an embodiment of the present application further provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0122] Fourthly, refer to Figure 7, an embodiment of the present application also provides a vehicle, comprising: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the above-mentioned vehicle control method.

[0123] The vehicle also includes a key module and a lighting device connected to the processor, and the key module is used for wireless communication with the vehicle key.

[0124] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory.

[0125] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0126] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0127] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0128] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0129] The above are only preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the protection scope of the present application.

[0130] The vehicle control method, device, storage medium and vehicle provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the structure of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtain unmanned autonomous driving requests and destination information, and control the vehicle to enter unmanned autonomous driving state; acquiring real-time location information of the vehicle, and controlling the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information; If an unlock signal is obtained, the vehicle is controlled to be unlocked; wherein the unlock signal is generated based on the position of the vehicle key being within a preset vehicle surrounding area.

2. The vehicle control method according to claim 1, characterized in that: The acquiring the real-time location information of the vehicle, and controlling the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information, includes: Acquiring real-time location information of the vehicle, and controlling the vehicle to switch from the unmanned automatic driving state to a parking ready state when the real-time location information matches the destination information; The step of acquiring the real-time location information of the vehicle and, if the real-time location information matches the destination information, controlling the vehicle to switch from the unmanned automatic driving state to the parking ready state further includes: Controlling the vehicle to exit the parking ready state; Control the lighting equipment in the vehicle to execute a preset welcome lighting effect.

3. The vehicle control method according to claim 1, characterized in that: If the unlocking signal is obtained, controlling the vehicle to unlock includes: Send a key query request to the key module; If an unlocking signal sent by the key module is received, controlling the vehicle to unlock; The key module is used for wireless communication with the vehicle key, and the key module is used for detecting the position of the vehicle key and generating the unlocking signal when the position of the vehicle key is within the preset vehicle surrounding area.

4. The vehicle control method according to claim 3, characterized in that: The preset vehicle surrounding area includes any one of an unlocking area, a locking area, a welcome area and a tailgate area; The vehicle key includes any one of a physical vehicle key, a Bluetooth digital key, and an ultra-wideband digital key, wherein the physical vehicle key includes a first Bluetooth module and / or a first ultra-wideband module.

5. The vehicle control method according to claim 3, characterized in that: If the unlocking signal sent by the key module is received, controlling the vehicle to unlock comprises: Recording the time when the key query request is issued; If an unlocking signal sent by the key module is received within a preset timeout period after the sending time, the vehicle is controlled to be unlocked.

6. The vehicle control method according to claim 3, characterized in that: If the unlocking signal sent by the key module is received, controlling the vehicle to unlock comprises: If an unlocking signal sent by the key module is received, the identity information of the vehicle key is obtained; authenticating the legitimacy of the vehicle key according to the identity information; When the legitimacy authentication of the vehicle key is passed, the vehicle is controlled to be unlocked.

7. The vehicle control method according to claim 2, characterized in that: After controlling the lighting equipment in the vehicle to execute the preset welcome lighting effect, the method further includes: When the duration for which the lighting device executes the preset welcome lighting effect is equal to the preset duration, the lighting device is controlled to stop executing the preset welcome lighting effect; and / or, when the duration for which the lighting device executes the preset welcome lighting effect is less than the preset duration, in response to the user's door opening operation, the lighting device is controlled to stop executing the preset welcome lighting effect.

8. A vehicle control device, characterized in that: include: The first control module is used to obtain an unmanned automatic driving request and destination information, and control the vehicle to enter an unmanned automatic driving state; a second control module, configured to obtain real-time location information of the vehicle, and control the vehicle to exit the unmanned automatic driving state when the real-time location information matches the destination information; The third control module is used to control the vehicle to unlock if an unlock signal is obtained; wherein the unlock signal is generated based on the position of the vehicle key being within a preset vehicle surrounding area.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by a processor; The processor is configured to execute the instructions to implement the vehicle control method as claimed in any one of claims 1 to 7.

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