Vehicle control method and device, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining target control information corresponding to a target vehicle; generating a target control strategy corresponding to the target function under the condition that the target control information triggers the target function and the target control information meets an execution identification condition corresponding to the target function; and controlling the target vehicle through the target control strategy. The triggered target function can be determined based on the target control information corresponding to the target vehicle, and diversification of the control function is achieved. And after the target function is triggered, continuing to judge whether the target control information meets the execution identification condition corresponding to the target function, and under the condition that the target control information meets the execution identification condition corresponding to the target function, generating a target control strategy corresponding to the target function to control the target vehicle. Therefore, intelligent control of various different functions can be realized, and the safety and reliability of intelligent control are improved.

Description

Technical Field

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

[0002] For smart connected vehicles, various intelligent controls can be performed on the vehicle, such as automatic parking control, lane keeping control, etc.

[0003] In the related art, the intelligent control of vehicles is not diverse enough and is not safe and reliable enough. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, vehicle, storage medium and program product, which can determine the triggered target function based on the target control information corresponding to the target vehicle, so as to realize the diversification of control functions, and after triggering the target function, continue to judge whether the target control information meets the execution identification condition corresponding to the target function, and when the target control information meets the execution identification condition corresponding to the target function, regenerate the target control strategy corresponding to the target function to control the target vehicle, thereby realizing intelligent control of multiple different functions and improving the safety and reliability of intelligent control.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: Obtain target control information corresponding to the target vehicle; When the target control information triggers the target function and the target control information satisfies the execution identification condition corresponding to the target function, generating a target control strategy corresponding to the target function; The target vehicle is controlled by the target control strategy.

[0006] Optionally, the target control information includes function request information, the target function includes a target request function, and the method further includes: In a case where there is a target request function corresponding to the function request information, it is determined that the target control information triggers the target request function, and the function request information is obtained based on a user input.

[0007] Optionally, the target control information includes first position information of the target terminal and second position information of the target vehicle, the target function includes a target component activation function, and the method further includes: Determining a trigger area corresponding to the target component according to the second position information; When the first location information indicates that the target terminal is located in a triggering area corresponding to the target component and the duration exceeds a preset duration, it is determined that the target control information triggers the target component to start a function.

[0008] Optionally, the method further comprises: When the target control information satisfies the machine recognition condition corresponding to the target function and / or the target control information satisfies the biometric recognition condition corresponding to the target function, it is determined that the target control information satisfies the execution recognition condition corresponding to the target function.

[0009] Optionally, the target control information includes identification information and a verification key sent by the target terminal, and a relative distance between the target terminal and the target vehicle, and the method further includes: Based on the identification information, obtaining a target key corresponding to the target terminal, the target key being a key obtained when the target terminal is associated with a target account, and the target account being an account bound to the target vehicle; Determining a target distance threshold corresponding to the target function; In a case where the verification key is the same as the target key and the relative distance is less than or equal to the target distance threshold, it is determined that the target control information satisfies a machine identification condition corresponding to the target function.

[0010] Optionally, the target control information includes biometric information, and the method further includes: Obtaining a valid biometric feature set entered under a target account corresponding to the target vehicle; In a case where the biometric information exists in the valid biometric set, it is determined that the target control information satisfies a biometric recognition condition corresponding to the target function.

[0011] Optionally, the target request function includes a body control function; The generating of the target control strategy corresponding to the target function includes: determining a target control state of a target body component corresponding to the body control function; Based on the target control state corresponding to the target body component, a target control strategy corresponding to the body control function is obtained, and the target control strategy is used to control the target body component of the target vehicle to reach the target control state.

[0012] Optionally, the target request function includes a driving function; The generating of the target control strategy corresponding to the target function includes: Obtaining strategy generation information corresponding to the driving function; A target control strategy corresponding to the driving function is generated according to the strategy generation information.

[0013] Optionally, the driving function includes a vehicle following function, and the strategy generation information includes the third position information and the first speed of the target terminal, and the first environment information, the fourth position information and the second speed of the target vehicle; The step of generating the target control strategy corresponding to the driving function according to the strategy generation information includes: Based on the first environmental information, the third position information, the first speed, the fourth position information and the second speed, a target control strategy corresponding to the vehicle following function is obtained, and the target control strategy is used to control the target vehicle and the target terminal to maintain a target following distance.

[0014] Optionally, the driving function includes a vehicle summoning function, and the strategy generation information includes map information, fifth location information corresponding to the target terminal, and sixth location information and second environment information corresponding to the target vehicle; The step of generating the target control strategy corresponding to the driving function according to the strategy generation information includes: Obtaining a target path based on the map information, the fifth position information, and the sixth position information; Based on the target path and the second environmental information, a target control strategy corresponding to the vehicle summoning function is obtained, and the target control strategy is used to control the target vehicle to travel to a fifth position corresponding to the target terminal.

[0015] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: A first acquisition module is configured to acquire target control information corresponding to the target vehicle; a generating module, configured to generate a target control strategy corresponding to the target function when the target control information triggers the target function and the target control information satisfies the execution identification condition corresponding to the target function; A control module is configured to control the target vehicle through the target control strategy.

[0016] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the vehicle control method provided in the first aspect of the present disclosure when executed.

[0017] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0018] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the vehicle control method provided in the first aspect of the present disclosure.

[0019] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: By acquiring the target control information corresponding to the target vehicle, and when the target control information triggers the target function and the target control information meets the execution identification conditions corresponding to the target function, a target control strategy corresponding to the target function is generated, and then the target vehicle is controlled by the target control strategy.

[0020] The triggered target function can be determined based on the target control information corresponding to the target vehicle, so as to realize the diversification of control functions. After the target function is triggered, it is further determined whether the target control information meets the execution identification condition corresponding to the target function, and if the target control information meets the execution identification condition corresponding to the target function, the target control strategy corresponding to the target function is generated to control the target vehicle. In this way, different execution identification conditions can be set for different functions according to the actual situation, so as to improve the safety and reliability of intelligent control, thereby realizing the intelligent control of multiple different functions and improving the safety and reliability of intelligent control.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] Figure 1 It is a schematic diagram of an application scenario of a vehicle control method according to an exemplary embodiment.

[0024] Figure 2 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0025] Figure 3 The figure is a schematic diagram of a vehicle summoning according to an exemplary embodiment.

[0026] Figure 4 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0027] Figure 5 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements.

[0029] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0030] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0031] For intelligent connected vehicles, various intelligent controls can be performed on the vehicle, such as automatic parking control, lane keeping control, etc. In the related art, there are relatively few functions for intelligent control, and all use the same verification conditions, resulting in insufficient diversity, safety and reliability of intelligent control of vehicles.

[0032] In response to the above technical problems, the embodiments of the present disclosure provide a vehicle control method, device, vehicle, storage medium and program product, which can determine the triggered target function based on the target control information corresponding to the target vehicle, so as to realize the diversification of control functions, and after triggering the target function, continue to judge whether the target control information meets the execution identification condition corresponding to the target function, and when the target control information meets the execution identification condition corresponding to the target function, regenerate the target control strategy corresponding to the target function to control the target vehicle, thereby realizing intelligent control of multiple different functions and improving the safety and reliability of intelligent control.

[0033] Figure 1 is a schematic diagram of an application scenario of a vehicle control method according to an exemplary embodiment. Figure 1As shown, the method can be applied to a vehicle control system, which may include a terminal device, a target vehicle and a cloud platform, and the vehicle control method can be applied to any one of the target vehicle and the cloud platform. Among them, the cloud platform can be connected to the terminal device and the target vehicle through a wireless network, and the terminal device and the target vehicle can communicate based on a wireless network, Bluetooth or ultra-wideband. Among them, the terminal device can be provided with a car APP (Application), a Bluetooth component, a UWB (Ultra-Wideband) component and a microphone. The car APP may include an account system, a digital key system and a biometric system. The Bluetooth component may include a Bluetooth anchor point and a Bluetooth antenna, and the UWB component may include a UWB anchor point and a UWB antenna. The target car may include a Bluetooth component, a UWB component, a microphone, a car system, a remote communication terminal, a display screen, an intelligent driving system and a sensor system. Among them, the car system includes an account system, a digital key system and a biometric system, and the sensor system may include a camera, an ultrasonic radar, a millimeter-wave radar and a laser radar. The cloud platform may include an account system, a digital key system and a biometric system. The target vehicle can be bound to a target account, and multiple terminal devices and multiple biometric information can be bound to a target account. Both the terminal device and the cloud platform can log in to the target account through the account system. Either end can manage the target account, such as adding, deleting, and modifying. After either end updates the content in the target account, it can be synchronized to other ends through the cloud platform.

[0034] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 2 As shown, the following steps may be included.

[0035] In step S201, target control information corresponding to the target vehicle is obtained.

[0036] In this embodiment, the target control information corresponding to the target vehicle may be information related to the function control of the target vehicle. When the vehicle control method is applied to the target vehicle, the target control information corresponding to the target vehicle may be obtained through the Bluetooth component, UWB component, microphone, remote communication terminal and sensor system of the target vehicle. When the vehicle control method is applied to the cloud platform, the cloud platform may obtain the target control information corresponding to the target vehicle from the terminal device and the target vehicle.

[0037] In step S202, when the target control information triggers the target function and the target control information satisfies the execution identification condition corresponding to the target function, a target control strategy corresponding to the target function is generated.

[0038] In this embodiment, the target control information can be analyzed to determine whether the target control information triggers the target function. When the target control information meets the trigger condition corresponding to the target function, it can be determined that the target control information triggers the target function. When the target function is triggered, the target control information can be further judged to determine the execution identification condition corresponding to the target function, and to determine whether the target control information meets the execution identification condition corresponding to the target function. When the target control information meets the execution identification condition corresponding to the target function, a target control strategy corresponding to the target function can be generated to control the target vehicle to perform the target function.

[0039] In step S203, the target vehicle is controlled by a target control strategy.

[0040] In this embodiment, after obtaining the target control strategy corresponding to the target function, the vehicle can be controlled by the target control strategy so that the target vehicle performs the target function. If applied to the target vehicle, the target vehicle can directly execute the target control strategy to achieve the target function. If applied to the cloud platform, the target control strategy can be sent to the target vehicle so that the target vehicle executes the target control strategy to achieve the target function.

[0041] In this embodiment, the triggered target function can be determined based on the target control information corresponding to the target vehicle, so as to realize the diversification of control functions. After the target function is triggered, it is further determined whether the target control information meets the execution identification condition corresponding to the target function, and when the target control information meets the execution identification condition corresponding to the target function, the target control strategy corresponding to the target function is regenerated to control the target vehicle. In this way, different execution identification conditions can be set for different functions according to the actual situation, so as to improve the safety and reliability of intelligent control, thereby realizing the intelligent control of multiple different functions and improving the safety and reliability of intelligent control.

[0042] In a possible implementation manner, the target control information includes function request information, the target function includes a target request function, and the vehicle control method further includes: In case there is a target request function corresponding to the function request information, it is determined that the target control information triggers the target request function, and the function request information is obtained based on the user input.

[0043] In this embodiment, the target control information may include function request information, which can be obtained based on user input. Specifically, the function request information can be information input by the user to the target terminal and sent to the target vehicle after being processed by the target terminal. For example, the user inputs a control voice to the target terminal bound to the target vehicle, or the user logs in to the APP on the target terminal based on the target account, triggering the display function in the APP, and the target terminal can send the control information corresponding to the control voice or display function to the target vehicle, thereby obtaining the function request information. Alternatively, the function request information can be information directly input by the user to the target vehicle. For example, the user can directly output the control voice to the target vehicle, or perform a function operation on the target vehicle, and the target vehicle can obtain the corresponding function request information. After obtaining the function request information, the function request information can be parsed and matched with the selected function executable by the target vehicle. When the selected function corresponding to the function request information is matched, the selected function can be determined as the target request function corresponding to the function request information. When there is a target request function corresponding to the function request information, it can be determined that the target control information triggers the target function. Thus, the target request function can be triggered based on the information input by the user. The target terminal is the terminal bound to the target vehicle.

[0044] In a possible implementation, the target control information may include function request information, the relative distance between the target terminal and the target vehicle, and the information source of the function request information may be determined. The information source may include the target terminal and the non-target terminal. When the information source is the target terminal and there is a target request function corresponding to the function request information, it is determined that the target control information triggers the target request function. Alternatively, when the information source is a non-target terminal, the relative distance between the target terminal and the target vehicle is less than the target distance, and there is a target request function corresponding to the function request information, it is determined that the target control information triggers the target request function.

[0045] In this embodiment, in order to ensure that the function request information is input by the user corresponding to the target terminal as much as possible and to ensure the security of function control, the information source of the function request information can also be determined. If the source of the function request information is the target terminal, it is considered that the function request information is input by the user corresponding to the target terminal, and then when there is a target request function corresponding to the function request information, it can be determined that the target control information triggers the target request function. If the information source of the function request information is a non-target terminal, for example, the information source is directly the user, that is, the control voice input by the user is directly received. In this case, it may be that the user corresponding to the target terminal directly inputs the vehicle, or it may be input by other users, and it is necessary to further determine whether the relative distance between the target terminal and the target vehicle is less than the target distance. The target distance is a small value, such as 2 meters. If the relative distance between the target terminal and the target vehicle is less than the target distance, it is considered that the function request information is input by the user corresponding to the target terminal, and then when there is a target request function corresponding to the function request information, it can be determined that the target control information triggers the target request function. Through the above method, it is possible to ensure that the function request information is input by the user corresponding to the target terminal as much as possible, so as to ensure the security of the triggering of the target function.

[0046] In a possible implementation, the target control information includes first position information of the target terminal and second position information of the target vehicle, the target function includes a target component activation function, and the method further includes: According to the second position information, the trigger area corresponding to the target component is determined; when the first position information indicates that the target terminal is located in the trigger area corresponding to the target component and the duration exceeds the preset duration, the target control information is determined to trigger the target component to start the function.

[0047] In this embodiment, the target function may include a target component opening function, and the target component opening function may be triggered directly when the corresponding trigger condition is met without the need for the function request information input by the user. Among them, the target component opening function may include a front trunk opening function, a trunk opening function, a main driving door opening function, a co-driver door opening function, a left rear door opening function, and a right rear door opening function, etc. Specifically, the trigger area corresponding to the target component may be determined based on the second position information of the target vehicle. For example, for the trunk opening function of the target vehicle, the target component is the trunk. The position of the target component of the target vehicle, that is, the position of the trunk, may be determined based on the second position information of the target vehicle, and then the trigger area of ​​the trunk of the target vehicle may be determined based on the position of the trunk of the target vehicle. The trigger area corresponding to the target component may be an area within a preset distance from the edge of the target component, such as an area within a range of 20 cm.

[0048] Based on the first position information, determine whether the target terminal is in the trigger area and how long it lasts in the trigger area. When the first position information indicates that the target terminal is in the trigger area corresponding to the target component and the duration exceeds the preset duration, determine that the target control information triggers the target component opening function. The preset duration can be set according to actual conditions, such as 3 seconds. For example, when the user carrying the target terminal stays within 20 cm behind the vehicle for 3 seconds, the trunk opening function can be triggered. In order to realize a non-sensor control car, the opening function of the door or the front and rear trunks can be triggered even when the user is holding things in both hands and cannot operate.

[0049] In a possible implementation, the method further includes: When the target control information satisfies the machine recognition condition corresponding to the target function and / or the target control information satisfies the biometric recognition condition corresponding to the target function, it is determined that the target control information satisfies the execution recognition condition corresponding to the target function.

[0050] In this embodiment, when it is determined that the target control information triggers the target function, it can be further determined whether the target control information meets the execution identification condition corresponding to the target function. The execution identification condition may include at least one of a machine identification condition and a biometric identification condition.

[0051] In the case where the target control information satisfies the machine identification condition corresponding to the target function, it can be determined that the target control information satisfies the execution identification condition corresponding to the target function, that is, only machine identification is required.

[0052] In the case where the target control information satisfies the biometric identification condition corresponding to the target function, it can be determined that the target control information satisfies the execution identification condition corresponding to the target function, that is, only biometric identification is required.

[0053] When the target control information satisfies the machine identification condition corresponding to the target function and the target control information satisfies the biometric identification condition corresponding to the target function, it can be determined that the target control information satisfies the execution identification condition corresponding to the target function. That is, both machine identification and biometric identification are required. The combination of machine identification and biometric identification can further improve the safety and reliability of vehicle control.

[0054] In a possible implementation manner, the target control information includes identification information and a verification key sent by the target terminal, and a relative distance between the target terminal and the target vehicle, and the method further includes: Based on the identification information, obtain the target key corresponding to the target terminal, which is the key obtained when the target terminal is associated with the target account, and the target account is the account bound to the target vehicle; determine the target distance threshold corresponding to the target function; when the verification key is the same as the target key and the relative distance is less than or equal to the target distance threshold, determine that the target control information meets the machine identification condition corresponding to the target function.

[0055] In this embodiment, the target control information may include machine identification information, which may include identification information and a verification key sent by the target terminal, and the relative distance between the target terminal and the target vehicle, so as to perform identity verification and distance verification of the target terminal.

[0056] Specifically, a target vehicle may correspond to a target account, and a target account may be associated with multiple valid terminal devices, which may include smart terminal devices such as mobile phones, tablet computers, and watches. In the process of associating the valid terminal device with the target account, the corresponding target key can be assigned to the valid terminal device, and the target keys corresponding to different valid terminal devices may be different, and the identification information of the valid terminal device can be associated with the target key. When the target terminal enters the communication range with the target vehicle, a communication transmission channel can be established between the target terminal and the target vehicle, and the target terminal can send identification information and verification key to the target vehicle to perform identity authentication of the target terminal. Data transmission can be performed between the target terminal and the target vehicle via Bluetooth and ultra-wideband, wherein the Bluetooth channel can be used for identity authentication, and ultra-wideband positioning technology can be used for accurate positioning of the target terminal. When performing identity authentication, the target key corresponding to the target terminal can be obtained based on the identification information of the target terminal sent by the target terminal, and further determine whether the verification key is the same as the target key. If the verification key is the same as the target key, it can be determined that the target terminal is a valid terminal device corresponding to the target vehicle, that is, the identity authentication is passed. The target vehicle can also obtain the location information of the target terminal and the location information of the target vehicle in order to determine the relative distance between the target terminal and the target vehicle, and then perform distance verification. The target distance threshold corresponding to the target function can be determined, and the relative distance between the target terminal and the target vehicle and the target distance threshold can be judged. When the relative distance is less than or equal to the target distance threshold, it is determined that the distance verification has passed, and the target vehicle can turn on the target function. When the verification key is the same as the target key, and the relative distance is less than or equal to the target distance threshold, it can be determined that the target control information has passed the identity verification and distance verification corresponding to the target function, and meets the machine identification conditions corresponding to the target function.

[0057] When performing machine identification, in order to improve safety and reliability, not only the identity verification of the target terminal is required, but also the distance verification of the target terminal is required. When the target terminal reaches the activation range corresponding to the target function, the target function is activated to further improve the safety and reliability of vehicle control. For example, for the vehicle summoning function, the corresponding target distance threshold can be 50 meters, and for the following function or other body control functions, the corresponding target distance threshold can be 2 meters.

[0058] In a possible implementation, the target control information includes biometric information, and the method further includes: Obtain a valid biometric feature set entered under a target account corresponding to a target vehicle; if biometric feature information exists in the valid biometric feature set, determine whether the target control information satisfies the biometric recognition condition corresponding to the target function.

[0059] In this embodiment, the target control information may also include biometric information, which may include at least one of voiceprint features, fingerprint features, iris features, and facial features. The valid biometrics of all valid users may be entered under the target account to obtain a valid biometric set for biometric identification. The valid biometric set entered under the target account corresponding to the target vehicle may be obtained and matched with the biometric information, which may include one of voiceprint features, fingerprint features, iris features, and facial features. In the case where biometric information exists in the valid biometric set, it is determined that the target control information meets the biometric identification conditions corresponding to the target function. Thus, the corresponding target function may be executed.

[0060] In one possible implementation, the target request function may include a body control function.

[0061] Generate the target control strategy corresponding to the target function, including: Determine the target control state of the target body component corresponding to the body control function; based on the target control state corresponding to the target body component, obtain the target control strategy corresponding to the body control function, the target control strategy is used to control the target body component of the target vehicle to reach the target control state.

[0062] In this embodiment, the corresponding body control function can be triggered based on the user's request, such as opening of the front and rear trunks, opening of the doors, control of the air conditioner, and control of the windows, etc. The target control state is the state to be achieved by the target body component corresponding to the body control function, such as opening of the trunk, that is, the target body component is the trunk, and the corresponding target control state is the open state. Based on the target control state of the target body component and in combination with the current state of the target body component, a target control strategy corresponding to the body control function can be generated so that the target body component of the target vehicle can reach the target control state through the target control strategy.

[0063] Taking the control of trunk opening as an example, combined with the triggering of the target function, the entire control process can be: The user controls the target vehicle by voice, for example, by saying "Xiao Ai, please open the trunk", and then determines whether identity authentication, distance verification, and biometric verification are met. That is, whether the target terminal is a valid terminal device, whether the target terminal is within the effective distance range, such as within 2 meters of the trunk, and whether the biometric information, such as voiceprint features, has been entered into the target account corresponding to the target vehicle. If satisfied, the target vehicle can be controlled to open the trunk.

[0064] In a possible implementation, the target request function may include a driving function.

[0065] Generate target control strategies corresponding to target functions, which may include: Obtain strategy generation information corresponding to the driving function; and generate a target control strategy corresponding to the driving function according to the strategy generation information.

[0066] In this embodiment, the target request function may be a driving function, which is a function that requires the vehicle to drive automatically, such as a vehicle following function or a vehicle calling function. The vehicle following function is to control the vehicle to keep within the target following distance with the user carrying the target terminal; the vehicle calling function is to control the vehicle to automatically drive to the user carrying the target terminal. In the case where it is determined that the target request function is a driving function, the strategy generation information corresponding to the driving function can be obtained so that the corresponding target control strategy can be generated.

[0067] In a possible implementation, the driving function includes a vehicle following function, and the strategy generation information includes the third position information and the first speed of the target terminal, and the first environment information, the fourth position information, and the second speed of the target vehicle.

[0068] According to the strategy generation information, the target control strategy corresponding to the driving function is generated, including: Based on the first environmental information, the third position information, the first speed, the fourth position information and the second speed, a target control strategy corresponding to the vehicle following function is obtained, and the target control strategy is used to control the target vehicle and the target terminal to maintain a target following distance.

[0069] In this embodiment, the driving function may include a vehicle following function, and the positioning information of the target terminal based on the ultra-wideband may be obtained so as to obtain the third position information and the first speed of the target terminal. Specifically, the third position information and the first speed of the target terminal may be determined by obtaining the positioning information of the target terminal of two adjacent frames and based on the change of the positioning information of the target terminal of the two adjacent frames. And the first environmental information, the fourth position information and the second speed of the target vehicle are obtained. Among them, the first environmental information, the third position information and the first speed may be obtained based on various sensors carried by the target vehicle. Based on the first environmental information, the third position information, the first speed, the fourth position information and the second speed, the target following distance between the target vehicle and the target terminal is maintained as the control target, and a target control strategy corresponding to the vehicle following function is generated, so that the target following distance between the target vehicle and the target terminal can be controlled based on the target control strategy to realize the vehicle following function.

[0070] Figure 3 is a schematic diagram of a vehicle summoning according to an exemplary embodiment. Figure 3 As shown, in a possible implementation, the driving function includes a vehicle summoning function, and the strategy generation information includes map information, fifth position information corresponding to the target terminal, and sixth position information and second environment information corresponding to the target vehicle.

[0071] According to the strategy generation information, the target control strategy corresponding to the driving function is generated, including: Based on the map information, the fifth position information and the sixth position information, a target path is obtained; based on the target path and the second environment information, a target control strategy corresponding to the vehicle summoning function is obtained, and the target control strategy is used to control the target vehicle to travel to the fifth position corresponding to the target terminal.

[0072] In this embodiment, the driving function may include a vehicle calling function, which may obtain the positioning information of the target terminal based on the ultra-wideband so as to obtain the fifth position information corresponding to the target terminal. And obtain the sixth position information and the second environment information corresponding to the target vehicle. Among them, the second environment information and the sixth position information can be obtained based on various sensors carried by the target vehicle, and the map information can be obtained. Based on the map information, the position corresponding to the sixth position information is used as the starting point, and the position corresponding to the fifth position information is used as the target point to plan the driving path and obtain the target path. And based on the target path, combined with the real-time second environment information obtained by vehicle detection, a target control strategy corresponding to the vehicle calling function can be generated, so as to control the target vehicle to travel to the fifth position corresponding to the target terminal based on the target control strategy. When the target vehicle travels to the fifth position, the main driving door can be aimed at the user carrying the target terminal, and the main driving door can be opened automatically.

[0073] Figure 4 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 4 The vehicle control device 400 includes a first acquisition module 401, a generation module 402 and a control module 403.

[0074] The first acquisition module 401 is configured to acquire target control information corresponding to the target vehicle; A generating module 402 is configured to generate a target control strategy corresponding to the target function when the target control information triggers the target function and the target control information satisfies the execution identification condition corresponding to the target function; The control module 403 is configured to control the target vehicle through the target control strategy.

[0075] Optionally, the target control information includes function request information, the target function includes a target request function, and the vehicle control device 400 further includes: The first determination module is configured to determine that the target control information triggers the target request function when there is a target request function corresponding to the function request information, and the function request information is obtained based on user input.

[0076] Optionally, the target control information includes first position information of the target terminal and second position information of the target vehicle, the target function includes a target component activation function, and the vehicle control device 400 further includes: A second determining module is configured to determine a triggering area corresponding to the target component according to the second position information; The third determination module is configured to determine that the target control information triggers the target component to start a function when the first location information indicates that the target terminal is located in a trigger area corresponding to the target component and the duration exceeds a preset duration.

[0077] Optionally, the vehicle control device 400 further includes: The fourth determination module is configured to determine that the target control information satisfies the execution identification condition corresponding to the target function when the target control information satisfies the machine identification condition corresponding to the target function and / or the target control information satisfies the biometric identification condition corresponding to the target function.

[0078] Optionally, the target control information includes identification information and a verification key sent by the target terminal, and a relative distance between the target terminal and the target vehicle, and the vehicle control device 400 further includes: A second acquisition module is configured to acquire a target key corresponding to the target terminal based on the identification information, wherein the target key is a key obtained when the target terminal is associated with a target account, and the target account is an account bound to the target vehicle; A fifth determination module is configured to determine a target distance threshold corresponding to the target function; The sixth determination module is configured to determine that the target control information satisfies the machine identification condition corresponding to the target function when the verification key is the same as the target key and the relative distance is less than or equal to the target distance threshold.

[0079] Optionally, the target control information includes biometric information, and the vehicle control device 400 further includes: A third acquisition module is configured to acquire a valid biometric feature set entered under a target account corresponding to the target vehicle; The sixth determination module is configured to determine, when the biometric information exists in the valid biometric set, whether the target control information satisfies the biometric recognition condition corresponding to the target function.

[0080] Optionally, the target request function includes a body control function; The generating module 402 includes: a determination submodule, configured to determine a target control state of a target body component corresponding to the body control function; The obtaining submodule is configured to obtain a target control strategy corresponding to the body control function based on a target control state corresponding to the target body component, wherein the target control strategy is used to control the target body component of the target vehicle to reach the target control state.

[0081] Optionally, the target request function includes a driving function; The generating module 402 includes: A first acquisition submodule is configured to acquire strategy generation information corresponding to the driving function; The generating submodule is configured to generate the target control strategy corresponding to the driving function according to the strategy generating information.

[0082] Optionally, the driving function includes a vehicle following function, and the strategy generation information includes the third position information and the first speed of the target terminal, and the first environment information, the fourth position information and the second speed of the target vehicle; The generating submodule comprises: The first obtaining unit is configured to obtain a target control strategy corresponding to the vehicle following function based on the first environmental information, the third position information, the first speed, the fourth position information and the second speed, and the target control strategy is used to control the target vehicle to maintain a target following distance with the target terminal.

[0083] Optionally, the driving function includes a vehicle summoning function, and the strategy generation information includes map information, fifth location information corresponding to the target terminal, and sixth location information and second environment information corresponding to the target vehicle; The generating submodule comprises: A second obtaining unit is configured to obtain a target path based on the map information, the fifth position information and the sixth position information; The third obtaining unit is configured to obtain a target control strategy corresponding to the vehicle summoning function based on the target path and the second environmental information, and the target control strategy is used to control the target vehicle to travel to a fifth position corresponding to the target terminal.

[0084] Regarding the vehicle control device 400 in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0085] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0086] Figure 5 5 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 500 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 500 may be an autonomous vehicle or a semi-autonomous vehicle.

[0087] Reference Figure 5 , the vehicle 500 may include various subsystems, for example, an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. The vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 500 may be interconnected by wire or wireless means.

[0088] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, among others.

[0089] The perception system 520 may include several sensors for sensing information about the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0090] The decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0091] The drive system 540 may include components that provide powered motion for the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination of one or more thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0092] Some or all functions of the vehicle 500 are controlled by a computing platform 550. The computing platform 550 may include at least one processor 551 and a memory 552, and the processor 551 may execute instructions 553 stored in the memory 552.

[0093] The processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0094] The memory 552 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0095] In addition to instructions 553 , memory 552 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 552 may be used by computing platform 550 .

[0096] In the embodiment of the present disclosure, the processor 551 can execute instruction 553 to complete all or part of the steps of the above-mentioned vehicle control method.

[0097] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0098] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0099] In the above detailed description, terms such as "center", "upper", "lower", "left", "right", etc. indicate directions or represent positional relationships. Since the components of the described device can be positioned in a plurality of different orientations, the directional terms can be used for illustrative purposes rather than limiting. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Therefore, the following detailed description should not be viewed in a limiting sense.

[0100] It should be understood that the features of some embodiments of the various present disclosures described herein may be combined with each other, unless specifically stated otherwise.

[0101] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0102] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0103] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0104] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0105] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Obtain target control information corresponding to the target vehicle; When the target control information triggers the target function and the target control information satisfies the execution identification condition corresponding to the target function, generating a target control strategy corresponding to the target function; The target vehicle is controlled by the target control strategy.

2. The vehicle control method according to claim 1, characterized in that: The target control information includes function request information, the target function includes a target request function, and the method further includes: In a case where there is a target request function corresponding to the function request information, it is determined that the target control information triggers the target request function, and the function request information is obtained based on a user input.

3. The vehicle control method according to claim 1, characterized in that: The target control information includes first position information of the target terminal and second position information of the target vehicle, the target function includes a target component activation function, and the method further includes: Determining a trigger area corresponding to the target component according to the second position information; When the first location information indicates that the target terminal is located in a triggering area corresponding to the target component and the duration exceeds a preset duration, it is determined that the target control information triggers the target component to start a function.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that: The method further comprises: When the target control information satisfies the machine recognition condition corresponding to the target function and / or the target control information satisfies the biometric recognition condition corresponding to the target function, it is determined that the target control information satisfies the execution recognition condition corresponding to the target function.

5. The vehicle control method according to any one of claims 1 to 3, characterized in that: The target control information includes identification information and a verification key sent by the target terminal, and a relative distance between the target terminal and the target vehicle. The method further includes: Based on the identification information, obtaining a target key corresponding to the target terminal, the target key being a key obtained when the target terminal is associated with a target account, and the target account being an account bound to the target vehicle; Determining a target distance threshold corresponding to the target function; When the verification key is the same as the target key and the relative distance is less than or equal to the target distance threshold, it is determined that the target control information satisfies a machine identification condition corresponding to the target function.

6. The vehicle control method according to any one of claims 1 to 3, characterized in that: The target control information includes biometric information, and the method further includes: Obtaining a valid biometric feature set entered under a target account corresponding to the target vehicle; In a case where the biometric information exists in the valid biometric set, it is determined that the target control information satisfies a biometric recognition condition corresponding to the target function.

7. The vehicle control method according to any one of claims 2, characterized in that: The target request function includes a body control function; The generating of the target control strategy corresponding to the target function includes: determining a target control state of a target body component corresponding to the body control function; Based on the target control state corresponding to the target body component, a target control strategy corresponding to the body control function is obtained, and the target control strategy is used to control the target body component of the target vehicle to reach the target control state.

8. The vehicle control method according to claim 2, characterized in that: The target request function includes a driving function; The generating of the target control strategy corresponding to the target function includes: Obtaining strategy generation information corresponding to the driving function; A target control strategy corresponding to the driving function is generated according to the strategy generation information.

9. The vehicle control method according to claim 8, characterized in that: The driving function includes a vehicle following function, and the strategy generation information includes the third position information and the first speed of the target terminal, and the first environment information, the fourth position information and the second speed of the target vehicle; The step of generating the target control strategy corresponding to the driving function according to the strategy generation information includes: Based on the first environmental information, the third position information, the first speed, the fourth position information and the second speed, a target control strategy corresponding to the vehicle following function is obtained, and the target control strategy is used to control the target vehicle to maintain a target following distance with the target terminal.

10. The vehicle control method according to claim 8, characterized in that: The driving function includes a vehicle summoning function, and the strategy generation information includes map information, fifth position information corresponding to the target terminal, and sixth position information corresponding to the target vehicle and second environment information; The step of generating the target control strategy corresponding to the driving function according to the strategy generation information includes: Obtaining a target path based on the map information, the fifth position information, and the sixth position information; Based on the target path and the second environmental information, a target control strategy corresponding to the vehicle summoning function is obtained, and the target control strategy is used to control the target vehicle to travel to a fifth position corresponding to the target terminal.

11. A vehicle control device, characterized in that: include: A first acquisition module is configured to acquire target control information corresponding to the target vehicle; a generating module, configured to generate a target control strategy corresponding to the target function when the target control information triggers the target function and the target control information satisfies the execution identification condition corresponding to the target function; A control module is configured to control the target vehicle through the target control strategy.

12. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the vehicle control method described in any one of claims 1 to 10 when executed.

13. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the vehicle control method described in any one of claims 1 to 10 are implemented.

14. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 10.

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