Vehicle control method, device and system, electronic equipment and vehicle

Abstract

The invention relates to a vehicle control method, device and system, electronic equipment and a vehicle, and relates to the technical field of vehicle control. The technical problems that in the related technology, when the vehicle determines whether the vehicle door locking state of the vehicle is adjusted or not based on positioning of the vehicle key, the requirement for hardware equipment is high, and the accuracy of positioning of the vehicle key is poor are at least solved. The method includes: acquiring scene information of a position of a vehicle; based on the scene information, determining a signal detection range of a plurality of terminal detection devices in the vehicle, the signal detection range being a range in which a mobile terminal can be detected; determining a main detection device from the plurality of terminal detection devices based on the signal detection range of each terminal detection device in the plurality of terminal detection devices; and determining whether to adjust the door locking state of the vehicle based on the position information of the mobile terminal determined by the main detection device. The method is used for improving the accuracy of positioning the vehicle key.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology, the application of vehicle contactless unlocking (door opening) and welcoming functions is increasing, and short-range wireless communication plays an important role in vehicle keys.

[0003] In the related art, the UWB (Ultra Wide Band) main module communicates with the vehicle's UWB key and multiple UWB anchor points installed on the vehicle. By starting the scanning operation for the UWB key, after scanning the UWB key, the UWB key is notified to communicate with multiple UWB anchor points for ranging. Thus, the vehicle is controlled according to the ranging results fed back by multiple UWB anchor points. This technology triggers the positioning of the vehicle's UWB key through the UWB main module, but the cost of UWB equipment is high, and the accuracy of positioning through a fixed UWB main module is also poor.

[0004] In another related technology, the intelligent mobile device carrying the mobile communication terminal is controlled to move toward the vehicle under test according to a preset motion trajectory, so as to detect the distance between the intelligent mobile device and the vehicle under test in real time during the movement of the intelligent mobile device. When the distance between the intelligent mobile device and the vehicle under test is a preset distance test point, the execution status information of the Bluetooth event of the current vehicle under test is monitored, and the test result of the Bluetooth event of the vehicle under test is generated according to the execution status information and the preset target execution status information. This technical solution only tests the accuracy of the Bluetooth event of the vehicle by controlling the motion trajectory of the intelligent mobile device to move toward the vehicle, thereby detecting the distance between the intelligent mobile device and the vehicle under test. Although this solution involves the feature of detecting the distance between the intelligent mobile device and the vehicle under test, it is not related to the vehicle positioning the vehicle key. Therefore, when the vehicle currently determines whether to adjust the door locking state of the vehicle based on the positioning of the vehicle key, the hardware equipment requirements are high and the accuracy of positioning the vehicle key is poor. Summary of the invention

[0005] The present application provides a vehicle control method, device, system, electronic device and vehicle. The purpose of the present application is to at least solve the technical problems in the related art that when the vehicle determines whether to adjust the door locking state of the vehicle based on the positioning of the vehicle key, the hardware equipment requirements are high and the accuracy of positioning the vehicle key is poor.

[0006] In order to achieve the above purpose, the technical solution adopted in this application is as follows:

[0007] According to the first aspect provided by the present application, a vehicle control method is provided, the method comprising: acquiring scene information of the vehicle's location; based on the scene information, determining the signal detection range of multiple terminal detection devices in the vehicle, the signal detection range being a range within which a mobile terminal can be detected; based on the signal detection range of each of the multiple terminal detection devices, determining a main detection device from the multiple terminal detection devices; based on the location information of the mobile terminal determined by the main detection device, determining whether to adjust the door locking state of the vehicle.

[0008] According to the above technical means, the present application can determine the signal detection range of multiple terminal detection devices in the vehicle based on the scene information of the vehicle's location obtained, thereby determining the range of each terminal detection device that can detect the mobile terminal. In this way, based on the signal detection range of each terminal detection device, the main detection device can be determined from multiple terminal detection devices. Then, based on the location information of the mobile terminal determined by the main detection device, it is determined whether to adjust the door locking state of the vehicle. In this way, since the scene around the vehicle is different when the vehicle is parked in different positions, and different scenes around the vehicle will affect the movement trajectory of the mobile terminal when it approaches the vehicle. Therefore, the signal detection range of each terminal detection device can be determined based on the scene information of the vehicle's location. Thus, the main detection device with the greatest possibility of detecting the mobile terminal first is determined from multiple terminal detection devices, so as to determine the location information of the mobile terminal through the main detection device, and then determine whether to adjust the door locking state of the vehicle. In this way, when the vehicle determines whether to adjust the door locking state of the vehicle based on the positioning of the mobile terminal, the mobile terminal can be accurately and efficiently positioned.

[0009] In one possible implementation, the scene information includes location information of obstacles; the above-mentioned determining the signal detection ranges of multiple terminal detection devices in the vehicle based on the scene information includes: determining the target obstacles included in the signal coverage range of each terminal detection device based on the scene information; determining the signal detection range of each terminal detection device based on the signal coverage range of each terminal detection device and the target obstacles included in the signal coverage range.

[0010] According to the above technical means, the present application can determine the target obstacles included in the signal coverage range of each terminal detection device based on the location information of the obstacles included in the acquired scene information. Then, in combination with the signal coverage range of each terminal detection device and the target obstacles included in the signal coverage range, the signal detection range of each terminal detection device can be determined. In this way, the range of each terminal detection device that can detect the mobile terminal corresponding to the position of the vehicle can be accurately determined, and based on the signal detection range of each terminal detection device, the probability of each terminal detection device preferentially detecting the mobile terminal can be determined, thereby accurately determining the main detection device.

[0011] In a possible implementation, the scene information includes obstacle type information, and the type information is used to indicate whether the user can pass through the obstacle; the above-mentioned determining a main detection device from multiple terminal detection devices based on the signal detection range of each terminal detection device in the multiple terminal detection devices includes: determining the detection probability of each terminal detection device detecting the mobile terminal based on the signal detection range of each terminal detection device and the type information of the target obstacle included in the signal coverage range of each terminal detection device, obstacles of different types of information have different degrees of influence on the detection probability; determining the terminal detection device with the highest detection probability as the main detection device.

[0012] According to the above technical means, the present application can determine the detection probability of each terminal detection device detecting a mobile terminal based on the signal detection range of each terminal detection device and the type information of the target obstacles included in the signal coverage range of each terminal detection device, thereby determining the terminal detection device with the highest detection probability as the main detection device. This is because when the target obstacles included in the signal coverage range of the terminal detection device are different, some obstacles allow users to pass through, while some obstacles do not allow users to pass through. When an obstacle allows users to pass through, the detection probability of the corresponding terminal detection device detecting the mobile terminal can be increased, and when the obstacle does not allow users to pass through, the detection probability of the corresponding terminal detection device detecting the mobile terminal will be reduced. Therefore, according to the type information of the target obstacle, the detection probability of each terminal detection device detecting the mobile terminal can be accurately determined.

[0013] In a possible implementation, there are at least two terminal detection devices whose detection probabilities are both maximum values; the above-mentioned determining the terminal detection device with the largest detection probability as the main detection device includes: determining the terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices as the main detection device.

[0014] According to the above technical means, the present application can determine the terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices as the main detection device when the detection probabilities of at least two terminal detection devices are both at the maximum value. For example, the target door is the vehicle corresponding to the driver's seat, and the user carrying the mobile terminal is most likely the driver, who will enter the vehicle through the driver's seat to drive the vehicle. Therefore, by determining the terminal detection device closest to the target door of the vehicle as the main detection device, the location information of the mobile terminal can be determined more accurately, and it can be determined whether to adjust the door locking state of the vehicle.

[0015] In a possible implementation, the location information of the mobile terminal includes: the distance between the mobile terminal and the target door of the vehicle; the above-mentioned determination of whether to adjust the door locking state of the vehicle based on the location information of the mobile terminal determined by the main detection device includes: determining a first distance between the main detection device and the mobile terminal, and a second distance between the slave detection device and the mobile terminal, the slave detection device including at least one detection device other than the main detection device among multiple terminal detection devices; determining the distance between the mobile terminal and the target door based on the first distance and the second distance; determining whether to adjust the door locking state of the vehicle based on the distance between the mobile terminal and the target door.

[0016] According to the above technical means, the present application can determine the first distance between the main detection device and the mobile terminal, and the second distance between the slave detection device and the mobile terminal, so as to accurately determine the distance between the mobile terminal and the target door based on the first distance and the second distance, combined with the positional relationship between the main detection device, the slave detection device and the target door in the vehicle. Then, based on the distance between the mobile terminal and the target door, determine whether to adjust the door lock state of the vehicle. In this way, by determining the distance between multiple terminal detection devices and the mobile terminal, the distance between the mobile terminal and the target door of the vehicle can be accurately determined, and then the intention of the user carrying the mobile terminal to approach or move away from the vehicle can be accurately judged, and then it is determined whether the vehicle needs to be unlocked or locked.

[0017] In one possible implementation, the vehicle is in a parked state and the door lock state is a locked state; the above-mentioned determination of whether to adjust the door lock state of the vehicle based on the distance between the mobile terminal and the target door includes: when the distance between the mobile terminal and the target door is less than or equal to a preset distance, adjusting the door lock state from a locked state to an unlocked state; or, when the distance between the mobile terminal and the target door is greater than the preset distance, not adjusting the door lock state of the vehicle.

[0018] According to the above technical means, when the vehicle is in a parked state and the door is locked, if it is determined that the distance between the mobile terminal and the target door is less than or equal to the preset distance, it can be determined that the user carrying the mobile terminal is approaching the vehicle and has the intention to enter the vehicle, so the vehicle can be adjusted from a locked state to an unlocked state. If the distance between the mobile terminal and the target door is greater than the preset distance, it can be determined that the user carrying the mobile terminal is far away from the vehicle and does not need to unlock the vehicle. In this way, it can be accurately determined whether the vehicle needs to be unlocked based on the distance between the user carrying the mobile terminal and the vehicle to ensure the safety of the vehicle.

[0019] In one possible implementation, the vehicle is in a parked state and the door lock state is an unlocked state; the above-mentioned determination of whether to adjust the door lock state of the vehicle based on the distance between the mobile terminal and the target door includes: when the distance between the mobile terminal and the target door is greater than or equal to a preset distance, adjusting the door lock state from an unlocked state to a locked state; or, when the distance between the mobile terminal and the target door is less than a preset distance, not adjusting the door lock state of the vehicle.

[0020] According to the above technical means, when the vehicle is in a parking state and the door lock state is unlocked, if it is determined that the distance between the mobile terminal and the target door is greater than or equal to the preset distance, it can be determined that the user carrying the mobile terminal is away from the vehicle, so the vehicle can be adjusted from the unlocked state to the locked state. If the distance between the mobile terminal and the target door is less than the preset distance, it can be determined that the user carrying the mobile terminal is close to the vehicle and does not need to lock the vehicle. In this way, it can be accurately determined whether the vehicle needs to be locked based on the distance between the user carrying the mobile terminal and the vehicle to ensure the safety of the vehicle.

[0021] In a possible implementation, the above-mentioned acquisition of scene information of the vehicle's location includes: when the vehicle is in a parked state, acquiring scene information within a preset range around the vehicle through an environmental perception sensor, the scene information including: obstacle location information and obstacle type information, and the environmental perception sensor includes at least one of the following: camera, ultrasonic radar, millimeter wave radar, lidar.

[0022] According to the above technical means, the present application can obtain scene information within a preset range around the vehicle through the existing environmental perception sensors on the vehicle. In this way, the surrounding scene information can be obtained without adjusting the vehicle's hardware equipment, and then the main detection device can be determined from multiple terminal detection devices.

[0023] According to the second aspect provided by the present application, a vehicle control device is provided, the vehicle control device includes: an acquisition module and a processing module; the acquisition module is used to acquire scene information of the vehicle's location; the processing module is used to determine the signal detection range of multiple terminal detection devices in the vehicle based on the scene information, the signal detection range is a range in which a mobile terminal can be detected; the processing module is also used to determine a main detection device from multiple terminal detection devices based on the signal detection range of each terminal detection device in the multiple terminal detection devices; the processing module is also used to determine whether to adjust the door locking state of the vehicle based on the location information of the mobile terminal determined by the main detection device.

[0024] In one possible implementation, the scene information includes location information of obstacles; a processing module is specifically used to determine, based on the scene information, target obstacles included in the signal coverage range of each terminal detection device; a processing module is specifically used to determine the signal detection range of each terminal detection device based on the signal coverage range of each terminal detection device and the target obstacles included in the signal coverage range.

[0025] In a possible implementation, the scene information includes obstacle type information, and the type information is used to indicate whether the user can pass through the obstacle; the processing module is specifically used to determine the detection probability of each terminal detection device detecting the mobile terminal based on the signal detection range of each terminal detection device and the type information of the target obstacle included in the signal coverage range of each terminal detection device, and obstacles of different types of information have different degrees of influence on the detection probability; the processing module is specifically used to determine the terminal detection device with the highest detection probability as the main detection device.

[0026] In a possible implementation manner, there are at least two terminal detection devices whose detection probabilities are both maximum values; the processing module is specifically used to determine the terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices as the main detection device.

[0027] In one possible implementation, the location information of the mobile terminal includes: the distance between the mobile terminal and a target door of the vehicle; a processing module, specifically used to determine a first distance between a main detection device and the mobile terminal, and a second distance between a slave detection device and the mobile terminal, the slave detection device including at least one detection device other than the main detection device among a plurality of terminal detection devices; a processing module, specifically used to determine the distance between the mobile terminal and the target door based on the first distance and the second distance; a processing module, specifically used to determine whether to adjust the door locking state of the vehicle based on the distance between the mobile terminal and the target door.

[0028] In one possible implementation, the vehicle is in a parking state and the door lock state is a locked state; the processing module is specifically used to adjust the door lock state from a locked state to an unlocked state when the distance between the mobile terminal and the target door is less than or equal to a preset distance; or, the processing module is specifically used to not adjust the door lock state of the vehicle when the distance between the mobile terminal and the target door is greater than a preset distance.

[0029] In one possible implementation, the vehicle is in a parked state and the door lock state is an unlocked state; the processing module is specifically used to adjust the door lock state from an unlocked state to a locked state when the distance between the mobile terminal and the target door is greater than or equal to a preset distance; or, the processing module is specifically used to not adjust the door lock state of the vehicle when the distance between the mobile terminal and the target door is less than a preset distance.

[0030] In one possible implementation, the acquisition module is specifically used to acquire scene information within a preset range around the vehicle through an environmental perception sensor when the vehicle is in a parked state, the scene information including: obstacle location information and obstacle type information, and the environmental perception sensor includes at least one of the following: camera, ultrasonic radar, millimeter wave radar, lidar.

[0031] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0032] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the computer execution instructions stored in the computer-readable storage medium are executed by the processor of an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0033] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0034] According to the sixth aspect provided by the present application, a vehicle is provided, the vehicle includes a vehicle control device as in the second aspect, and the vehicle is used to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0035] According to the seventh aspect provided by the present application, a vehicle control system is provided, the vehicle control system includes a vehicle and a mobile terminal, the vehicle includes multiple terminal detection devices, and the vehicle control system is used to implement the method of the above-mentioned first aspect and any possible implementation method thereof.

[0036] It should be noted that the technical effects brought about by any implementation method in the second to seventh aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0039] Figure 1 is a structural schematic diagram of a vehicle control system according to an exemplary embodiment;

[0040] Figure 2 is a structural schematic diagram of another vehicle control system according to an exemplary embodiment;

[0041] Figure 3 is a flow chart of a vehicle control method according to an exemplary embodiment;

[0042] Figure 4 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0043] Figure 5 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0044] Figure 6 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0045] Figure 7 is a schematic diagram of a vehicle control scenario according to an exemplary embodiment;

[0046] Figure 8 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0047] Fig. 9 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0048] Fig.10is a block diagram of a vehicle control device according to an exemplary embodiment;

[0049] Fig.11 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0050] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0052] Currently, the Bluetooth Received Signal Strength Indication (RSSI) positioning solution requires multiple anchor points and central nodes to jointly locate due to RSSI's weak anti-interference ability, and the positioning accuracy is not high. Although the UWB positioning solution can solve the positioning accuracy problem, UWB is expensive and also requires multiple anchor points and central nodes to jointly locate. Most mobile phones do not have UWB functions and cannot truly achieve sensorless door opening. The Bluetooth Channel Sounding (CS) positioning solution currently still uses the RSSI positioning layout logic, adopting a central device plus multiple anchor point solution, and assuming that the central device prioritizes establishing a connection with the mobile terminal. In a complex environment, the distance for the central device to establish a connection is short, the experience is poor, and the cost is high.

[0053] Therefore, the current vehicle keys (mobile terminals) based on short-range wireless communication have the following problems when controlling vehicle unlocking / locking: UWB positioning solution is expensive and ecologically incompatible; Bluetooth RSSI positioning is easily unstable due to environmental shielding, reflection and other factors, and cannot achieve high-precision positioning. The wrong judgment of door opening leads to a poor user experience; the fixed central node may have its signal interfered in a complex environment, so that the distance to establish a connection with the mobile terminal is short, resulting in insufficient ranging time and a long delay in vehicle unlocking and door opening; and the fixed central node leads to a large number of Bluetooth detection devices in the Bluetooth key system, which is costly.

[0054] The vehicle control method provided in the embodiment of the present application can be applicable to a vehicle control system. Figure 1 FIG. 1 shows a schematic diagram of the structure of a vehicle control system. Figure 1 As shown, the vehicle control system 10 includes: a vehicle 11 and a mobile terminal 12. The vehicle 11 includes a plurality of terminal detection devices, and the plurality of terminal detection devices are used to detect the location information of the mobile terminal 12.

[0055] It can be understood that the mobile terminal 12 is the key of the vehicle 11 , and there is a binding relationship between the mobile terminal 12 and the vehicle 11 , and is used to unlock the vehicle 11 or perform locking control on the vehicle 11 .

[0056] Exemplarily, the mobile terminal 12 may be a vehicle remote control key, a card key, a smart phone, a smart watch, a wristband or other terminal.

[0057] Optionally, the vehicle control system provided in the embodiment of the present application is applied to a scenario in which the location of the mobile terminal 12 is identified by the vehicle 11 to determine whether to lock or unlock the vehicle 11 .

[0058] Optionally, the vehicle 11 may obtain scene information of the location of the vehicle 11, and then determine the signal detection range of multiple terminal detection devices in the vehicle 11 based on the scene information, where the signal detection range is a range within which the mobile terminal can be detected.

[0059] Optionally, the vehicle 11 can determine a main detection device from multiple terminal detection devices based on the signal detection range of each terminal detection device in the multiple terminal detection devices; and then determine whether to adjust the door locking state of the vehicle 11 based on the location information of the mobile terminal 12 determined by the main detection device.

[0060] In some embodiments, Figure 2 As shown, the vehicle may include: a mobile environment data center module, a vehicle control module, a start-up status determination module, a gear acquisition module, multiple terminal detection devices and environmental perception sensors. The environmental perception sensors specifically include: multiple forward-looking devices, multiple surround-looking devices, multiple peripheral-looking devices and multiple ultrasonic devices. The multiple forward-looking devices and multiple surround-looking devices may be cameras, ultrasonic radars, millimeter-wave radars, lidars and other devices respectively.

[0061] Optionally, the mobile environment data center module is connected to multiple forward-looking devices, multiple surround-looking devices, multiple peripheral-looking devices and multiple ultrasonic devices through the MIPI CSI interface to obtain scene information of the vehicle's location.

[0062] It can be understood that multiple forward-looking devices, multiple surround-looking devices, multiple circumferential-view devices and multiple ultrasonic devices are used to obtain environmental data of the vehicle's location, and the mobile environment data center module provides algorithm analysis capabilities for determining the vehicle's scene information. The mobile environment data center module is used to process the collected scene information.

[0063] Optionally, multiple forward-looking devices, multiple surround-looking devices, multiple circumferential-view devices and multiple ultrasonic devices can also serve as vehicle assisted driving or other environmental detection devices, which can reduce or increase the number of these devices on the vehicle. Through these environmental detection devices, real-time environmental data of the vehicle's location can be collected.

[0064] Optionally, the mobile environment data center module is also connected to the vehicle control module via ETH / CAN to send the determined scene information to the vehicle control module to determine whether to adjust the control signal of the vehicle's door lock state. The vehicle control module is responsible for the basic power control of the vehicle, the control of the throttle, gear, start, and parking information, and is used to determine the main detection device from multiple terminal detection devices.

[0065] Optionally, the vehicle control module is also connected to the startup state determination module through the IO interface, and is connected to the gear position acquisition module through the ADC interface to obtain the current gear position of the vehicle and the startup state of the vehicle. That is, the vehicle control module is used to provide vehicle status data and control multiple terminal detection devices.

[0066] Optionally, the vehicle control module is also connected to multiple terminal detection devices through a CAN / LIN interface to determine the distance of the mobile terminal through multiple terminal detection devices, and thus determine whether to adjust the control signal of the vehicle's door locking status based on the distance between the mobile terminal.

[0067] Optionally, multiple terminal detection devices can also be connected via a CAN / LIN interface.

[0068] It can be understood that a plurality of terminal detection devices and mobile terminals can constitute a wireless ranging system.

[0069] It should be noted that the number of multiple terminal detection devices can be 2 or more, which are used to determine the distance between the mobile terminal, enter the positioning through ranging, and judge the distance between the mobile terminal and the vehicle.

[0070] The embodiment of the present application fully utilizes the digital intelligent vehicle sensing and detection hardware and integrates it with the wireless ranging equipment to form a low-cost wireless key system with less equipment and less vehicle wiring harness. The forward-looking equipment, surround-looking equipment, circumferential-viewing equipment, super wave equipment, mobile environment data center module, and vehicle control module in the system are all existing hardware of current digital vehicles, and do not increase the hardware cost. The existing environmental monitoring data is used to analyze the signal status of the current wireless device (terminal detection device), and the optimal terminal detection device is set as the main connection point (main detection device), realizing a wireless key system with long sensing distance, high accuracy, and a small number of equipment.

[0071] For ease of understanding, the vehicle control method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0072] Figure 3 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 3 As shown, the vehicle control method includes S301-S304:

[0073] S301. Obtain scene information of the vehicle's location.

[0074] In an embodiment of the present application, based on the vehicle control system provided in the above embodiment, the scene information of the vehicle's location can be collected in real time through the existing environmental perception sensors in the vehicle (such as forward-looking devices, surround-looking devices, peripheral vision devices and ultrasonic devices).

[0075] Optionally, the scene information of the vehicle's location may specifically include: the size of obstacles around the vehicle, the location information of the obstacles, the distance between the obstacles and the vehicle, the positional relationship between the obstacles and the vehicle, the type information of the obstacles, etc.

[0076] It should be noted that the type information of the obstacle may specifically be any of the following: a wall, a green belt, a door, a vehicle, etc. By using the type information of the obstacle, it can be determined whether the user can pass through the obstacle to approach the vehicle.

[0077] For example, assuming that the left side of the vehicle is a wall, it can be determined that the user will not appear from the left side of the vehicle; and if the back side of the vehicle is the door of an apartment building, it can be determined that the user will most likely appear from the back side of the vehicle.

[0078] In some embodiments, in a vehicle control method provided by an embodiment of the present application, the above S301 may specifically include: when the vehicle is in a parked state, acquiring scene information within a preset range around the vehicle through an environmental perception sensor.

[0079] Among them, the scene information includes: obstacle location information and obstacle type information, and the environmental perception sensor includes at least one of the following: camera, ultrasonic radar, millimeter wave radar, and lidar.

[0080] It should be noted that the embodiment of the present application is applied when the vehicle is parked to determine the positional relationship between the user carrying the mobile terminal and the vehicle, and then determine whether the user is away from or close to the vehicle, thereby determining whether to unlock or lock the vehicle.

[0081] It can be understood that the environmental perception sensor can be an existing device in the vehicle, so there is no need to improve the vehicle's hardware equipment, and the scene information of the vehicle's location can be collected in real time.

[0082] In the embodiment of the present application, the present application can obtain scene information within a preset range around the vehicle through the existing environment perception sensor on the vehicle. In this way, the surrounding scene information can be obtained without adjusting the hardware equipment of the vehicle, and then the main detection device can be determined from multiple terminal detection devices.

[0083] S302: Based on the scene information, determine the signal detection range of multiple terminal detection devices in the vehicle.

[0084] The signal detection range is the range within which the mobile terminal can be detected.

[0085] Optionally, the terminal detection device may be: a Bluetooth positioning device, a UWB positioning device, an RSSI positioning device, a wireless node device, a local area network device, etc. The number of the multiple terminal detection devices may be 2, or more than 2.

[0086] Exemplarily, when the number of the multiple terminal detection devices is 2, the terminal detection devices can be respectively arranged in front of and behind the vehicle; when the number of the multiple terminal detection devices is 4, the terminal detection devices can be respectively arranged in front of, behind, on the left side and on the right side of the vehicle. The multiple terminal detection devices can be symmetrically arranged on the vehicle to accurately identify the distance between the mobile terminal and the vehicle (door).

[0087] Optionally, the signal detection range of each terminal detection device may be determined based on the signal coverage range of each terminal detection device and obstacles included in the signal coverage range.

[0088] It can be understood that the area without obstacles in the signal coverage range of each terminal detection device can be determined as the signal detection range of the terminal detection device.

[0089] S303: Determine a main detection device from the multiple terminal detection devices based on the signal detection range of each terminal detection device in the multiple terminal detection devices.

[0090] Optionally, according to the size relationship between the signal detection ranges of each terminal detection device, the terminal detection device with the largest signal detection range may be determined as the main detection device.

[0091] Optionally, the type information of obstacles included in the signal coverage range of each terminal detection device may be further considered, combined with the size of the signal detection range, to determine the main detection device from multiple terminal detection devices.

[0092] For example, when the type information of the obstacle included in the signal coverage range of a terminal detection device is a wall, the user cannot pass through the wall to approach the vehicle, so this type of obstacle will reduce the probability of determining the terminal detection device as the main detection device; if the type information of the obstacle included in the signal coverage range of another terminal detection device is a door (such as the entrance door of a unit building), the user has a high probability of appearing from the door and approaching the vehicle, so this type of obstacle will increase the probability of determining the terminal detection device as the main detection device.

[0093] S304: Determine whether to adjust the door locking state of the vehicle based on the location information of the mobile terminal determined by the main detection device.

[0094] In a possible implementation, the distance between each of the multiple terminal detection devices and the mobile terminal may be determined respectively, and then the main detection device (or other detection devices) processes these distances to determine the location information of the mobile terminal.

[0095] In one possible implementation, the distance between the main detection device and the mobile terminal, as well as the distance between the mobile terminal and at least one detection device other than the main detection device among multiple terminal detection devices, can also be determined, so that the main detection device (or other detection devices) processes these distances to determine the location information of the mobile terminal.

[0096] Optionally, the location information of the mobile terminal includes: the distance between the mobile terminal and the terminal detection device, and the relative position relationship between the mobile terminal and the terminal detection device.

[0097] It can be understood that the positions of multiple terminal detection devices set in the vehicle are fixed, and the positional relationship between the multiple terminal detection devices is known, and the positional relationship between the multiple terminal detection devices and the vehicle door is known. Therefore, based on the determined distance between the terminal detection device and the mobile terminal, the positional relationship between the mobile terminal and the vehicle door (main driving door) can be determined through the geometric relationship, thereby determining whether to adjust the door locking state of the vehicle.

[0098] In an embodiment of the present application, the present application can determine the signal detection range of multiple terminal detection devices in the vehicle based on the scene information of the vehicle's location obtained, thereby determining the range of each terminal detection device that can detect the mobile terminal. In this way, based on the signal detection range of each terminal detection device, the main detection device can be determined from multiple terminal detection devices. Then, based on the location information of the mobile terminal determined by the main detection device, it is determined whether to adjust the door lock state of the vehicle. In this way, since the scene around the vehicle is different when the vehicle is parked in different positions, and different scenes around the vehicle will affect the movement trajectory of the mobile terminal when it approaches the vehicle. Therefore, the signal detection range of each terminal detection device can be determined based on the scene information of the vehicle's location. Thus, the main detection device with the greatest possibility of detecting the mobile terminal first is determined from multiple terminal detection devices, so as to determine the location information of the mobile terminal through the main detection device, and then determine whether to adjust the door lock state of the vehicle. In this way, when the vehicle determines whether to adjust the door lock state of the vehicle based on the positioning of the mobile terminal, the mobile terminal can be accurately and efficiently positioned.

[0099] In some embodiments, the scene information includes location information of obstacles, such as Figure 4 As shown, in a vehicle control method provided in an embodiment of the present application, the above S302 may specifically include S401-S402:

[0100] S401. Determine target obstacles within the signal coverage range of each terminal detection device based on scene information.

[0101] S402: Determine the signal detection range of each terminal detection device based on the signal coverage range of each terminal detection device and the target obstacles included in the signal coverage range.

[0102] Optionally, by determining the target obstacle included in the signal coverage range of each terminal detection device, thereby determining the size of the target obstacle and the type information of the target obstacle, it can be determined whether the target obstacle will affect the signal detection range of the terminal detection device.

[0103] Optionally, when the size of the target obstacle is large, it will affect the signal detection range of the terminal detection device to a greater extent; and if the size of the target obstacle is small, the degree of impact on the signal detection range of the terminal detection device is also small.

[0104] For example, when the target obstacle type information is a wall, since the user cannot pass through the wall to approach the vehicle, the probability of the user appearing in the signal detection range of the terminal detection device is extremely low, so this type of obstacle will seriously affect the signal detection range of the terminal detection device. If the target obstacle type information is a door (such as the entrance door of a unit building), the user is likely to appear from the door and approach the vehicle. Therefore, although this type of obstacle will affect the signal detection range of the terminal detection device, it will not affect the probability of the user appearing in the signal detection range of the terminal detection device.

[0105] In one possible implementation, the forward-looking device, surround-looking device, circumferential-view device, and super-wave device can upload the environmental information around the vehicle collected in real time to the mobile environmental data center module. When the vehicle control module receives the vehicle parking status information, it starts to obtain the scene information around the current vehicle from the mobile environmental data center module, and judges the signal coverage of each terminal detection device, so as to set the main detection device in combination with the direction that the user may appear when driving the vehicle next time.

[0106] In an embodiment of the present application, the present application can determine the target obstacles included in the signal coverage range of each terminal detection device based on the location information of the obstacles included in the acquired scene information. Then, in combination with the signal coverage range of each terminal detection device and the target obstacles included in the signal coverage range, the signal detection range of each terminal detection device can be determined. In this way, the range of each terminal detection device that can detect the mobile terminal corresponding to the position of the vehicle can be accurately determined, and based on the signal detection range of each terminal detection device, the probability of each terminal detection device preferentially detecting the mobile terminal can be determined, thereby accurately determining the main detection device.

[0107] In some embodiments, the scene information includes obstacle type information, and the type information is used to indicate whether the user can pass through the obstacle; Figure 5 As shown, in a vehicle control method provided in an embodiment of the present application, the above S303 may specifically include S501-S502:

[0108] S501: Determine the detection probability of each terminal detection device detecting a mobile terminal based on the signal detection range of each terminal detection device and the type information of the target obstacle included in the signal coverage range of each terminal detection device.

[0109] Among them, obstacles with different types of information have different degrees of influence on the detection probability.

[0110] Optionally, the relationship between the signal detection range of each terminal detection device and the preset range is determined. When the signal detection range of the terminal detection device is larger than the preset range, the detection probability of the terminal detection device detecting the mobile terminal can be increased; and when the signal detection range of the terminal detection device is less than or equal to the preset range, the detection probability of the terminal detection device detecting the mobile terminal can be reduced.

[0111] Optionally, the type information of the target obstacle included in the signal coverage range of the terminal detection device may be further considered, and the detection probability of the terminal detection device detecting the mobile terminal may be adjusted based on the type information of the target obstacle. Exemplarily, when the type information of the target obstacle is a wall, the detection probability of the terminal detection device detecting the mobile terminal may be reduced by a first value; when the type information of the target obstacle is a green belt, the detection probability of the terminal detection device detecting the mobile terminal may be reduced by a second value; when the type information of the target obstacle is a door, the detection probability of the terminal detection device detecting the mobile terminal may be increased by a third value; when the type information of the target obstacle is a vehicle, the detection probability of the terminal detection device detecting the mobile terminal may be increased by a fourth value.

[0112] It should be noted that the magnitude relationship among the first value, the second value, the third value and the fourth value can be determined according to actual conditions and is not limited here.

[0113] S502: Determine the terminal detection device with the highest detection probability as the main detection device.

[0114] It can be understood that the greater the detection probability, the greater the possibility that the user will appear in the detection area of ​​the corresponding terminal detection device. Therefore, by determining the terminal detection device as the main detection device, the mailbox can detect the mobile terminal with a higher probability.

[0115] Exemplarily, the signal detection range of terminal detection device 1 is greater than the signal detection range of terminal detection device 2. Therefore, it can be considered that the detection probability of terminal detection device 1 detecting the mobile terminal is greater than the detection probability of terminal detection device 2 detecting the mobile terminal. The next time the user carrying the mobile terminal approaches the vehicle, the direction may be the direction corresponding to terminal detection device 1. Therefore, terminal detection device 1 can be set as the main detection device.

[0116] The direction in which the user carrying the mobile terminal is predicted to approach the vehicle may be: the front of the vehicle, the rear of the vehicle, the left side of the vehicle, the right side of the vehicle, etc.

[0117] Optionally, if the signal detection range of terminal detection device 1 is equal to the signal detection range of terminal detection device 2, it can be considered that the detection probability of terminal detection device 1 detecting the mobile terminal is equal to the detection probability of terminal detection device 2 detecting the mobile terminal. Therefore, one terminal detection device (terminal detection device 1 or terminal detection device 2) can be randomly determined from terminal detection device 1 and terminal detection device 2 and set as the main detection device.

[0118] It can be understood that the embodiment of the present application processes the environmental information reported by the environmental detection device (environmental perception sensor) through the mobile environment data center module, can analyze the current parking environment of the vehicle, determine the signal detection range of multiple terminal detection devices, and then predict the direction in which the user carrying the mobile terminal is approaching the vehicle. The vehicle control module can be responsible for obtaining the signal detection range of each terminal detection device when the vehicle is parked from the mobile environment data center module, and setting the main detection device in combination with the predicted direction of the mobile terminal approaching the vehicle.

[0119] In an embodiment of the present application, the present application can determine the detection probability of each terminal detection device detecting a mobile terminal based on the signal detection range of each terminal detection device and the type information of the target obstacles included in the signal coverage range of each terminal detection device, thereby determining the terminal detection device with the highest detection probability as the main detection device. This is because when the target obstacles included in the signal coverage range of the terminal detection device are different, some obstacles can allow users to pass through, while some obstacles cannot allow users to pass through. When an obstacle allows users to pass through, the detection probability of the corresponding terminal detection device detecting the mobile terminal can be increased, and when the obstacle cannot allow users to pass through, the detection probability of the corresponding terminal detection device detecting the mobile terminal will be reduced. Therefore, according to the type information of the target obstacle, the detection probability of each terminal detection device detecting the mobile terminal can be accurately determined.

[0120] In some embodiments, there are at least two terminal detection devices whose detection probabilities are both maximum values; in a vehicle control method provided in an embodiment of the present application, the above S502 may specifically include: determining the terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices as the main detection device.

[0121] In an embodiment of the present application, the present application can determine the terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices as the main detection device when the detection probabilities of at least two terminal detection devices are both at the maximum value. For example, the target door is the vehicle corresponding to the driver's seat, and the user carrying the mobile terminal is most likely the driver, who will enter the vehicle through the driver's seat to drive the vehicle. Therefore, by determining the terminal detection device closest to the target door of the vehicle as the main detection device, the location information of the mobile terminal can be determined more accurately, and it can be determined whether to adjust the door locking state of the vehicle.

[0122] In some embodiments, the location information of the mobile terminal includes: the distance between the mobile terminal and the target door of the vehicle; Figure 5 As shown, in a vehicle control method provided in an embodiment of the present application, the above S304 may specifically include S601-S603:

[0123] S601: Determine a first distance between a master detection device and a mobile terminal, and a second distance between a slave detection device and the mobile terminal.

[0124] The slave detection device includes at least one detection device other than the master detection device among the plurality of terminal detection devices.

[0125] S602: Determine the distance between the mobile terminal and the target door based on the first distance and the second distance.

[0126] Optionally, the main detection device can send a broadcast message in real time, so that after the mobile terminal receives the broadcast message and returns a response message, the main detection device can establish a connection with the mobile terminal. After the connection is established, the main detection device can measure the distance of the mobile terminal.

[0127] Optionally, after the main detection device determines the first distance between the main detection device and the mobile terminal, the main detection device may randomly select a first slave detection device from the slave detection devices and send the determined first distance to the selected first slave detection device. Furthermore, the selected first slave detection device may be triggered to measure the distance of the mobile terminal to obtain the second distance between the first slave detection device and the mobile terminal. Then the first slave detection device selects the second slave detection device and sends the determined second distance and the first distance determined by the main detection device to the second slave detection device. This is performed sequentially until the second distance between the last slave detection device and the mobile terminal is determined, and then the distance between the mobile terminal and the target door may be determined based on the first distance and each second distance.

[0128] Optionally, determining the distance between the mobile terminal and the target door may be performed by a master detection device or any slave detection device.

[0129] S603: Determine whether to adjust the door locking state of the vehicle based on the distance between the mobile terminal and the target door.

[0130] Optionally, the relationship between the distance between the mobile terminal and the target door and a preset distance (preset door opening distance) can be determined to determine whether to adjust the door locking state of the vehicle.

[0131] Optionally, when it is determined that the door locking state of the vehicle does not need to be adjusted, the initial step may be returned to start with the main detection device to redetermine the distance with the mobile terminal, so as to redetermine the distance between the mobile terminal and the target door.

[0132] For example, Figure 7 As shown, taking the number of multiple terminal detection devices as 2 as an example, a terminal detection device 701 is set at the front end of the vehicle 700, and a terminal detection device 702 is set at the rear end of the vehicle. The signal coverage range corresponding to the terminal detection device 701 is 703, and the signal coverage range corresponding to the terminal detection device 702 is 704. By determining the distance between the terminal detection device 701 and the terminal detection device 702 and the mobile terminal 705 respectively, the distance between the mobile terminal and the target door can be determined. Then, the size relationship between the distance between the mobile terminal and the target door and the preset distance (i.e., the preset range 706) can be determined to determine whether to adjust the door locking state of the vehicle.

[0133] In an embodiment of the present application, the present application can determine the first distance between the main detection device and the mobile terminal, and the second distance between the slave detection device and the mobile terminal, so that based on the first distance and the second distance, combined with the positional relationship between the main detection device, the slave detection device and the target door in the vehicle, the distance between the mobile terminal and the target door can be accurately determined. Then, based on the distance between the mobile terminal and the target door, it is determined whether to adjust the door lock state of the vehicle. In this way, by determining the distance between multiple terminal detection devices and the mobile terminal, the distance between the mobile terminal and the target door of the vehicle can be accurately determined, and then the intention of the user carrying the mobile terminal to approach or move away from the vehicle can be accurately judged, and then it is determined whether the vehicle needs to be unlocked or locked.

[0134] In some embodiments, the vehicle is in a parked state and the door lock state is a locked state; Figure 8 As shown, in a vehicle control method provided in an embodiment of the present application, the above S603 may specifically include S801 or S802:

[0135] S801: When the distance between the mobile terminal and the target door is less than or equal to a preset distance, adjust the door lock state from a locked state to an unlocked state.

[0136] It can be understood that when the vehicle is in a parked state and the door lock state is locked, it means that the user carrying the mobile terminal has not yet approached the vehicle. When the terminal detection device detects the mobile terminal, it means that the user is approaching the vehicle and needs to unlock the vehicle. Therefore, when it is determined that the distance between the mobile terminal and the target door is less than or equal to the preset distance, it means that the distance between the user and the vehicle is relatively close, and the door lock state can be adjusted from the locked state to the unlocked state to facilitate the user to get on the vehicle.

[0137] S802: When the distance between the mobile terminal and the target door is greater than a preset distance, the door locking state of the vehicle is not adjusted.

[0138] It can be understood that when it is determined that the distance between the mobile terminal and the target door is greater than the preset distance, it means that the distance between the user and the vehicle is far, the user has not yet approached the vehicle, and the user may not have the intention to get on the vehicle. Therefore, the vehicle's door locking status can be temporarily adjusted (the vehicle is not unlocked).

[0139] In an embodiment of the present application, when the vehicle is in a parking state and the door lock state is a locked state, if it is determined that the distance between the mobile terminal and the target door is less than or equal to a preset distance, it can be determined that the user carrying the mobile terminal is approaching the vehicle and that the user intends to enter the vehicle, so the vehicle can be adjusted from a locked state to an unlocked state. If the distance between the mobile terminal and the target door is greater than the preset distance, it can be determined that the user carrying the mobile terminal is far away from the vehicle and does not need to unlock the vehicle. In this way, it can be accurately determined whether the vehicle needs to be unlocked based on the distance between the user carrying the mobile terminal and the vehicle, thereby ensuring the safety of the vehicle.

[0140] In some embodiments, the vehicle is in a parked state and the door lock state is unlocked; Fig. 9 As shown, in a vehicle control method provided in an embodiment of the present application, the above S603 may specifically include S901 or S902:

[0141] S901. When the distance between the mobile terminal and the target door is greater than or equal to a preset distance, adjust the door lock state from an unlocked state to a locked state.

[0142] It can be understood that when the vehicle is in a parking state and the door lock state is unlocked, it means that the vehicle has just switched from a driving state to a parking state, and the user carrying the mobile terminal has not yet left the vehicle. Therefore, when it is determined that the distance between the mobile terminal and the target door is greater than or equal to the preset distance, it means that the user is leaving the vehicle and the distance between the user and the vehicle is far, the door lock state can be adjusted from the unlocked state to the locked state to ensure the safety of the vehicle.

[0143] S902: When the distance between the mobile terminal and the target door is less than a preset distance, the door locking state of the vehicle is not adjusted.

[0144] It can be understood that when it is determined that the distance between the mobile terminal and the target door is less than the preset distance, it means that the user is not far away from the vehicle and the user may have the intention to get in the vehicle (open the door). Therefore, the door locking state of the vehicle can be temporarily adjusted (the vehicle is not locked) to facilitate the user to use the vehicle.

[0145] In the embodiment of the present application, when the vehicle is in a parking state and the door lock state is unlocked, if it is determined that the distance between the mobile terminal and the target door is greater than or equal to the preset distance, it can be determined that the user carrying the mobile terminal is away from the vehicle, and the vehicle can be adjusted from the unlocked state to the locked state. If the distance between the mobile terminal and the target door is less than the preset distance, it can be determined that the user carrying the mobile terminal is close to the vehicle and does not need to lock the vehicle. In this way, it can be accurately determined whether the vehicle needs to be locked based on the distance between the user carrying the mobile terminal and the vehicle to ensure the safety of the vehicle.

[0146] In the embodiment of the present application, after the vehicle is parked, the vehicle vision and radar equipment are introduced to judge the parking environment of the vehicle, and the probability of the terminal detection equipment on the vehicle and the mobile terminal being preferentially connected is judged according to the parking environment of the vehicle, and the main detection equipment is dynamically set. Thus, the optimal detection equipment is preferentially connected to the mobile terminal to increase the range and accuracy of the terminal detection equipment detecting the mobile terminal, thereby improving the user experience.

[0147] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the vehicle control device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0148] The embodiments of the present application can exemplarily divide the functional modules of the vehicle control device or electronic device according to the above method. For example, the vehicle control device or electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0149] Fig.10 is a block diagram of a vehicle control device according to an exemplary embodiment. Fig.10 The vehicle control device 1000 includes: an acquisition module 1001 and a processing module 1002; the acquisition module 1001 is used to acquire scene information of the vehicle's location; the processing module 1002 is used to determine the signal detection range of multiple terminal detection devices in the vehicle based on the scene information, and the signal detection range is a range in which a mobile terminal can be detected; the processing module 1002 is also used to determine a main detection device from multiple terminal detection devices based on the signal detection range of each terminal detection device in the multiple terminal detection devices; the processing module 1002 is also used to determine whether to adjust the door locking state of the vehicle based on the location information of the mobile terminal determined by the main detection device.

[0150] In one possible implementation, the scene information includes location information of obstacles; the processing module 1002 is specifically used to determine the target obstacles included in the signal coverage range of each terminal detection device based on the scene information; the processing module 1002 is specifically used to determine the signal detection range of each terminal detection device based on the signal coverage range of each terminal detection device and the target obstacles included in the signal coverage range.

[0151] In one possible implementation, the scene information includes obstacle type information, and the type information is used to indicate whether the user can pass through the obstacle; the processing module 1002 is specifically used to determine the detection probability of each terminal detection device detecting the mobile terminal based on the signal detection range of each terminal detection device and the type information of the target obstacle included in the signal coverage range of each terminal detection device, and obstacles of different types of information have different degrees of influence on the detection probability; the processing module 1002 is specifically used to determine the terminal detection device with the highest detection probability as the main detection device.

[0152] In a possible implementation manner, there are at least two terminal detection devices whose detection probabilities are both maximum values; the processing module 1002 is specifically used to determine the terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices as the main detection device.

[0153] In one possible implementation, the location information of the mobile terminal includes: the distance between the mobile terminal and the target door of the vehicle; a processing module 1002, specifically used to determine a first distance between a main detection device and the mobile terminal, and a second distance between a slave detection device and the mobile terminal, the slave detection device including at least one detection device other than the main detection device among a plurality of terminal detection devices; the processing module 1002, specifically used to determine the distance between the mobile terminal and the target door based on the first distance and the second distance; the processing module 1002, specifically used to determine whether to adjust the door locking state of the vehicle based on the distance between the mobile terminal and the target door.

[0154] In one possible implementation, the vehicle is in a parking state and the door lock state is a locked state; the processing module 1002 is specifically used to adjust the door lock state from a locked state to an unlocked state when the distance between the mobile terminal and the target door is less than or equal to a preset distance; or, the processing module 1002 is specifically used to not adjust the door lock state of the vehicle when the distance between the mobile terminal and the target door is greater than a preset distance.

[0155] In one possible implementation, the vehicle is in a parking state and the door lock state is an unlocked state; the processing module 1002 is specifically used to adjust the door lock state from an unlocked state to a locked state when the distance between the mobile terminal and the target door is greater than or equal to a preset distance; or, the processing module 1002 is specifically used to not adjust the door lock state of the vehicle when the distance between the mobile terminal and the target door is less than a preset distance.

[0156] In a possible implementation, the acquisition module 1001 is specifically used to acquire scene information within a preset range around the vehicle through an environmental perception sensor when the vehicle is in a parked state, the scene information including: obstacle location information and obstacle type information, and the environmental perception sensor includes at least one of the following: camera, ultrasonic radar, millimeter wave radar, lidar.

[0157] Regarding the device 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.

[0158] Fig.11 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.11 As shown, the electronic device 1100 includes but is not limited to: a processor 1101 and a memory 1102 .

[0159] The memory 1102 is used to store executable instructions of the processor 1101. It can be understood that the processor 1101 is configured to execute instructions to implement the vehicle control method in the above embodiment.

[0160] It should be noted that those skilled in the art can understand that Fig.11 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.11 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0161] The processor 1101 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1102, and calling data stored in the memory 1102, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1101 may include one or more processing units. Optionally, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1101.

[0162] The memory 1102 may be used to store software programs and various data. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as the processing module 703, etc.), etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0163] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions. The above instructions can be executed by the processor 1101 of the electronic device 1100 to implement the vehicle control method in the above embodiment.

[0164] In actual implementation, Fig.10 The functions of the acquisition module 1001 and the processing module 1002 in Fig.11 The processor 1101 in the embodiment calls the computer program stored in the memory 1102. The specific execution process can refer to the description of the vehicle control method in the above embodiment, which will not be repeated here.

[0165] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0166] In an exemplary embodiment, the embodiment of the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 1101 of the electronic device 1100 to complete the vehicle control method in the above embodiment.

[0167] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned vehicle control method embodiment are implemented, and the same technical effect as the above-mentioned vehicle control method can be achieved. To avoid repetition, they will not be repeated here.

[0168] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0169] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0170] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0171] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0172] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0173] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtain scene information of the vehicle's location; Based on the scenario information, determining a signal detection range of a plurality of terminal detection devices in the vehicle, wherein the signal detection range is a range within which a mobile terminal can be detected; Determining a main detection device from the plurality of terminal detection devices based on a signal detection range of each terminal detection device in the plurality of terminal detection devices; Based on the location information of the mobile terminal determined by the main detection device, it is determined whether to adjust the door locking state of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The scene information includes location information of obstacles; The determining, based on the scenario information, signal detection ranges of a plurality of terminal detection devices in the vehicle includes: Based on the scenario information, determining target obstacles within the signal coverage range of each terminal detection device; The signal detection range of each terminal detection device is determined based on the signal coverage range of each terminal detection device and the target obstacle included in the signal coverage range.

3. The vehicle control method according to claim 1 or 2, characterized in that: The scene information includes type information of the obstacle, and the type information is used to indicate whether the user can pass through the obstacle; The determining a main detection device from the plurality of terminal detection devices based on the signal detection range of each terminal detection device in the plurality of terminal detection devices comprises: Based on the signal detection range of each terminal detection device and the type information of the target obstacle included in the signal coverage range of each terminal detection device, the detection probability of each terminal detection device detecting the mobile terminal is determined, and obstacles of different types of information have different degrees of influence on the detection probability; The terminal detection device with the highest detection probability is determined as the main detection device.

4. The vehicle control method according to claim 3, characterized in that: There are at least two terminal detection devices whose detection probabilities are both at maximum values; The step of determining the terminal detection device with the highest detection probability as the main detection device comprises: The terminal detection device closest to the target door of the vehicle among the at least two terminal detection devices is determined as the main detection device.

5. The vehicle control method according to claim 1 or 2, characterized in that: The location information of the mobile terminal includes: the distance between the mobile terminal and the target door of the vehicle; The determining whether to adjust the door locking state of the vehicle based on the location information of the mobile terminal determined by the main detection device includes: Determine a first distance between the master detection device and the mobile terminal, and a second distance between a slave detection device and the mobile terminal, the slave detection device comprising at least one detection device other than the master detection device among the plurality of terminal detection devices; Determining the distance between the mobile terminal and the target door based on the first distance and the second distance; Based on the distance between the mobile terminal and the target door, it is determined whether to adjust the door locking state of the vehicle.

6. The vehicle control method according to claim 5, characterized in that: The vehicle is in a parked state, and the door locking state is a locked state; The determining whether to adjust the door locking state of the vehicle based on the distance between the mobile terminal and the target door includes: When the distance between the mobile terminal and the target door is less than or equal to a preset distance, adjusting the door lock state from the locked state to the unlocked state; Alternatively, when the distance between the mobile terminal and the target door is greater than the preset distance, the door locking state of the vehicle is not adjusted.

7. The vehicle control method according to claim 5, characterized in that: The vehicle is in a parking state, and the door lock state is an unlocked state; The determining whether to adjust the door locking state of the vehicle based on the distance between the mobile terminal and the target door includes: When the distance between the mobile terminal and the target door is greater than or equal to a preset distance, adjusting the door lock state from the unlocked state to the locked state; Alternatively, when the distance between the mobile terminal and the target door is less than the preset distance, the door locking state of the vehicle is not adjusted.

8. The vehicle control method according to claim 1, characterized in that: The step of obtaining scene information of the vehicle's location includes: When the vehicle is in a parked state, scene information within a preset range around the vehicle is obtained through an environmental perception sensor, wherein the scene information includes: location information of obstacles and type information of obstacles, and the environmental perception sensor includes at least one of the following: a camera, an ultrasonic radar, a millimeter-wave radar, and a lidar.

9. A vehicle control device, characterized in that: The vehicle control device comprises: an acquisition module and a processing module; The acquisition module is used to acquire scene information of the vehicle's location; The processing module is used to determine the signal detection range of the plurality of terminal detection devices in the vehicle based on the scene information, wherein the signal detection range is a range within which the mobile terminal can be detected; The processing module is further configured to determine a main detection device from the plurality of terminal detection devices based on a signal detection range of each terminal detection device in the plurality of terminal detection devices; The processing module is further used to determine whether to adjust the door locking state of the vehicle based on the location information of the mobile terminal determined by the main detection device.

10. A vehicle control system, characterized in that: The vehicle control system includes a vehicle and a mobile terminal, the vehicle includes a plurality of terminal detection devices, and the vehicle control system is used to implement the vehicle control method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the vehicle control method as described in any one of claims 1-8.

12. A vehicle, characterized in that: The vehicle comprises the vehicle control device according to claim 9, and the vehicle is used to implement the vehicle control method according to any one of claims 1-8.

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