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

Abstract

This application relates to a vehicle control method, apparatus, system, electronic device, and vehicle, and pertains to the field of vehicle control technology. It addresses at least the technical problems in related technologies where determining whether to adjust the vehicle door locking state based on the location of the vehicle key requires high-performance hardware and suffers from poor accuracy in locating the vehicle key. The method includes: acquiring scene information about the vehicle's location; determining the signal detection range of multiple terminal detection devices within the vehicle based on the scene information, where the signal detection range is the area capable of detecting mobile terminals; determining a primary detection device from among the multiple terminal detection devices based on the signal detection range of each device; and determining whether to adjust the vehicle door locking state based on the location information of the mobile terminal determined by the primary detection device. This improves the accuracy of locating the vehicle key.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle control method, device, system, electronic device, and vehicle. Background Technology

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

[0003] In related technologies, an Ultra Wide Band (UWB) master module communicates with the vehicle's UWB key and multiple UWB anchor points installed on the vehicle. By initiating a scanning operation for the UWB key, upon detection, the UWB key is notified to conduct ranging communication with multiple UWB anchor points. Based on the ranging results fed back from the multiple UWB anchor points, the vehicle is controlled. This technology triggers the vehicle's UWB key location via the UWB master module; however, UWB devices are expensive, and the accuracy of location tracking using a fixed UWB master module is relatively poor.

[0004] In another related technology, a smart mobile device carrying a mobile communication terminal is controlled to move towards the vehicle under test along a preset trajectory. During this movement, the distance between the smart mobile device and the vehicle under test is detected in real time. When the distance between the smart mobile device and the vehicle under test reaches a preset distance test point, the execution status information of the vehicle's Bluetooth events is monitored. Based on the execution status information and preset target execution status information, a test result for the vehicle's Bluetooth events is generated. This technical solution only detects the distance between the smart mobile device and the vehicle under test by controlling the movement trajectory of the smart mobile device towards the vehicle, thus testing the accuracy of the vehicle's Bluetooth events. Although this solution involves detecting the distance between the smart mobile device and the vehicle under test, it is not related to the vehicle's key location. Therefore, current methods for determining whether to adjust the vehicle's door lock status based on key location require high-end hardware and have poor key location accuracy. Summary of the Invention

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

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:

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

[0008] Based on the aforementioned technical means, this 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, thereby determining the detectable range of the mobile terminal corresponding to each terminal detection device. Thus, based on the signal detection range of each terminal detection device, a primary detection device can be identified from among the multiple terminal detection devices. Then, based on the location information of the mobile terminal determined by the primary detection device, it can be determined whether to adjust the vehicle's door locking status. Since the surrounding scene of the vehicle differs depending on its location, and this difference affects the movement trajectory of the mobile terminal when it approaches the vehicle, the signal detection range of each terminal detection device can be determined based on the scene information of the vehicle's location. This allows for the identification of the primary detection device, which is most likely to detect the mobile terminal first, and the determination of the mobile terminal's location information via the primary detection device, thereby determining whether to adjust the vehicle's door locking status. Thus, when the vehicle determines whether to adjust the vehicle's door locking status based on the location of the mobile terminal, the mobile terminal can be located accurately and efficiently.

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

[0010] Based on the aforementioned technical means, this application can determine the target obstacles within the signal coverage area of ​​each terminal detection device by using the location information of obstacles included in the acquired scene information. Furthermore, by combining the signal coverage area of ​​each terminal detection device with the target obstacles within that coverage area, the signal detection range of each terminal detection device can be determined. In this way, the range within which each terminal detection device can detect the mobile terminal at the vehicle's location can be accurately determined. Therefore, based on the signal detection range of each terminal detection device, the probability that each device will preferentially detect the mobile terminal can be determined, thereby accurately identifying the primary detection device.

[0011] In one possible implementation, the scene information includes obstacle type information, which indicates whether the user can traverse the obstacle; the above-mentioned determination of the main detection device from multiple terminal detection devices based on the signal detection range of each terminal detection device 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 obstacles included in the signal coverage area of ​​each terminal detection device, wherein the degree of influence of obstacles of different types on the detection probability is different; and determining the terminal detection device with the highest detection probability as the main detection device.

[0012] Based on the aforementioned technical means, this 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 target obstacles included within the signal coverage area of ​​each terminal detection device, thereby identifying the terminal detection device with the highest detection probability as the primary detection device. This is because when the target obstacles included within the signal coverage area of ​​a terminal detection device are different, some obstacles are passable by the user, while others are impassable. When an obstacle is passable by the user, the detection probability of the corresponding terminal detection device detecting the mobile terminal increases; conversely, when an obstacle is impassable by the user, the detection probability decreases. Therefore, based on the type information of the target obstacles, the detection probability of each terminal detection device detecting a mobile terminal can be accurately determined.

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

[0014] Based on the aforementioned technical means, this application can, when at least two terminal detection devices have a detection probability at its maximum value, identify the terminal detection device closest to the target vehicle door as the primary detection device. For example, the target vehicle door is the one 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. Therefore, by identifying the terminal detection device closest to the target vehicle door as the primary detection device, the location information of the mobile terminal can be more accurately determined, thus determining whether to adjust the vehicle door's locking status.

[0015] 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; the determination of whether to adjust the vehicle door locking state 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 a secondary detection device and the mobile terminal, wherein the secondary detection device includes at least one detection device other than the main detection device among a 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; and determining whether to adjust the vehicle door locking state based on the distance between the mobile terminal and the target door.

[0016] Based on the aforementioned technical means, this application can determine the distance between the mobile terminal and the target door by determining a first distance between the main detection device and the mobile terminal, and a second distance between the secondary detection device and the mobile terminal. Based on these first and second distances, and considering the positional relationship between the main detection device, the secondary detection device, and the target door within the vehicle, the distance between the mobile terminal and the target door can be accurately determined. Furthermore, based on this distance, it can be determined whether to adjust the vehicle's door locking status. Thus, by determining the distances 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, thereby accurately judging the user's intention to approach or move away from the vehicle, and ultimately determining whether to unlock or lock the vehicle.

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

[0018] Based on the aforementioned technical means, this application can, when the vehicle is parked and the doors are locked, determine that if the distance between the mobile terminal and the target door is less than or equal to a preset distance, it can be concluded that the user carrying the mobile terminal is approaching the vehicle and intends to enter. Therefore, the vehicle can be unlocked. Conversely, if the distance between the mobile terminal and the target door is greater than the preset distance, it can be concluded that the user carrying the mobile terminal is too far from the vehicle to unlock it. Thus, based on the distance between the user carrying the mobile terminal and the vehicle, it can accurately determine whether the vehicle needs to be unlocked, thereby ensuring vehicle safety.

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

[0020] Based on the aforementioned technical means, this application can, when the vehicle is parked and the door is unlocked, determine if the distance between the mobile terminal and the target door is greater than or equal to a preset distance. This indicates the user carrying the mobile terminal is moving away from the vehicle, and the vehicle can be switched from unlocked to locked. Conversely, if the distance between the mobile terminal and the target door is less than the preset distance, it indicates the user is close to the vehicle, and locking is not yet necessary. Thus, the distance between the user and the vehicle can be accurately determined to ensure vehicle safety.

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

[0022] Based on the aforementioned technical means, this application can acquire scene information within a preset range around the vehicle using existing environmental perception sensors on the vehicle. This eliminates the need to adjust the vehicle's hardware to acquire surrounding scene information, thereby identifying the primary detection device from multiple terminal detection devices.

[0023] According to a second aspect of this application, a vehicle control device is provided, comprising: 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, wherein the signal detection range is the range within which a mobile terminal can be detected; the processing module is further used to determine a master detection device from the multiple terminal detection devices based on the signal detection range of each of the multiple terminal detection devices; the processing module is further used to determine whether to adjust the vehicle door locking state based on the location information of the mobile terminal determined by the master detection device.

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

[0025] In one possible implementation, the scene information includes obstacle type information, which indicates 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 obstacles included in the signal coverage range of each terminal detection device, wherein the degree of influence of obstacles of different types on the detection probability is different; the processing module is specifically used to determine the terminal detection device with the highest detection probability as the main detection device.

[0026] In one possible implementation, there are at least two terminal detection devices with the detection probability at the maximum value; the processing module is specifically used to determine the terminal detection device that is 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 the target door of the vehicle; a processing module, specifically used to determine a first distance between the main detection device and the mobile terminal, and a second distance between the secondary detection device and the mobile terminal, wherein the secondary detection device includes 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; and a processing module, specifically used to determine whether to adjust the vehicle door locking state based on the distance between the mobile terminal and the target door.

[0028] In one possible implementation, the vehicle is parked and the doors are locked. The processing module is specifically used to adjust the door lock status from locked to unlocked when the distance between the mobile terminal and the target door is less than or equal to a preset distance. Alternatively, the processing module is specifically used to not adjust the vehicle door lock status when the distance between the mobile terminal and the target door is greater than the preset distance.

[0029] In one possible implementation, the vehicle is in a parked state and the door lock is in an unlocked state; the processing module is specifically used to adjust the door lock state from the unlocked state to the 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 vehicle door lock state when the distance between the mobile terminal and the target door is less than the preset distance.

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

[0031] According to a third aspect provided in this 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 first aspect described above and any possible implementation thereof.

[0032] According to a fourth aspect provided in this application, a computer-readable storage medium is provided that, when computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, causes the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0033] According to the fifth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0034] According to the sixth aspect provided in this application, a vehicle is provided, the vehicle including a vehicle control device as described in the second aspect, the vehicle being used to implement the method of the first aspect and any possible implementation thereof.

[0035] According to the seventh aspect provided in this application, a vehicle control system is provided, the vehicle control system including a vehicle and a mobile terminal, the vehicle including a plurality of terminal detection devices, and the vehicle control system being used to implement the method of the first aspect described above and any possible implementation thereof.

[0036] It should be noted that the technical effects of any of the implementation methods in aspects two through seven can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

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

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

[0041] Figure 3 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment;

[0042] Figure 4 This is a flowchart illustrating yet another vehicle control method according to an exemplary embodiment;

[0043] Figure 5 This is a flowchart illustrating yet another vehicle control method according to an exemplary embodiment;

[0044] Figure 6 This is a flowchart illustrating yet another vehicle control method according to an exemplary embodiment;

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

[0046] Figure 8 This is a flowchart illustrating yet another vehicle control method according to an exemplary embodiment;

[0047] Figure 9 This is a flowchart illustrating yet another vehicle control method according to an exemplary embodiment;

[0048] Figure 10This is a block diagram illustrating a vehicle control device according to an exemplary embodiment;

[0049] Figure 11 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0050] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0051] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0052] Currently, Bluetooth Received Signal Strength Indication (RSSI) positioning schemes suffer from weak anti-interference capabilities, requiring multiple anchor points and a central node for joint positioning, and their positioning accuracy is not high. While UWB positioning can solve the positioning accuracy problem, UWB is expensive, also requires multiple anchor points and a central node for joint positioning, and most mobile phones lack UWB functionality, thus failing to achieve truly seamless door opening. Bluetooth Channel Sounding (CS) positioning schemes currently still use the RSSI positioning layout logic, employing a central device plus multiple anchor points. This defaults to the central device prioritizing connection establishment with the mobile terminal. In complex environments, the connection establishment distance of the central device is short, resulting in poor user experience and high cost.

[0053] Therefore, current vehicle keys (mobile terminals) based on short-range wireless communication have the following problems when controlling vehicle unlocking / locking: UWB positioning solutions are expensive and incompatible with various ecosystems; Bluetooth RSSI positioning is easily affected by environmental shielding, reflections, and other factors, making it unstable and unable to achieve high-precision positioning, leading to incorrect door opening judgments and a poor user experience; fixed central nodes may experience signal interference in complex environments, resulting in a shorter connection distance with the mobile terminal, insufficient ranging time, and longer vehicle unlocking / door opening delays; furthermore, fixed central nodes result in a large number of Bluetooth detection devices in the Bluetooth key system, increasing costs.

[0054] The vehicle control method provided in this application can be applied to vehicle control systems. Figure 1 A schematic diagram of a vehicle control system is shown. Figure 1 As shown, the vehicle control system 10 includes a vehicle 11 and a mobile terminal 12. The vehicle 11 includes multiple terminal detection devices for detecting the location information of the mobile terminal 12.

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

[0056] For example, the mobile terminal 12 can be a vehicle remote key, card key, smartphone, smartwatch, bracelet, or other terminal.

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

[0058] Optionally, the vehicle 11 can acquire scene information of its location, and then, based on the scene information, determine the signal detection range of multiple terminal detection devices in the vehicle 11, wherein the signal detection range is the range in which mobile terminals can be detected.

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

[0060] In some embodiments, as 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 position 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 panoramic-looking devices, and multiple ultrasonic devices. The multiple forward-looking devices and multiple surround-looking devices can be cameras, ultrasonic radar, millimeter-wave radar, lidar, etc., respectively.

[0061] Optionally, the mobile environment data center module can be connected to multiple forward-looking devices, multiple surround-looking devices, multiple panoramic-looking devices, and multiple ultrasonic devices via the MIPI CSI interface to obtain scene information about the vehicle's location.

[0062] It is understandable that multiple forward-looking devices, multiple surround-view devices, multiple panoramic devices, and multiple ultrasonic devices are used to acquire environmental data of the vehicle's location. The mobile environment data center module provides algorithmic analysis capabilities to determine the vehicle's scene information and is used to process the collected scene information.

[0063] Optionally, multiple forward-looking devices, multiple surround-view devices, multiple panoramic devices, and multiple ultrasonic devices can also be used for vehicle driver assistance or other environmental detection devices, which can reduce or increase the number of these devices on the vehicle. These environmental detection devices can collect real-time environmental data of the vehicle's location.

[0064] Optionally, the mobile environment data center module also connects to the vehicle control module via ETH / CAN to send determined scenario information to the vehicle control module to determine whether to adjust the control signals for adjusting the vehicle's door locking status. The vehicle control module is responsible for the vehicle's basic power control, including throttle, gear, start, and stop information control, and is used to determine the main detection device from multiple terminal detection devices.

[0065] Optionally, the vehicle control module also connects to the startup status determination module via an I / O interface and to the gear position acquisition module via an ADC interface to obtain the vehicle's current gear and startup status. In other words, the vehicle control module provides vehicle status data and controls multiple terminal detection devices.

[0066] Optionally, the vehicle control module can also connect to multiple terminal detection devices via a CAN / LIN interface to determine the distance to the mobile terminal, and then determine whether to adjust the control signal for the vehicle's door locking status based on the distance to the mobile terminal.

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

[0068] It is understandable that multiple 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 two or more, used to determine the distance between the mobile terminal and the vehicle, and to locate the vehicle by measuring the distance.

[0070] This application embodiment fully utilizes the hardware of the digital intelligent vehicle's perception and detection components and integrates it with wireless ranging equipment to form a low-cost wireless key system with fewer devices and less vehicle wiring harness. The system's forward-looking device, surround-view device, panoramic device, ultrasonic beamforming device, mobile environment data center module, and vehicle control module are all existing hardware in current digital vehicles, without adding extra hardware costs. It analyzes the signal status of the current wireless devices (terminal detection devices) using existing environmental monitoring data and sets the optimal terminal detection device as the main connection point (main detection device), thus achieving a wireless key system with long sensing distance, high accuracy, and a small number of devices.

[0071] For ease of understanding, the vehicle control method provided in this application will be described in detail below with reference to the accompanying drawings.

[0072] Figure 3 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 3 As shown, the vehicle control methods include S301-S304:

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

[0074] In this application embodiment, based on the vehicle control system provided in the above embodiments, the vehicle's location scene information can be collected in real time through existing environmental perception sensors in the vehicle (such as forward-looking devices, surround-view devices, panoramic 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, and the type information of the obstacles.

[0076] It should be noted that the obstacle type information can specifically include any of the following: walls, green belts, doors, vehicles, etc. By using the obstacle type information, it can be determined whether a user can pass through the obstacle to approach the vehicle.

[0077] For example, if 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; while if the rear side of the vehicle is the door of an apartment building, it can be determined that the user will most likely appear from the rear side of the vehicle.

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

[0079] The scene information includes: obstacle location information and obstacle type information, and the environmental perception sensors include at least one of the following: camera, ultrasonic radar, millimeter-wave radar, and lidar.

[0080] It should be noted that the embodiments of this application are applied to a vehicle in a parked state, determining the positional relationship between the user carrying the mobile terminal and the vehicle, and then determining whether the user is moving away from or approaching the vehicle, thereby determining whether to unlock or lock the vehicle.

[0081] It is understandable that environmental perception sensors can be existing devices in the vehicle, so there is no need to modify the vehicle's hardware to collect scene information about the vehicle's location in real time.

[0082] In this embodiment, the application can acquire scene information within a preset range around the vehicle using existing environmental perception sensors on the vehicle. This eliminates the need to adjust the vehicle's hardware to obtain surrounding scene information, thereby identifying the primary detection device from multiple terminal detection devices.

[0083] S302. Based on 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 mobile terminals can be detected.

[0085] Optionally, the terminal detection device can 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 terminal detection devices can be two or more.

[0086] For example, when there are two terminal detection devices, they can be positioned directly in front of and behind the vehicle; when there are four terminal detection devices, they can be positioned directly in front of, behind, to the left of, and to the right of the vehicle. These terminal detection devices can be symmetrically positioned on the vehicle to accurately determine the distance between the mobile terminal and the vehicle (door).

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

[0088] It is understandable that the area without obstacles within the signal coverage of each terminal detection device can be defined as the signal detection range of the terminal detection device.

[0089] S303. Based on the signal detection range of each of the multiple terminal detection devices, determine the main detection device from the multiple terminal detection devices.

[0090] Optionally, based on the relationship between the signal detection ranges of each terminal detection device, the terminal detection device with the largest signal detection range can be determined as the main detection device.

[0091] Optionally, the type of obstacles within the signal coverage area of ​​each terminal detection device can be further considered, and the main detection device can be determined from multiple terminal detection devices by combining the size of the signal detection range.

[0092] For example, if the obstacle type information within the signal coverage area of ​​a terminal detection device is a wall, the user cannot pass through the wall to approach the vehicle. Therefore, this type of obstacle will reduce the probability of identifying the terminal detection device as the main detection device. However, if the obstacle type information within the signal coverage area of ​​another terminal detection device is a door (such as the entrance door of an apartment building), the user is very likely to emerge from the door and approach the vehicle. Therefore, this type of obstacle will increase the probability of identifying the terminal detection device as the main detection device.

[0093] S304. Based on the location information of the mobile terminal determined by the main detection device, determine whether to adjust the vehicle door locking status.

[0094] In one possible implementation, the distance between each of the multiple terminal detection devices and the mobile terminal can be determined separately, and the location information of the mobile terminal can be determined by processing these distances through the main detection device (or other detection devices).

[0095] In one possible implementation, the distance between the main detection device and the mobile terminal, as well as the distance between at least one of the multiple terminal detection devices (excluding the main detection device) and the mobile terminal, can also be determined. The location information of the mobile terminal can then be determined by processing these distances through the main detection device (or other detection devices).

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

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

[0098] In this embodiment, the 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, thereby determining the detectable range of the mobile terminal corresponding to each terminal detection device. Thus, based on the signal detection range of each terminal detection device, a primary detection device can be identified from among the multiple terminal detection devices. Then, based on the location information of the mobile terminal determined by the primary detection device, it is determined whether to adjust the vehicle's door locking status. Since the surrounding scene of the vehicle differs depending on its location, and this difference affects the movement trajectory of the mobile terminal when it approaches the vehicle, the signal detection range of each terminal detection device can be determined based on the scene information of the vehicle's location. This allows for the identification of the primary detection device most likely to detect the mobile terminal first, and the determination of the mobile terminal's location information via the primary detection device, thereby determining whether to adjust the vehicle's door locking status. Thus, when the vehicle determines whether to adjust the vehicle's door locking status based on the location of the mobile terminal, the mobile terminal can be located accurately and efficiently.

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

[0100] S401. Based on scene information, determine the target obstacles included within the signal coverage area of ​​each terminal detection device.

[0101] S402. Based on the signal coverage range of each terminal detection device and the target obstacles included within the signal coverage range, determine the signal detection range of each terminal detection device.

[0102] Optionally, by identifying the target obstacles included within the signal coverage area of ​​each terminal detection device, and thus determining the size and type of the target obstacles, it is possible to determine whether the target obstacles will affect the signal detection range of the terminal detection device.

[0103] Optionally, when the target obstacle is large, it will significantly affect the signal detection range of the terminal detection device; while when the target obstacle is small, it will have a smaller impact on the signal detection range of the terminal detection device.

[0104] For example, when the target obstacle type information is a wall, the probability of the user appearing within the signal detection range of the terminal detection device is extremely low because the user cannot pass through the wall to approach the vehicle. Therefore, this type of obstacle will severely affect the signal detection range of the terminal detection device. However, if the target obstacle type information is a door (such as the entrance door of an apartment building), the user has a high probability of emerging from inside the door and approaching 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 within the signal detection range of the terminal detection device.

[0105] In one possible implementation, the forward-looking device, surround-view device, panoramic device, and super-wave imaging device can upload the real-time environmental information around the vehicle to the mobile environment 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 environment data center module and judges the signal coverage of each terminal detection device. Based on this, and combined with the direction that the user may appear when driving the vehicle next time, the main detection device is set.

[0106] In this embodiment, the present application can determine the target obstacles within the signal coverage area of ​​each terminal detection device based on the location information of obstacles included in the acquired scene information. Then, combining the signal coverage area of ​​each terminal detection device and the target obstacles within that coverage area, the signal detection range of each terminal detection device can be determined. In this way, the range within which each terminal detection device can detect the mobile terminal at the vehicle's location can be accurately determined. Therefore, based on the signal detection range of each terminal detection device, the probability that each terminal detection device will preferentially detect the mobile terminal can be determined, thereby accurately identifying the primary detection device.

[0107] In some embodiments, the scene information includes obstacle type information, which indicates whether the user can traverse the obstacle; such as Figure 5 As shown, in a vehicle control method provided in this application embodiment, the above-mentioned S303 may specifically include S501-S502:

[0108] S501. Based on the signal detection range of each terminal detection device and the type information of target obstacles included in the signal coverage area of ​​each terminal detection device, determine the detection probability of each terminal detection device detecting the mobile terminal.

[0109] The degree to which obstacles of different types affect the detection probability varies.

[0110] Optionally, the relationship between the signal detection range of each terminal detection device and the preset range can be determined. When the signal detection range of the terminal detection device is greater than the preset range, the detection probability of the terminal detection device detecting the mobile terminal can be increased; 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 decreased.

[0111] Optionally, the detection probability of the mobile terminal can be adjusted based on the type information of the target obstacles within the signal coverage area of ​​the terminal detection device. For example, when the type information of the target obstacle is a wall, the detection probability of the mobile terminal can be reduced by a first value; when the type information of the target obstacle is a green belt, the detection probability can be reduced by a second value; when the type information of the target obstacle is a door, the detection probability can be increased by a third value; and when the type information of the target obstacle is a vehicle, the detection probability can be increased by a fourth value.

[0112] It should be noted that the relative sizes of the first, second, third, and fourth values ​​can be determined based on the actual situation, and are not limited here.

[0113] S502. The terminal detection device with the highest detection probability is identified as the main detection device.

[0114] It is understandable that the higher the detection probability, the greater the likelihood that the user will appear in the detection area of ​​the corresponding terminal detection device. Therefore, by designating the terminal detection device as the main detection device, the mobile terminal can be detected with a higher probability.

[0115] For example, the signal detection range of terminal detection device 1 is greater than that of terminal detection device 2. Therefore, it can be assumed that the detection probability of terminal detection device 1 detecting a mobile terminal is greater than that of terminal detection device 2. The direction in which a user carrying a mobile terminal approaches the vehicle next 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 predicted direction from which a user carrying a mobile terminal approaches the vehicle can be: in front of the vehicle, behind the vehicle, to the left of the vehicle, or to the right of the vehicle.

[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 assumed 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 selected from terminal detection device 1 and terminal detection device 2 as the main detection device.

[0118] It is understood that, in this embodiment of the application, the environmental information reported by the environmental detection device (environmental perception sensor) is processed by the mobile environment data center module. This allows for analysis of the current parking environment of the vehicle, determination of the signal detection range of multiple terminal detection devices, and prediction of the direction in which a user carrying a mobile terminal approaches the vehicle. The vehicle control module is 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 based on the predicted direction in which the mobile terminal approaches the vehicle.

[0119] In this embodiment, the probability of each terminal detection device detecting a mobile terminal can be determined based on the signal detection range of each terminal detection device and the type information of target obstacles included within the signal coverage area of ​​each terminal detection device. The terminal detection device with the highest detection probability is then identified as the primary detection device. This is because when the target obstacles within the signal coverage area of ​​a terminal detection device are different, some obstacles allow the user to pass, while others do not. When an obstacle allows the user to pass, the probability of the corresponding terminal detection device detecting the mobile terminal increases; conversely, when an obstacle prevents the user from passing, the probability decreases. Therefore, based on the type information of the target obstacles, the probability of each terminal detection device detecting a mobile terminal can be accurately determined.

[0120] In some embodiments, at least two terminal detection devices have a detection probability of the maximum value; in a vehicle control method provided in this application embodiment, the above-mentioned S502 may specifically include: determining the terminal detection device closest to the target door of the vehicle among at least two terminal detection devices as the main detection device.

[0121] In this embodiment, when at least two terminal detection devices have a detection probability at its maximum value, the terminal detection device closest to the target door of the vehicle can be designated as the primary detection device. 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. Therefore, by designating the terminal detection device closest to the target door as the primary detection device, the location information of the mobile terminal can be determined more accurately, thus determining whether to adjust the vehicle door's locking status.

[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; such as Figure 5 As shown, in a vehicle control method provided in this application embodiment, the above-mentioned S304 may specifically include S601-S603:

[0123] S601. Determine the first distance between the main detection device and the mobile terminal, and the second distance between the detection device and the mobile terminal.

[0124] Among them, the detection equipment includes at least one detection device other than the main detection device among multiple terminal detection devices.

[0125] S602. Based on the first distance and the second distance, determine the distance between the mobile terminal and the target vehicle door.

[0126] Optionally, the main detection device can send broadcast messages 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 to the mobile terminal.

[0127] Optionally, after the main detection device determines the first distance between itself and the mobile terminal, the main detection device can 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 can be triggered to measure the distance between itself and the mobile terminal, obtaining a second distance between the first slave detection device and the mobile terminal. Then, the first slave detection device selects a 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 process is repeated until the second distance between the last slave detection device and the mobile terminal is determined. Based on the first distance and each second distance, the distance between the mobile terminal and the target vehicle door can then be determined.

[0128] Optionally, determining the distance between the mobile terminal and the target vehicle door can be done by the main detection device or any of the slave detection devices.

[0129] S603. Based on the distance between the mobile terminal and the target door, determine whether to adjust the vehicle door locking status.

[0130] Optionally, the distance between the mobile terminal and the target door can be determined relative to a preset distance (a pre-set door opening distance) to determine whether to adjust the vehicle door locking status.

[0131] Optionally, if it is determined that the vehicle door locking status will not be adjusted, the initial steps can be returned to redetermine the distance between the main detection device and 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 two terminal detection devices as an example, terminal detection device 701 is set at the front of the vehicle 700, and terminal detection device 702 is set at the rear of the vehicle. The signal coverage range corresponding to terminal detection device 701 is 703, and the signal coverage range corresponding to terminal detection device 702 is 704. By determining the distances between terminal detection devices 701 and 702 and the mobile terminal 705, the distance between the mobile terminal and the target door can be determined. Furthermore, by judging the relationship between the distance between the mobile terminal and the target door and a preset distance (i.e., preset range 706), it can be determined whether to adjust the vehicle door locking status.

[0133] In this embodiment, the application can determine a first distance between the main detection device and the mobile terminal, and a second distance between the secondary detection device and the mobile terminal. Based on these first and second distances, and considering the positional relationship between the main detection device, the secondary detection device, and the target door within the vehicle, the distance between the mobile terminal and the target door can be accurately determined. Furthermore, based on this distance, it can be determined whether to adjust the vehicle's door locking status. Thus, by determining the distances 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, thereby accurately judging the user's intention to approach or move away from the vehicle, and ultimately determining whether to unlock or lock the vehicle.

[0134] In some embodiments, the vehicle is parked and the doors are locked; such as Figure 8 As shown, in a vehicle control method provided in this application embodiment, the above-mentioned 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, the door lock status is changed from locked to unlocked.

[0136] It's understandable that when a vehicle is parked and the doors are locked, it means the user carrying the mobile device has not yet approached the vehicle. When the device detects the mobile device, it indicates the user is approaching the vehicle and needs to unlock it. Therefore, when the distance between the mobile device and the target door is less than or equal to a preset distance, it means the user is close enough to unlock the door to facilitate entry.

[0137] S802. If the distance between the mobile terminal and the target door is greater than the preset distance, the door locking status of the vehicle shall not be adjusted.

[0138] It is understandable that when the distance between the mobile terminal and the target car door is determined to be greater than the preset distance, it means that the distance between the user and the vehicle is too far, the user has not approached the vehicle, and the user may not have the intention to get in the car. Therefore, the vehicle door lock status can be temporarily not adjusted (the vehicle is not unlocked).

[0139] In this embodiment, when the vehicle is parked and the doors are locked, if 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 intends to enter. Therefore, the vehicle can be unlocked. Conversely, if the distance between the mobile terminal and the target door is greater than the preset distance, it can be determined that the user is too far from the vehicle to unlock it. Thus, the distance between the user and the vehicle can be accurately determined to ensure vehicle safety.

[0140] In some embodiments, the vehicle is in a parked state and the doors are in an unlocked state; such as Figure 9 As shown, in a vehicle control method provided in this application embodiment, the above-mentioned 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, the door lock status is changed from the unlocked state to the locked state.

[0142] It's understandable that when a vehicle is parked and the doors are unlocked, it means the vehicle has just switched from a moving state to a parked state, and the user carrying the mobile device has not yet moved away from the vehicle. Therefore, if the distance between the mobile device and the target door is greater than or equal to a preset distance, it means the user is moving away from the vehicle and the distance between the user and the vehicle is relatively far. In this case, the door lock status can be changed from unlocked to locked to ensure vehicle safety.

[0143] S902. If the distance between the mobile terminal and the target door is less than a preset distance, the door locking status of the vehicle shall not be adjusted.

[0144] It is understandable that when the distance between the mobile terminal and the target car door is less than the preset distance, it means that the user has not yet moved away from the vehicle and may intend to get in the car (open the car door). Therefore, the vehicle door locking status can be left unchanged (the vehicle can not be locked) to facilitate the user's use of the vehicle.

[0145] In this embodiment, when the vehicle is parked and the doors are unlocked, if the distance between the mobile terminal and the target door is determined to be greater than or equal to a preset distance, it can be determined that the user carrying the mobile terminal is moving away from the vehicle, and therefore the vehicle can be switched from unlocked to locked. Conversely, 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 locking the vehicle is not yet necessary. Thus, based on the distance between the user carrying the mobile terminal and the vehicle, it is possible to accurately determine whether locking the vehicle is required, thereby ensuring vehicle safety.

[0146] In this embodiment, after the vehicle is parked, vehicle vision and radar equipment are used to determine the parking environment. Based on the parking environment, the probability of the terminal detection device on the vehicle establishing a connection with the mobile terminal is determined, and the primary detection device is dynamically configured. This optimizes the connection between the detection device and the mobile terminal, increasing the detection range and accuracy of the terminal detection device and improving the user experience.

[0147] The foregoing primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the aforementioned functions, the vehicle control device or electronic device includes corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0148] This application embodiment can, according to the above method, exemplarily divide a vehicle control device or electronic device into functional modules. For example, the vehicle control device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0149] Figure 10 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment. (Refer to...) Figure 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, wherein the signal detection range is the range in which mobile terminals can be detected; the processing module 1002 is also used to determine the main detection device from the multiple terminal detection devices based on the signal detection range of each of the multiple terminal detection devices; the processing module 1002 is also used to determine whether to adjust the vehicle's door locking state based on the location information of the mobile terminal determined by the main detection device.

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

[0151] In one possible implementation, the scene information includes obstacle type information, which indicates 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 obstacles included in the signal coverage range of each terminal detection device, wherein the degree of influence of obstacles of different types on the detection probability is different; 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 one possible implementation, there are at least two terminal detection devices with the detection probability of the maximum value; the processing module 1002 is specifically used to determine the terminal detection device that is 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; the processing module 1002 is specifically used to determine a first distance between the main detection device and the mobile terminal, and a second distance between the secondary detection device and the mobile terminal, wherein the secondary detection device includes at least one detection device other than the main detection device among a plurality of terminal detection devices; the processing module 1002 is 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 is specifically used to determine whether to adjust the vehicle door locking state based on the distance between the mobile terminal and the target door.

[0154] In one possible implementation, the vehicle is in a parked state and the door is locked; the processing module 1002 is specifically used to adjust the door lock state from locked to unlocked 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 vehicle door lock state when the distance between the mobile terminal and the target door is greater than the preset distance.

[0155] In one possible implementation, the vehicle is in a parked state and the door lock is in an unlocked state; the processing module 1002 is specifically used to adjust the door lock state from the unlocked state to the 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 vehicle door lock state when the distance between the mobile terminal and the target door is less than the preset distance.

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

[0157] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0158] Figure 11 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 11 As shown, the electronic device 1100 includes, but is not limited to, a processor 1101 and a memory 1102.

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

[0160] It should be noted that those skilled in the art will understand that Figure 11 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 11 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0161] Processor 1101 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 1102, and by calling data stored in memory 1102, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 1101 may include one or more processing units. Optionally, processor 1101 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 1101.

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

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

[0164] In actual implementation, Figure 10 The functions of the acquisition module 1001 and the processing module 1002 can be provided by Figure 11 The processor 1101 calls the computer program stored in the memory 1102 to implement the function. The specific execution process can be found in the description of the vehicle control method section of the previous embodiment, and will not be repeated here.

[0165] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

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

[0167] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above-described vehicle control method embodiments and achieve the same technical effects as the above-described vehicle control method. To avoid repetition, they will not be described again here.

[0168] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0169] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0170] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0171] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0172] If the integrated unit is implemented as 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 embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0173] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain scene information indicating the vehicle's location; Based on the scene information, the signal detection range of multiple terminal detection devices in the vehicle is determined, and the signal detection range is the range in which mobile terminals can be detected. Based on the signal detection range of each of the plurality of terminal detection devices, a main detection device is determined from 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 status of the vehicle.

2. The vehicle control method according to claim 1, characterized in that, The scene information includes the location information of the obstacles; Determining the signal detection range of multiple terminal detection devices in the vehicle based on the scene information includes: Based on the scene information, the target obstacles within the signal coverage area of ​​each terminal detection device are determined; 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 obstacles included within the signal coverage range.

3. The vehicle control method according to claim 1 or 2, characterized in that, The scene information includes obstacle type information, which is used to indicate whether the user can pass through the obstacle; The step of determining the main detection device from the plurality of terminal detection devices based on the signal detection range of each of the plurality of terminal detection devices includes: Based on the signal detection range of each terminal detection device and the type information of the target obstacles included in the signal coverage area of ​​each terminal detection device, the detection probability of each terminal detection device detecting the mobile terminal is determined. The degree of influence of obstacles of different types on the detection probability is different. 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 probability is at its maximum. The step of determining the terminal detection device with the highest detection probability as the main detection device includes: The terminal detection device that is closest to the target door of the vehicle among the at least two terminal detection devices is identified 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 step of determining whether to adjust the vehicle door locking status based on the location information of the mobile terminal determined by the main detection device includes: Determine a first distance between the main detection device and the mobile terminal, and a second distance between the secondary detection device and the mobile terminal, wherein the secondary detection device includes at least one detection device other than the main detection device among the plurality of terminal detection devices; Based on the first distance and the second distance, the distance between the mobile terminal and the target vehicle door is determined; Based on the distance between the mobile terminal and the target vehicle door, it is determined whether to adjust the vehicle door locking status.

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

7. The vehicle control method according to claim 5, characterized in that, The vehicle is in a parked state, and the door lock is in an unlocked state; Determining whether to adjust the vehicle door locking status based on the distance between the mobile terminal and the target vehicle door includes: If the distance between the mobile terminal and the target car door is greater than or equal to a preset distance, the door lock state is adjusted from the unlocked state to the locked state. Alternatively, if the distance between the mobile terminal and the target door is less than the preset distance, the door locking status of the vehicle will not be adjusted.

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

9. A vehicle control device, characterized in that, The vehicle control device includes: an acquisition module and a processing module; The acquisition module is used to acquire scene information about 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, wherein the signal detection range is the range in which mobile terminals can be detected; The processing module is further configured to determine the main detection device from the plurality of terminal detection devices based on the signal detection range of each of the plurality of terminal detection devices; The processing module is also used to determine whether to adjust the vehicle door locking status 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 multiple terminal detection devices. The vehicle control system is used to implement the vehicle control method as described in any one of claims 1-8.

11. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; 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 includes the vehicle control device as described in claim 9, and the vehicle is used to implement the vehicle control method as described in any one of claims 1-8.

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