Vehicle control method and device, electronic equipment, storage medium, product and vehicle

Abstract

The invention relates to a vehicle control method and device, electronic equipment, a storage medium, a product and a vehicle, target vehicle equipment to be operated on the vehicle by a target object holding terminal equipment is determined according to first position information of the terminal equipment relative to the vehicle, and the terminal equipment is in communication connection with the vehicle; and controlling the target vehicle equipment. The control experience of the user on the vehicle can be optimized.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a vehicle control method, device, electronic device, storage medium, product and vehicle. Background Art

[0002] The control systems of the doors, rear tailgates, front hoods, etc. of existing vehicles rely on traditional control means such as physical buttons, remote controls or car keys.

[0003] This traditional control method requires manual operation by the user, the control process is relatively cumbersome and not intelligent enough, and it is very inconvenient for the user to operate. Summary of the Invention

[0004] Embodiments of this application provide a vehicle control method, device, electronic device, computer-readable storage medium, computer program product and vehicle, which improve the convenience of vehicle control, and thus enhance the user's control experience of the vehicle, so as to at least partially solve the above technical problems.

[0005] To achieve the above object, according to the first aspect of this application, a vehicle control method is provided, including: Based on the first position information of the terminal device relative to the vehicle, determine the target vehicle device on the vehicle to be operated by the target object holding the terminal device, where the terminal device is communicatively connected to the vehicle; Control the target vehicle device.

[0006] Optionally, the step of obtaining the first position information includes: Based on the positioning signal sent by the terminal device, obtain the first position information between the vehicle and the terminal device.

[0007] Optionally, the determining, based on the first position information of the terminal device relative to the vehicle, the target vehicle device on the vehicle to be operated by the target object holding the terminal device includes: Based on the first position information, determine at least one candidate position information of the target object relative to the vehicle; Based on the candidate position information, determine the target vehicle device on the vehicle to be operated by the target object holding the terminal device.

[0008] Optionally, the candidate position information includes at least one of the first position information, second position information, and third position information, and the method further includes: Based on the first position information of the terminal device relative to the vehicle, determine the second position information and / or third position information of the target object holding the terminal device relative to the vehicle.

[0009] Optionally, the step of determining the second position information includes: Determine a first camera on the vehicle that captures the target object according to the first position information between the vehicle and the terminal device; Based on the target image captured by the first camera, determine the second position information of the target object relative to the vehicle.

[0010] Optionally, the target image is a first image captured by the first camera when the environment where the vehicle is located changes.

[0011] Optionally, the change in the environment includes changing from an unmanned environment to a manned environment.

[0012] Optionally, the step of determining the second position information of the target object relative to the vehicle based on the target image captured by the first camera includes: Perform object recognition according to the target image; Determine the second position information of the target object relative to the vehicle according to the object recognition result.

[0013] Optionally, the step of obtaining the third position information includes: Determine at least one second camera on the vehicle that is within the field of view of the target object according to the first position information and / or the second position information; Perform object recognition on second images respectively captured by each of the second cameras to obtain a target recognition result; Determine the third position information of the target object relative to the vehicle according to the target recognition result.

[0014] Optionally, the step of performing object recognition on second images respectively captured by each of the second cameras to obtain a target recognition result includes: Perform object recognition on second images respectively captured by each of the second cameras through a target recognition network to obtain target recognition results of each of the second images.

[0015] Optionally, the step of determining the third position information of the target object relative to the vehicle according to the target recognition result includes: Compare the target recognition results, and determine the third position information of the target object relative to the vehicle according to the comparison result.

[0016] Optionally, the step of determining the third position information of the target object relative to the vehicle according to the comparison result includes: In the case where the comparison result indicates the same object recognized in at least two target recognition results, determine third position information of the target object relative to the vehicle according to the at least two target recognition results.

[0017] Optionally, the same object is a preset object with control authority over the vehicle.

[0018] Optionally, determining the target vehicle device to be operated by the target object holding the terminal device on the vehicle based on the candidate position information includes: Based on the candidate position information, determine target position information of the target object relative to the vehicle; Based on the target position information, determine the target vehicle device to be operated by the target object holding the terminal device on the vehicle.

[0019] Optionally, determining the target position information of the target object relative to the vehicle based on the candidate position information includes: In the case where at least two candidate position information match, determine the target position information of the target object relative to the vehicle based on the at least two candidate position information.

[0020] Optionally, the at least two candidate position information match includes: the at least two candidate position information are the same, or the position difference between the at least two candidate position information is within a preset difference range.

[0021] Optionally, determining the target vehicle device to be operated by the target object holding the terminal device on the vehicle based on the target position information includes: According to a preset mapping relationship between the position information and the vehicle device, determine the vehicle device corresponding to the target position information on the vehicle as the target vehicle device to be operated by the target object holding the terminal device on the vehicle.

[0022] Optionally, controlling the target vehicle device includes: Identify a target operation intention of the target object for the target vehicle device; Perform a target operation corresponding to the target operation intention on the target vehicle device.

[0023] Optionally, identifying a target operation intention of the target object for the target vehicle device includes: Based on an image collected for the target object, identify a posture action of the target object; Based on the posture action, determine the target operation intention of the target object for the target vehicle device.

[0024] Optionally, before controlling the target vehicle device, the method further includes: Outputting attitude action prompt information of the target vehicle device, where the attitude action prompt information is used to indicate the attitude actions required to control the target vehicle device.

[0025] According to a second aspect of the present application, there is provided a vehicle control device, including: A determination module, configured to determine a first target vehicle device to be operated on the vehicle by a target object holding the terminal device according to first position information of the terminal device relative to the vehicle, where the terminal device is communicatively connected to the vehicle; A control module, configured to control the first target vehicle device.

[0026] In a third aspect, the present embodiment further provides an electronic device, which includes a processor and a memory. Wherein, the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the steps of the above method.

[0027] In a fourth aspect, the present embodiment further provides a computer-readable storage medium, which includes a computer program. When the computer program runs on an electronic device, the computer program is used to cause the electronic device to execute the steps of the above method.

[0028] In a fifth aspect, the present embodiment further provides a computer program product, including a computer program, where the computer program is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes the steps of the above method.

[0029] In a sixth aspect, the present embodiment further provides a vehicle, on which at least one of a vehicle control device, an electronic device, a computer-readable storage medium, and a computer program product is provided.

[0030] In summary, in the embodiments of the present application, through the above technical solutions, the vehicle can directly control the target vehicle device to be operated on the vehicle by the target object holding the terminal device according to the position information of the terminal device relative to the vehicle. It can be seen that the present application can determine the target vehicle device that the user intends to operate without the user's operation and control it, avoiding the user from manually operating the vehicle device, simplifying the control operation of the vehicle device, realizing the intelligent control of the vehicle device, and effectively improving the user's vehicle control experience.

[0031] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0032] To more fully understand the present application and its beneficial effects, the following description will be made in conjunction with the accompanying drawings, where the same reference numerals in the following description represent the same parts.

[0033] Figure 1 is the first schematic diagram of the vehicle control process provided in the exemplary embodiments provided by the present application; Figure 2 is the second schematic diagram of the vehicle control process provided in the exemplary embodiments provided by the present application; Figure 3 is the third schematic diagram of the vehicle control process provided in the exemplary embodiments provided by the present application; Figure 4 is the schematic diagram of the vehicle control device provided in the exemplary embodiments of the present application; Figure 5 is the schematic diagram of the architecture of the electronic device provided in the exemplary embodiments of the present application. Detailed implementation manners

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0035] With the continuous progress of technology, the field of intelligent vehicles is in a stage of rapid development. Intelligent vehicles are not only a means of transportation, but also a mobile intelligent space integrating advanced technologies and intelligent functions. In the development process of intelligent vehicles, the human-machine interaction technology plays a crucial role.

[0036] The traditional opening and closing methods of doors, rear tailgates, front hoods, etc. mainly rely on traditional methods such as physical buttons, remote controls, or car keys. However, these methods have certain limitations: (1) Traditional buttons and remote controls require manual operation to open or close the doors, and the overall process is relatively cumbersome and not intelligent enough; (2) There are certain inconveniences in traditional methods. When passengers or drivers need to control the doors, rear tailgates, front hoods, etc., they need to reach out and touch the door handles or buttons.

[0037] Considering the development of technology and the maturity of human-computer interaction technology, biometric gesture recognition has become a popular research field and has been widely applied in many fields, such as smartphones, TVs, and games. Biometric gesture recognition technology captures and analyzes human gesture actions through a camera to achieve natural interaction with a computer. This technology not only provides a more intuitive and convenient operation method but also greatly enhances the user experience. To solve the above problems, based on biometric gesture recognition, this application proposes a vehicle control method, device, electronic device, computer-readable storage medium, computer program product, and vehicle, as Figure 1 shown, aiming to determine the relative position between the user and the vehicle body according to the relative positioning between the vehicle and the user's key, and perform precise position positioning based on the panoramic camera. Then, according to the relative position between the user and the vehicle, it determines the user's intention for the opening device (front hood, rear trunk, driver's door, passenger's door, left rear door, right rear door), providing a brand-new control and opening / closing method for the intelligent vehicle field and enhancing the human-computer interaction ability.

[0038] Meanwhile, traditional opening / closing control systems for doors, rear trunks, front hoods, etc. usually rely on contact operations such as physical buttons, remote controls, or car keys. However, in this application, through biometric gesture recognition technology, users do not need any physical contact and only need to perform specific gesture actions to control the opening and closing of vehicle devices, achieving true non-contact operation and improving the convenience of use.

[0039] Specifically, for example, the vehicle control method in this application can be applied to a vehicle, which can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc. This application does not make specific limitations on this.

[0040] The vehicle control method in the embodiments of this application, as Figure 2 shown, can at least include the following steps: S10, determine a first target vehicle device on the vehicle to be operated by a target object holding the terminal device according to the first position information of the terminal device relative to the vehicle, where the terminal device is in communication connection with the vehicle; In this embodiment, the terminal device can be a device in communication connection with the vehicle, such as a mobile phone or a car key. Specific limitations are not made on this, so that the vehicle can obtain the first position information of the terminal device relative to the vehicle and, according to this first position information, determine the first target vehicle device on the vehicle to be operated by the target object holding the terminal device.

[0041] Among them, the target object in this embodiment can be a user intending to operate vehicle devices, and vehicle devices can include the front hood, rear trunk, fast charging port cover, slow charging port cover, fuel filling port cover, driver's door, passenger's door, left rear door, right rear door, etc. on the vehicle, and will not be listed one by one.

[0042] S20. Control the first target vehicle device.

[0043] After the vehicle determines the target vehicle device that the target object intends to control, it can control the target vehicle device.

[0044] Therefore, in the embodiments of the present application, the vehicle can directly control the target vehicle device to be operated on the vehicle by the target object holding the terminal device according to the position information of the terminal device relative to the vehicle. It can be seen that the present application can determine the target vehicle device that the user intends to operate without the user's operation and control it, avoiding the user's manual operation of the vehicle device, simplifying the control operation of the vehicle device, realizing the intelligent control of the vehicle device, and effectively improving the user's vehicle control experience.

[0045] In one embodiment, the step of obtaining the first position information includes: Obtain the first position information between the vehicle and the terminal device according to the positioning signal sent by the terminal device.

[0046] It should be noted that in this embodiment, taking the terminal device as the mobile phone held by the target object as an example, a Ultra Wide Band (UWB) positioning module can be provided in the vehicle and powered by the vehicle's uninterruptible power supply. In the state where the vehicle is turned off and locked, the UWB positioning module can scan and search the nearby area (for example, within a radius of 3 meters) in a low-power standby mode in real time to check whether there is a mobile phone pre-bound to the vehicle. If there is no pre-bound mobile phone in the nearby area, the UWB positioning module can determine that there is no user near the vehicle, and thus maintain the low-power standby and search state to prevent the vehicle battery from running out of power.

[0047] When the user carrying the bound mobile phone approaches the vehicle, the UWB positioning module scans the nearby area and detects the mobile phone pre-bound to the vehicle. The UWB positioning module can determine that the user holding the bound mobile phone has arrived near the vehicle, and thus further wakes up the short-range positioning function and sends a UWB positioning request signal to the searched user mobile phone to request short-range positioning of the user.

[0048] The mobile phone can respond to the UWB positioning request signal sent by the bound vehicle and automatically feedback a UWB positioning signal based on the authorization instruction provided by the user during pre-binding. Among them, the UWB positioning signal can be a wireless carrier narrow pulse transmission data with a frequency bandwidth above 1 GHz.

[0049] In this way, the UWB positioning module can determine the position of the mobile phone relative to the vehicle according to the UWB positioning signal (i.e., the positioning signal in this embodiment) fed back by the user's mobile phone.

[0050] Furthermore, the ultra-wideband positioning module sends the position data of the mobile phone relative to the vehicle to the vehicle's processor, and the processor can determine the first position information of the mobile phone relative to the vehicle in the vehicle coordinate system based on the position of the mobile phone relative to the vehicle.

[0051] In one embodiment, in the above S10, "determining the target vehicle device to be operated by the target object holding the terminal device on the vehicle according to the first position information of the terminal device relative to the vehicle" may include: S101, determining at least one candidate position information of the target object relative to the vehicle according to the first position information; S102, determining the target vehicle device to be operated by the target object holding the terminal device on the vehicle based on the candidate position information.

[0052] In this embodiment, after the vehicle determines the position of the user relative to the vehicle (i.e., the first position information in this embodiment), it can determine at least one candidate position information of the user holding the terminal device relative to the vehicle according to the first position information.

[0053] Furthermore, the target vehicle device intended to be operated by the user holding the terminal device on the vehicle can be determined according to the candidate position information.

[0054] In one embodiment, the candidate position information includes at least one of the first position information, the second position information, and the third position information; On this basis, the vehicle control method in the present application may include: S30, determining the second position information and / or the third position information of the target object holding the terminal device relative to the vehicle according to the first position information of the terminal device relative to the vehicle.

[0055] In this embodiment, the vehicle can determine the second position information and / or the third position information of the user holding the terminal device relative to the vehicle according to the first position information of the terminal device relative to the vehicle.

[0056] It can be understood that the second position information and the third position information in this embodiment may be position information obtained in different ways. For example, the second position information may be the position information calculated according to the environmental image collected by a single camera, while the third position information may be the position information calculated according to multiple environmental images collected by multiple cameras to improve the user positioning accuracy. This will be described in detail in subsequent embodiments and will not be elaborated here.

[0057] In one embodiment, the step of determining the second position information includes: Determine the first camera on the vehicle that captures the target object according to the first position information between the vehicle and the terminal device; Based on the target image captured by the first camera, determine the second position information of the target object relative to the vehicle.

[0058] In this embodiment, after the vehicle determines the above first position information, it can send the first position information to the camera installed at the corresponding position of the vehicle. For example, the processor of the vehicle can determine the camera on the vehicle that is closest to the terminal device according to the first position information, and use this camera as the first camera. Among them, the first camera in this embodiment can specifically be a panoramic camera or other cameras, and no specific limitation is made thereto.

[0059] Furthermore, the second position information of the user relative to the vehicle can be determined based on the target image captured by the first camera.

[0060] In one embodiment, the target image is the first image captured by the first camera when the environment where the vehicle is located changes.

[0061] In this embodiment, after the camera at the corresponding position receives the position information sent by the processor, it can trigger image data collection through vehicle environment change information. Once it detects an environment change, it can transmit the image triggered by the environment change to the domain controller of the vehicle, and the domain controller identifies the image to obtain the second position information of the user relative to the vehicle.

[0062] In one embodiment, the change in the environment includes changing from an unmanned environment to a manned environment.

[0063] The change in the environment in this embodiment can include changing from an unmanned environment to a manned environment. In addition, it can also include the movement or posture change of people in a manned environment, etc., and no specific limitation is made thereto.

[0064] In a specific embodiment, the above "Based on the target image captured by the first camera, determine the second position information of the target object relative to the vehicle" may include: Perform object recognition according to the target image; According to the object recognition result, determine the second position information of the target object relative to the vehicle.

[0065] It should be noted that in this embodiment, the specific operation of object recognition can be to segment the human body contour in the image to identify the user's human body data in the target image.

[0066] Correspondingly, the object recognition result can include the identified user's human body data, such as specifically the facial feature information of the user.

[0067] Furthermore, the vehicle can calculate the second position information of the user relative to the vehicle based on the user's body data and in combination with the depth information of the camera. Referring to the existing intelligent driving system, it will not be elaborated here.

[0068] In one embodiment, the step of obtaining the third position information includes: Determine at least one second camera on the vehicle that is within the field of view of the target object according to the first position information and / or the second position information; Perform object recognition on the second images respectively collected by each of the second cameras to obtain a target recognition result; Determine the third position information between the target object and the terminal device according to the target recognition result.

[0069] In this embodiment, after the vehicle determines the position information of the user relative to the vehicle, it can determine at least one second camera on the vehicle that is within the field of view of the target object according to the first position information and / or the second position information.

[0070] Furthermore, the vehicle can perform object recognition on the second images respectively collected by each second camera to obtain a target recognition result, and determine the third position information between the target object and the terminal device according to the target recognition result.

[0071] In a specific embodiment, the above "performing object recognition on the second images respectively collected by each of the second cameras to obtain a target recognition result" may include: Perform object recognition on the second images collected by each of the second cameras through a target recognition network to obtain the target recognition results of the second images.

[0072] It should be noted that the target recognition network in this embodiment can be an R-CNN series network, a YOLO series network, etc., and no specific limitations are imposed on the type and structure of the target recognition network.

[0073] Among them, the training process of the target recognition network in this embodiment may include: first, extract target features from the image features based on the positions of the detection frames in the sub-samples (specifically, the environmental images of the vehicle's historical environment) to obtain a target feature group, and then use each detection frame as an input to perform deep learning on the target feature group to obtain an object recognition network across cameras.

[0074] On this basis, the target recognition network can process multiple input second images and output the target recognition results corresponding to the second images.

[0075] Among them, the target recognition result in this embodiment may include user body data recognized from the image, for example, specifically, it may be the facial feature information of the user.

[0076] In one embodiment, the above "determining the third position information of the target object relative to the vehicle according to the target recognition result" may include: Comparing the target recognition result and determining the third position information of the target object relative to the vehicle according to the comparison result.

[0077] In this embodiment, after the vehicle obtains the target recognition result corresponding to each second image, it may compare the target recognition result and determine the third position information of the target object relative to the vehicle according to the comparison result.

[0078] In a specific embodiment, the above "determining the third position information of the target object relative to the vehicle according to the comparison result" may include: In the case where the comparison result indicates the same object recognized in at least two target recognition results, determining the third position information of the target object relative to the vehicle according to the at least two target recognition results.

[0079] It can be understood that in this embodiment, if the same object is recognized by multiple cameras, it can be determined that this object is the user who intends to operate the vehicle device.

[0080] Furthermore, the vehicle may determine the third position information of the target object relative to the vehicle according to any one of the at least two target recognition results and in combination with the depth information of the corresponding camera.

[0081] In a specific embodiment, the same object is a preset object with the control authority of the vehicle.

[0082] In this embodiment, when the vehicle determines that the object in the image is a preset object with the control authority of the vehicle according to the target recognition result, it allows this user to operate the vehicle device.

[0083] It can be understood that if the user wants to operate the vehicle device, they can pre-enter their information in the vehicle, such as facial information, etc.

[0084] In one embodiment, in the above S102, "determining the target vehicle device to be operated by the target object holding the terminal device on the vehicle based on the candidate position information" may include: S1021, determining the target position information of the target object relative to the vehicle based on the candidate position information; S1022. Based on the target location information, determine the target vehicle device on the vehicle that the target object holding the terminal device is to operate.

[0085] It should be noted that in this embodiment, in combination with the above description, the candidate location information includes at least one of the first location information, the second location information, and the third location information.

[0086] On this basis, the vehicle can determine the target location information of the target object relative to the vehicle based on the candidate location information. Among them, the target location information can be the candidate location information, or the target location information can also be the location information calculated from the candidate location information.

[0087] Furthermore, based on the above target location information, the target vehicle device that the user holding the terminal device intends to operate on the vehicle can be determined.

[0088] In a specific embodiment, in the above S1021, "Based on the candidate location information, determine the target location information of the target object relative to the vehicle" may include: In the case where at least two candidate location information match, determine the target location information of the target object relative to the vehicle based on the at least two candidate location information.

[0089] In this embodiment, when the vehicle detects that at least two candidate location information match, for example, the second location information and the third location information are the same, any one of the at least two candidate location information can be used as the target location information of the user holding the terminal device relative to the vehicle.

[0090] In a specific embodiment, the matching of the at least two candidate location information includes: the at least two candidate location information are the same, or the position difference between the at least two candidate location information is within a preset difference range.

[0091] In this embodiment, the matching of at least two candidate location information can be that at least two candidate location information are the same, or it can also be that the position difference between at least two candidate location information is within a preset difference range. The preset difference range can be set in advance and will not be specifically limited here.

[0092] In an embodiment, in the above S1022, "Based on the target location information, determine the target vehicle device on the vehicle that the target object holding the terminal device is to operate" may include: According to the preset mapping relationship between the location information and the vehicle device, determine the vehicle device corresponding to the target location information on the vehicle as the target vehicle device that the target object holding the terminal device is to operate on the vehicle.

[0093] In this embodiment, after determining the precise location of the user (i.e., the target location information in this embodiment), according to the preset mapping relationship between the vehicle equipment and the location information, the target vehicle equipment that the user intends to activate is identified.

[0094] For example, if the user is located directly in front of the vehicle, the target vehicle equipment is the front hood; if the user is located directly behind the vehicle, it corresponds to the rear tailgate, etc. The vehicle equipment that can be activated in this application includes the front hood, rear tailgate, fast charging port cover, slow charging port cover, fuel tank cover, driver's door, passenger door, left rear door, right rear door, etc.

[0095] In one embodiment, in the above S20, "controlling the target vehicle equipment" can include, as Figure 3 shown, the following: S201, identifying the target operation intention of the target object for the target vehicle equipment; S202, performing the target operation corresponding to the target operation intention on the target vehicle equipment.

[0096] In this embodiment, the user can make a predefined gesture action, which can represent the target operation intention of the user for the target vehicle equipment.

[0097] Furthermore, the vehicle can perform the target operation corresponding to the target operation intention on the target vehicle equipment.

[0098] In a specific embodiment, the above S201 can include: S2011, based on the image collected for the target object, identifying the gesture action of the target object; S2012, based on the gesture action, determining the target operation intention of the target object for the target vehicle equipment.

[0099] The image collected in this embodiment can specifically be the biological gesture image of the target object.

[0100] After the user completes the biological gesture action according to the prompt, the camera will capture and save the biological gesture image. Furthermore, the biological gesture recognition model can analyze the captured image, extract key biological gesture features and motion trajectories, and by matching with the predefined biological gesture set, the model will classify the user's biological gesture and identify the user's target operation intention. This model can adopt the system deep neural network algorithm to improve the accuracy and robustness of biological gesture recognition.

[0101] Furthermore, a control signal can be sent to the actuators of the vehicle equipment (such as electric limiters, suction motors, or unlocking motors). After receiving the signal, the actuators can perform corresponding actions to unlock and open the corresponding target vehicle equipment (front hood, rear trunk, fast charging port cover, slow charging port cover, fuel filler cap, driver's door, passenger's door, left rear door, right rear door). Meanwhile, in this embodiment, the status of the relevant vehicle equipment can also be monitored in real time to ensure the smooth completion of the operation and provide feedback or re - execute the operation when necessary.

[0102] For another example, when it is necessary to close the corresponding vehicle equipment (front hood, rear trunk, fast charging port cover, slow charging port cover, fuel filler cap, driver's door, passenger's door, left rear door, right rear door), the user performs specific biological gesture operations facing the panoramic camera, such as shaking the head, waving the hand, or making specific gestures.

[0103] After the user completes the biological gesture action, the camera will capture and save the biological gesture image. Then, the system will perform a biological gesture recognition operation. After successfully recognizing the biological gesture, the processor will remind the user that the equipment is about to close through the vehicle's existing sound prompting devices, such as horns, external vehicle speakers, or the vehicle's existing display devices, such as projection lights, headlights, etc.

[0104] Then, a control signal is sent to the actuators of the vehicle equipment (such as electric limiters, suction motors, or unlocking motors). After receiving the signal, the actuators will perform corresponding actions to close the relevant vehicle equipment (front hood, rear trunk, fast charging port cover, slow charging port cover, fuel filler cap, driver's door, passenger's door, left rear door, right rear door).

[0105] In one embodiment, before "controlling the target vehicle equipment", it may further include: Outputting the gesture action prompt information of the target vehicle equipment, where the gesture action prompt information is used to indicate the gesture actions required to control the target vehicle equipment.

[0106] Combined with the above description, in this embodiment, the vehicle's existing sound prompting devices, such as horns, external vehicle speakers, or the vehicle's existing display devices, such as projection lights, headlights, etc., can be used to remind the user to perform specific biological gesture operations, such as nodding, waving the hand, or making specific gestures, to determine that the user needs to open the relevant vehicle equipment (front hood, rear trunk, fast charging port cover, slow charging port cover, fuel filler cap, driver's door, passenger's door, left rear door, right rear door).

[0107] After the user completes the biological gesture action according to the prompt, the camera will capture and save the biological gesture image, analyze the image to recognize the user's target operation intention, and perform the target operation corresponding to the target operation intention on the target vehicle equipment. Referring to the above - mentioned embodiment, it will not be elaborated here.

[0108] Generally speaking, in the embodiments of the present application, a brand-new control opening and closing method is provided for the field of intelligent vehicles, enhancing the human-computer interaction ability. Without any physical contact, users can control the opening and closing of vehicle devices only through specific gesture actions, realizing a truly non-contact operation and improving the convenience of use.

[0109] Correspondingly, the embodiments of the present application also provide a vehicle control device, as Figure 4 shown. The device may include: A determination module 1001, configured to determine a first target vehicle device on the vehicle to be operated by a target object holding the terminal device according to first position information of the terminal device relative to the vehicle, where the terminal device is in communication connection with the vehicle; A control module 1002, configured to control the first target vehicle device.

[0110] Optionally, the acquisition of the first position information includes: Acquiring the first position information between the vehicle and the terminal device according to a positioning signal sent by the terminal device.

[0111] Optionally, the determination module 1001 is further configured to: Determine at least one candidate position information of the target object relative to the vehicle according to the first position information; Based on the candidate position information, determine a target vehicle device on the vehicle to be operated by a target object holding the terminal device.

[0112] Optionally, the candidate position information includes at least one of the first position information, the second position information, and the third position information. The vehicle control device in the present application further includes: A position determination module, configured to determine the second position information and / or the third position information of the target object holding the terminal device relative to the vehicle according to the first position information of the terminal device relative to the vehicle.

[0113] Optionally, the determination of the second position information includes: Determining a first camera on the vehicle that captures the target object according to the first position information between the vehicle and the terminal device; Based on a target image captured by the first camera, determining the second position information of the target object relative to the vehicle.

[0114] Optionally, the target image is a first image captured by the first camera when the environment where the vehicle is located changes.

[0115] Optionally, the change in the environment includes changing from an unmanned environment to a manned environment.

[0116] Optionally, determining the second position information of the target object relative to the vehicle based on the target image collected by the first camera includes: Performing object recognition on the target image; Determining the second position information of the target object relative to the vehicle according to the object recognition result.

[0117] Optionally, obtaining the third position information includes: Determining at least one second camera on the vehicle that is within the field of view of the target object according to the first position information and / or the second position information; Performing object recognition on the second images respectively collected by each of the second cameras to obtain a target recognition result; Determining the third position information of the target object relative to the vehicle according to the target recognition result.

[0118] Optionally, performing object recognition on the second images respectively collected by each of the second cameras to obtain a target recognition result includes: Performing object recognition on the second images collected by each of the second cameras through a target recognition network to obtain the target recognition results of the second images.

[0119] Optionally, determining the third position information of the target object relative to the vehicle according to the target recognition result includes: Comparing the target recognition results, and determining the third position information of the target object relative to the vehicle according to the comparison result.

[0120] Optionally, determining the third position information of the target object relative to the vehicle according to the comparison result includes: In the case where the comparison result indicates the same object recognized in at least two target recognition results, determining the third position information of the target object relative to the vehicle according to the at least two target recognition results.

[0121] Optionally, the same object is a preset object with control authority over the vehicle.

[0122] Optionally, the determining module 1001 is further configured to: Determine the target position information of the target object relative to the vehicle based on the candidate position information; Determine the target vehicle device to be operated by the target object holding the terminal device on the vehicle based on the target position information.

[0123] Optionally, the determination module 1001 is further configured to: In the case where at least two pieces of candidate position information match, determine the target position information of the target object relative to the vehicle based on the at least two pieces of candidate position information.

[0124] Optionally, the matching of the at least two pieces of candidate position information includes: the at least two pieces of candidate position information are the same, or the position difference between the at least two pieces of candidate position information is within a preset difference range.

[0125] Optionally, the determination module 1001 is further configured to: According to a preset mapping relationship between the position information and the vehicle device, determine the vehicle device corresponding to the target position information on the vehicle, and the target vehicle device to be operated by the target object holding the terminal device on the vehicle.

[0126] Optionally, the control module 1002 is further configured to: Identify the target operation intention of the target object for the target vehicle device; Perform a target operation corresponding to the target operation intention on the target vehicle device.

[0127] Optionally, the control module 1002 is further configured to: Based on the image collected for the target object, identify the posture action of the target object; Based on the posture action, determine the target operation intention of the target object for the target vehicle device.

[0128] Optionally, the vehicle control device in this application further includes: A prompt module, configured to output posture action prompt information of the target vehicle device, where the posture action prompt information is used to indicate the posture action required to control the target vehicle device.

[0129] For the specific implementation of each of the above operations, reference may be made to the previous embodiments, which will not be elaborated herein.

[0130] Correspondingly, an embodiment of this application further provides an electronic device, as Figure 5 shown Figure 5Schematic diagram of the structure of the electronic device provided in the embodiment of the present application. The electronic device 1100 includes a processor 1101 with one or more processing cores, a memory 1102 with one or more computer-readable storage media, and a computer program stored on the memory 1102 and executable on the processor. Among them, the processor 1101 is electrically connected to the memory 1102. Those skilled in the art can understand that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0131] The processor 1101 is the control center of the electronic device 1100, connecting various parts of the entire electronic device 1100 through various interfaces and lines. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the electronic device 1100 and processes data, thereby monitoring the entire electronic device 1100. The processor 1101 can be a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0132] In the embodiment of the present application, the processor 1101 in the electronic device 1100 will load the instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 will run the application programs stored in the memory 1102 to implement various functions, such as: According to the first position information of the terminal device relative to the vehicle, determine the target vehicle device to be operated by the target object holding the terminal device on the vehicle, where the terminal device is in communication connection with the vehicle; Control the target vehicle device.

[0133] For the specific implementation of the above operations, reference can be made to the previous embodiments, which will not be elaborated here.

[0134] Optionally, as Figure 5 shown, the electronic device 1100 further includes: a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. Among them, the processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107 respectively. Those skilled in the art can understand, Figure 5The vehicle structure shown does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0135] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by a user's interaction with the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces can be composed of graphics, text, icons, videos, and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect touch operations of the user on or near it (such as operations of the user using a finger, a stylus, or any suitable object or accessory on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel can include two parts: a touch display system and a touch controller. Among them, the touch display system detects the touch position of the user and detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch display system, converts it into contact coordinates, and then sends it to the processor 1101, and can receive and execute commands sent by the processor 1101. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits it to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In the embodiments of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to achieve input and output functions. However, in some embodiments, the touch panel and the touch panel can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to achieve the input function.

[0136] The radio frequency circuit 1104 can be used to transmit and receive radio frequency signals to establish wireless communication with a network device or other vehicles through wireless communication, and transmit and receive signals with the network device or other vehicles.

[0137] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can convert the received audio data into an electrical signal and transmit it to the speaker, which converts it into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and then converted into audio data. After the audio data is output to the processor 1101 for processing, it is sent to another vehicle, for example, through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between the peripheral earphone and the vehicle.

[0138] The input unit 1106 can be used to receive input digital, character information or user characteristic information (such as fingerprint, iris, face information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0139] The power supply 1107 is used to supply power to each component of the electronic device 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so as to realize functions such as management of charging, discharging, and power consumption management through the power management device. The power supply 1107 may also include any components such as one or more DC or AC power supplies, recharge devices, power failure detection circuits, power converters or inverters, and power status indicators.

[0140] Although Figure 5 not shown in the figure, the electronic device 1100 may also include a camera, a sensor, a Wi-Fi module, a Bluetooth module, etc., which will not be elaborated here.

[0141] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0142] Those of ordinary skill in the art can understand that all or part of the steps in the above various methods can be completed by instructions, or by controlling relevant hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0143] For this reason, the embodiments of the present application provide a computer-readable storage medium, in which multiple computer programs are stored. The computer programs can be loaded by a processor to execute any vehicle control method provided by the embodiments of the present application. The computer programs can execute the following steps of the vehicle control method: Determine a target vehicle device to be operated on the vehicle by a target object holding the terminal device according to first position information of the terminal device relative to the vehicle, where the terminal device is in communication connection with the vehicle; Control the target vehicle device.

[0144] For the specific implementation of each of the above operations, reference may be made to the previous embodiments and will not be elaborated herein.

[0145] Among them, the computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc.

[0146] Since the computer program stored in the computer-readable storage medium can execute any vehicle control method provided by the embodiments of the present application, the beneficial effects achievable by any vehicle control method provided by the embodiments of the present application can be realized. For details, refer to the previous embodiments and will not be elaborated herein.

[0147] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0148] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0149] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions in the process Figure 1one or more processes and / or blocks Figure 1 the functions specified in one or more blocks.

[0150] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one Figure 1 one or more processes and / or blocks Figure 1 or more processes and / or the functions specified in one or more blocks.

[0151] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0152] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0153] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0154] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more unless specifically defined otherwise.

[0155] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0156] Among the embodiments, implementation manners and related technical features of the present application, they can be combined and replaced with each other without conflict.

[0157] The above are only the preferred embodiments of the present application and do not impose any formal restrictions on the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: include: Determining, based on first position information of the terminal device relative to the vehicle, a target vehicle device to be operated by a target object holding the terminal device on the vehicle, wherein the terminal device has a communication connection with the vehicle; The target vehicle equipment is controlled.

2. The vehicle control method according to claim 1, characterized in that: The step of acquiring the first location information includes: The first position information between the vehicle and the terminal device is obtained according to the positioning signal sent by the terminal device.

3. The vehicle control method according to claim 1, characterized in that: The step of determining, based on first position information of the terminal device relative to the vehicle, a target vehicle device to be operated on the vehicle by a target object holding the terminal device, comprises: Determining at least one candidate position information of the target object relative to the vehicle according to the first position information; Based on the candidate position information, a target vehicle device to be operated on the vehicle by a target object holding the terminal device is determined.

4. The vehicle control method according to claim 3, characterized in that: The candidate location information includes at least one of the first location information, the second location information, and the third location information, and the method further includes: According to the first position information of the terminal device relative to the vehicle, the second position information and / or the third position information of the target object holding the terminal device relative to the vehicle is determined.

5. The vehicle control method according to claim 4, characterized in that: The step of determining the second location information includes: Determining, according to first position information between the vehicle and the terminal device, a first camera on the vehicle that captures the target object; Based on the target image captured by the first camera, second position information of the target object relative to the vehicle is determined.

6. The vehicle control method according to claim 5, characterized in that: The target image is a first image captured by the first camera when the environment in which the vehicle is located changes.

7. The vehicle control method according to claim 6, characterized in that: The environment change includes changing from an unmanned environment to a manned environment.

8. The vehicle control method according to claim 5, characterized in that: The determining, based on the target image captured by the first camera, second position information of the target object relative to the vehicle includes: performing object recognition according to the target image; According to the object recognition result, second position information of the target object relative to the vehicle is determined.

9. The vehicle control method according to claim 4, characterized in that: The step of acquiring the third location information includes: Determining at least one second camera on the vehicle that is within a field of view of the target object according to the first position information and / or the second position information; Performing object recognition on the second images respectively captured by each of the second cameras to obtain a target recognition result; The third position information of the target object relative to the vehicle is determined according to the target recognition result.

10. The vehicle control method according to claim 9, characterized in that: The performing object recognition on the second images respectively captured by each of the second cameras to obtain a target recognition result includes: Object recognition is performed on the second images captured by each of the second cameras through a target recognition network to obtain target recognition results for each of the second images.

11. The vehicle control method according to claim 9, characterized in that: The determining, according to the target recognition result, third position information of the target object relative to the vehicle comprises: The target recognition results are compared, and third position information of the target object relative to the vehicle is determined according to the comparison results.

12. The vehicle control method according to claim 11, characterized in that: The determining, according to the comparison result, third position information of the target object relative to the vehicle comprises: In a case where the comparison result indicates a same object recognized in at least two target recognition results, third position information of the target object relative to the vehicle is determined based on the at least two target recognition results.

13. The vehicle control method according to claim 12, characterized in that: The same object is a preset object having control authority over the vehicle.

14. The vehicle control method according to claim 3, characterized in that: The determining, based on the candidate position information, a target vehicle device to be operated on the vehicle by the target object holding the terminal device, comprises: Based on the candidate position information, determining target position information of the target object relative to the vehicle; Based on the target position information, a target vehicle device to be operated on the vehicle by a target object holding the terminal device is determined.

15. The vehicle control method according to claim 14, characterized in that: The determining, based on the candidate position information, target position information of the target object relative to the vehicle comprises: In a case where there are at least two candidate position information matches, target position information of the target object relative to the vehicle is determined based on the at least two candidate position information.

16. The vehicle control method according to claim 15, characterized in that: The matching of the at least two candidate position information includes: the at least two candidate position information are the same, or the position difference between the at least two candidate position information is within a preset difference range.

17. The vehicle control method according to claim 14, characterized in that: The determining, based on the target position information, a target vehicle device to be operated on the vehicle by the target object holding the terminal device comprises: According to a preset mapping relationship between the position information and the vehicle equipment, the vehicle equipment corresponding to the target position information on the vehicle is determined to be the target vehicle equipment to be operated on the vehicle by the target object holding the terminal device.

18. The vehicle control method according to any one of claims 1 to 17, characterized in that: The controlling of the target vehicle equipment includes: Identifying the target operation intention of the target object on the target vehicle equipment; Perform a target operation corresponding to the target operation intention on the target vehicle equipment.

19. The vehicle control method according to claim 18, characterized in that: Identifying the target operation intention of the target object on the target vehicle equipment includes: Based on the image collected for the target object, identifying the gesture action of the target object; Based on the gesture action, the target operation intention of the target object on the target vehicle equipment is determined.

20. The vehicle control method according to claim 19, characterized in that: Before controlling the target vehicle equipment, the method further includes: Outputting gesture action prompt information of the target vehicle equipment, wherein the gesture action prompt information is used to indicate the gesture action required to operate the target vehicle equipment.

21. A vehicle control device, characterized in that: The vehicle control device comprises: A determination module, configured to determine, based on first position information of the terminal device relative to the vehicle, a first target vehicle device to be operated by a target object holding the terminal device on the vehicle, wherein the terminal device is in communication connection with the vehicle; A control module is used to control the first target vehicle equipment.

22. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 20.

23. A computer-readable storage medium, characterized in that: It includes a computer program. When the computer program is run on an electronic device, the computer program is used to make the electronic device execute the method according to any one of claims 1 to 20.

24. A computer program product, characterized in that It includes a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes any one of the methods described in claims 1 to 20.

25. A vehicle, characterized in that: The vehicle is provided with at least one of the vehicle control device according to claim 21, the electronic device according to claim 22, the computer-readable storage medium according to claim 23, and the computer program product according to claim 24.

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