Automobile control method and device, computer device and storage medium

Abstract

The application relates to an automobile control method and device, computer equipment and a storage medium. The method comprises the following steps: receiving an automobile control instruction sent by an automobile digital key for controlling a target automobile, obtaining a key type of the automobile digital key and an instruction type corresponding to the automobile control instruction; obtaining a same-type instruction conflict detection result of the automobile control instruction according to the instruction type; in the case that the same-type instruction conflict detection result represents that there is no conflict between the same-type instructions, obtaining an automobile control signal corresponding to the automobile control instruction from a pre-constructed instruction-signal mapping table based on the key type and the automobile control instruction; and outputting the automobile control signal to control the target automobile. The method can solve the problem of poor protocol conversion adaptability of multi-key management conflict, and therefore can improve the flexibility of automobile control through the automobile digital key.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, and in particular to an automobile control method and device, computer equipment, a storage medium and a computer program product. BACKGROUND

[0002] With the development of automobile control technology, a technology of using an automobile digital key to control an automobile has appeared. A user can initiate an automobile control instruction through the automobile digital key to control the automobile, for example, to control the automobile to realize functions such as door unlocking and locking, window lifting, and car searching. Moreover, the automobile digital key has evolved from a traditional mechanical key and a remote control key into a multi-modal fusion scheme, such as Bluetooth, NFC, UWB, etc., to realize vehicle control functions through a mobile phone APP, a smart watch, an NFC card, or a physical key.

[0003] However, in the current technology of using an automobile digital key to control an automobile, there are problems such as multi-key management conflicts and poor protocol conversion adaptability, so it is difficult to effectively integrate control instructions transmitted by different modules. The flexibility of using an automobile digital key to control an automobile is poor. SUMMARY

[0004] Therefore, it is necessary to provide an automobile control method, device, computer equipment, computer readable storage medium, and computer program product capable of improving the flexibility of using an automobile digital key to control an automobile.

[0005] In a first aspect, the present application provides an automobile control method, comprising:

[0006] receiving an automobile control instruction sent by an automobile digital key for controlling a target automobile, obtaining a key type of the automobile digital key, and an instruction type corresponding to the automobile control instruction;

[0007] obtaining a same-type instruction conflict detection result of the automobile control instruction according to the instruction type;

[0008] in a case where the same-type instruction conflict detection result represents that there is no conflict between same-type instructions, obtaining an automobile control signal corresponding to the automobile control instruction from a pre-constructed instruction-signal mapping table based on the key type and the automobile control instruction;

[0009] outputting the automobile control signal to control the target automobile.

[0010] In one of the embodiments, in the case that the same instruction conflict detection result indicates that there is no conflict between the same instructions, the car control signal corresponding to the car control instruction is obtained from the pre-constructed instruction-signal mapping table based on the key type and the car control instruction, including: in the case that the same instruction conflict detection result indicates that there is no conflict between the same instructions, the car control instruction is stored in an instruction cache queue; the enable check condition of the car control instruction is obtained from the instruction-signal mapping table based on the key type and the car control instruction, and in the case that the target car meets the enable check condition, the car control instruction stored in the instruction cache queue is set as a valid flag bit; the execution state of the car control instruction set as the valid flag bit in the instruction cache queue is obtained according to a preset period, and in the case that the execution state indicates that it is not executed, the car control signal is obtained from the instruction-signal mapping table based on the key type and the car control instruction.

[0011] In one of the embodiments, the method further includes: in the case that the execution state indicates that it is not executed, the car control instruction is set as a sending flag bit; and the car control signal is outputted, including: the car control instruction set as the sending flag bit in the instruction cache queue is obtained, the maximum retry number of the car control instruction is obtained from the instruction-signal mapping table based on the key type and the car control instruction; and in the case that the retransmission number of the car control instruction does not exceed the maximum retry number, the car control signal is outputted.

[0012] In one of the embodiments, after the execution state of the car control instruction set as the valid flag bit in the instruction cache queue is obtained according to the preset period, it further includes: in the case that the execution state indicates that it is executed, the execution result of the car control instruction is obtained; in the case that the execution result indicates that the execution is successful, the information that the car control instruction execution is successful is returned to the car digital key, and the car control instruction is removed from the instruction cache queue; in the case that the execution result indicates that the execution fails, the retransmission number of the car control instruction is updated, and the car control signal is outputted until the retransmission number of the car control instruction exceeds the maximum retry number.

[0013] In one of the embodiments, after the same-type instruction conflict detection result of the vehicle control instruction is obtained according to the instruction type, the method further includes: in the case that the same-type instruction conflict detection result represents that there is a conflict between the same-type instructions, marking the vehicle control instruction as a failure of execution, and recording the failure cause information of the vehicle control instruction as first information representing instruction mutual exclusion; after the enabling check condition of the vehicle control instruction is obtained, the method further includes: in the case that the target vehicle does not satisfy the enabling check condition, marking the vehicle control instruction as a failure of execution, and recording the failure cause information as second information representing that a precondition is not satisfied; after the vehicle control instruction stored in the instruction cache queue is set as a valid flag bit, the method further includes: based on the key type and the vehicle control instruction, obtaining an execution time threshold of the vehicle control instruction from the instruction-signal mapping table; in the case that the execution time of the vehicle control instruction exceeds the execution time threshold, marking the vehicle control instruction as a failure of execution, and recording the failure cause information as third information representing that a response timeout occurs.

[0014] In one of the embodiments, the obtaining of the key type of the vehicle digital key and the instruction type corresponding to the vehicle control instruction includes: obtaining an instruction transmission channel of the vehicle control instruction, and obtaining the key type based on the instruction transmission channel; and obtaining the instruction type corresponding to the vehicle control instruction from a pre-constructed vehicle control instruction type mapping relationship; the vehicle control instruction type mapping relationship stores a corresponding relationship between different vehicle control instructions and instruction types.

[0015] In one of the embodiments, the outputting of the vehicle control signal to control the target vehicle includes: outputting the vehicle control signal, and calling a structure corresponding to the vehicle control signal to control the target vehicle; and the method further includes: in the case that a communication matrix of the vehicle control signal is updated, updating the structure corresponding to the vehicle control signal to adapt to the updated communication matrix of the vehicle control signal.

[0016] In a second aspect, the application further provides a vehicle control device, which includes:

[0017] a control instruction receiving module, configured to receive a vehicle control instruction sent by a vehicle digital key to control a target vehicle, and obtain a key type of the vehicle digital key and an instruction type corresponding to the vehicle control instruction;

[0018] an instruction conflict detection module, configured to obtain a same-type instruction conflict detection result of the vehicle control instruction according to the instruction type;

[0019] The control signal obtaining module is configured to, in a case where the same instruction conflict detection result represents that there is no conflict between the same instructions, obtain, based on the key type and the vehicle control instruction, a vehicle control signal corresponding to the vehicle control instruction from a pre-constructed instruction-signal mapping table.

[0020] The control signal output module is configured to output the vehicle control signal to control the target vehicle.

[0021] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method in any one of the embodiments of the first aspect when executing the computer program.

[0022] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method in any one of the embodiments of the first aspect when executed by a processor.

[0023] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, and the computer program implements the steps of the method in any one of the embodiments of the first aspect when executed by a processor.

[0024] The automobile control method, device, computer device, storage medium and computer program product can receive an automobile control instruction sent by an automobile digital key to control a target automobile, obtain a key type of the automobile digital key and an instruction type corresponding to the automobile control instruction, obtain a same instruction conflict detection result of the automobile control instruction according to the instruction type, obtain an automobile control signal corresponding to the automobile control instruction from a pre-constructed instruction-signal mapping table based on the key type and the automobile control instruction in a case where the same instruction conflict detection result represents that there is no same instruction conflict, and output the automobile control signal to control the target automobile. The automobile control instruction sent by the automobile digital key to control the target automobile can be received, the key type of the automobile digital key and the instruction type of the automobile control instruction can be identified, then the same instruction conflict detection of the automobile control instruction can be performed according to the instruction type, if the detection result represents that there is no same instruction conflict, the automobile control signal corresponding to the automobile control instruction can be extracted from the pre-constructed instruction-signal mapping table, and the automobile control signal is output for control. The same instruction conflict detection can be realized by obtaining the instruction type corresponding to the automobile control instruction, so that the signal conflict caused by the concurrent operation of multiple keys can be avoided, the problem of multiple key management conflict is solved, the automobile control instruction can be uniformly converted into the automobile control signal through the pre-constructed instruction-signal mapping table, the instruction-signal mapping table supports dynamic configuration and can adapt to the communication protocols of different vehicle models, so that the poor protocol conversion adaptability problem is solved, and the flexibility of automobile control through the automobile digital key is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0026] Figure 1 A flowchart of an automobile control method in an embodiment;

[0027] Figure 2 A flowchart of obtaining an automobile control signal in an embodiment;

[0028] Figure 3 A flowchart of automobile control instruction execution state feedback in an embodiment;

[0029] Figure 4 A structural diagram of an automobile digital key vehicle control management system in an embodiment;

[0030] Figure 5 Fig. 1 is a schematic diagram of data flow of a vehicle digital key control vehicle management system in an embodiment;

[0031] Figure 6 Fig. 2 is a schematic diagram of a flow of a vehicle digital key control vehicle management method in an embodiment;

[0032] Figure 7 Fig. 3 is a functional timing diagram of a vehicle digital key control vehicle management method in an embodiment;

[0033] Figure 8 Fig. 4 is a structural block diagram of a vehicle control device in an embodiment;

[0034] Figure 9 Fig. 5 is an internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0035] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0036] In an embodiment, as shown in Fig. 1, a vehicle control method is provided, and the present embodiment takes the method applied to a vehicle control instruction management module as an example for illustration. In the present embodiment, the method comprises the following steps: Figure 1

[0037] Step S101, receiving a vehicle control instruction sent by a vehicle digital key for controlling a target vehicle, obtaining a key type of the vehicle digital key, and an instruction type corresponding to the vehicle control instruction.

[0038] Wherein, the target vehicle refers to a vehicle that needs to be controlled by the user through the vehicle control instruction, the vehicle control instruction can be initiated by the user through the vehicle digital key, the key type refers to the type corresponding to the vehicle digital key, such as a mobile phone APP key, a watch key or a physical key, etc., and the instruction type refers to the type corresponding to the vehicle control instruction, such as the vehicle control instruction can be divided into a control instruction for the vehicle door, a control instruction for the vehicle window and a car search instruction, etc.

[0039] Specifically, when the user needs to control the target vehicle, the user can initiate the vehicle control instruction through the vehicle digital key, the vehicle control instruction can be an instruction value of a certain control instruction, and the vehicle control instruction management module can identify the key type of the vehicle digital key and the instruction type of the vehicle control instruction after receiving the vehicle control instruction.

[0040] ​Step S102, obtaining a same-type instruction conflict detection result of the automobile control instruction according to the instruction type.

[0041] The same-type instruction conflict detection result refers to a detection result of whether there is a same-type instruction conflict at present. The same-type instruction conflict refers to a situation that the same type of instructions may conflict. For example, if a vehicle window up instruction is not completed and a new vehicle window down instruction is received, there is a same-type instruction conflict at this time, and therefore, same-type instruction conflict detection needs to be performed. Specifically, the automobile control instruction management module can determine whether there is an executing same-type instruction according to the instruction type, and perform same-type instruction conflict detection, so as to obtain the same-type instruction conflict detection result of the automobile control instruction.

[0042] Step S103, in the case that the same-type instruction conflict detection result represents that there is no same-type instruction conflict, obtaining an automobile control signal corresponding to the automobile control instruction from a pre-constructed instruction-signal mapping table based on the key type and the automobile control instruction.

[0043] Step S104, outputting the automobile control signal to control the target automobile.

[0044] The automobile control signal is a CAN signal used for finally controlling the target automobile, and the instruction-signal mapping table is a mapping table used for storing the corresponding relationship between different control instructions and automobile control signals. Because the same automobile control instruction may correspond to different control instructions due to different protocols of different key types, the control instruction cannot be uniquely determined only according to the instruction value of the received automobile control instruction, and the control instruction needs to be uniquely identified in combination with the automobile control instruction and the instruction type, that is, the corresponding relationship between the key type and the automobile control instruction and the automobile control signal needs to be constructed.

[0045] Specifically, if the same-type instruction conflict detection result represents that there is no same-type instruction conflict with the automobile control instruction, the automobile control instruction management module can obtain the automobile control signal corresponding to the automobile control instruction from the pre-constructed instruction-signal mapping table according to the key type and the automobile control instruction, and output the automobile control signal to control the target automobile.

[0046] In the above automobile control method, an automobile control instruction for controlling a target automobile is received from an automobile digital key, a key type of the automobile digital key is obtained, and an instruction type corresponding to the automobile control instruction is obtained; a same-type instruction conflict detection result of the automobile control instruction is obtained according to the instruction type; in a case where the same-type instruction conflict detection result represents that there is no same-type instruction conflict, an automobile control signal corresponding to the automobile control instruction is obtained from a pre-constructed instruction-signal mapping table based on the key type and the automobile control instruction; and the automobile control signal is output to control the target automobile. According to the automobile control method, the automobile control instruction for controlling the target automobile is received from the automobile digital key, the key type of the automobile digital key and the instruction type of the automobile control instruction can be identified, then the same-type instruction conflict detection of the automobile control instruction can be performed according to the instruction type, if the detection result represents that there is no same-type instruction conflict, the automobile control signal corresponding to the automobile control instruction is extracted from the pre-constructed instruction-signal mapping table, and the automobile control signal is output for control. The same-type instruction conflict detection can be performed by obtaining the instruction type of the automobile control instruction, so that the signal conflict caused by the concurrent operation of multiple keys can be avoided, the problem of the management conflict of multiple keys is solved, and the automobile control instruction can be uniformly converted into the automobile control signal by the pre-constructed instruction-signal mapping table. The instruction-signal mapping table supports dynamic configuration and can adapt to the communication protocol of different vehicle models, so that the poor protocol conversion adaptability is solved. The automobile control method can improve the flexibility of the automobile control by the automobile digital key.

[0047] In one embodiment, as shown in FIG. 1 1, Figure 2 Step S103 can further include:

[0048] Step S201, in a case where the same-type instruction conflict detection result represents that there is no same-type instruction conflict, the automobile control instruction is stored in an instruction cache queue.

[0049] The instruction cache queue is an instruction queue for caching the automobile control instruction to be executed. In a case where the same-type instruction conflict detection result represents that there is no same-type instruction conflict, the automobile control instruction management module can store the automobile control instruction in the instruction cache queue.

[0050] Step S202, based on the key type and the automobile control instruction, an enable check condition of the automobile control instruction is obtained from the instruction-signal mapping table, and in a case where the target automobile meets the enable check condition, the automobile control instruction stored in the instruction cache queue is set as a valid flag bit.

[0051] The enabling check condition refers to a state and environmental requirement condition that must be met before the execution of the automobile control instruction, i.e., a precondition of the execution of the automobile control instruction. The enabling check condition corresponding to the automobile control instruction can also be stored in the instruction-signal mapping table. The effective flag is a flag used to identify the validity of the automobile control instruction.

[0052] Specifically, the instruction-signal mapping table can further store a correspondence between the key type and the automobile control instruction and the enabling check condition. Therefore, the enabling check condition of the automobile control instruction can be further extracted from the instruction-signal mapping table, and it is determined whether the target automobile currently satisfies the enabling check condition. If yes, it indicates that the precondition of executing the automobile control instruction is satisfied. At this time, the automobile control instruction management module can set the automobile control instruction stored in the instruction cache queue to the effective flag, indicating that the automobile control instruction is valid.

[0053] In step S203, the execution state of the automobile control instruction set to the effective flag in the instruction cache queue is obtained according to a preset period. If the execution state indicates that the automobile control instruction has not been executed, the automobile control signal is obtained from the instruction-signal mapping table based on the key type and the automobile control instruction.

[0054] In addition, the automobile control instruction management module can also check the execution state of each automobile control instruction set to the effective flag in the instruction cache queue according to a set period. For example, the execution state of the automobile control instruction set to the effective flag in the instruction cache queue can be periodically looped and traversed. If it is detected that the execution state indicates that the automobile control instruction set to the effective flag has not been executed, the automobile control signal can be further obtained from the instruction-signal mapping table based on the key type and the automobile control instruction.

[0055] In the embodiment, the automobile control instruction can also be stored in the instruction cache queue to trigger the process of enabling condition check of the automobile control instruction. The automobile control signal is obtained only after the enabling condition check is passed. In this way, the enabling condition can intercept illegal operations, such as prohibiting unlocking the door during driving, thereby ensuring the safety of automobile control.

[0056] Further, in the case where the execution state indicates that the automobile control instruction has not been executed, the automobile control instruction is set to the sending flag. Step S104 can further include: obtaining the automobile control instruction set to the sending flag in the instruction cache queue, obtaining the maximum retry number of the automobile control instruction from the instruction-signal mapping table based on the key type and the automobile control instruction, and outputting the automobile control signal in the case where the retransmission number of the automobile control instruction does not exceed the maximum retry number.

[0057] The maximum number of retries refers to the maximum number of times the vehicle control signal can be retransmitted. In this embodiment, a maximum number of retransmissions can also be set for each vehicle control signal to ensure that each vehicle control signal is not falsely triggered. The maximum number of retries can also be stored in the instruction-signal mapping table.

[0058] Specifically, if it is identified that the execution status of a vehicle control command set to the valid flag in the instruction cache queue indicates that the vehicle control command has not been executed, that is, the vehicle control command has not yet started execution, the vehicle control command can be set to the send flag. After obtaining the vehicle control signal through the instruction-signal mapping table, the maximum number of retries for the vehicle control command set to the send flag can be obtained from the instruction-signal mapping table, and it can be determined whether the current number of resends for the vehicle control command exceeds the maximum number of retries. If it does not exceed the maximum number of retries, the vehicle control signal can be output.

[0059] In this embodiment, the maximum number of retries for the vehicle control command can also be obtained from the command-signal mapping table, and the vehicle control signal is only output when the number of resentments of the vehicle control command does not exceed the maximum number of retries. This method can prevent the vehicle control signal from being falsely triggered and further improve the accuracy of the vehicle control signal output.

[0060] Furthermore, such as Figure 3 As shown, after retrieving the execution status of the vehicle control commands set to the valid flag in the instruction cache queue according to a preset cycle, the process also includes:

[0061] Step S301: If the execution status characterization indicates that the execution has been completed, obtain the execution result of the vehicle control command.

[0062] In this embodiment, after traversing the execution status of the vehicle control commands set to the valid flag in the instruction cache queue according to a preset period, if the vehicle control command execution status is detected as executed, that is, the execution completed, the vehicle control command management module can also identify whether the execution result of the vehicle control command is successful or failed.

[0063] Step S302: If the execution result indicates successful execution, return the information that the car control command was successfully executed to the car digital key and remove the car control command from the command cache queue.

[0064] Step S303: If the execution result indicates execution failure, update the number of retransmissions of the vehicle control command, and return to execution if the number of retransmissions of the vehicle control command does not exceed the maximum number of retries, output the vehicle control signal until the number of retransmissions of the vehicle control command exceeds the maximum number of retries.

[0065] If the execution result represents that the execution is successful, i.e., the car control signal has completed the control of the target car, the car control instruction management module can return information that the execution of the car control instruction is successful to the car digital key, and remove the car control instruction from the instruction cache queue.

[0066] If the execution result represents that the execution fails, the retransmission number of the car control instruction is updated, e.g., the retransmission number is accumulated, so as to determine again whether the retransmission number of the car control instruction exceeds the maximum retry number. If the maximum retry number is 3 times, for example, after the execution of the car control signal fails for the first time, the retry processing is performed, and the retransmission number is 1, which has not exceeded 3 times. Therefore, the car control signal can be output again until the retransmission number of the car control instruction exceeds the maximum retry number.

[0067] In this embodiment, after the execution state of the car control instruction with the preset period is traversed and set as the valid flag, if it is detected that the execution state of the car control instruction is executed, it can be further determined whether the execution result is successful or failed. If the execution is successful, the information of the successful execution is returned and the instruction cache queue is removed. If the execution fails, it is determined whether the retransmission number exceeds the maximum retry number. If not, the retransmission is performed. In this way, different feedback operations can be performed according to the execution state, so as to improve the management accuracy of the car control instruction.

[0068] In addition, after step S102, it can further include: in the case that the same type instruction conflict detection result represents that there are conflicting same type instructions, marking the car control instruction as execution failed, and recording the failure reason information of the car control instruction as the first information representing instruction exclusion; after obtaining the enable check condition of the car control instruction, it can further include: in the case that the target car does not satisfy the enable check condition, marking the car control instruction as execution failed, and recording the failure reason information as the second information representing that the preconditions are not satisfied; after setting the car control instruction stored in the instruction cache queue as the valid flag, it further includes: based on the key type and the car control instruction, obtaining the execution time threshold of the car control instruction from the instruction-signal mapping table; in the case that the execution time of the car control instruction exceeds the execution time threshold, marking the car control instruction as execution failed, and recording the failure reason information as the third information representing that the response is timed out.

[0069] In this embodiment, if a certain execution result represents that the execution fails, the failure reason information of the car control instruction execution failure can also be recorded. The failure reason information can be divided into the following three kinds, i.e., the first information representing instruction exclusion, the second information representing that the instruction does not satisfy the preconditions, and the third information representing that the response is timed out.

[0070] Specifically, if the instruction execution fails due to the same type of instruction conflict detection result not passing, for example, there are conflicting same type of instructions, at this time, the vehicle control instruction management module can terminate the vehicle control instruction and mark it as execution failure, and at the same time, record the failure reason information as the first information representing instruction mutual exclusion. If the target vehicle does not meet the enablement check condition, the vehicle control instruction management module will also mark the vehicle control instruction as execution failure, and at the same time, record the failure reason information as the second information representing that the instruction does not meet the precondition.

[0071] In addition, the instruction-signal mapping table in the embodiment can also store the execution time threshold of each vehicle control instruction, which represents the timeout time of the vehicle control instruction. If the execution time of the vehicle control instruction exceeds the execution time threshold, it represents that the instruction execution is timed out, and the instruction will also be marked as execution failure state.

[0072] Specifically, after the vehicle control instruction management module sets the valid flag bit of the vehicle control instruction stored in the instruction cache queue, it can also start a timeout count to accumulate the instruction waiting time, that is, obtain the execution time of the vehicle control instruction, and also obtain the execution time threshold of the vehicle control instruction from the instruction-signal mapping table, so as to determine whether the execution time exceeds the execution time threshold. If it exceeds, it means that the vehicle control instruction execution has timed out, so the vehicle control instruction is also marked as execution failure, and the failure reason information is recorded as the third information representing response timeout.

[0073] In the embodiment, when the execution result of the vehicle control instruction is execution failure, the execution failure reason information can also be recorded according to the situation causing the execution failure, so the integrity of the information under execution failure is provided, and the execution time threshold of the vehicle control instruction is added in the instruction-signal mapping table, so that the vehicle control instruction can be marked as execution failure when the execution time exceeds the execution time threshold, and the timeout fuse of the vehicle control instruction is realized, which can prevent system blocking.

[0074] In one embodiment, step S101 can further include: obtaining the instruction transmission channel of the vehicle control instruction, obtaining the key type based on the instruction transmission channel; obtaining the instruction type corresponding to the vehicle control instruction from the pre-constructed vehicle control instruction type mapping relationship; the vehicle control instruction type mapping relationship stores the corresponding relationship between different vehicle control instructions and instruction types.

[0075] The instruction transmission channel is a channel used by the digital key of the vehicle to transmit the vehicle control instruction, and the channels for transmitting the instruction by the digital keys of different types of vehicle are different, so the key type of the digital key of the vehicle can be identified based on the instruction transmission channel. The vehicle control instruction type mapping relationship can store the corresponding relationship between the instruction values of different vehicle control instructions and the instruction types.

[0076] Specifically, after receiving the vehicle control instruction for controlling the target vehicle, the vehicle control instruction management module can further identify the key type of the digital key of the vehicle according to the instruction transmission channel of the vehicle control instruction, and determine the instruction type corresponding to the vehicle control instruction from the pre-constructed vehicle control instruction type mapping relationship.

[0077] In this embodiment, the key type of the digital key of the vehicle can be identified through the instruction transmission channel, and the instruction type corresponding to the vehicle control instruction can be obtained through the vehicle control instruction type mapping relationship, so that the accuracy of identifying the key type and the instruction type of the vehicle control instruction can be improved.

[0078] In one embodiment, step S104 can further include outputting the vehicle control signal and calling the structure corresponding to the vehicle control signal to control the target vehicle; the vehicle control method can further include updating the structure corresponding to the vehicle control signal to adapt to the updated communication matrix of the vehicle control signal in the case that the communication matrix of the vehicle control signal is updated.

[0079] In this embodiment, the vehicle control signal can be described by a structure, and the vehicle control signal can be divided into two types of TX (defining the control instruction value sent to the CAN / LIN bus, such as the target position of the vehicle window) and RX (analyzing the vehicle state feedback from the bus, such as the actual position of the vehicle window), which are described by two structures respectively. Therefore, after outputting the vehicle control signal, the target vehicle can be controlled by calling the structure corresponding to the vehicle control signal. Since the vehicle control signal is described by a structure, when the communication matrix of the vehicle control signal is changed, only the structure corresponding to the vehicle control signal needs to be updated to adapt to the updated communication matrix, so that the structure needs to be modified only when the communication matrix is changed, without modifying the instruction-signal mapping table.

[0080] In this embodiment, the vehicle control signal can be described by a structure corresponding to the vehicle control signal, so that when the communication matrix of the vehicle control signal is changed, only the structure corresponding to the vehicle control signal needs to be updated to adapt to the updated communication matrix, so that the structure needs to be modified only when the communication matrix is changed, without modifying the instruction-signal mapping table.

[0081] In one embodiment, an automobile digital key vehicle control management method is also provided, based on a vehicle-end deployed vehicle control instruction management module (software component), realizing unified processing of multi-source key instruction and efficient conversion of vehicle control signal. The module solves the defects of the prior art through the following core design:

[0082] Multi-key protocol normalization: converting heterogeneous instruction sources such as mobile phone APP, smart watch, physical key, etc. into standardized vehicle control instruction types (such as vehicle door unlocking and locking, vehicle window lifting, sunroof control, vehicle search, tailgate unlocking and locking, charging cover / oil cover unlocking, etc.).

[0083] Signal dynamic mapping mechanism: constructing a configurable instruction-signal mapping table, associating vehicle control instructions with conversion logic of vehicle-end bus signals (CAN / CANFD / LIN), and isolating various vehicle keys from vehicle-end modules; supporting rapid adaptation of protocol changes, when the protocol or demand changes, only the dynamic mapping mechanism needs to be modified, without changing other application logic, to quickly realize the corresponding function.

[0084] Arbitration processing engine: integrating logic such as enabling condition judgment, instruction mutual exclusion, timeout failure, error retry, etc. to ensure the real-time performance and safety of instruction execution.

[0085] Specifically, the embodiment can be applied to an automobile digital key vehicle control management system as shown in Figure 4 , wherein the data flow can be as shown in Figure 5 , and the instruction-signal mapping table used can be as shown in Table 1:

[0086] Table 1 Instruction-signal mapping table

[0087]

[0088] Specifically, the instruction-signal mapping table can list all supported vehicle control instructions, each instruction occupies an element in the list, and is associated with “instruction type, vehicle control instruction type, CAN sending signal value, CAN sending signal reset value, failure reason, instruction execution timeout time, number of attempts to send, CAN sending signal API, enabling condition check API, and execution result check API”. Each vehicle control instruction parameter data structure can be as follows:

[0089] typedef struct dk_app_rke_sig_param_t

[0090] {

[0091] uint8_t rke;

[0092] uint8_t rkeType;

[0093] uint8_t sigTxValue; / / tx signal value

[0094] uint8_t sigTxValueNoReq; / / tx signal reset value

[0095] uint8_t failReasonLen; / / failure reason length

[0096] uint16_t timeOutNum; / / instruction execution timeout time, unit xx ms

[0097] uint8_t res; / / reserved

[0098] uint8_t *pTxSig; / / 4 bytes, points to the tx signal to be sent

[0099] uint8_t *pDelayCnt; / / 4 bytes, points to the cnt count value

[0100] uint8_t *pFailReason[4]; / / 16 bytes, points to the failure reason

[0101] void (*sig_tx_func)(uint8_t); / / 4 bytes, send tx signal function

[0102] bool (*enble_check_func)(void); / / 4 bytes, enable condition check function

[0103] bool (*status_check_func)(void); / / 4 bytes, status condition check function

[0104] } dk_app_rke_sig_param_t;

[0105] As shown in Figure 6 , the specific process includes the following steps:

[0106] 1. Event triggering and instruction preprocessing:

[0107] (1) Receive multi-source instructions: mobile phone APP, watch key, etc. send original instructions to the vehicle control instruction management module.

[0108] (2) Instruction standardization:

[0109] Key type of the original instruction (enumeration value: mobile phone APP = 0xA0, watch key = 0xB0, physical key = 0xC0). The key type can distinguish different keys through the channel of the transmitted instruction, assuming that mobile phone A is 0xA0, mobile phone B is 0xA1, and watch key is 0xB0, it is converted into a unified key type, such as "mobile phone APP key, watch key, entity key", etc.

[0110] Mapping to a unified vehicle control instruction type (enumeration value: vehicle door = 0x01, vehicle window = 0x02, find car = 0x03). According to different protocols, the same vehicle control instruction may correspond to different values, and the embodiment converts it into a unified vehicle control instruction type, for example, the mapping relationship example can be as follows:

[0111] typedef enum

[0112] { / / RKE instruction type

[0113] DK_APP_RKE_TYPE_UNKNOWN = (0U), / / Unknown

[0114] DK_APP_RKE_TYPE_LOCK = (1U), / / Vehicle door, corresponding to rke cmd: 0x01, 0x02

[0115] DK_APP_RKE_TYPE_BACKDOOR = (2U), / / Back door, corresponding to rke cmd: 0x05, 0x06

[0116] DK_APP_RKE_TYPE_CHARGE_PORT = (3U), / / Charge port cover, corresponding to rke cmd: 0x07, 0x08

[0117] DK_APP_RKE_TYPE_FINDCAR = (4U), / / Find car, corresponding to rke cmd: 0x09, 0x0A

[0118] DK_APP_RKE_TYPE_PASSIVE = (5U), / / Passive, corresponding to rke cmd: 0x0B, 0x0C

[0119] DK_APP_RKE_TYPE_ONE_KEY_START = (6U), / / One-key start, corresponding to rke cmd: 0x0D

[0120] DK_APP_RKE_TYPE_HOOD = (7U), / / Front hatch cover, corresponding to rke cmd: 0x0E, 0x0F

[0121] DK_APP_RKE_TYPE_FUEL_PORT = (8U), / / Fuel port, corresponding to RKE cmd: 0x10, 0x11

[0122] DK_APP_RKE_TYPE_DRIVER = (9U), / / Driver's seat, corresponding RKE command: 0x12

[0123] DK_APP_RKE_TYPE_WIN = (10U), / / Car window, corresponding RKE cmd: 0xE0, 0xE1, 0xEA

[0124] DK_APP_RKE_TYPE_SUNROOF = (11U), / / Skylight, corresponding to rke cmd: 0xF0, 0xF1, 0xFA

[0125] DK_APP_RKE_TYPE_END

[0126] }DK_APP_RKE_TYPE_E;

[0127] (3) Conflict detection and queue management:

[0128] Check if similar commands are being executed (e.g., receiving a new window command before the window raising command is completed).

[0129] If a conflict exists: terminate the preceding instruction and mark it as failed (reason for failure: instruction mutual exclusion).

[0130] If there is no conflict: store in the vehicle control command cache queue and trigger the enable condition check.

[0131] Enable condition checks are performed by setting the instruction validity flag; otherwise, the instruction is marked as failed (failure reason: preconditions are not met).

[0132] Furthermore, in the vehicle control command queue, each vehicle control command occupies a queue element and is associated with "command type, key type, execution status, validity flag, output flag, failure reason, timeout count, and timeout count value". For example, the vehicle control command queue data structure can be as follows:

[0133] typedef struct dk_app_rke_cmd_t

[0134] {

[0135] uint8_t KeyMark;

[0136] uint8_t RKE;

[0137] uint8_t RKEType;

[0138] uint8_t ProcSt; / / 1: executing 2: executing success 3: executing failure

[0139] uint8_t Rnd[4]; / / APP specific, verify if the instruction is valid

[0140] uint8_t res;

[0141] uint8_t ProcRespSt; / / valid flag

[0142] uint8_t Proc_RKEEmitReq; / / instruction output request

[0143] uint8_t ProcFailReasonLen;

[0144] uint8_t ProcFailReason[4]; / / execution failure reason

[0145] uint16_t ProcCheckTimeOutNum; / / invalid flag, use this to determine timeout

[0146] uint16_t ProcTimeOutNum; / / valid flag, use this to determine timeout

[0147] uint16_t ProcTimeOutCnt; / / timeout count flag

[0148] } dk_app_rke_cmd_t;

[0149] 2. Periodic polling and arbitration execution:

[0150] (1) State synchronization: Obtain vehicle real-time state related to vehicle control instruction (such as door lock position, window height, car search state, sunroof state, tailgate state, front hatch state, charging cover state, fuel cover state, unlock failure reason, window failure reason, car search failure reason) through controller area network (CAN) or local interconnection network (LIN) bus.

[0151] (2) Instruction arbitration:

[0152] Valid condition verification: Determine the instruction valid flag, and if valid, start timeout count.

[0153] Timeout management: Accumulate instruction waiting time, and if timeout, mark failure (failure reason: response timeout).

[0154] Execution state machine:

[0155] Not executed → set the sending flag → assign CAN signal variable → clear retry counter.

[0156] Executed → verify result → success: feedback key end and remove from queue / failure: record reason and retry.

[0157] (3) Signal conversion and sending:

[0158] Traverse the queue with the set sending flag instruction.

[0159] If the retry count exceeds the limit: reset the CAN signal value (to prevent false triggering).

[0160] If not exceeded: call the CAN signal sending API (such as BDCan_T_BLE_Key_WindReq(0x04)) to output the signal, and accumulate the sending count.

[0161] In this embodiment, all related CAN signals of the vehicle control instruction can be divided into TX (defined as the vehicle control instruction value sent to the CAN / LIN bus, such as the target position of the window) and RX (analyzing the vehicle state feedback from the bus, such as the actual window position), and then described using two structure bodies respectively. When the CAN communication matrix changes, only the two structure body definitions need to be modified, and then the corresponding code logic is modified according to the structure body call position, without modifying the arbitration logic.

[0162] In this embodiment, the specific function timing can be as shown in Figure 7 In this embodiment, the instruction cache queue and the mutual exclusion mechanism can be used to avoid signal conflicts caused by multiple key concurrent operations, thus realizing multiple instruction collaboration. In addition, the instruction-signal mapping table supports dynamic configuration, adapts to different vehicle communication protocols (such as CANFD frame structure changes), thus realizing flexible expansion, and enabling condition API to intercept illegal operations (such as prohibiting unlocking the door while driving). The timeout fuse mechanism prevents system blocking (automatically terminates waiting when the network is interrupted), and realizes safety enhancement.

[0163] It should be understood that although each step in the flowchart involved in each embodiment as described above is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless explicitly stated herein, there is no strict order limitation for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0164] Based on the same inventive concept, the embodiments of the present application also provide an automobile control device for implementing the above-mentioned automobile control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more automobile control device embodiments provided below can refer to the limitations of the automobile control method described above, which will not be repeated here.

[0165] In one embodiment, as shown in Figure 8 An automobile control device is provided, comprising: a control instruction receiving module 801, an instruction conflict detection module 802, a control signal obtaining module 803, and a control signal output module 804, wherein:

[0166] The control instruction receiving module 801 is configured to receive an automobile control instruction sent by an automobile digital key for controlling a target automobile, obtain a key type of the automobile digital key, and an instruction type corresponding to the automobile control instruction;

[0167] The instruction conflict detection module 802 is configured to obtain a same-type instruction conflict detection result of the automobile control instruction according to the instruction type;

[0168] The control signal obtaining module 803 is configured to, in a case where the same-type instruction conflict detection result represents that there is no conflict among the same-type instructions, obtain an automobile control signal corresponding to the automobile control instruction from a pre-constructed instruction-signal mapping table based on the key type and the automobile control instruction;

[0169] The control signal output module 804 is configured to output the automobile control signal to control the target automobile.

[0170] In an embodiment, the control signal obtaining module 803 is further configured to, in a case where the same-type instruction conflict detection result indicates that there is no conflict between the same-type instructions, store the vehicle control instruction in the instruction cache queue; obtain, based on the key type and the vehicle control instruction, an enable check condition of the vehicle control instruction from the instruction-signal mapping table, and set the vehicle control instruction stored in the instruction cache queue as a valid flag bit in a case where the target vehicle satisfies the enable check condition; obtain, according to a preset period, an execution state of the vehicle control instruction set as the valid flag bit in the instruction cache queue, and obtain, based on the key type and the vehicle control instruction, the vehicle control signal from the instruction-signal mapping table in a case where the execution state indicates that the vehicle control instruction is not executed.

[0171] In an embodiment, the control signal obtaining module 803 is further configured to, in a case where the execution state indicates that the vehicle control instruction is not executed, set the vehicle control instruction as a sending flag bit; and the control signal output module 804 is further configured to obtain the vehicle control instruction set as the sending flag bit in the instruction cache queue, obtain, based on the key type and the vehicle control instruction, a maximum retry number of the vehicle control instruction from the instruction-signal mapping table, and output the vehicle control signal in a case where the vehicle control instruction is not re-sent more than the maximum retry number of times.

[0172] In an embodiment, the vehicle control device further comprises an execution state identification module configured to, in a case where the execution state indicates that the vehicle control instruction is executed, obtain an execution result of the vehicle control instruction, return, in a case where the execution result indicates that the execution is successful, information that the vehicle control instruction is executed successfully to the vehicle digital key, and remove the vehicle control instruction from the instruction cache queue, and update, in a case where the execution result indicates that the execution fails, a re-sending number of the vehicle control instruction, and return, until the re-sending number of the vehicle control instruction exceeds the maximum retry number of times, a vehicle control signal output in a case where the re-sending number of the vehicle control instruction does not exceed the maximum retry number of times.

[0173] In an embodiment, the vehicle control device further comprises an execution failure processing module configured to, in a case where the same-type instruction conflict detection result indicates that there is conflict between the same-type instructions, mark the vehicle control instruction as execution failure, and record first information indicating instruction exclusion as failure reason information of the vehicle control instruction; in a case where the target vehicle does not satisfy the enable check condition, mark the vehicle control instruction as execution failure, and record second information indicating that the preconditions are not satisfied as the failure reason information; obtain, based on the key type and the vehicle control instruction, an execution time threshold of the vehicle control instruction from the instruction-signal mapping table; and in a case where the execution time of the vehicle control instruction exceeds the execution time threshold, mark the vehicle control instruction as execution failure, and record third information indicating that the response is timed out as the failure reason information.

[0174] In one embodiment, the control instruction receiving module 801 is further configured to acquire an instruction transmission channel of the automobile control instruction, acquire the key type based on the instruction transmission channel, and acquire the instruction type corresponding to the automobile control instruction from a pre-constructed automobile control instruction type mapping relationship. The automobile control instruction type mapping relationship stores the correspondence between different automobile control instructions and instruction types.

[0175] In one embodiment, the control signal output module 804 is further configured to output the automobile control signal, call the corresponding structure of the automobile control signal, and control the target automobile. The automobile control device comprises a control signal updating module configured to update the structure corresponding to the automobile control signal to adapt to the updated communication matrix of the automobile control signal when the communication matrix of the automobile control signal is updated.

[0176] The above-mentioned modules in the automobile control device can be realized by software, hardware, and combinations thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0177] In one embodiment, a computer device is provided, which can be an automobile control instruction management module, and the internal structure diagram thereof can be as shown in Figure 9 The computer device comprises a processor, a memory, an input / output interface, and a communication interface. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (near field communication), or other technologies. The computer program is executed by the processor to implement an automobile control method.

[0178] Those skilled in the art can understand that Figure 9 The structure shown in the above-mentioned figures is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can comprise more or fewer components than those shown in the figures, or combine certain components, or have a different arrangement of components.

[0179] In an embodiment, a computer device is also provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method embodiments when executing the computer program.

[0180] In an embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0181] In an embodiment, a computer program product is provided, comprising a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0182] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0183] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0184] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0185] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An automobile control method characterized by comprising: The method comprises: receiving a car control instruction sent by a car digital key for controlling a target car, obtaining a key type of the car digital key, and an instruction type corresponding to the car control instruction; the key type comprises at least one of a mobile phone APP key, a watch key and a physical key, and the instruction type comprises at least one of a control instruction for a door of the target car, a control instruction for a window of the target car and a car searching instruction; obtaining a same instruction conflict detection result of the car control instruction according to the instruction type; in a case where the same instruction conflict detection result represents that there is no conflict between the same instructions, obtaining a car control signal corresponding to the car control instruction from a pre-constructed instruction-signal mapping table based on the key type and the car control instruction; the instruction-signal mapping table stores a correspondence between different key types and car control instructions and different car control signals and enabling check conditions; the obtaining of the car control signal corresponding to the car control instruction from the pre-constructed instruction-signal mapping table comprises: obtaining an enabling check condition of the car control instruction from the instruction-signal mapping table based on the key type and the car control instruction, and obtaining the car control signal from the instruction-signal mapping table based on the key type and the car control instruction in a case where the target car satisfies the enabling check condition; outputting the car control signal to control the target car.

2. The method of claim 1, wherein, The obtaining of the car control signal corresponding to the car control instruction from the pre-constructed instruction-signal mapping table based on the key type and the car control instruction in a case where the same instruction conflict detection result represents that there is no conflict between the same instructions comprises: in a case where the same instruction conflict detection result represents that there is no conflict between the same instructions, storing the car control instruction in an instruction cache queue; obtaining an enabling check condition of the car control instruction from the instruction-signal mapping table based on the key type and the car control instruction, and setting the car control instruction stored in the instruction cache queue as a valid flag bit in a case where the target car satisfies the enabling check condition; obtaining an execution state of the car control instruction set as the valid flag bit in the instruction cache queue according to a preset period, and obtaining the car control signal from the instruction-signal mapping table based on the key type and the car control instruction in a case where the execution state represents that the car control instruction is not executed.

3. The method of claim 2, wherein, The method further comprises: setting the car control instruction as a sending flag bit in a case where the execution state represents that the car control instruction is not executed. The outputting of the car control signal comprises: obtaining the car control instruction set as the sending flag bit in the instruction cache queue, obtaining a maximum retry number of the car control instruction from the instruction-signal mapping table based on the key type and the car control instruction, and In a case where the number of retransmissions of the vehicle control instruction does not exceed the maximum number of retries, output the vehicle control signal.

4. The method of claim 3, wherein, The method further comprises: In a case where the execution state indicates that the vehicle control instruction has been executed, obtaining an execution result of the vehicle control instruction; In a case where the execution result indicates that the execution is successful, returning information that the execution of the vehicle control instruction is successful to the vehicle digital key, and removing the vehicle control instruction from the instruction cache queue; In a case where the execution result indicates that the execution fails, updating the number of retransmissions of the vehicle control instruction, and returning that the vehicle control signal is output in a case where the number of retransmissions of the vehicle control instruction does not exceed the maximum number of retries, until the number of retransmissions of the vehicle control instruction exceeds the maximum number of retries.

5. The method of claim 2, wherein, The method further comprises: In a case where the same-type instruction conflict detection result indicates that there is a conflict between the same-type instructions, marking the vehicle control instruction as a failure, and recording the failure reason information of the vehicle control instruction as first information indicating instruction exclusion; The method further comprises: In a case where the target vehicle does not meet the enablement check condition, marking the vehicle control instruction as a failure, and recording the failure reason information as second information indicating that the preconditions are not met; The method further comprises: Based on the key type and the vehicle control instruction, obtaining an execution time threshold of the vehicle control instruction from the instruction-signal mapping table; In a case where the execution time of the vehicle control instruction exceeds the execution time threshold, marking the vehicle control instruction as a failure, and recording the failure reason information as third information indicating that the response is timed out.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: Obtaining the key type of the vehicle digital key and the instruction type corresponding to the vehicle control instruction, comprises: Obtaining the instruction transmission channel of the vehicle control instruction, and obtaining the key type based on the instruction transmission channel; 7. The method according to any one of claims 1 to 5, characterized in that, From a pre-constructed vehicle control instruction type mapping relationship, obtaining the instruction type corresponding to the vehicle control instruction; the vehicle control instruction type mapping relationship stores the correspondence between different vehicle control instructions and instruction types. The method further comprises: Outputting the vehicle control signal, and calling the structure corresponding to the vehicle control signal to control the target vehicle; The method further comprises:

8. An automobile control device characterized by comprising: In a case where the communication matrix of the vehicle control signal is updated, updating the structure corresponding to the vehicle control signal to adapt to the updated communication matrix of the vehicle control signal. The apparatus comprises: The control instruction receiving module is configured to receive a vehicle control instruction sent by a vehicle digital key for controlling a target vehicle, obtain a key type of the vehicle digital key, and an instruction type corresponding to the vehicle control instruction. The instruction conflict detecting module is configured to obtain a same-type instruction conflict detecting result of the vehicle control instruction according to the instruction type; the key type includes at least one of a mobile phone APP key, a watch key, and a physical key; and the instruction type includes at least one of a control instruction for a door of the target vehicle, a control instruction for a window of the target vehicle, and a car searching instruction. The control signal obtaining module is configured to, in a case where the same-type instruction conflict detecting result represents that there is no same-type instruction conflict, obtain a vehicle control signal corresponding to the vehicle control instruction from a pre-constructed instruction-signal mapping table based on the key type and the vehicle control instruction; the instruction-signal mapping table stores a correspondence between different key types and vehicle control instructions, and different vehicle control signals and enable check conditions; the control signal obtaining module is further configured to obtain an enable check condition of the vehicle control instruction from the instruction-signal mapping table based on the key type and the vehicle control instruction, and obtain the vehicle control signal from the instruction-signal mapping table based on the key type and the vehicle control instruction in a case where the target vehicle satisfies the enable check condition. The control signal output module is configured to output the vehicle control signal to control the target vehicle. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

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