Vehicle control method and vehicle

Abstract

The invention discloses a vehicle control method and a vehicle, and the method comprises the steps: determining the actual distance between a pet and a tail door of the vehicle according to a wireless identification signal in response to the detection of the wireless identification signal sent by wireless communication equipment carried by the pet; when the actual distance is smaller than or equal to a first preset distance, image information of a vehicle tail door area is collected, and pet identity verification is conducted on the image information; if the pet passes the identity verification, controlling a tail door of the vehicle to be opened to a preset height, controlling an electric pedal of the vehicle to extend to a preset working position, and continuously monitoring the getting-on state of the pet; and when it is detected that the pet finishes getting on the vehicle, the electric pedal is controlled to retract, and the opening and closing state of the vehicle tail door is controlled according to a preset tail door control mode. Through the technical scheme provided by the invention, the convenience of the vehicle in a pet getting-on scene can be improved.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, and in particular relates to a vehicle control method and a vehicle. Background Technology

[0002] With the rapid development of intelligent and connected vehicles, the convenience features of vehicles are becoming increasingly abundant, expanding from traditional manual control of doors and pedals to multiple functions such as electric tailgates, electric pedals, and wireless sensor control, which undoubtedly enhances the overall user experience.

[0003] However, in high-frequency scenarios where pets accompany passengers, existing vehicle configurations still present many inconveniences. For example, when a pet gets into the car alone, the user needs to manually open the tailgate and extend the electric running board, which is cumbersome and time-consuming. If the user's hands are carrying items or they are not near the vehicle, they cannot provide timely assistance to the pet to get in, which can easily lead to the pet being left outside the vehicle, or even getting lost or accidentally bumping into something dangerous.

[0004] Therefore, improving the convenience of pets getting in and out of vehicles has become an urgent technical problem to be solved. Summary of the Invention

[0005] Embodiments of this application provide a vehicle control method, apparatus, computer program product, computer-readable storage medium, and vehicle, which can at least to some extent improve the convenience of vehicles in scenarios where pets can board.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part by practice of this application.

[0007] According to a first aspect of the embodiments of this application, a vehicle control method is provided, the method comprising: responding to detecting a wireless identification signal sent by a wireless communication device carried by a pet, determining the actual distance between the pet and the tailgate of a vehicle based on the wireless identification signal; when the actual distance is less than or equal to a first preset distance, acquiring image information of the tailgate area of ​​the vehicle and performing pet authentication on the image information; if the pet authentication is successful, controlling the tailgate of the vehicle to open to a preset height and controlling the electric pedal of the vehicle to extend to a preset working position, and continuously monitoring the pet's boarding status; when the pet is detected to have boarded the vehicle, controlling the electric pedal to retract and controlling the opening and closing status of the tailgate of the vehicle according to a preset tailgate control mode.

[0008] In some embodiments of this application, based on the foregoing scheme, determining the actual distance between the pet and the vehicle tailgate according to the wireless identification signal includes: extracting the signal strength parameter of the wireless identification signal; and determining the actual distance between the pet and the vehicle tailgate according to a preset correspondence between signal strength and distance, combined with the signal strength parameter.

[0009] In some embodiments of this application, based on the aforementioned scheme, the step of verifying the pet identity information of the image information includes: retrieving pre-stored pet identity feature information, wherein the pet identity feature information includes at least one of pet outline, fur color, markings, and preset markings; performing feature matching between the pet features in the image information and the pet identity feature information, and calculating the feature matching degree; if the feature matching degree is greater than or equal to a preset matching degree threshold, then the pet identity verification is determined to be successful.

[0010] In some embodiments of this application, based on the foregoing scheme, the method further includes: receiving a pet identity information input instruction in advance, obtaining a pet image and feature annotation information uploaded by the user; learning the pet image and feature annotation information based on a machine learning model, generating and storing the pet identity feature information.

[0011] In some embodiments of this application, based on the aforementioned scheme, monitoring the pet's boarding status includes: monitoring the pet's position status through the wireless identification signal and image information of the vehicle's tailgate area; when a sudden change in the signal strength of the wireless identification signal is detected and the in-vehicle signal receiving module receives the wireless identification signal, and the image information confirms that the pet has entered the vehicle, it is determined that the pet has boarded the vehicle.

[0012] In some embodiments of this application, based on the aforementioned scheme, controlling the retraction of the electric pedal includes: after determining that the pet has finished getting into the vehicle, sending a retraction command to the electric pedal control unit after a first preset time delay; controlling the electric pedal to retract from the preset working position to the storage position; during the retraction process of the electric pedal, detecting whether there is an obstacle in real time; if an obstacle is detected, controlling the electric pedal to stop the retraction action and performing a reverse reset action.

[0013] In some embodiments of this application, based on the foregoing scheme, after controlling the electric pedal to stop retracting and performing a reverse reset, the method further includes: controlling the vehicle to emit a preset prompt sound, and then sending the retraction command again after a second preset time delay; if an obstacle is detected a preset number of times, controlling the electric pedal to remain extended, and pushing alarm information to the vehicle's human-machine interface.

[0014] In some embodiments of this application, based on the foregoing scheme, controlling the opening and closing state of the vehicle tailgate according to a preset tailgate control mode includes: obtaining a tailgate control mode preset by the user, wherein the tailgate control mode includes a keep-open mode and a delayed-closing mode; if the tailgate control mode is a keep-open mode, then controlling the vehicle tailgate to remain open at the preset height; if the tailgate control mode is a delayed-closing mode, then controlling the vehicle tailgate to close after a third preset time delay after determining that the pet has finished getting into the vehicle.

[0015] According to a second aspect of the embodiments of this application, a vehicle control device is provided, the device comprising: a determining unit, configured to determine the actual distance between the pet and the vehicle tailgate in response to detecting a wireless identification signal sent by a wireless communication device carried by a pet; a verifying unit, configured to acquire image information of the vehicle tailgate area and perform pet authentication on the image information when the actual distance is less than or equal to a first preset distance; a first control unit, configured to control the vehicle tailgate to open to a preset height and control the vehicle electric step to extend to a preset working position if the pet authentication is successful, and continuously monitor the pet's boarding status; and a second control unit, configured to control the electric step to retract when the pet is detected to have boarded, and control the opening and closing status of the vehicle tailgate according to a preset tailgate control mode.

[0016] According to a third aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform an operation as described in any of the first aspects above.

[0017] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to perform the operation as described in any of the first aspects above.

[0018] According to a fifth aspect of the embodiments of this application, a vehicle is provided, the vehicle including one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to perform the operation as described in any of the first aspects above.

[0019] Based on the technical solution proposed in this application, the actual distance between the pet and the tailgate is determined by detecting the wireless identification signal of the wireless communication device carried by the pet. After the distance meets the standard, image acquisition and identity verification are performed. After successful verification, the tailgate and step are automatically controlled and the boarding status is continuously monitored. After boarding is completed, the step is retracted and the tailgate is controlled according to a preset mode. This allows the entire process of pet boarding to be done without manual operation by the user, realizing the automation and intelligence of vehicle control in the pet boarding scenario. This solves the problem of the cumbersome operation of manual opening of the tailgate and extension of the step required by existing vehicles when pets board. At the same time, the dual identification method of signal detection and identity verification effectively avoids the occurrence of false triggering and improves the smoothness and safety of the pet boarding process. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0021] Figure 1 A flowchart of a vehicle control method according to an embodiment of this application is shown; Figure 2 A block diagram of a vehicle control device according to an embodiment of this application is shown; Figure 3 A schematic diagram of the vehicle structure in an embodiment of this application is shown. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0024] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solution of this application have been appropriately omitted.

[0025] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined. Therefore, the actual execution order may change depending on the actual situation.

[0026] In the description of this application, it should be understood that 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 number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0027] This application proposes a vehicle control scheme to address the problems of cumbersome operation and lack of convenience in pet boarding scenarios, thereby improving the convenience of vehicles in pet boarding scenarios.

[0028] Next, this application will elaborate on the proposed vehicle control scheme. (Refer to...) Figure 1 The flowchart of a vehicle control method according to an embodiment of this application is shown. This method can be executed by a device with computing processing capabilities, such as... Figure 1 As shown, the method includes at least steps 110 to 140, which are described in detail below: Step 110: In response to detecting a wireless identification signal sent by a wireless communication device carried by the pet, determine the actual distance between the pet and the tailgate of the vehicle based on the wireless identification signal.

[0029] Step 120: When the actual distance is less than or equal to the first preset distance, image information of the vehicle tailgate area is collected, and pet identity verification is performed on the image information.

[0030] Step 130: If the pet's identity is verified, control the vehicle's tailgate to open to a preset height, and control the vehicle's electric pedal to extend to a preset working position, while continuously monitoring the pet's boarding status.

[0031] Step 140: When the pet is detected to have boarded the vehicle, the electric pedal is retracted, and the opening and closing status of the vehicle tailgate is controlled according to the preset tailgate control mode.

[0032] In this application, the wireless identification signal sent by the wireless communication device carried by the pet serves as a unique identification medium between the pet and the vehicle. Upon detecting this signal, the vehicle can determine the actual distance between the pet and the vehicle's tailgate based on the signal's characteristics. This step is fundamental to triggering subsequent control procedures, accurately sensing the pet's approach and avoiding indiscriminate triggering. When the detected actual distance is less than or equal to a first preset distance, it indicates that the pet has reached a suitable area for boarding. At this point, the vehicle can collect image information of the tailgate area and simultaneously verify the pet's identity using the collected image information. Image collection provides a direct view of the target object in the tailgate area, while identity verification is crucial for accurate identification of the target object, preventing false triggering caused by non-target pets or other objects approaching. If the pet's identity is verified, the vehicle can simultaneously perform two actions: first, open the tailgate to a preset height; second, extend the electric step to a preset working position. Both the preset height and working position are position parameters specifically designed for pets getting in the vehicle, adapting to their physical characteristics and needs. No manual operation from the user is required. After controlling the tailgate and step, the vehicle continuously monitors the pet's boarding status, tracking their position and progress in real time. Once the vehicle detects that the pet has successfully boarded, it can promptly retract the electric step to prevent bumps and energy waste caused by prolonged extension. Simultaneously, the tailgate can be controlled according to a preset control mode, which can be pre-set by the user to meet different usage scenarios.

[0033] For example, in one specific embodiment, the first preset distance can be set to 1.5 meters by default, and the preset height can be set to 1.2 meters by default. When a pet wearing a Bluetooth collar that is bound to the vehicle approaches the tailgate, the vehicle detects the collar's wireless identification signal and determines that the actual distance is 1.3 meters. This distance is less than the first preset distance. The vehicle then captures an image of the tailgate area and performs identity verification. After successful verification, the vehicle controls the tailgate to open to the preset height of 1.2 meters, and simultaneously controls the electric step to extend to the preset working position. If the pet is a small cat, the user can adjust the first preset distance to 0.8 meters and the preset height to 1 meter, allowing the cat to trigger the control process from a position more suited to its own movement characteristics, improving the convenience and safety of getting into the vehicle.

[0034] Based on the above solution, the actual distance between the pet and the tailgate is determined by detecting the wireless identification signal of the wireless communication device carried by the pet. Once the distance is within the acceptable range, image acquisition and identity verification are performed. After successful verification, the tailgate and step are automatically controlled, and the boarding status is continuously monitored. After boarding is completed, the step is retracted and the tailgate is controlled according to a preset mode. This allows the entire process of pet boarding to be automated and intelligent, eliminating the need for manual operation by the user. This solves the problem of the cumbersome operation of manually opening the tailgate and extending the step when pets board. At the same time, the dual identification method of signal detection and identity verification effectively avoids accidental triggering and improves the smoothness and safety of the pet boarding process.

[0035] Next, this application will address the following: Figure 1 The steps shown are further explained.

[0036] In this application, before receiving the wireless identification signal sent by the wireless communication device carried by the pet, the wireless communication device can be paired and bound to the vehicle to establish a binding relationship list. When the wireless identification signal sent by the wireless communication device is received, it can be determined whether the wireless communication device is in the binding relationship list. If the wireless communication device is in the binding relationship list, then receiving the wireless identification signal can be confirmed. Figure 1 In step 110 shown, determining the actual distance between the pet and the vehicle's tailgate based on the wireless identification signal can be performed according to steps 111 to 112 as follows: Step 111: Extract the signal strength parameters of the wireless identification signal.

[0037] Step 112: Determine the actual distance between the pet and the vehicle tailgate based on the preset correspondence between signal strength and distance, combined with the signal strength parameters.

[0038] In this application, when determining the actual distance between a pet and the vehicle's tailgate based on the wireless identification signal, precise calculation can be performed using the physical characteristics of the signal itself. First, the signal strength parameter of the wireless identification signal can be extracted. The signal strength of the wireless identification signal changes regularly with the distance between the transmitter and receiver; the closer the pet is to the vehicle's tailgate, the stronger the signal strength received by the vehicle, and vice versa. Therefore, the signal strength parameter is an important indicator reflecting the actual distance between the pet and the vehicle's tailgate. After extracting the signal strength parameter, the actual distance between the pet and the vehicle's tailgate can be determined based on a preset correspondence between signal strength and distance. This preset correspondence is pre-stored in the vehicle system and can be obtained through extensive experimental testing and data statistics. It accurately reflects the actual distance range corresponding to different signal strength parameters, providing a scientific and reliable basis for determining the actual distance.

[0039] For example, in one specific embodiment, the pet carries a Bluetooth-based wireless communication device. The vehicle can extract the received signal strength indicator value of the wireless identification signal as a signal strength parameter. The vehicle system has a pre-stored correspondence table between Bluetooth signal strength parameters and distance. When the extracted received signal strength indicator value is -60 dB / mW, the actual distance between the pet and the vehicle's tailgate can be determined to be 1 meter according to the correspondence table. If the extracted received signal strength indicator value is -75 dB / mW, the actual distance can be determined to be 1.8 meters according to the correspondence table. In another specific embodiment, the pet carries a radio frequency identification (RFID)-based wireless communication device. The vehicle will extract the received signal power as a signal strength parameter, and then calculate and determine the actual distance between the pet and the vehicle's tailgate based on the pre-stored correspondence table between RFID signal received power and distance.

[0040] Based on the above scheme, by extracting the signal strength parameters of the wireless identification signal and combining them with the pre-stored correspondence between signal strength and distance, the actual distance between the pet and the vehicle's tailgate can be determined. This allows the vehicle to accurately and quickly perceive changes in the distance between the pet and the tailgate, providing accurate and objective distance data for triggering subsequent control procedures. This avoids the problem of the control procedure being triggered too early or too late due to inaccurate distance judgment, ensuring that the timing of the control procedure's triggering matches the pet's preparation state for getting into the vehicle. This improves the triggering accuracy of the entire vehicle control method and ensures a smooth pet boarding process.

[0041] In this application, the adjustable range of the first preset distance value can be from 0.5 meters to 2 meters, for example, its default value can be 1.5 meters.

[0042] In such Figure 1In step 120 shown, the pet authentication of the image information can be performed according to steps 121 to 123 as follows: Step 121: Retrieve pre-stored pet identity feature information, which includes at least one of pet outline, coat color, markings, and preset tags.

[0043] Step 122: Perform feature matching between the pet features in the image information and the pet identity feature information, and calculate the feature matching degree.

[0044] Step 123: If the feature matching degree is greater than or equal to the preset matching degree threshold, then the pet identity verification is deemed successful.

[0045] In this application, verifying the identity of the pet in the captured image information of the vehicle's tailgate area is a core step in achieving accurate identification of the target pet and avoiding false triggering. First, pre-stored pet identity feature information can be retrieved. This pet identity feature information is the exclusive feature information of the target pet stored in the vehicle system beforehand, and may include at least one of the following: pet outline, fur color, markings, and preset markings. The pet outline refers to the pet's overall body shape, fur color and markings are the pet's appearance characteristics, and preset markings can be distinctive artificial identifiers such as collars or pendants worn by the pet. These features together constitute the unique identifier of the target pet, effectively distinguishing different pets. Subsequently, the pet features in the image information can be matched with the retrieved pet identity feature information. During the matching process, the similarity between the two types of features can be quantitatively calculated to obtain the feature matching degree. The value of the feature matching degree directly reflects the degree of similarity between the pet in the captured image and the pre-stored target pet. If the calculated feature matching degree is greater than or equal to the preset matching degree threshold, the pet identity verification is deemed successful. The preset matching degree threshold can be a reasonable value determined through multiple experiments and actual tests, which can ensure the accuracy of recognition while adapting to the subtle changes in the pet's features in different states, such as changes in the pet's appearance when walking or turning its head.

[0046] For example, in one specific embodiment, the preset matching threshold can be set to 85%. The user has pre-stored the pet identity information of their Golden Retriever in the vehicle system, including the dog's large size, golden coat, dark markings on its back, and its distinctive blue collar. When the Golden Retriever approaches the tailgate, the vehicle captures an image of the tailgate area and matches each of the dog's features in the image with the pre-stored pet identity information. If the calculated feature matching degree is 93%, which is greater than the preset matching threshold, then the identity verification is considered successful. If the image captured by the vehicle shows an unfamiliar Samoyed, and its features match the pre-stored Golden Retriever features, the feature matching degree is 58%, which is less than the preset matching threshold, then the identity verification is considered unsuccessful. If the user owns a cat, the pre-stored pet identity information only includes the cat's small silhouette and pure white coat. When the white cat approaches the tailgate, the cat's features in the image match the pre-stored features with a matching degree of 89%, meeting the preset matching threshold requirement, and the identity verification is also considered successful.

[0047] Based on the above scheme, by retrieving pre-stored pet identity feature information containing multiple features, the pet features in the captured image are matched with the pre-stored features and the feature matching degree is calculated. When the matching degree reaches a preset threshold, the identity verification is determined to be successful. This can achieve accurate identification and verification of the target pet, effectively avoiding the false triggering of the control process caused by non-target pets, other animals, or even irrelevant objects approaching the vehicle's tailgate. This improves the overall accuracy and safety of the vehicle control method, ensuring that the vehicle only responds to the user's target pet and meets the user's exclusive control needs in the pet-in-vehicle scenario.

[0048] In this application, steps 101 to 102 can be performed as follows: Step 101: Receive the pet identity information input instruction in advance and obtain the pet image and feature annotation information uploaded by the user.

[0049] Step 102: Learn the pet image and feature annotation information based on the machine learning model, and generate and store the pet identity feature information.

[0050] In this application, before verifying a pet's identity, the vehicle system can pre-store the target pet's identity features to provide a reliable basis for subsequent identity verification. Specifically, the system first receives a pre-entry command for pet identity information. This command can be issued by the user through the vehicle's human-machine interface. Upon receiving the command, the vehicle enters a pet identity information collection state, subsequently acquiring the pet image and feature annotation information uploaded by the user. The user can upload multiple images of the pet from different angles and in different states to ensure comprehensive pet feature collection. The feature annotation information consists of manual annotations by the user on the pet's outline, coat color, markings, and preset tags, providing direction for subsequent feature learning and allowing the vehicle system to more accurately extract the pet's unique features. After acquiring the pet image and feature annotation information, a machine learning model can be used to learn from this information. This model possesses the ability to extract, analyze, and model features, extracting the target pet's core features from the pet image and feature annotation information, and modeling these features to ultimately generate corresponding pet identity feature information. This information is then stored in the vehicle system for quick retrieval during subsequent identity verification.

[0051] For example, in one specific embodiment, a user can issue a command to input pet identity information via the vehicle's infotainment screen. Upon receiving the command, the vehicle's screen will enter the information upload interface. The user then uploads six images of their Corgi (front, side, and back views), and annotates the Corgi's short legs, low-slender profile, yellow and white coat color, and black markings on its face. The vehicle's machine learning model receives this information, performs deep learning on the images and annotations, accurately extracts the Corgi's core features, builds a feature model, and generates corresponding pet identity feature information, which is then stored in the vehicle's storage module. If the user owns multiple pets, they can issue an input command for each pet sequentially, uploading corresponding images and feature annotations separately. The machine learning model can independently learn from each pet's information, generating and storing its own pet identity feature information. Up to eight pets' information can be input and stored, adapting to the needs of multi-pet households.

[0052] Based on the above solution, by receiving user input commands to obtain pet images and feature annotation information, and using machine learning models to learn from this information and generate and store pet identity feature information, the vehicle system can accurately and comprehensively record the unique characteristics of the target pet, providing reliable and accurate feature basis for subsequent pet identity verification, thereby ensuring the accuracy of identification in the identity verification process. At the same time, it supports the input and storage of information for multiple pets, which can adapt to the actual use needs of multi-pet families, improve the adaptability and practicality of vehicle control methods, and enable different target pets to be accurately identified by the vehicle and trigger the corresponding control process.

[0053] In such Figure 1 In step 130, controlling the vehicle tailgate to open to a preset height involves sending an opening command to the tailgate control unit to control the tailgate to unlock. The unlocked tailgate then slowly opens until it reaches the preset height. The default value for the preset height is 1.2 meters, and it can be customized by the user. The entire process from unlocking to opening the tailgate to the preset height takes less than or equal to 3 seconds.

[0054] In such Figure 1 In step 130, the control of the vehicle's electric pedal to extend to the preset working position can be achieved by sending an extension command to the electric pedal control unit, controlling the electric pedal to extend from the retracted position to the working position. The extension process of the electric pedal should be controlled to be smooth and without jamming until it is fully extended to the working position and then stops. The time taken for the electric pedal to extend from the starting point to its full position can be less than or equal to 2 seconds. The rated load-bearing capacity of the electric pedal can be greater than or equal to 50 kg. Figure 1 In step 130, monitoring the pet's boarding status can be performed according to steps 131 to 132 as follows: Step 131: Monitor the pet's location and status using the wireless identification signal and the image information of the vehicle's tailgate area.

[0055] Step 132: When a sudden change in the signal strength of the wireless identification signal is detected and the in-vehicle signal receiving module receives the wireless identification signal, and the pet is confirmed to have entered the vehicle through the image information, it is determined that the pet has successfully boarded the vehicle.

[0056] In this application, after controlling the opening of the vehicle's tailgate and the extension of the electric running board, the vehicle can continuously monitor the pet's boarding status. This is to accurately determine whether the pet has successfully boarded, thereby determining the triggering timing for the running board retraction and tailgate control. During the monitoring process, the pet's position can be monitored simultaneously through wireless identification signals and image information from the vehicle's tailgate area. These two monitoring methods cooperate and verify each other, overcoming the limitations of a single monitoring method and accurately and comprehensively grasping the pet's position changes and boarding progress, avoiding judgment errors caused by a single monitoring method. When the vehicle detects three conditions simultaneously, it can determine that the pet has successfully boarded. The first condition is a sudden change in the signal strength of the wireless identification signal, indicating a significant change in the pet's position, moving from an open space outside the vehicle to a closed space inside. The second condition is that the in-vehicle signal receiving module receives the wireless identification signal, further verifying that the pet is inside the vehicle. The third condition is confirmation of the pet's entry into the vehicle through image information. Visual confirmation through image information is the most intuitive and direct evidence. The combination of these three conditions forms a rigorous judgment criterion, ensuring the accuracy of the judgment on the pet's boarding status.

[0057] For example, in one specific embodiment, after a pet wearing a Bluetooth collar linked to the vehicle approaches the tailgate and completes identity verification, the vehicle continuously monitors the pet's location via Bluetooth signals and a camera at the tailgate. When the pet steps onto the electric footrest and enters the trunk, the Bluetooth signal strength received by the vehicle suddenly changes from -65 dBmW to -40 dBmW. Simultaneously, the vehicle's in-vehicle Bluetooth receiver module receives this Bluetooth signal, and the image information captured by the tailgate camera clearly shows that the pet has completely entered the trunk. Combining these three pieces of information, the vehicle can accurately determine that the pet has boarded the vehicle. If only a sudden change in the wireless identification signal strength is detected, but the camera image information shows that the pet is still outside the vehicle, or if the image information only shows that the pet is approaching the vehicle, but the in-vehicle signal receiver module does not receive the wireless identification signal, the vehicle will not determine that the pet has boarded the vehicle and will continue to monitor the pet's location.

[0058] Based on the above solution, the pet's location and status are monitored from two dimensions: wireless identification signals and image information. When a sudden change in signal strength is detected, the signal is received inside the vehicle, and the image confirms that the pet has entered, the system determines that the pet has successfully boarded. This allows for accurate and rigorous judgment of the pet's boarding status, avoiding the problem of the electric foot pedal retracting too early or too late due to misjudgment. This ensures the safety of the pet during the boarding process, prevents the pet from being pinched when the foot pedal retracts, and also ensures that the foot pedal retraction action is triggered in time after the pet has actually boarded. This avoids the energy waste caused by the foot pedal being extended for a long time and the risk of being bumped by external objects. The foot pedal's movement control is highly matched with the pet's boarding status.

[0059] In such Figure 1 In step 140 shown, the retraction of the electric pedal can be performed according to steps 141 to 142 as follows: Step 141: After determining that the pet has successfully boarded the vehicle, a retraction command is sent to the electric pedal control unit after a first preset delay.

[0060] Step 142: Control the electric pedal to retract from the preset working position to the storage position. During the retraction process of the electric pedal, the presence of obstacles is detected in real time. If an obstacle is detected, the electric pedal is controlled to stop the retraction action and perform a reverse reset action.

[0061] In this application, after detecting that a pet has successfully boarded the vehicle, the vehicle can control the electric pedal to retract, thus fully considering the safety needs of pets boarding the vehicle. Specifically, after determining that the pet has successfully boarded the vehicle, a retraction command can be sent to the electric pedal control unit after a first preset time delay. The electric pedal control unit is the core component that executes the pedal retraction action. The time delay is set to allow the pet sufficient time to fully enter the vehicle, preventing the pedal from retracting while the pet's body parts are still on the pedal, which could cause injury to the pet. After the first preset time delay, a retraction command can be sent to the electric pedal control unit to control the electric pedal to retract from a preset working position to a storage position. The storage position is the original storage position of the electric pedal in the vehicle. During the retraction process of the electric pedal, the vehicle can detect the presence of obstacles in real time. Obstacles include the pet's body parts that have not completely left, fallen objects, and other objects that may obstruct the pedal retraction. If an obstacle is detected, the electric pedal can be immediately stopped from retracting and a reverse reset action can be performed. The reverse reset action means that the pedal is moved a certain distance in the extended direction to quickly release the contact between the obstacle and the pedal, further ensuring the safety of the pet and the integrity of the equipment.

[0062] For example, in one specific embodiment, the first preset duration can be set to 1 second by default. After the vehicle determines that the pet has finished getting in, it can delay for 1 second before sending a retraction command to the electric pedal control unit. Subsequently, the electric pedal retracts from its extended preset working position to the storage position at the bottom of the vehicle. During the retraction process, if the pet's paw has not completely left the pedal, the pedal's detection module can detect the obstacle in time. At this time, the vehicle can immediately control the pedal to stop the retraction action and control the pedal to reverse its extension direction by 5 centimeters to avoid pinching the pet's paw. If a small toy carried by the pet falls into the area between the pedal and the vehicle during the process of getting in, forming an obstacle, the pedal can also immediately stop retracting and perform a reverse reset action after detecting the obstacle, promptly removing the obstacle and avoiding a hard collision between the pedal and the toy.

[0063] Based on the above solution, by delaying the pedal retraction command by a first preset time after determining that the pet has boarded the vehicle, and detecting obstacles in real time during the retraction process, stopping the retraction and performing a reverse reset action when an obstacle is detected, it is possible to effectively prevent the pet from being pinched by the pedal before it is fully boarded or when an obstacle appears during the retraction process. This improves the safety of the pedal retraction process after the pet has boarded the vehicle, comprehensively protects the pet's physical safety, and also avoids hard collisions between the electric pedal and obstacles, reduces equipment wear and tear, extends the service life of the electric pedal, and ensures that the pedal retraction action meets usage requirements while also taking into account safety and equipment protection.

[0064] Based on step 142 above, after controlling the electric pedal to stop retracting and performing a reverse reset, the following steps 1421 to 1422 can also be performed: Step 1421: Control the vehicle to emit a preset prompt sound, and then send the retraction command again after a second preset delay.

[0065] Step 1422: If an obstacle is detected a preset number of times, the electric pedal is kept extended and an alarm message is pushed to the vehicle's human-machine interface.

[0066] In this application, after the electric pedal detects an obstacle and performs a stop retraction and reverse reset action, the vehicle can initiate a corresponding abnormality handling process. First, the vehicle can emit a preset warning sound, a form of audio-visual feedback, to promptly inform nearby users of any abnormalities occurring during pedal retraction, allowing them to quickly understand the problem and take appropriate action. Simultaneously, a second preset delay can be made before sending the retraction command to the electric pedal control unit. This second preset delay allows time for the user or pet to handle the obstacle, preventing multiple abnormality triggers caused by frequent retraction commands and making the abnormality handling process more rational. If an obstacle is detected after sending the retraction command a preset number of times, it indicates a persistent abnormality. In this case, the vehicle can keep the electric pedal extended to prevent forced retraction from causing injury to the pet or damage to the equipment. Simultaneously, an alarm message can be pushed to the vehicle's human-machine interface, including the vehicle's infotainment screen, to further remind the user to handle the abnormality promptly and eliminate potential safety hazards.

[0067] For example, in one specific embodiment, the second preset duration can be set to 3 seconds, the preset prompt tone can be two short beeps from the vehicle horn, and the preset number of times can be set to 3. When the electric pedal detects an obstacle and stops retracting and resets in the reverse direction, the vehicle horn can immediately sound two short beeps to alert nearby users of the abnormality. Simultaneously, after a 3-second delay, a retraction command is sent again to the electric pedal control unit. If an obstacle is still detected during this retraction process, the stop, reset, and prompt actions can be executed again. When an obstacle is detected after three consecutive retraction commands, the vehicle can control the electric pedal to remain in the extended preset working position, no longer attempting to retract, and display an alarm message on the vehicle's screen to remind the user to handle the situation promptly. If the obstacle has been cleared by the user or moved away by the pet when the retraction command is sent for the second time, the pedal will successfully complete the retraction action, and the entire control process will return to normal.

[0068] Based on the above solution, by issuing a preset prompt sound after the pedal encounters an obstacle and delaying for a second preset time before attempting to retract it again, and by keeping the pedal extended after a preset number of consecutive attempts to retract it and pushing an alarm message to the human-machine interface, abnormal situations during the pedal retraction process can be promptly reported to the user. This provides the user and pet with sufficient time to handle obstacles, avoids equipment damage and safety hazards caused by frequent pedal retraction attempts, thereby improving the fault tolerance and overall safety of the vehicle control method. It ensures that in the event of a continuous abnormality, the user can be informed and dealt with in a timely manner through multiple prompts, comprehensively protecting the integrity of the vehicle equipment and the safety of the pet.

[0069] In such Figure 1 In step 140, controlling the opening and closing state of the vehicle's tailgate according to the preset tailgate control mode can be performed according to steps 143 to 145 as follows: Step 143: Obtain the tailgate control mode preset by the user. The tailgate control mode includes a keep-open mode and a delayed-closing mode.

[0070] Step 144: If the tailgate control mode is the keep-open mode, then control the vehicle tailgate to remain open at the preset height.

[0071] Step 145: If the tailgate control mode is a delayed closing mode, then after determining that the pet has finished getting into the vehicle, the tailgate of the vehicle will be controlled to close after a third preset time delay.

[0072] In this application, while controlling the retraction of the electric pedal, the vehicle can control the opening and closing of the tailgate according to a preset tailgate control mode. This design fully considers the user's personalized needs. Specifically, the system first obtains the user's pre-set tailgate control mode. This mode is set in the vehicle system in advance by the user according to their usage habits and actual scenarios, including two modes: a keep-open mode and a delayed-closing mode. The vehicle can store the user's settings in the system and retrieve them directly when needed. If the obtained tailgate control mode is the keep-open mode, the tailgate can be kept open at a preset height. This mode is suitable for scenarios where the user needs to continue to retrieve or place items through the tailgate, or where pets need to enter or exit the vehicle multiple times, without requiring the user to manually open the tailgate again. If the obtained tailgate control mode is the delayed-closing mode, the tailgate can be closed after a third preset time delay after determining that the pet has boarded the vehicle. The delayed-closing mode allows the user a short operation time after the pet boards the vehicle, while avoiding energy waste caused by prolonged tailgate opening and preventing external dust and debris from entering the vehicle.

[0073] For example, in one specific embodiment, the third preset duration can be set to 3 seconds by default. If a user takes their pet camping in the suburbs on the weekend and needs to retrieve camping equipment and pet supplies from the tailgate multiple times, the tailgate control mode is set to a keep-open mode. After the pet has boarded, the vehicle can control the tailgate to remain open at a preset height of 1.2 meters, facilitating subsequent retrieval and placement. If the user travels alone with their pet on a daily basis, and the pet doesn't need to retrieve any items from the tailgate after boarding, the tailgate control mode is set to a delayed-closing mode. After the vehicle determines that the pet has boarded, it can delay for 3 seconds before slowly closing the tailgate from the preset height, ensuring the pet is fully inside the vehicle while avoiding various problems caused by the tailgate being open for an extended period.

[0074] Based on the above solution, by obtaining the user's pre-set tailgate control mode, and executing the operation of keeping the tailgate open or delaying its closing according to different modes, the tailgate control method can be highly adapted to the user's actual usage needs, improving the humanization and flexibility of the vehicle control method. This avoids the tailgate being unnecessarily open for a long time after a pet gets in the car, reducing energy waste and the risk of foreign objects entering the vehicle. At the same time, it can also meet the user's needs for the tailgate's open state in special scenarios, making the tailgate control more practical and further improving the user's car-using experience in pet-in-car scenarios.

[0075] To enable those skilled in the art to better understand this application, the vehicle control method of this application will be described in detail and completely below with reference to a specific embodiment in conjunction with the actual application scenario of this application. The method of this application can be applied to various types of passenger cars, sports utility vehicles, multi-purpose vehicles and other models equipped with electric tailgates and electric pedals, and is especially suitable for car owners who have pet ownership needs.

[0076] Before implementation, preliminary equipment configuration and information entry are required. First, a dedicated wireless communication device is configured for the pet. This device can be integrated into the pet collar and supports wireless communication protocols such as Bluetooth and RFID. The device has a built-in low-power module, providing at least three months of battery life on a single charge and continuously transmitting wireless identification signals. The user pairs the wireless communication device with the vehicle via the vehicle's infotainment screen. The vehicle can create a list of paired devices and only respond to signals from those listed. Next, the user enters the pet's identity information into the vehicle system by issuing a command through the infotainment screen. Multiple images of the pet from different angles and in different states are uploaded, and key features such as the pet's outline, coat color, markings, and preset tags are annotated. The vehicle's machine learning model performs deep learning on these images and annotations, extracting the pet's core features and building a feature model. This generates corresponding pet identity feature information, which is then stored in the vehicle's storage module. If the user owns multiple pets, information for each pet can be entered sequentially, supporting up to eight pets. Meanwhile, users can set parameters such as the first preset distance, the preset tailgate height, the first preset duration, the second preset duration, the third preset duration, the preset matching threshold, and the preset number of times on the vehicle's infotainment screen, based on the pet's size and behavior characteristics. Users can also set the tailgate control mode according to their own needs. The vehicle can store all the settings in the system to provide parameter basis for subsequent control processes.

[0077] When a user travels with their pet, and the pet, wearing a wireless communication device linked to the vehicle, approaches the tailgate, the vehicle can detect the wireless identification signal emitted by the device. It then extracts the signal strength parameters and, based on the pre-stored correspondence between signal strength and distance in the vehicle system, determines the actual distance between the pet and the tailgate. If this actual distance is less than or equal to a first preset distance, the vehicle can immediately capture image information of the tailgate area using a surround-view camera integrated at a preset location on the tailgate. This surround-view camera has a resolution of at least 1080P, low-light adaptability, and can capture images normally at night or in dimly lit scenes.

[0078] After acquiring image information, the vehicle can retrieve pre-stored pet identity feature information from the storage module. It then performs feature matching between the pet features in the image and the pre-stored information, calculating the feature matching degree. If the matching degree is greater than or equal to a preset threshold, the pet's identity is verified. Once verified, the vehicle sends an opening command to the tailgate control unit, controlling the tailgate to unlock and slowly open until it reaches a preset height. The entire process, from unlocking to opening to the preset height, takes no more than 3 seconds. Simultaneously, the vehicle sends an extension command to the electric pedal control unit, controlling the electric pedal to smoothly extend from its retracted position to a preset working position. The extension process, from initiation to full extension, takes no more than 2 seconds. The electric pedal has a rated load capacity of at least 50 kg, suitable for most pets.

[0079] After the tailgate opens and the foot pedal extends, the vehicle continuously monitors the pet's entry status. It uses wireless identification signals and images from surround-view cameras to track the pet's location. When a sudden change in the wireless identification signal strength is detected and received by the in-vehicle signal receiver module, and the pet is confirmed to have entered the vehicle via image information, the vehicle determines that the pet has successfully entered. After determining successful entry, the vehicle can delay for a first preset time period before sending a retraction command to the electric foot pedal control unit, controlling the electric foot pedal to retract from its preset working position to its retracted position. The entire retraction process should take no more than 2 seconds. During the retraction process, the vehicle can detect any obstacles in real time. If an obstacle is detected, the vehicle can immediately stop the retraction and perform a reverse reset, while simultaneously issuing a preset warning sound. After a second preset time period, the retraction command is sent again. If an obstacle is detected a preset number of times, the vehicle can keep the electric foot pedal extended and push an alarm message to the vehicle's infotainment screen.

[0080] While retracting the electric running board, the vehicle can retrieve the user-preset tailgate control mode. If the mode is "keep open," the tailgate will remain open at a preset height. If the mode is "delayed closing," the tailgate will slowly close after a third preset time delay following confirmation that the pet has boarded. Throughout the control process, the vehicle can display the real-time status of the tailgate and electric running board on the in-vehicle screen and emit corresponding alert sounds via the vehicle horn. In case of abnormalities such as authentication failure, obstacle detection by the electric running board, or abnormal wireless communication signal, the vehicle will display a text message on the in-vehicle screen and push the message to the user's linked mobile device.

[0081] If, during the entire control process, the pet fails to authenticate, the actual distance between the pet and the vehicle's tailgate exceeds the second preset distance and authentication is not completed, or the user issues a manual control command via the vehicle's infotainment system or remote key, the vehicle can activate an abnormal exit mechanism. If authentication fails, the vehicle will not execute the tailgate opening or pedal extension actions, and will exit the current control process after a 5-second delay. If the distance exceeds the limit or manual intervention occurs, the vehicle can immediately terminate the current control process, prioritize responding to the user's manual control command, and the system will return to standby mode.

[0082] Overall, the vehicle control method proposed in this application senses the distance between the pet and the vehicle's tailgate by detecting the wireless identification signal of the wireless communication device carried by the pet. Once the distance is within the acceptable range, it performs image acquisition of the tailgate area and pet identity verification. After successful verification, it automatically controls the tailgate to open to a preset height and the electric step to extend to a preset working position. It continuously monitors and accurately determines the pet's boarding status. After boarding, it controls the step to retract and manages the tailgate opening and closing according to the user-preset tailgate control mode. The entire process achieves full automation of vehicle control in the pet boarding scenario, eliminating the need for manual operation of the tailgate and electric step by the user. This effectively solves the problems of cumbersome operation and lack of convenience in existing vehicles in the pet boarding scenario. Even if the user's hands are carrying items or they are temporarily not near the vehicle, the pet can autonomously complete the boarding action, avoiding situations such as the pet getting lost or accidentally touching dangers caused by being left outside the vehicle. Meanwhile, this application employs a dual identification method combining wireless signal detection and image authentication, along with a binding mechanism between the wireless communication device and the vehicle. This effectively prevents false triggering caused by non-target pets, other animals, or irrelevant objects approaching, improving the accuracy of the control process. Combined with a delay design before the pedal retracts, real-time obstacle detection and reverse reset during retraction, and a prompt and retry mechanism after encountering an obstacle, a multi-dimensional safety protection system is constructed to comprehensively ensure the safety of pets boarding the vehicle and prevent pets from being injured by the pedal. Furthermore, this application allows users to customize various control parameters based on the pet's size and movement characteristics, and can also set the tailgate control mode according to their own usage needs. It also supports the input and recognition of information for multiple pets, adapting to different pet breeds, sizes, and personalized user needs, thus improving the method's adaptability and practicality. The method described in this application can be implemented based on the existing hardware of the vehicle without large-scale modification of the vehicle's hardware structure. It only requires optimization of software logic and the addition of a dedicated wireless communication device for pets. The research and development and implementation costs are low, the compatibility is strong, and it is easy to mass-produce and promote on various vehicle models. At the same time, it enriches the intelligent application scenarios of the vehicle, extending the intelligent control of the vehicle from the traditional human scenario to the pet scenario, forming a differentiated product competitive advantage, meeting the growing demand for pet travel, and enhancing the market appeal of the vehicle.

[0083] The following describes an embodiment of the apparatus described in this application, which can be used to execute the vehicle control method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the vehicle control method described above.

[0084] See Figure 2 The diagram shows a block diagram of a vehicle control device according to an embodiment of this application.

[0085] like Figure 2 As shown, the vehicle control device 200 according to an embodiment of this application includes: a determination unit 201, a verification unit 202, a first control unit 203, and a second control unit 204.

[0086] The system includes a determining unit 201, which, in response to detecting a wireless identification signal sent by a wireless communication device carried by the pet, determines the actual distance between the pet and the vehicle's tailgate based on the wireless identification signal; a verification unit 202, which, when the actual distance is less than or equal to a first preset distance, collects image information of the vehicle's tailgate area and performs pet authentication on the image information; a first control unit 203, which, if the pet authentication is successful, controls the vehicle's tailgate to open to a preset height and controls the vehicle's electric step to extend to a preset working position, and continuously monitors the pet's boarding status; and a second control unit 204, which, when it detects that the pet has finished boarding, controls the electric step to retract and controls the opening and closing status of the vehicle's tailgate according to a preset tailgate control mode.

[0087] In some embodiments of this application, based on the foregoing scheme, the determining unit 201 is configured to: extract the signal strength parameters of the wireless identification signal; and determine the actual distance between the pet and the vehicle tailgate based on the preset correspondence between signal strength and distance, combined with the signal strength parameters.

[0088] In some embodiments of this application, based on the aforementioned scheme, the verification unit 202 is configured to: retrieve pre-stored pet identity feature information, the pet identity feature information including at least one of pet outline, fur color, markings, and preset markings; perform feature matching between the pet features in the image information and the pet identity feature information, and calculate the feature matching degree; if the feature matching degree is greater than or equal to a preset matching degree threshold, then determine that the pet identity verification is successful.

[0089] In some embodiments of this application, based on the foregoing scheme, the device further includes: a learning unit, configured to receive in advance a command to input pet identity information, acquire pet images and feature annotation information uploaded by the user; learn the pet images and feature annotation information based on a machine learning model, and generate and store the pet identity feature information.

[0090] In some embodiments of this application, based on the aforementioned scheme, the first control unit 203 is configured to: monitor the pet's position status through the wireless identification signal and the image information of the vehicle tailgate area; when a sudden change in the signal strength of the wireless identification signal is detected and the in-vehicle signal receiving module receives the wireless identification signal, and the image information confirms that the pet has entered the vehicle, it is determined that the pet has boarded the vehicle.

[0091] In some embodiments of this application, based on the aforementioned scheme, the second control unit 204 is configured to: after determining that the pet has finished getting into the vehicle, send a retraction command to the electric pedal control unit after a first preset time delay; control the electric pedal to retract from the preset working position to the storage position; during the retraction process of the electric pedal, detect in real time whether there is an obstacle; if an obstacle is detected, control the electric pedal to stop the retraction action and perform a reverse reset action.

[0092] In some embodiments of this application, based on the foregoing scheme, the device further includes: a third control unit, configured to, after controlling the electric pedal to stop retracting and performing a reverse reset, control the vehicle to emit a preset prompt sound, and simultaneously send a retraction command again after a second preset delay; if an obstacle is detected a preset number of times consecutively, control the electric pedal to remain extended and push alarm information to the vehicle's human-machine interface.

[0093] In some embodiments of this application, based on the foregoing scheme, the second control unit 204 is configured to: acquire a tailgate control mode preset by the user, the tailgate control mode including a keep-open mode and a delayed-closing mode; if the tailgate control mode is a keep-open mode, control the vehicle tailgate to remain open at the preset height; if the tailgate control mode is a delayed-closing mode, control the vehicle tailgate to close after a third preset time delay after determining that the pet has finished getting into the vehicle.

[0094] Based on the same inventive concept, embodiments of this application provide a computer program product, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor so as to cause a computer device having the processor to perform the operations performed by the vehicle control method as described above.

[0095] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to implement the operations performed by the vehicle control method described above.

[0096] Based on the same inventive concept, this application also provides a vehicle, see reference. Figure 3 The diagram shows a structural schematic of a vehicle according to an embodiment of this application. The vehicle includes one or more memories 304, one or more processors 302, and at least one computer program (computer program instruction) stored in the memory 304 and executable on the processor 302. When the processor 302 executes the computer program, it implements the vehicle control method as described above.

[0097] Among them, Figure 3 In this document, a bus architecture (represented by bus 300) is used. Bus 300 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 can be used to store data used by processor 302 during operation.

[0098] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. When implemented in software executed by a processor, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0100] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0101] When the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0102] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: In response to detecting a wireless identification signal sent by a wireless communication device carried by a pet, the actual distance between the pet and the tailgate of the vehicle is determined based on the wireless identification signal; When the actual distance is less than or equal to the first preset distance, image information of the vehicle's tailgate area is collected, and pet identity verification is performed on the image information; If the pet's identity is verified, the system controls the vehicle's tailgate to open to a preset height and the vehicle's electric step to extend to a preset working position, while continuously monitoring the pet's boarding status. When the pet is detected to have boarded the vehicle, the electric pedal is retracted, and the opening and closing status of the vehicle's tailgate is controlled according to the preset tailgate control mode.

2. The method according to claim 1, characterized in that, Determining the actual distance between the pet and the vehicle's tailgate based on the wireless identification signal includes: Extract the signal strength parameters of the wireless identification signal; Based on the preset correspondence between signal strength and distance, the actual distance between the pet and the vehicle's tailgate is determined using the signal strength parameters.

3. The method according to claim 1, characterized in that, The process of verifying the pet identity for the image information includes: Retrieve pre-stored pet identity feature information, which includes at least one of pet outline, coat color, markings, and preset tags; The pet features in the image information are matched with the pet identity features, and the feature matching degree is calculated. If the feature matching degree is greater than or equal to the preset matching degree threshold, the pet identity verification is deemed successful.

4. The method according to claim 3, characterized in that, The method further includes: It receives instructions in advance to input pet identity information and obtains pet images and feature annotation information uploaded by users; The pet's identity information is generated and stored by learning from the pet image and feature annotation information using a machine learning model.

5. The method according to claim 1, characterized in that, The monitoring of the pet's boarding status includes: The location and status of the pet are monitored using the wireless identification signal and image information from the vehicle's tailgate area. When a sudden change in the signal strength of the wireless identification signal is detected and the in-vehicle signal receiving module receives the wireless identification signal, and the pet is confirmed to have entered the vehicle through the image information, it is determined that the pet has successfully boarded the vehicle.

6. The method according to claim 1, characterized in that, The control of retracting the electric pedal includes: After determining that the pet has successfully boarded the vehicle, a retraction command is sent to the electric pedal control unit after a first preset delay. The electric pedal is controlled to retract from the preset working position to the storage position. During the retraction process of the electric pedal, the presence of obstacles is detected in real time. If an obstacle is detected, the electric pedal is controlled to stop the retraction action and perform a reverse reset action.

7. The method according to claim 6, characterized in that, After controlling the electric pedal to stop its retraction and performing a reverse reset, the method further includes: Control the vehicle to emit a preset prompt sound, and then send the retraction command again after a second preset delay; If an obstacle is detected a preset number of times, the electric pedal is kept extended, and an alarm message is pushed to the vehicle's human-machine interface.

8. The method according to claim 1, characterized in that, The step of controlling the opening and closing state of the vehicle's tailgate according to a preset tailgate control mode includes: The system obtains the user-preset tailgate control mode, which includes a keep-open mode and a delayed-closing mode. If the tailgate control mode is the keep-open mode, then control the vehicle tailgate to remain open at the preset height. If the tailgate control mode is a delayed closing mode, then after determining that the pet has finished getting into the vehicle, the tailgate will be controlled to close after a third preset time delay.

9. A vehicle control device, characterized in that, The device includes: A determining unit is configured to, in response to detecting a wireless identification signal transmitted by a wireless communication device carried by a pet, determine the actual distance between the pet and the tailgate of the vehicle based on the wireless identification signal; The verification unit is used to collect image information of the vehicle tailgate area when the actual distance is less than or equal to a first preset distance, and to verify the pet identity of the image information. The first control unit is used to control the vehicle tailgate to open to a preset height and control the vehicle electric step to extend to a preset working position if the pet's identity is verified, and to continuously monitor the pet's boarding status. The second control unit is used to retract the electric pedal when it is detected that the pet has finished getting into the vehicle, and to control the opening and closing state of the vehicle tailgate according to the preset tailgate control mode.

10. A vehicle, characterized in that, The vehicle includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the method as described in any one of claims 1 to 8.

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