Vehicle control system and vehicle

Abstract

The utility model discloses a vehicle control system and a vehicle. The vehicle control system comprises a vehicle machine; the automobile power amplifier assembly is connected with the automobile machine and used for receiving the initial audio signal sent by the automobile machine and amplifying the initial audio signal to obtain a first ultrasonic signal; the loudspeaker is arranged outside the vehicle, connected with the vehicle power amplifier assembly and used for receiving and outputting the first ultrasonic signal, collecting a second ultrasonic signal obtained after the first ultrasonic signal is reflected by the target user and transmitting the second ultrasonic signal to the vehicle machine through the vehicle power amplifier assembly; and the vehicle machine is used for acquiring a user feature image of the target user based on the second ultrasonic signal, and controlling a vehicle door to be opened and controlling a seat to move when determining that the user feature image is matched with a preset user feature image. According to the vehicle-mounted intelligent system, user feature recognition is achieved through ultrasonic waves, the vehicle door and driver welcome function can be started without depending on Bluetooth equipment and light conditions, and therefore the application scene of the vehicle-mounted intelligent system is expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle control system and a vehicle. BACKGROUND

[0002] With the development of automobile intelligence, users have higher and higher requirements for vehicles in the process of using vehicles. Among them, the automobile keyless entry system and the automobile intelligent welcome system, as configurations that can improve the owner's perceptual experience, are gradually becoming popular.

[0003] In related technologies, a mobile phone Bluetooth and a vehicle Bluetooth are usually connected by pairing, and after successful pairing, a near-distance vehicle door unlocking is realized through an automobile keyless entry system, and then an intelligent welcome system is started to make a welcome response to the user.

[0004] However, the related technology relies on a mobile phone Bluetooth to start, and when the mobile phone is lost or turned off, the automobile keyless entry system and the automobile intelligent welcome system cannot be started, which limits the application scenarios of the above-mentioned vehicle intelligent systems, thereby affecting the user's experience. UTILITY MODEL CONTENT

[0005] The technical problem solved by the present application is to provide a vehicle control system and a vehicle, which can solve the problem of limited application scenarios in related technologies.

[0006] To solve the above technical problems, the first technical solution adopted by the present application is to provide a vehicle control system, comprising: a car machine; an automobile power amplifier assembly connected with the car machine, configured to receive an initial audio signal sent by the car machine, amplify the initial audio signal, and obtain a first ultrasonic signal; a loudspeaker connected with the automobile power amplifier assembly, configured to receive and output the first ultrasonic signal, collect a second ultrasonic signal reflected by a target user after the first ultrasonic signal, and transmit the second ultrasonic signal to the automobile power amplifier assembly, so that the automobile power amplifier assembly transmits the second ultrasonic signal to the car machine; wherein the car machine is configured to obtain a user feature image of the target user based on the second ultrasonic signal, and generate corresponding vehicle control parameters when it is determined that the user feature image matches a preset user feature image.

[0007] Among them, the number of loudspeakers is at least two; wherein each loudspeaker is configured to receive and output a first ultrasonic signal of different frequency.

[0008] Among them, the number of loudspeakers is four, and the plurality of loudspeakers are distributed around the vehicle.

[0009] Among them, the automobile power amplifier assembly comprises a receiving circuit, a processing circuit and an audio amplification circuit; the receiving circuit is connected with the car machine, the processing circuit is arranged between the receiving circuit and the audio amplification circuit, and the audio amplification circuit is connected with the loudspeaker.

[0010] The receiving circuit is a slave of a vehicle audio bus and is in communication connection with the vehicle machine through the vehicle audio bus.

[0011] The sampling frequency of the receiving circuit, the processing circuit and the audio amplification circuit is greater than or equal to 40 kHz.

[0012] The vehicle control system comprises a seat adjustment assembly; the seat adjustment assembly is connected with the vehicle machine and is used for receiving a seat control instruction generated by the vehicle machine based on the second ultrasonic signal, so as to control the seat to perform a corresponding operation based on the seat control instruction.

[0013] The vehicle control system comprises a seat adjustment assembly; the seat adjustment assembly is connected with the vehicle machine and is used for receiving a seat control instruction generated by the vehicle machine based on the second ultrasonic signal, so as to control the seat to perform a corresponding operation based on the seat control instruction.

[0014] The vehicle machine comprises a classifier and a memory.

[0015] To solve the above technical problems, the second technical solution adopted by the present application is to provide a vehicle comprising the vehicle control system described above.

[0016] The beneficial effects of the present application are: different from the prior art, the present application provides a vehicle control system and a vehicle, which amplifies the initial audio signal sent by the vehicle machine through the automobile power amplifier assembly, outputs the amplified first ultrasonic signal through the loudspeaker, collects the second ultrasonic signal reflected by the target user through the loudspeaker, and transmits the second ultrasonic signal to the vehicle machine through the automobile power amplifier assembly, so that the vehicle machine can obtain the user feature image of the target user based on the second ultrasonic signal, and generate corresponding vehicle control parameters when it is determined that the user feature image matches the preset user feature image, thereby realizing the keyless entry function and the driver welcome function without Bluetooth connection. The vehicle control system of the present application realizes user feature recognition through ultrasonic waves, which can turn on the door and the driver welcome function without relying on Bluetooth devices and light conditions, thereby expanding the application scenarios of the vehicle intelligent system and improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is the principle diagram of the first embodiment of the vehicle control system of the present application;

[0019] Figure 2 is Figure 1 a signal flow diagram of a vehicle control system in the embodiment;

[0020] Figure 3 is a principle block diagram of a second embodiment of the vehicle control system of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0022] The terms used in the embodiments of the present application are merely for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two, but does not exclude the case of including at least one.

[0023] It should be understood that the term "and / or" used herein is merely to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0024] It should be understood that the terms "include", "contain" or any other variant used herein are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0025] The current high-end vehicles are equipped with a car keyless entry system and a seat welcome function. The car keyless entry system can realize the unlocking of the vehicle door in close proximity without the physical key. After the seat welcome function is turned on, if the vehicle is turned off, the driver's seat will automatically move backward by a preset distance to provide more space for the driver to get in and out of the vehicle. When the driver gets in and starts the vehicle, the driver's seat will automatically move forward to the optimal position adjusted by the user last time, so as to facilitate the user to drive.

[0026] In the related art, the mobile phone Bluetooth is usually matched and connected with the Bluetooth of the vehicle-mounted device, and after the matching is successful, the close-range vehicle door unlocking is realized through the automobile keyless entry system, and then the intelligent welcome system is started to make the welcome response to the user.

[0027] However, the related art relies on the mobile phone Bluetooth to start, and when the mobile phone is lost or powered off, the automobile keyless entry system and the automobile intelligent welcome system cannot be started, which limits the application scenarios of the above-mentioned vehicle-mounted intelligent system, thereby affecting the user experience.

[0028] Based on the above situation, the vehicle control system and the vehicle provided in the present application can solve the problem of limited application scenarios in the related art.

[0029] The vehicle control system provided in the present application comprises a car machine, an automobile power amplifier assembly and a loudspeaker. The automobile power amplifier assembly is connected with the car machine, used for receiving an initial audio signal sent by the car machine, amplifying the initial audio signal to obtain a first ultrasonic signal; the loudspeaker is connected with the automobile power amplifier assembly, used for receiving and outputting the first ultrasonic signal, collecting a second ultrasonic signal reflected by a target user after the first ultrasonic signal, and transmitting the second ultrasonic signal to the automobile power amplifier assembly, so that the automobile power amplifier assembly transmits the second ultrasonic signal to the car machine; wherein the car machine is used for acquiring a user feature image of the target user based on the second ultrasonic signal, and generating a corresponding vehicle control parameter when it is determined that the user feature image matches a preset user feature image. By amplifying the initial audio signal sent by the car machine through the automobile power amplifier assembly, outputting the amplified first ultrasonic signal through the loudspeaker, collecting the second ultrasonic signal reflected by the target user after the first ultrasonic signal through the loudspeaker, and transmitting the second ultrasonic signal to the car machine through the automobile power amplifier assembly, the car machine can acquire the user feature image of the target user based on the second ultrasonic signal, and control the vehicle door to open and the seat to move when it is determined that the user feature image matches the preset user feature image, thereby realizing the keyless entry function and the seat welcome function without Bluetooth connection. The vehicle control system of the present application realizes user feature recognition through ultrasonic waves, which can start the vehicle door and the seat welcome function without relying on the Bluetooth device and the light condition, thereby expanding the application scenarios of the vehicle-mounted intelligent system, and improving the user experience.

[0030] To illustrate the specific structure of the vehicle control system of the present application, please refer to Figure 1 and Figure 2 , Figure 1 is the principle diagram of the first embodiment of the vehicle control system of the present application, Figure 2 is Figure 1 the signal flow diagram of the vehicle control system in

[0031] In this embodiment, the vehicle control system 100 includes the car machine 10, the automobile power amplifier assembly 20, and the loudspeaker 30. The automobile power amplifier assembly 20 is connected with the car machine 10, used to receive the initial audio signal sent by the car machine 10, and amplify the initial audio signal to obtain a first ultrasonic signal. The loudspeaker 30 is connected with the automobile power amplifier assembly 20, used to receive and output the first ultrasonic signal, and collect a second ultrasonic signal reflected by the target user, and transmit the second ultrasonic signal to the automobile power amplifier assembly 20, so that the automobile power amplifier assembly 20 transmits the second ultrasonic signal to the car machine 10. Wherein, the car machine 10 is used to obtain the user feature image of the target user based on the second ultrasonic signal, and generate the corresponding vehicle control parameter when it is determined that the user feature image matches the preset user feature image.

[0032] Wherein, the car machine 10 refers to an intelligent system installed in the vehicle interior, which integrates information processing, entertainment functions and vehicle control interaction. Its hardware components generally include touch liquid crystal, processor chip and sensor / interface.

[0033] Wherein, the vehicle control parameter refers to the vehicle control instruction. In some embodiments, the vehicle control instruction includes a door control instruction and a seat control instruction.

[0034] Wherein, the automobile power amplifier assembly 20 is an automobile audio power amplifier component, which is a device used to enhance the power of the automobile audio system. Its main function is to amplify the audio signal (electrical signal) from the car machine 10 to drive the loudspeaker 30 to emit louder and clearer sound.

[0035] Wherein, the loudspeaker 30 is a transducer that converts electrical signals into acoustic signals.

[0036] In this embodiment, the loudspeaker 30 is multiplexed as an audio signal receiver, which is used to collect the acoustic signal and convert it into an electrical signal when it feels the acoustic vibration, and then transmit the electrical signal to the automobile power amplifier assembly 20.

[0037] In some embodiments, the initial audio signal is an ultrasonic signal (high-frequency signal with a frequency greater than 20KHz). In other embodiments, the frequency range of the initial audio signal is 20Hz-20kHz, which is consistent with the audible range of human ears.

[0038] According to the acoustic theory, the higher the frequency of the acoustic wave, the better the directivity in the propagation process. High-frequency signals (ultrasonic signals) with a frequency greater than 20KHz have good directivity in the transmission process, and are not affected by light conditions.

[0039] It can be understood that, by amplifying the initial audio signal through the automobile power amplifier assembly 20, the first ultrasonic signal with good directivity can be output through the loudspeaker 30, and the second ultrasonic signal with good directivity can also be collected through the loudspeaker 30, thereby facilitating the improvement of the accuracy of signal detection.

[0040] Further, since the loudspeaker 30 is dedicated to signal identification and does not play audio that can be perceived by human ears, the loudspeaker 30 has low requirements on sound quality, and multiplexing the loudspeaker 30 as an audio signal receiver can reduce the setting cost of the sound sensor, thereby reducing the preparation cost of the vehicle control system 100.

[0041] In this embodiment, the user feature image refers to the facial feature information of the target user, and the preset user feature image refers to the pre-recorded facial feature information of the car owner.

[0042] Specifically, after the car machine 10 receives the second ultrasonic signal, a three-dimensional image of the face is constructed based on the difference in time length of reflection of the second ultrasonic signal at each part of the face of the target user, and then the three-dimensional image is analyzed according to the recognition algorithm to obtain the corresponding facial feature information. Further, the facial feature information is compared with the pre-recorded facial feature information of the car owner to realize face recognition, and a corresponding vehicle control instruction is generated based on the recognition result. Then, the vehicle control instruction is sent to the corresponding control component to make the control component execute the corresponding operation based on the control instruction.

[0043] In some embodiments, the vehicle control system 100 includes a door control component 40. The door control component 40 is connected to the car machine 10 and is configured to receive a door control instruction generated by the car machine 10 based on the second ultrasonic signal, so as to control the door to execute a corresponding operation based on the door control instruction.

[0044] In some specific embodiments, in response to the user feature image of the target user matching the preset user feature image, the car machine 10 generates a first door control instruction to open the door, and the door control component 40 controls the door to open after receiving the first door control instruction sent by the car machine 10.

[0045] In some specific embodiments, in response to the user feature image of the target user not matching the preset user feature image, the car machine 10 generates a second door control instruction to keep the door locked, and the door control component 40 controls the door to keep locked after receiving the second door control instruction sent by the car machine 10.

[0046] In some embodiments, the vehicle control system 100 includes a seat adjustment component 50. The seat adjustment component 50 is connected to the car machine 10 and is configured to receive a seat control instruction generated by the car machine 10 based on the second ultrasonic signal, so as to control the seat to execute a corresponding operation based on the seat control instruction.

[0047] In some embodiments, in response to the user feature image of the target user matching the preset user feature image, the car machine 10 generates a first seat control instruction for adjusting the seat, and after the seat adjusting assembly 50 receives the first seat control instruction sent by the car machine 10, the seat is controlled to move.

[0048] In some other embodiments, in response to the user feature image of the target user not matching the preset user feature image, the car machine 10 generates a second seat control instruction for keeping the off state, and after the seat adjusting assembly 50 receives the second seat control instruction sent by the car machine 10, the seat is controlled to keep locked to maintain the off state.

[0049] In some embodiments, the preset user feature image is collected by ultrasonic technology.

[0050] In some embodiments, the car machine 10 includes a memory (not shown in the figure), and the preset user feature image is stored in the memory.

[0051] In some embodiments, the car machine 10 includes a classifier (not shown in the figure), and the classifier is integrated with a deep learning algorithm for classifying feature information of the three-dimensional image generated based on the second ultrasonic signal.

[0052] In some embodiments, the deep learning algorithm can be a DNN (Deep Neural Network), an LSTM (Long Short-Term Memory), a GAN (Generative Adversarial Network), or a GNN (Graph Neural Network).

[0053] In this embodiment, the working process of the vehicle control system 100 for user feature recognition based on ultrasonic waves is as follows:

[0054] The car machine 10 continuously sends the initial audio signal in the off state, and the initial audio signal is amplified by the automobile power amplifier assembly 20 to obtain the first ultrasonic signal, and the first ultrasonic signal is output through the loudspeaker 30. The first ultrasonic signal is reflected after contacting the target user close to the vehicle, the second ultrasonic signal reflected by the target user is collected through the loudspeaker 30, and the second ultrasonic signal is transmitted to the automobile power amplifier assembly 20 to send the second ultrasonic signal to the car machine 10 through the automobile power amplifier assembly 20. The car machine 10 preprocesses based on the second ultrasonic signal, and constructs a three-dimensional image of the face based on the preprocessed signal, and then extracts the three-dimensional image to obtain the corresponding user feature image. Further, the extracted user feature image is input into the classifier, and the user feature image of the target user is compared with the preset user feature image pre-recorded in the memory through the classifier. In response to the user feature image of the target user matching the preset user feature image, the car door is opened and the seat is moved; in response to the user feature image of the target user not matching the preset user feature image, the vehicle is kept in the off state.

[0055] It can be understood that the initial audio signal sent by the car machine 10 is amplified by the automobile power amplifier assembly 20, and the amplified first ultrasonic signal is output through the loudspeaker 30, and the second ultrasonic signal reflected by the target user is collected through the loudspeaker 30, and the second ultrasonic signal is transmitted to the car machine 10 through the automobile power amplifier assembly 20, which can enable the car machine 10 to obtain the user feature image of the target user based on the second ultrasonic signal, and when it is determined that the user feature image matches the preset user feature image, the corresponding vehicle control parameter is generated, thereby realizing the keyless entry function and the seat greeting function without Bluetooth connection. The vehicle control system 100 of the present embodiment realizes user feature recognition through ultrasonic waves, which can open the car door and the seat greeting function without relying on Bluetooth devices and light conditions, thereby expanding the application scenario of the vehicle intelligent system and improving the user experience.

[0056] Please refer to Figure 3 , Figure 3 is the principle diagram of the second embodiment of the vehicle control system of the present application.

[0057] In this embodiment, the vehicle control system 100 includes the car machine 10, the automobile power amplifier assembly 20, and the loudspeaker 30. The automobile power amplifier assembly 20 is connected with the car machine 10, used to receive the initial audio signal sent by the car machine 10, and amplify the initial audio signal to obtain the first ultrasonic signal. The loudspeaker 30 is connected with the automobile power amplifier assembly 20, used to receive and output the first ultrasonic signal, and collect the second ultrasonic signal reflected by the target user, and transmit the second ultrasonic signal to the automobile power amplifier assembly 20, so that the automobile power amplifier assembly 20 transmits the second ultrasonic signal to the car machine 10. Wherein, the car machine 10 is used to obtain the user feature image of the target user based on the second ultrasonic signal, and generate the corresponding vehicle control parameter when it is determined that the user feature image matches the preset user feature image.

[0058] The following only describes the parts different from the first embodiment.

[0059] In this embodiment, the automobile power amplifier assembly 20 includes a receiving circuit 21, a processing circuit 22, and an audio amplification circuit 23. The receiving circuit 21 is connected with the car machine 10, the processing circuit 22 is arranged between the receiving circuit 21 and the audio amplification circuit 23, and the audio amplification circuit 23 is connected with the loudspeaker 30.

[0060] In some embodiments, the processing circuit 22 is a digital signal processing (DSP) chip. In other embodiments, the processing circuit 22 can also be other chips.

[0061] Specifically, after the receiving circuit 21 receives the initial audio signal sent by the car machine 10, the initial audio signal is converted into a time-division multiplexing (TDM) format, and then the audio signal after format conversion is sent to the processing circuit 22. The processing circuit 22 filters and distributes the audio signal after format conversion, and sends the processed audio signal to the audio amplification circuit 23. The audio amplification circuit 23 amplifies the processed audio signal to obtain the first ultrasonic signal, and transmits the first ultrasonic signal to the loudspeaker 30 for high-frequency output through the loudspeaker 30.

[0062] In some embodiments, the receiving circuit 21 is an automotive audio bus (A2B) slave, which is communicatively connected with the car machine 10 through the automotive audio bus to receive the initial audio signal.

[0063] It can be understood that the transmission of the audio signal through the automotive audio bus can not only improve the accuracy of the transmission of the audio signal, but also save the weight and cost of the automobile audio harness.

[0064] In some embodiments, the sampling frequency of the receiving circuit 21, the processing circuit 22 and the audio amplification circuit 23 is greater than or equal to 40 kHz.

[0065] When the frequency range of the initial audio signal is 20 Hz-20 kHz, by making the sampling frequency of the receiving circuit 21, the processing circuit 22 and the audio amplification circuit 23 greater than or equal to 40 kHz, the amplified audio signal can be an ultrasonic signal, the first ultrasonic signal can be undistorted, the working frequency of the first ultrasonic signal is smooth and the frequency response curve is stable, thereby improving the multiplexing stability of the ultrasonic power amplifier technology in the driver identification and intelligent greeting, and further reducing the manufacturing cost of the vehicle control system 100.

[0066] In the embodiment, the loudspeaker 30 is arranged outside the vehicle.

[0067] In the embodiment, the number of loudspeakers 30 is at least two, and each loudspeaker 30 is configured to receive and output a first ultrasonic signal of different frequency.

[0068] It can be understood that, by the time difference of the sound wave transmission and reception of the loudspeakers 30 of different frequencies, a more accurate user feature image can be constructed based on the multiple second ultrasonic signals.

[0069] In other embodiments, the loudspeakers 30 can also be configured to receive the first ultrasonic signals of the same frequency, which is not limited in the present application.

[0070] In some embodiments, the number of loudspeakers 30 is four, and the loudspeakers 30 are distributed around the vehicle.

[0071] It can be understood that, by arranging the loudspeakers 30 around the vehicle, the target user close to the vehicle can be detected in time in each direction, thereby improving the sensitivity of the vehicle control system 100.

[0072] Correspondingly, the present application provides a vehicle comprising the vehicle control system.

[0073] Different from the related art, the initial audio signal sent by the vehicle machine is amplified by the automobile power amplifier assembly, the first ultrasonic signal after amplification is output by the loudspeaker, the second ultrasonic signal reflected by the target user is collected by the loudspeaker, and the second ultrasonic signal is transmitted to the vehicle machine by the automobile power amplifier assembly, so that the vehicle machine can obtain the user feature image of the target user based on the second ultrasonic signal, and when it is determined that the user feature image matches the preset user feature image, the corresponding vehicle control parameter is generated, thereby realizing the keyless entry function and the seat greeting function without Bluetooth connection. The vehicle control system of the application realizes user feature recognition through ultrasonic waves, which can open the door and the seat greeting function without relying on Bluetooth devices and light conditions, thereby expanding the application scenario of the vehicle intelligent system and improving the user experience.

[0074] The above is only an embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the application.

Claims

1. A vehicle control system, characterized in that, a car machine; a car amplifier assembly connected with the car machine, configured to receive an initial audio signal sent by the car machine, and amplify the initial audio signal to obtain a first ultrasonic signal; a loudspeaker connected with the car amplifier assembly, configured to receive and output the first ultrasonic signal, and collect a second ultrasonic signal reflected by a target user after the first ultrasonic signal, and transmit the second ultrasonic signal to the car amplifier assembly, so that the car amplifier assembly transmits the second ultrasonic signal to the car machine; wherein the car machine is configured to obtain a user feature image of the target user based on the second ultrasonic signal, and generate corresponding vehicle control parameters when it is determined that the user feature image matches a preset user feature image.

2. The vehicle control system according to claim 1, characterized in that, the number of loudspeakers is at least two; wherein each loudspeaker is configured to receive and output the first ultrasonic signal with different frequencies.

3. The vehicle control system according to claim 2, characterized in that, the number of loudspeakers is four, and the loudspeakers are distributed around the vehicle.

4. The vehicle control system according to claim 1, characterized in that, the car amplifier assembly comprises a receiving circuit, a processing circuit and an audio amplification circuit; the receiving circuit is connected with the car machine, the processing circuit is arranged between the receiving circuit and the audio amplification circuit, and the audio amplification circuit is connected with the loudspeaker.

5. The vehicle control system according to claim 4, characterized in that, the receiving circuit is an audio bus slave of the vehicle, and is in communication connection with the car machine through the audio bus of the vehicle.

6. The vehicle control system according to claim 4 or 5, characterized in that, the sampling frequency of the receiving circuit, the processing circuit and the audio amplification circuit is greater than or equal to 40 kHz.

7. The vehicle control system according to claim 1, characterized in that, the vehicle control system comprises a door control assembly; the door control assembly is connected with the car machine, configured to receive a door control instruction generated by the car machine based on the second ultrasonic signal, and control the door to perform corresponding operations based on the door control instruction.

8. The vehicle control system according to claim 1, characterized in that, the vehicle control system comprises a seat adjustment assembly; the seat adjustment assembly is connected with the car machine, configured to receive a seat control instruction generated by the car machine based on the second ultrasonic signal, and control the seat to perform corresponding operations based on the seat control instruction.

9. The vehicle control system according to claim 1, characterized in that, the car machine comprises a classifier and a memory.

10. A vehicle characterized by comprising: The vehicle control system according to any one of claims 1-9.

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