CN106296932A - The control method of vehicle, control device and vehicle - Google Patents
The control method of vehicle, control device and vehicle Download PDFInfo
- Publication number
- CN106296932A CN106296932A CN201610704065.3A CN201610704065A CN106296932A CN 106296932 A CN106296932 A CN 106296932A CN 201610704065 A CN201610704065 A CN 201610704065A CN 106296932 A CN106296932 A CN 106296932A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- image
- user
- face
- use authority
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00563—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
Abstract
The embodiment of the invention discloses the control method of a kind of vehicle, control device and vehicle, belong to technical field of vehicle control.Described method includes: the face-image of collection vehicle external user；Determine whether described user has the use authority of described vehicle according to described face-image；If it is determined that described user has the use authority of described vehicle, then control the car door opening of described vehicle.Use the technical scheme of the embodiment of the present invention, can be by identifying that the face-image of user determines whether the car door of unlocking vehicle, it is achieved that the Based Intelligent Control to the car door opening of vehicle, it is favorably improved the experience of user.
Description
Technical field
The present embodiments relate to technical field of vehicle control, particularly relate to the control method of a kind of vehicle, control device
And vehicle.
Background technology
Along with the development of science and technology, vehicle has been popularized in the life of people, increasing family
Have vehicle, can arrive at quickly by driving vehicle, make daily life convenient.At present, vehicle
The intelligence degree of control technology is more and more higher, such as, and the power traction system in vehicle, body control system, information transmission
System and burglary-resisting system etc. all achieve intellectuality, make the driving vehicle that user is convenient, and ensure the safety of vehicle.
During realizing the present invention, inventor finds to have the disadvantage in that in prior art the vehicle of prior art
Mainly inserting a key into keyhole by user or use electric control key to open car door, i.e. the car door opening mode of vehicle is more
Single.
Summary of the invention
The purpose of the embodiment of the present invention is to provide the control method of a kind of vehicle, control device and vehicle, right to realize
The Based Intelligent Control of the car door opening of vehicle.
First aspect, a possible embodiment of the present invention provides the control method of a kind of vehicle, including: collecting vehicle
The face-image of external user；Determine whether described user has the use authority of described vehicle according to described face-image；
If it is determined that described user has the use authority of described vehicle, then control the car door opening of described vehicle.
Second aspect, a possible embodiment of the present invention provides the control device of a kind of vehicle and includes: face figure
As acquisition module, for the face-image of collection vehicle external user；Authority is used to determine module, for according to described face figure
As determining whether described user has the use authority of described vehicle；Door control module, if it is determined that described user has institute
State the use authority of vehicle, then control the car door opening of described vehicle.
The third aspect, a possible embodiment of the present invention provides a kind of vehicle, and described vehicle includes above-mentioned car
Control device.
The control method of the vehicle that at least one embodiment of the embodiment of the present invention provides, control device or vehicle are logical
Cross the face-image of collection vehicle external user, and carry out analyzing and processing the use authority determining whether user has vehicle,
User, there is the right to use of vehicle to control in limited time the car door of vehicle and automatically turn on, and then realize the intelligence of the car door opening to vehicle
Can control.
Accompanying drawing explanation
Fig. 1 is the flow chart of the control method of a kind of vehicle of the embodiment of the present invention one；
Fig. 2 is the flow chart of the control method of a kind of vehicle of the embodiment of the present invention two；
Fig. 3 is the structured flowchart controlling device of a kind of vehicle of the embodiment of the present invention three；
Fig. 4 is the structured flowchart controlling device of a kind of vehicle of the embodiment of the present invention four；
Fig. 5 is the structured flowchart controlling equipment of a kind of vehicle of the embodiment of the present invention five.
Detailed description of the invention
One of basic conception of the embodiment of the present invention is to provide the control method of a kind of vehicle, device and vehicle, by adopting
The face-image of collection outside vehicle user, utilizes image processing techniques to analyze the face-image of collection, and correspondingly determines use
Whether family has the use authority of vehicle, has the right to use of vehicle user and controls in limited time the car door of vehicle and automatically turn on, enters
And provide the user the intelligent control method of a kind of car door opening, and convenient and easy, it is favorably improved the experience of user.
(element that label mark identical in some accompanying drawings is identical) and embodiment, the tool to the present invention below in conjunction with the accompanying drawings
Body embodiment is described in further detail.Following example are used for illustrating the present invention, but are not limited to the scope of the present invention.
Embodiment one
Fig. 1 is the flow chart of the control method of a kind of vehicle of the embodiment of the present invention one, and the executive agent of the method is permissible
For the control system of vehicle, or the device with identical control function being integrated in this control system.The present embodiment is with car
Control system, as executive agent, performs the control method of this vehicle.
With reference to Fig. 1, in step S110, the face-image of collection vehicle external user.
In a kind of feasible implementation, vehicle arranges image collecting device, gather the face-image of user.Car
After door is locked, when outside vehicle user needs opening car door, by the face-image of image acquisition device user.Preferably
Ground, arranges image collecting device in vehicle window portion, such as, arranges image acquisition on the window frame of vehicle window or on the glass of vehicle window
Device.
Wherein, image collecting device can be photographic head, and this photographic head has the function of night vision camera, and according to built-in sense
The change of the light intensity of optical element detection vehicle place environment, controls unlatching and the pinning of night vision camera function, works as vehicle
When the light intensity of place environment is less than or equal to such as cloudy day or night during the light intensity threshold value preset, open night vision camera
Function allows to clearly gather the face-image of user.And, photographic head is preferably minisize pick-up head, is embedded in vehicle
In assembly, such as vehicle window frame etc., do not affect vehicle monnolithic case.
In step S120, determine whether user has the use authority of vehicle according to face-image.
In the present embodiment, after obtaining the face-image of the user gathered, by image processing techniques, this face is schemed
As being analyzed processing, determine whether user has the use authority of vehicle, such as face according to the result of image analysis processing
The user that image is corresponding is the pre-user first passing through certification or first passing through mandate in advance, it is determined that user has the right to use of vehicle
Limit.
In step S130, if it is determined that user has the use authority of vehicle, then control the car door opening of vehicle.
If through the face-image gathered being analyzed process, it is judged that user has the use authority of vehicle, then control
The car door of vehicle processed automatically turns on.So, in the case of key can being used need not user, for user's opening car door, from
And the problem avoiding user can not drive in time because of non-carrying keys to go on a journey occurs.Also, it is not necessary to user use key or
Carrying keys, convenient and easy, the experience of user can be effectively improved.
If through the face-image gathered being analyzed process, it is judged that user does not have the use authority of vehicle, then
Determining that this user is not car owner or the authorized user of vehicle, the car door controlling vehicle keeps pinning, to protect the safety of vehicle, anti-
Only vehicle is stolen.
The control method of the vehicle that embodiments of the invention provide, the face-image of collection vehicle external user, by figure
As treatment technology analyzes the face-image of collection, correspondingly determine whether user has the use authority of vehicle, user
The car door of the right to use control vehicle in limited time with vehicle automatically turns on, and then provides the user the intelligence control of a kind of car door opening
Mode processed, and convenient and easy.
Embodiment two
Fig. 2 is the flow chart of the control method of a kind of vehicle of the embodiment of the present invention two, and the method can be considered above-mentioned enforcement
A kind of detailed description of the invention of the control method of the vehicle of example one.
With reference to Fig. 2, in step S210, the face-image of collection vehicle external user.
In a kind of feasible implementation, when camera head gathers the face-image of user, filled by built-in sensing
Put the distance between current location and the vehicle window obtained residing for user, getting this distance no more than setpoint distance, and using
Family rests in the case of time of current location exceedes setting duration, the face-image of collection vehicle external user.Wherein, if
Set a distance range preferably from 20 centimetres to 50 centimetres；Set duration ranges preferably from 3 seconds to 6 seconds.
This is equivalent to arrange specified requirements in camera head, makes after required movement meets specified requirements user,
Camera head just carries out the collection to user's face image, to avoid the figure of camera head Real-time Collection vehicle periphery unrelated person
Picture, causes the waste of resource.
Alternatively, after having performed this step, show collecting on the vehicle window of the face-image vehicle of user,
Make user it is observed that the face-image of self.
In order to clearly illustrate user's face image on vehicle window, reflective mirror is set in the interlayer of the vehicle window of vehicle
Layer, and after vehicle stall, rise this illuminator surface layer.In the case of waiting vehicle local environment light good by day,
User easily clearly illustrates user's face image from glass for vehicle window, and in the not good enough situation of the vehicle local environment light such as night
Under, user is difficult to clearly illustrate user's face image from glass for vehicle window, it is preferable that when presetting the rise of illuminator surface layer
Between section, such as the time period of 7 in the at 9 in evening to morning next day, and other times section falls illuminator surface layer so that cannot pass through
This illuminator surface layer seen by vehicle, it is also possible at the body exterior settings button of vehicle, user can be grasped by the action preset
Make this button and rise or fall illuminator surface layer, such as, click this button and rise illuminator surface layer, double-click this button and fall instead
Light specular layer.
In step S220, face-image is analyzed, extracts the characteristics of image of face.
In the present embodiment, after collecting the face-image of user, image processing techniques is utilized face-image to be carried out point
Analysis, and extract the characteristics of image of face-image.Wherein, it is analyzed face-image processing and the image procossing skill of feature extraction
Art, is referred to correlation technique and realizes, do not repeat them here.
In step S230, the characteristics of image of the face by extracting is special with the image of the authorized user's face-image prestored
Levy and mate, determine whether user has the use authority of vehicle.
After extracting the characteristics of image of user's face image, by this parts of images feature and the authorized user face prestored
The characteristics of image of portion's image mates, that is, the face-image of user gathered and the face-image of authorized user carry out spy
Levy comparison.Wherein, authorized user includes that the car owner of vehicle, or the household of car owner, the face-image of authorized user and image are special
Levy and be the most pre-stored in the control system of vehicle.
If the characteristics of image extracted is all successful with the Image Feature Matching of authorized user's face-image, it is determined that this user is
The authorized user of vehicle, has the use authority of vehicle.If the characteristics of image extracted is special with the image of authorized user's face-image
Levy and fail all that the match is successful, it is determined that this user is the unauthorized user of vehicle, does not have the use authority of vehicle.
In step S240, if it is determined that user has the use authority of vehicle, then control the car door opening of vehicle.
If according to the aspect ratio pair that the face-image gathering user is carried out with the authorized user's face-image prestored, determining
User has the use authority of vehicle, then be user's opening car door, make user in the case of not using key, conveniently and efficiently
Open car door.
In step S250, if the number of times continuously determining the use authority that same user does not have vehicle exceedes setting threshold
Value, then alert.
If according to the aspect ratio pair that the face-image gathering user is carried out with the authorized user's face-image prestored, determining
User does not have use authority, then control car door and keep pinning.If continuous several times determines that user does not have the use authority of vehicle,
It is judged as unauthorized user attempt opening car door.Now, alert (such as, buzzing warning message or flashing light alarm letter
Breath), for warning unauthorized user to stop the operation of opening car door, reach to protect the purpose of vehicle safety.Preferably, can be pre-
Communication module is first set, if continuous several times determines that user does not have the use authority of vehicle, then sends to the phone number prestored
Alarming short message, this phone number can be the phone number of the household of car owner or car owner.
The control method of the vehicle that embodiments of the invention provide, on the basis of embodiment illustrated in fig. 1, illustrates further
Gather the concrete mode of the face-image of user, and the analysis and processing method to the face-image gathering user so that root
The mode that the car door of vehicle automatically turns on is controlled more intelligent according to the face-image gathering user；Add protection car simultaneously
The concrete grammar of safety, can effectively prevent vehicle stolen.
Embodiment three
Fig. 3 is the structured flowchart controlling device of a kind of vehicle of the embodiment of the present invention three, and this device can be used for performing
State the control method of the vehicle of embodiment one.
With reference to Fig. 3, the control device of this vehicle includes facial image acquisition module 310, uses authority to determine module 320 and
Door control module 330.
Wherein, facial image acquisition module 310 is for the face-image of collection vehicle external user；Authority is used to determine mould
According to face-image, block 320 is for determining whether user has the use authority of vehicle；If door control module 330 is for really
Determine user and there is the use authority of vehicle, then control the car door opening of vehicle.
The control device of the vehicle that embodiments of the invention provide, by the face-image of collection vehicle external user, profit
Analyze and process the face-image of collection by image processing techniques, correspondingly determine whether user has the right to use of vehicle
Limit, has the right to use of vehicle user and controls in limited time the car door of vehicle and automatically turn on, and then provides the user a kind of car door and open
The intelligent control method opened, and convenient and easy.
Embodiment four
Fig. 4 is the structured flowchart controlling device of a kind of vehicle of the embodiment of the present invention four, and this device can be considered above-mentioned reality
Execute a kind of specific implementation controlling device of the vehicle of example three.
With reference to Fig. 4, on the basis of Fig. 3 shown device, authority is used to determine that module 320 includes face-image analytic unit
321 and Image Feature Matching unit 322, face-image analytic unit 321, for being analyzed face-image, extracts face
Characteristics of image；Image Feature Matching unit 322 is for the characteristics of image of the face by being extracted by face-image analytic unit 321
Mate with the characteristics of image of the authorized user's face-image prestored, determine whether user has the use authority of vehicle.
Alternatively, facial image acquisition module 310 for obtaining the distance between user and vehicle window, if user and vehicle window it
Between distance be not more than setpoint distance, and user exceedes setting duration in current location residence time, then gather user's
Face-image.
Alternatively, this device also includes: illuminator surface layer (not shown) and illuminator surface layer control module 350, instead
Light specular layer is arranged in the interlayer of vehicle window；The outfan of illuminator surface layer control module 350 and the control end of illuminator surface layer
It is connected, for after vehicle stall, the interlayer of vehicle window rises illuminator surface layer.
Alternatively, this device also includes that warning message sends module 340, if do not had for continuously determining same user
The number of times of the use authority of vehicle exceedes setting threshold value, then alert.
The control device of the vehicle that embodiments of the invention provide, on the basis of embodiment illustrated in fig. 3, illustrates further
Gather the concrete mode of the face-image of user, and the analyzing and processing mode to the face-image gathering user so that root
Control, according to the face-image gathering user, the mode that the car door of vehicle automatically turns on more intelligent, user can be effectively improved
Experience.
Embodiment five
Fig. 5 is the structured flowchart of the control equipment 500 of a kind of vehicle of the embodiment of the present invention five, the specific embodiment of the invention
Implementing of this control equipment 500 is not limited.As it is shown in figure 5, this control equipment 500 can include processor
(processor) 502, communication interface (Communications Interface) 504, memorizer (memory) 506, Yi Jitong
Letter bus 508.
Wherein, processor 502, communication interface 504 and memorizer 506 complete mutual leading to by communication bus 508
Letter.
Communication interface 504 is between each electric component of vehicle, and vehicle and car networking background server or Fei Chelian
Network server, and with the communication of other car online vehicles.
Processor 502 is used for the program that performs 510, specifically can perform the correlation step in said method embodiment.
Specifically, program 510 can include that program code, described program code include computer-managed instruction.
Processor 502 is probably a central processor CPU, or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or it is configured to implement the one or more integrated electricity of the embodiment of the present invention
Road.
Memorizer 506 is used for program of depositing 510.Memorizer 506 may comprise high-speed RAM memorizer, it is also possible to also includes
Nonvolatile memory (non-volatile memory), for example, at least one disk memory.Program 510 specifically can be used
Following operation is performed in making processor 502:
The face-image of collection vehicle external user；Determine whether user has the right to use of vehicle according to face-image
Limit；If it is determined that user has the use authority of vehicle, then control the car door opening of vehicle.
In the optional embodiment of one, program 510 is additionally operable to carry out described face-image point so that processor 502
Analysis, extracts the characteristics of image of face；By the characteristics of image of face that will extract and the figure of the authorized user's face-image prestored
As feature is mated, determine whether described user has the use authority of described vehicle.
In the optional embodiment of one, program 510 be additionally operable to so that processor 502 obtain described user and vehicle window it
Between distance, if the distance between described user and vehicle window is not more than setpoint distance, and described user stops in current location
Time exceed setting duration, then obtain the face-image of outside vehicle user.
In the optional embodiment of one, program 510 is additionally operable to so that processor 502 is after described vehicle stall,
The interlayer of described vehicle window rises illuminator surface layer.
In the optional embodiment of one, if program 510 is additionally operable to so that processor 502 continuously determines same user
The number of times of the use authority without described vehicle exceedes setting threshold value, then alert.
Should be understood that the control equipment 500 provided according to embodiments of the present invention can realize each method in Fig. 1 to Fig. 2
Corresponding flow process, for sake of simplicity, do not repeat them here, the associated description in said method embodiment is also applied for the present embodiment.
In program 510, each step implements correspondence in the corresponding steps and module that may refer in above-described embodiment
Describe, be not repeated herein.Those skilled in the art is it can be understood that arrive, and for convenience and simplicity of description, above-mentioned retouches
The equipment stated and the specific works process of module, the corresponding process being referred in preceding method embodiment describes, at this no longer
Repeat.
The control equipment of the vehicle that embodiments of the invention provide, by the face-image of collection vehicle external user, root
Whether there is according to graphical analysis user the use authority of vehicle, and whether the car door correspondingly controlling vehicle is opened, it is achieved that be right
The Based Intelligent Control of car door opening.
Additionally, embodiments of the invention also provide for a kind of vehicle, this vehicle includes the control of the vehicle shown in Fig. 3 or Fig. 4
Device, or include the control equipment of the vehicle shown in Fig. 5.
It may be noted that according to the needs implemented, all parts/step described in the embodiment of the present invention can be split as more
Multi-part/step, it is possible to the part operation of two or more components/steps or components/steps is combined into new parts/step
Suddenly, to realize the purpose of the embodiment of the present invention.
Above-mentioned method according to embodiments of the present invention can realize in hardware, firmware, or is implemented as being storable in note
Software in recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optic disk) or computer code, or it is implemented through net
The original storage that network is downloaded is in remotely record medium or nonvolatile machine readable media and will be stored in local recording medium
In computer code, thus method described here can be stored in use general purpose computer, application specific processor or can compile
Such software processes on the record medium of journey or specialized hardware (such as ASIC or FPGA).It is appreciated that computer, process
Device, microprocessor controller or programmable hardware include to store or receive the storage assembly of software or computer code (such as,
RAM, ROM, flash memory etc.), when described software or computer code are by computer, processor or hardware access and execution, it is achieved
The control method of vehicle described here.Additionally, when general purpose computer accesses for the code of the control that realization is shown in which,
General purpose computer is converted to the special-purpose computer of the process being shown in which for execution by the execution of code.
Those of ordinary skill in the art are it is to be appreciated that combine the list of each example that the embodiments described herein describes
Unit and method step, it is possible to being implemented in combination in of electronic hardware or computer software and electronic hardware.These functions are actually
Perform with hardware or software mode, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel
Each specifically should being used for can be used different methods to realize described function, but this realization is it is not considered that exceed
The scope of the present invention.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, common about technical field
Technical staff, without departing from the spirit and scope of the present invention, it is also possible to make a variety of changes and modification, therefore own
The technical scheme of equivalent falls within scope of the invention, and the scope of patent protection of the present invention should be defined by the claims.
Claims (11)
1. a control method for vehicle, including:
The face-image of collection vehicle external user；
Determine whether described user has the use authority of described vehicle according to described face-image；
If it is determined that described user has the use authority of described vehicle, then control the car door opening of described vehicle.
According to described face-image, method the most according to claim 1, wherein, determines whether described user has described car
Use authority include:
Described face-image is analyzed, extracts the characteristics of image of face；
By the characteristics of image of the face extracted is mated with the characteristics of image of the authorized user's face-image prestored, determine
Whether described user has the use authority of described vehicle.
Method the most according to claim 1, wherein, the face-image of described collection vehicle external user includes:
Obtain the distance between described user and vehicle window；
If the distance between described user and vehicle window is not more than setpoint distance, and described user is in current location residence time
Exceed setting duration, the then face-image of collection vehicle external user.
Method the most according to claim 3, wherein, before the face-image of collection vehicle external user, described method
Also include:
After described vehicle stall, the interlayer of described vehicle window rises illuminator surface layer.
Method the most according to any one of claim 1 to 4, wherein, is determining described user according to described face-image
After whether having the use authority of described vehicle, described method also includes:
If the number of times continuously determining the use authority that same user does not have described vehicle exceedes setting threshold value, then send warning
Information.
6. a control device for vehicle, including:
Facial image acquisition module, for the face-image of collection vehicle external user；
Authority is used to determine module, for determining whether described user has the right to use of described vehicle according to described face-image
Limit；
Door control module, for if it is determined that described user has the use authority of described vehicle, then controls described vehicle
Car door opening.
Device the most according to claim 6, wherein, described use authority determines that module includes:
Face-image analytic unit, for being analyzed described face-image, extracts the characteristics of image of face；
Image Feature Matching unit, for the facial characteristics of image by described face-image analytic unit is extracted with prestore
The characteristics of image of authorized user's face-image mate, determine whether described user has the use authority of described vehicle.
Device the most according to claim 6, wherein, described facial image acquisition module is used for:
Obtain the distance between described user and vehicle window；
If the distance between described user and vehicle window is not more than setpoint distance, and described user is in current location residence time
Exceed setting duration, then gather the face-image of user.
Device the most according to claim 8, wherein, described device also includes: be arranged in the interlayer of described vehicle window is anti-
Light specular layer and illuminator surface layer control module, the outfan of described illuminator surface layer control module and described illuminator surface layer
Controlling end to be connected, described illuminator surface layer control module, for after described vehicle stall, rises in the interlayer of described vehicle window
Illuminator surface layer.
10. according to the device according to any one of claim 6 to 9, wherein, described device also includes:
Warning message sends module, if determining that module continuously determines same user and do not has described car for described use authority
The number of times of use authority exceed setting threshold value, then alert.
11. 1 kinds of vehicles, described vehicle includes the control device of vehicle as according to any one of claim 6 to 10.
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| CN201610704065.3A CN106296932A (en) | 2016-08-22 | 2016-08-22 | The control method of vehicle, control device and vehicle |
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| CN201610704065.3A CN106296932A (en) | 2016-08-22 | 2016-08-22 | The control method of vehicle, control device and vehicle |
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| CN107444341A (en) * | 2017-07-25 | 2017-12-08 | 北京新能源汽车股份有限公司 | A kind of automobile control method, device and automobile |
| CN107472195A (en) * | 2017-08-03 | 2017-12-15 | 佛山市盈智轩科技有限公司 | A kind of car door automatic opening system and method based on facial image track identification |
| CN107878395A (en) * | 2017-11-29 | 2018-04-06 | 东南（福建）汽车工业有限公司 | A kind of system and method for unlocking or locking without key based on rearview mirror camera |
| CN108394378A (en) * | 2018-03-29 | 2018-08-14 | 成都惠网远航科技有限公司 | The autocontrol method of vehicle switch door sensing device |
| CN108520582A (en) * | 2018-03-29 | 2018-09-11 | 成都惠网远航科技有限公司 | Vehicle switch door automatic induction system |
| CN109594880A (en) * | 2017-09-30 | 2019-04-09 | 比亚迪股份有限公司 | Control method and apparatus, storage medium and the vehicle of vehicle trunk |
| CN110341648A (en) * | 2019-07-16 | 2019-10-18 | 奇瑞汽车股份有限公司 | Car door unlocking method, device and storage medium |
| CN111332251A (en) * | 2018-11-30 | 2020-06-26 | 百度在线网络技术（北京）有限公司 | Method and device for controlling a vehicle |
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| CN109594880A (en) * | 2017-09-30 | 2019-04-09 | 比亚迪股份有限公司 | Control method and apparatus, storage medium and the vehicle of vehicle trunk |
| CN109594880B (en) * | 2017-09-30 | 2020-08-07 | 比亚迪股份有限公司 | Method and device for controlling vehicle trunk, storage medium and vehicle |
| CN107878395A (en) * | 2017-11-29 | 2018-04-06 | 东南（福建）汽车工业有限公司 | A kind of system and method for unlocking or locking without key based on rearview mirror camera |
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| CN110341648A (en) * | 2019-07-16 | 2019-10-18 | 奇瑞汽车股份有限公司 | Car door unlocking method, device and storage medium |
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