CN108327680A - A kind of control method for vehicle, apparatus and system - Google Patents
A kind of control method for vehicle, apparatus and system Download PDFInfo
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- CN108327680A CN108327680A CN201810007034.1A CN201810007034A CN108327680A CN 108327680 A CN108327680 A CN 108327680A CN 201810007034 A CN201810007034 A CN 201810007034A CN 108327680 A CN108327680 A CN 108327680A
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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
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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
- B60R25/252—Fingerprint recognition
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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
- B60R25/255—Eye recognition
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Lock And Its Accessories (AREA)
Abstract
The present invention relates to a kind of control method for vehicle, apparatus and system, wherein control method for vehicle includes：Obtain the first image of the first image acquisition device；If described first image matches with pre-stored reference picture, the first control signal to lock door for solution is generated；Obtain the second image of the second image acquisition device；If second image matches with the reference picture, the second control signal for starting vehicle is generated.Using the present invention, it can be automatically controled car door opening and control vehicle launch, without using traditional keys, control mode is easier, intelligent.Even if car owner leaves behind key, automobile can also be controlled by recognition of face or fingerprint recognition, it is more intelligent.And the above method can confirm car owner's identity, safety higher.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to a kind of control method for vehicle, apparatus and system.
Background technology
Automobile Electronic Industry is that electronic information technology is applied to automobile to be formed by emerging industry.Automotive electronic technology
Development leads automobile industry constantly to move towards intelligent, net connectionization.
In recent years, intelligent network connection automobile becomes the research hotspot of technical field of automotive electronics, but joins at present to intelligent network
The research of automobile is directed generally to unmanned, or is dedicated to providing excellent people's car mutual interface, rare to drive automobile
Door and the research being actuated for.Either orthodox car or intelligent network join automobile, will configure at least two keys, use respectively
Carry out opening car door and starts vehicle motor.This enabling Starting mode is not only cumbersome, if but also car owner leave behind
Key can not then use automobile, not smart enoughization.It can open car door in addition, anyone takes key and start vehicle,
Vehicle is easily stolen, and safety is relatively low.
Invention content
Based on this, it is necessary to provide a kind of control method for vehicle, apparatus and system, the enabling and startup of vehicle can be simplified
Operation, and promote vehicle safety.
A kind of control method for vehicle comprising：Obtain the first image of the first image acquisition device；If described first
Image matches with pre-stored reference picture, then generates the first control signal to lock door for solution；Obtain the second image
Second image of harvester acquisition；If second image matches with the reference picture, generate for starting vehicle
Second control signal.
In one of the embodiments, after generating the second control signal for starting vehicle, the method is also wrapped
It includes：The third for generating the electrical power steering system for unlocking the vehicle controls signal.
Second image for obtaining the second image acquisition device is in one of the embodiments,：It obtains in real time
Second image of the second image acquisition device；After generating the second control signal for starting vehicle, the method
Further include：The coordinate information of the facial characteristics and the facial characteristics in second image is identified in real time；According to the coordinate
The variation of information judges the motion state and motion frequency of driver head；If the motion state is preset state, and institute
It states motion frequency and is higher than preset frequency threshold, then generate warning information.
Second image for obtaining the second image acquisition device is in one of the embodiments,：It obtains in real time
Second image of the second image acquisition device；
After generating the second control signal for starting vehicle, the method further includes：Described second is identified in real time
Eye feature in image detects the eye state of driver according to the eye feature；Count institute within a preset time interval
State the duration that eye state is closed-eye state；Judge whether driver is in fatigue state according to the duration, if judging result
It is yes, then generates warning information.
In one of the embodiments, after the first image for obtaining the first image acquisition device, the method
Further include：If described first image matches with pre-stored reference picture, generation is adopted for starting second image
4th control signal of acquisition means.
A kind of controller of vehicle comprising：First acquisition module, for obtaining the first image acquisition device
One image；First generation module, for when described first image matches with pre-stored reference picture, generating for solving
The first control signal to lock door；Second acquisition module, the second image for obtaining the second image acquisition device；Second
Generation module, for when second image matches with the reference picture, generating the second control for starting vehicle
Signal.
A kind of vehicle control system, including electronic control unit further include the first image collecting device, the second Image Acquisition
Device and above-mentioned controller of vehicle, wherein：The input terminal of the controller of vehicle is acquired with described first image respectively
Device is connected with second image collecting device；The output end of the controller of vehicle is defeated with the electronic control unit
Enter end connection；The output end of the electronic control unit is connect with the door lock of vehicle and engine respectively.
Described first image harvester is set on the outer door handle of the vehicle in one of the embodiments,.
Described first image harvester is obliquely installed on the outer door handle in one of the embodiments,.
Second image collecting device is set in the instrument group of the vehicle in one of the embodiments,.
The embodiment of the present invention, obtains the first image and the second image respectively, and by the first image and the second image respectively with
Reference picture is compared, and when the first image and the second image are matched with reference picture, be can be automatically controled car door opening and is controlled
Vehicle launch processed, without using traditional keys, control mode is easier, intelligent.It, can also even if car owner leaves behind key
Automobile is controlled by recognition of face or fingerprint recognition, it is more intelligent.And the above method can confirm car owner's identity, safety is more
It is high.
Description of the drawings
Fig. 1 is the flow diagram of the control method for vehicle of one embodiment of the invention；
Fig. 2 is the position view of first image collecting device of one embodiment of the invention；
Fig. 3 is the position view of second image collecting device of one embodiment of the invention；
Fig. 4 is the structural schematic diagram of the controller of vehicle of one embodiment of the invention；
Fig. 5 is the structural schematic diagram of the vehicle control system of one embodiment of the invention.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited by following public specific embodiment.
Referring to Fig. 1, the flow diagram of the control method for vehicle for one embodiment of the invention.As shown in Figure 1, the vehicle
Control method includes the following steps：
S102 obtains the first image of the first image acquisition device.
Wherein, the first image collecting device is mounted on body exterior.For example, the first image collecting device is mounted on outside car door
On handle or around outside door handle.Again as shown in Fig. 2, the first image collecting device C2 is mounted on vehicle outer door handle and handle
Side opposite switch S1.Preferably, the first image collecting device is mounted on the corresponding outer door handle of driver's seat.
Optionally, the first image collector is set to camera or fingerprint image acquisition device or the first image collecting device
Including camera and fingerprint image acquisition device.Wherein fingerprint image acquisition device activates after being pressed, and acquires fingerprint image.
S104 generates the to lock door for solution if described first image matches with pre-stored reference picture
One control signal.
Wherein, reference picture is prestored, after obtaining the first image, the first image is compared with reference picture,
If the two matches, first control signal is generated, first control signal locks door for solution.
As an implementation, reference picture is facial image, including face characteristic.After obtaining the first image, know
Face characteristic in other first image, if the face characteristic in face characteristic and reference picture in the first image matches,
Generate first control signal.Specifically, using face recognition algorithm, by the arbitrary combination face of the eyes of driver, 2D or 3D,
The reference picture of the facial characteristics such as head, developable surface coordinate and storage in the database is compared, and judges whether to match.
As another embodiment, reference picture is fingerprint image, including fingerprint characteristic.After obtaining the first image,
Identify the face characteristic in the first image, if the fingerprint characteristic in the fingerprint characteristic and reference picture in the first image matches,
Then generate first control signal.
As another embodiment, reference picture includes referring to facial image and reference fingerprint image.First image is adopted
First image of acquisition means acquisition includes the first facial image and the first fingerprint image.After obtaining the first image, identify respectively
First facial image and the first fingerprint image ratio.If the face characteristic in the first facial image and the face in reference facial image
Feature matches, and the fingerprint characteristic in the first fingerprint image matches with the fingerprint characteristic in reference fingerprint image, then gives birth to
At first control signal.
Preferably, after generating first control signal, also to the electronic control unit of vehicle (Electronic Control
Unit, ECU) first control signal is sent, to control vehicle opening car door.
S106 obtains the second image of the second image acquisition device.
Wherein, the second image collecting device is mounted on interior of body.Preferably, the second image collecting device and driver's seat phase
It is right.For example, the second image collecting device is mounted in instrument group or on steering wheel.As shown in figure 3, the second image collecting device C3
In instrument group.
S108 generates the second control for starting vehicle if second image matches with the reference picture
Signal.
Specifically, after obtaining the second image, the face characteristic in the second image is identified, the face in the second image is special
Sign is compared with the face characteristic in reference picture, if the face characteristic in the face characteristic and reference picture in the second image
Match, then generates second control signal, second control signal is used to start vehicle, such as starts vehicle motor.
Preferably, after generating second control signal, the second control signal also is sent to the electronic control unit of vehicle,
To start vehicle.
The embodiment of the present invention, obtains the first image and the second image respectively, and by the first image and the second image respectively with
Reference picture is compared, and when the first image and the second image are matched with reference picture, be can be automatically controled car door opening and is controlled
Vehicle launch processed, without using traditional keys, control mode is easier, intelligent.It, can also even if car owner leaves behind key
Automobile is controlled by recognition of face or fingerprint recognition, it is more intelligent.And the above method can confirm car owner's identity, safety is more
It is high.
In one embodiment, after step S108, above-mentioned control method for vehicle further includes：It generates described for unlocking
The third of the electrical power steering system of vehicle controls signal.Preferably, after generating third control signal, also to vehicle
ECU sends third and controls signal, to unlock the electrical power steering system of vehicle.
In one embodiment, in step S106, the second image of the second image acquisition device is obtained in real time.Example
Such as, the second image that the second image collecting device is acquired is obtained according to fixed frequency, when acquisition frequency is enough high, that is,
The second image is obtained in real time.For another example, the acquisition frequency of the second image is 20~800 μ s/ times.
After step S108, above-mentioned control method for vehicle further includes following steps：It identifies in real time in second image
Facial characteristics and the facial characteristics coordinate information；According to the variation of the coordinate information, the fortune of driver head is judged
Dynamic state and motion frequency；If the motion state is preset state, and the motion frequency is higher than preset frequency threshold,
Then generate warning information.
For example, after often obtaining second image of frame, at least one of current second image facial characteristics and every is identified
The coordinate information of kind facial characteristics.Become according to the coordinate of each facial characteristics in the second image of multiframe obtained in a period of time
Change, can determine whether the motion state and motion frequency of driver head, such as according to the variation repeatedly of coordinate, can determine whether at driver
In head status and the frequency nodded is calculated, when the frequency nodded is higher than preset frequency threshold, between the set time in other words
It when the interior number nodded is more than preset frequency threshold value, can determine whether that driver is dozing off, generate warning information at this time and carry out
Warning.
Optionally, warning information can be caution sound or the light or cold air of flicker.For example, passing through air-conditioner controller control
The air outlet of air-conditioning processed turns down temperature towards driver face, keeps driver awake by blowing cold air towards driver face.
In one embodiment, in step S106, the second image of the second image acquisition device is obtained in real time.Example
Such as, the second image that the second image collecting device is acquired is obtained according to fixed frequency, when acquisition frequency is enough high, that is,
The second image is obtained in real time.For another example, the acquisition frequency of the second image is 1~100 μ s/ times.
After step S108, above-mentioned control method for vehicle further includes following steps：It identifies in real time in second image
Eye feature, according to the eye feature detect driver eye state；Count the eye within a preset time interval
State is the duration of closed-eye state；Judge whether driver is in fatigue state according to the duration, if the determination result is YES, then
Generate warning information.
Wherein, it after often obtaining second image of frame, identifies the eye feature in current second image, judges current drive
The eye state of member is to open eyes or close one's eyes.According to the corresponding eye shape of the second image of every frame obtained in prefixed time interval
State can monitor the eye state change of driver, and then count the duration of closed-eye state within a preset time interval.When eye closing shape
When the duration of state is more than preset time threshold or when the duration ratio of closed-eye state is more than preset ratio threshold value, judge to drive
Member is fatigue driving, generates warning information.For example, when the eyes of the time driver more than 70% were closed more than 2 seconds, sentence
Disconnected driver is fatigue driving, generates warning information to wake up driver.
Preferably, the period that obtains of the second image is less than the primary required duration of eye closing/eye opening in the present embodiment.For example,
A length of 0.1s when needed for common people's eye closing/eye opening once, then the acquisition period of the second image be at most no more than 0.1s, such as every
0.1s obtains at least 2 the second images.
Optionally, warning information can be caution sound or the light or cold air of flicker.For example, passing through air-conditioner controller control
The air outlet of air-conditioning processed turns down temperature towards driver face, keeps driver awake by blowing cold air towards driver face.
In one embodiment, after step s 102, above-mentioned control method for vehicle further includes：If described first image with
Pre-stored reference picture matches, then generates the 4th control signal for starting second image collecting device.This
Sample, before confirming that the first image is matched with reference picture, the second image collecting device can be in dormant state, without opening always
It is dynamic, to reduce power consumption.
In one embodiment, body exterior is additionally provided with infrared sensor of the human body, for incuding human infrared signal.
Before step S102, above-mentioned control method for vehicle further includes：The human infrared signal for obtaining infrared sensor of the human body induction, when this
When human infrared signal intensity is more than preset strength threshold value, start the first image collecting device.In this way, working as human body and vehicle distances
When less than preset value, the first image collecting device be just activated carry out Image Acquisition, nobody close to when the first image collecting device
Dormant state can be entered, without starting always, to reduce power consumption.
In one embodiment, door handle switch is connect with the ECU of vehicle, is produced by pulling door handle when detecting
When raw external event, vehicle control system is waken up, which includes that the first image collecting device, the second image are adopted
The ECU of acquisition means, controller of vehicle and vehicle.Before detecting pulling door handle, whole system is in suspend mode,
Once system is waken up, controller of vehicle obtain face recognition algorithms, the algorithm find the first image, the second image and in advance
Correspondence between the reference picture of storage.If face recognition algorithm determines the first image, the second image and prestores
Reference picture between have correspondence, then to ECU send signal, with the reference picture phase for indicating present image with prestoring
Match.For example, signal will (CAN with Flexible Data-Rate, Controller Area Network BUS-flexibly count by CAN FD
According to transmission) it is sent to corresponding ECU in vehicle, to take operation appropriate.
In one embodiment, the first image collecting device, the second image collecting device pass through ethernet PHY and vehicle respectively
The connection of control device.Controller of vehicle handles all image recognitions, and sends recognition result to ECU, and ECU can be based on knowing
Other result executes corresponding action.As an implementation, when the second image is matched with reference picture, controller of vehicle
It is communicated with ECU.
In one embodiment, vehicle allows to be provided with multiple users, including administrator and ordinary user.Administrator can be with
Distribute the permission of each ordinary user, such as administrator can distribute each ordinary user allows the time using the vehicle, geography
Region and drive speed.If ordinary user uses vehicle not in its extent of competence, the ordinary user can be eliminated, such as should
Ordinary user deletes from user's inventory, and making it, there is no permissions to drive vehicle.
Referring to Fig. 4, the structural schematic diagram of the controller of vehicle for one embodiment of the invention.As shown in figure 4, the vehicle
Control device includes 406 grade of second the first acquisition module 402, the first generation module 404, the second acquisition module generation module 408,
Wherein the first acquisition module 402, the first image for obtaining the first image acquisition device；First generation module 404 is used
In when described first image matches with pre-stored reference picture, the first control signal to lock door for solution is generated；
Second acquisition module 406 is used to obtain the second image of the second image acquisition device；Second generation module 408 is for working as institute
When stating the second image and the reference picture and matching, the second control signal for starting vehicle is generated.
The embodiment of the present invention, obtains the first image and the second image respectively, and by the first image and the second image respectively with
Reference picture is compared, and when the first image and the second image are matched with reference picture, be can be automatically controled car door opening and is controlled
Vehicle launch processed, without using traditional keys, control mode is easier, intelligent.It, can also even if car owner leaves behind key
Automobile is controlled by recognition of face or fingerprint recognition, it is more intelligent.And the above method can confirm car owner's identity, safety is more
It is high.
In one embodiment, above-mentioned controller of vehicle further includes third generation module, for generating for unlocking
State the third control signal of the electrical power steering system of vehicle.Specifically, it is generated in the second generation module for starting vehicle
Second control signal after, third generation module generates the third control of electrical power steering system for unlocking the vehicle
Signal processed.
In one embodiment, second figure of second acquisition module for obtaining the second image acquisition device in real time
Picture；Above-mentioned controller of vehicle further includes the first identification module, judgment module and the first alarm module.Wherein, the first identification mould
Block is used to identify the coordinate information of facial characteristics and the facial characteristics in second image in real time；Judgment module is used for root
According to the variation of the coordinate information, the motion state and motion frequency of driver head are judged；First alarm module is for working as institute
State motion state be preset state, and the motion frequency be higher than preset frequency threshold when, generate warning information.
In one embodiment, second figure of second acquisition module for obtaining the second image acquisition device in real time
Picture；Above-mentioned controller of vehicle further includes the second identification module, statistical module and the second alarm module.Wherein：Second identification mould
Block detects the eye state of driver according to the eye feature for identifying the eye feature in second image in real time；
Statistical module, for counting the duration that the eye state within a preset time interval is closed-eye state；Second alarm module is used
In judging whether driver is in fatigue state according to the duration, when judging result is to be, warning information is generated.
Optionally, warning information can be caution sound or the light or cold air of flicker.For example, passing through air-conditioner controller control
The air outlet of air-conditioning processed turns down temperature towards driver face, keeps driver awake by blowing cold air towards driver face.
In one embodiment, a kind of controller of vehicle is provided, realizes the vehicle control for as above stating any embodiment
Method.For example, a kind of controller of vehicle, has the function of mould corresponding to the control method for vehicle of any of the above-described embodiment
Block.
The embodiment of the present invention additionally provides a kind of vehicle control system, is applied to vehicle.As shown in figure 5, the vehicle control
System includes the first image collecting device 501, the second image collecting device 502, controller of vehicle 503 and electronic control unit
504, wherein the input terminal of the controller of vehicle 503 respectively with described first image harvester 501 and second figure
As harvester 502 connects；The output end of the controller of vehicle 503 and the input terminal of the electronic control unit 504 connect
It connects；The output end of the electronic control unit 504 is connect with the door lock of vehicle and engine respectively.
Wherein, controller of vehicle 503 for realizing such as above-mentioned any embodiment control method for vehicle.For example, the vehicle
Control device has the function module corresponding to the control method for vehicle of any of the above-described embodiment.
In one embodiment, described first image harvester is set on the outer door handle of vehicle.
In one embodiment, described first image harvester is obliquely installed on the outer door handle.For example, first
Image collecting device is non-horizontal or nonumeric is set on the outer door handle.For another example, the incidence surface of the first image collecting device
It is upward in 10 °~80 ° of angle with the lateral surface of vehicle outer door handle.In this way, the height in view of people is usually above door handle
Height, when someone wants opening car door, the first image collecting device being tilted a certain angle upwards can accurately collect people's
Face image.
In one embodiment, second image collecting device is set in the instrument group of the vehicle.Preferably,
The incidence surface of two image collecting devices is towards driver's seat.In this way, when driver is sitting in driver's seat, the second image collecting device energy
The accurate face image for collecting driver.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that including：
Obtain the first image of the first image acquisition device；
If described first image matches with pre-stored reference picture, the first control letter to lock door for solution is generated
Number；
Obtain the second image of the second image acquisition device；
If second image matches with the reference picture, the second control signal for starting vehicle is generated.
2. according to the method described in claim 1, it is characterized in that, generate for start vehicle second control signal it
Afterwards, the method further includes：The third for generating the electrical power steering system for unlocking the vehicle controls signal.
3. according to the method described in claim 1, it is characterized in that, second figure for obtaining the second image acquisition device
As being：The second image of the second image acquisition device is obtained in real time；
After generating the second control signal for starting vehicle, the method further includes：
The coordinate information of the facial characteristics and the facial characteristics in second image is identified in real time；
According to the variation of the coordinate information, the motion state and motion frequency of driver head are judged；
If the motion state is preset state, and the motion frequency is higher than preset frequency threshold, then generates alarm letter
Breath.
4. according to the method described in claim 1, it is characterized in that, second figure for obtaining the second image acquisition device
As being：The second image of the second image acquisition device is obtained in real time；
After generating the second control signal for starting vehicle, the method further includes：
The eye feature in second image is identified in real time, and the eye state of driver is detected according to the eye feature；
Count the duration that the eye state within a preset time interval is closed-eye state；
Judge whether driver in fatigue state if the determination result is YES then generates warning information according to the duration.
5. method according to any one of claim 1-3, which is characterized in that obtaining the first image acquisition device
The first image after, the method further includes：
If described first image matches with pre-stored reference picture, generate for starting second image collector
The 4th control signal set.
6. a kind of controller of vehicle, which is characterized in that including：
First acquisition module, the first image for obtaining the first image acquisition device；
First generation module, for when described first image matches with pre-stored reference picture, generating for unlocking
The first control signal of car door；
Second acquisition module, the second image for obtaining the second image acquisition device；
Second generation module, for when second image matches with the reference picture, generating for starting vehicle
Second control signal.
7. a kind of vehicle control system, including electronic control unit, which is characterized in that including the first image collecting device, second
Image collecting device and controller of vehicle as claimed in claim 6, wherein：
The input terminal of the controller of vehicle respectively with described first image harvester and second image collecting device
Connection；The output end of the controller of vehicle is connect with the input terminal of the electronic control unit；
The output end of the electronic control unit is connect with the door lock of vehicle and engine respectively.
8. vehicle control system according to claim 7, which is characterized in that described first image harvester is set to institute
It states on the outer door handle of vehicle.
9. vehicle control system according to claim 8, which is characterized in that described first image harvester is obliquely installed
In on the outer door handle.
10. vehicle control system according to claim 7, which is characterized in that second image collecting device is set to
In the instrument group of the vehicle.
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| CN201810007034.1A CN108327680A (en) | 2018-01-04 | 2018-01-04 | A kind of control method for vehicle, apparatus and system |
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| CN110091831A (en) * | 2018-08-01 | 2019-08-06 | 北京小客网络科技有限公司 | A kind of automobile intelligent identification activation system |
| CN110340770A (en) * | 2019-04-14 | 2019-10-18 | 田梅 | Automated mould polishing system |
| CN112037380A (en) * | 2020-09-03 | 2020-12-04 | 上海商汤临港智能科技有限公司 | Vehicle control method and device, electronic equipment, storage medium and vehicle |
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| CN113250578A (en) * | 2021-06-16 | 2021-08-13 | 上汽通用汽车有限公司 | Vehicle door control method, system, device and storage medium |
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