CN113060094A

CN113060094A - Vehicle control method and device and vehicle-mounted equipment

Info

Publication number: CN113060094A
Application number: CN202110473696.XA
Authority: CN
Inventors: 任海珊
Original assignee: Beijing CHJ Automobile Technology Co Ltd
Current assignee: Beijing CHJ Automobile Technology Co Ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-07-02
Anticipated expiration: 2041-04-29
Also published as: CN113060094B

Abstract

The invention relates to a vehicle control method, a vehicle control device and vehicle-mounted equipment, which are applied to a static vehicle to be unlocked, wherein a first target image comprising information around the vehicle is obtained, a second position of a target object in the first target image relative to the vehicle is determined, a first signal sent by terminal equipment is received, the first position of the terminal equipment relative to the vehicle is determined according to the strength of the first signal, whether the terminal equipment and the target object enter a target area is determined according to the first position corresponding to the strength of the first signal and the second position corresponding to the first target image, if the terminal equipment and the target object enter the target area and unlocking information is obtained, the vehicle is unlocked according to the unlocking information, whether the terminal equipment and the target object enter the target area is determined according to the positions of the target object and the terminal equipment, the positioning precision is higher, and the vehicle unlocking operation can be more accurately executed, the phenomenon of mistaken unlocking is avoided, and the accuracy of automatic unlocking of the vehicle is improved to the maximum extent.

Description

Vehicle control method and device and vehicle-mounted equipment

Technical Field

The disclosure relates to the technical field of automobiles, in particular to a vehicle control method and device and vehicle-mounted equipment.

Background

Along with the development of automobiles, people have higher and higher requirements on the intellectualization of the automobiles, and a plurality of automobiles are provided with a keyless unlocking function, so that a user does not need to use a key to open an automobile door to unlock the automobile door by himself, and the user can be helped to unlock the automobile door automatically only by adopting a corresponding technology.

At present, the automatic unlocking of the automobile is mostly based on a mobile phone virtual key, the mobile phone virtual key adopts a Low power consumption Bluetooth (BLE) technology, the positioning is carried out according to the relative relation between the signal intensity and the automobile distance, and the automatic unlocking is carried out according to the determined position of the mobile phone.

However, because the mobile phone configurations used by the users are different and the influence of the human body or the external environment on the signal strength causes inaccurate information for positioning according to the signal strength, the situation that the signal strength does not correspond to the actual position is very easy to occur, for example, the holding habit of the users on the mobile phone, the height of the mobile phone, the strength of the signal is affected under different situations such as the mobile phone being worn on the body or being carried on a backpack, the positioning effect is deviated, the problem that the position is judged by mistake and the automatic unlocking is carried out is very easy to occur, and the success rate of unlocking is also low.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, the present disclosure provides a control method and apparatus of a vehicle, and a vehicle-mounted device.

In a first aspect, an embodiment of the present disclosure provides a control method for a vehicle, which is applied to a stationary vehicle to be unlocked, and includes:

acquiring a first target image including information around the vehicle, wherein the first target image includes a target object;

receiving a first signal sent by the terminal equipment, and determining a first position of the terminal equipment relative to the vehicle according to the strength of the first signal;

determining a second position of the target object relative to the vehicle according to the first target image;

judging whether the terminal equipment and the target object enter a target area or not according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image;

and if the terminal equipment and the target object enter the target area and the unlocking information is acquired, unlocking the vehicle according to the unlocking information.

Optionally, before determining whether the terminal device and the target object enter the target area according to the first position corresponding to the strength of the first signal and the second position corresponding to the first target image, the method further includes:

and determining the motion trend of the terminal equipment and the target object to approach the vehicle.

Optionally, determining that the movement trend of the terminal device and the target object is approaching to the vehicle includes:

determining a first movement trend of the terminal equipment according to the variation trend of the strength of the first signal;

determining a second motion trend of the target object according to the change trend of a second position corresponding to the target object in the first target image;

and determining that the first movement trend and the second movement trend are close to the vehicle.

Optionally, receiving a first signal sent by the terminal device, and determining a first position of the terminal device relative to the vehicle according to the strength of the first signal includes:

and receiving a first signal sent by the terminal equipment, and determining a first position of the terminal equipment relative to the vehicle by adopting a positioning model according to the strength of the first signal.

Optionally, determining a second position of the target object relative to the vehicle according to the first target image includes:

and determining the target object as a preset target object by adopting a neural network model according to the first target image, and determining a second position of the target object relative to the vehicle.

Optionally, the determining, by the target area including a first sub-area and a second sub-area, whether the terminal device and the target object enter the target area according to a first position corresponding to the first signal strength and a second position corresponding to the first target image includes:

judging whether the terminal equipment and the target object enter a first sub-area or not according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image, receiving a second signal sent by the terminal equipment, and acquiring a second target image comprising information around the vehicle;

if yes, determining the first position of the terminal equipment according to the strength of the second signal; determining a second position of the target object in the second target image; and judging whether the terminal equipment and the target object enter a second sub-area or not according to a first position corresponding to the strength of the second signal and a second position corresponding to the second target image, wherein the first sub-area comprises the second sub-area.

Optionally, if the terminal device and the target object enter the target area and the unlocking information is obtained, unlocking the vehicle according to the unlocking information, including:

and determining that the target area is a second sub-area, and unlocking the vehicle according to the unlocking information when the unlocking information is obtained.

Optionally, after the unlocking information is acquired, the method further includes:

receiving a third signal sent by the terminal equipment, and determining a first position of the terminal equipment according to the strength of the third signal;

acquiring a third target image including information around the vehicle, and determining a second position of the target object in the third target image;

and determining that the first position corresponding to the strength of the third signal and the second position corresponding to the third target image are in the second sub-area, and unlocking the vehicle according to the unlocking information.

Optionally, the method further comprises:

and determining that the second position corresponding to the third target image is in the second sub-area and the first position corresponding to the intensity of the third signal is not in the second sub-area, so that the vehicle is not unlocked.

Optionally, after the vehicle is not unlocked, the method further includes:

receiving a fourth signal sent by the terminal equipment, and determining a first position of the terminal equipment according to the strength of the fourth signal;

receiving a fourth target image including information around the vehicle, and determining a second position of the target object in the fourth target image;

and determining that a first position corresponding to the strength of a fourth signal and a second position corresponding to a fourth target image are in a second sub-area, and unlocking the vehicle according to the unlocking information, wherein the first signal strength, the second signal strength, the third signal strength and the fourth signal strength are sent by the terminal equipment in real time, and the first target image, the second target image, the third target image and the fourth target image are target images which are received in real time and comprise information around the vehicle.

Optionally, the method further comprises:

determining that the distance between a first position corresponding to the strength of the first signal and a second position corresponding to the first target image is greater than a preset threshold;

and updating the positioning model according to the strength of the first signal and the second position corresponding to the first target image.

Optionally, the method further comprises:

when the second position corresponding to the first target image is in the first sub-area, determining a preset threshold as a first threshold;

and when the second position corresponding to the first target image is in the second sub-area, determining the preset threshold as a second threshold, wherein the first threshold is larger than the second threshold.

In a second aspect, an embodiment of the present disclosure provides a control device for a vehicle, applied to a stationary vehicle to be unlocked, including:

an acquisition module configured to acquire a first target image including information around a vehicle, wherein the first target image includes a target object;

the receiving module is used for receiving a first signal sent by the terminal equipment and determining a first position of the terminal equipment relative to the vehicle according to the strength of the first signal;

a determination module for determining a second position of the target object relative to the vehicle based on the first target image;

the judging module is used for judging whether the terminal equipment and the target object enter the target area or not according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image;

and the unlocking module is used for unlocking the vehicle according to the unlocking information if the terminal equipment and the target object enter the target area and the unlocking information is obtained.

Optionally, the apparatus further comprises: the updating module is used for determining that the distance between a first position corresponding to the strength of the first signal and a second position corresponding to the first target image is greater than a preset threshold value; and updating the positioning model according to the strength of the first signal and the second position corresponding to the first target image.

In a third aspect, an embodiment of the present disclosure provides an on-board device, including a vehicle machine, one or more signal acquisition modules, and one or more camera devices; wherein

The system comprises one or more signal acquisition modules, a vehicle-mounted device and a terminal device, wherein the one or more signal acquisition modules are used for acquiring signals sent by the terminal device and sending the intensity of the signals to the vehicle-mounted device;

the system comprises one or more camera devices, a vehicle-mounted device and a vehicle-mounted device, wherein the camera devices are used for acquiring a target image comprising information around a vehicle and sending the target image to the vehicle-mounted device;

the vehicle machine is used for receiving the intensity of the signals sent by the one or more signal acquisition modules and the target images sent by the one or more camera devices and executing the method.

In a fourth aspect, an embodiment of the present disclosure provides a vehicle, including:

a vehicle body;

the power system is arranged on the vehicle body and used for providing power;

and the in-vehicle apparatus as described above.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure;

FIG. 2 is a flow chart of a method of controlling a vehicle provided by an embodiment of the present disclosure;

FIG. 3 is a flow chart of a method of controlling a vehicle provided by an embodiment of the present disclosure;

FIG. 4 is a flow chart of a method of controlling a vehicle provided by an embodiment of the present disclosure;

FIG. 5 is a flow chart of a method of controlling a vehicle provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a control method for a vehicle according to an embodiment of the present disclosure;

FIG. 7 is a flow chart of a method of controlling a vehicle provided by an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an on-vehicle device according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

At present, mobile phone virtual keys are all based on a low-power-consumption bluetooth technology, a bluetooth receiver is installed at a vehicle end to receive the strength of signals communicated by a mobile phone and a vehicle bluetooth module, and positioning is performed according to the relative relation between the strength of the signals and the distance, but because the configuration of the mobile phone used by a user is different and the influence of a human body or an external environment on the strength of the signals, the information positioned according to the strength of the signals is inaccurate, and the situation that the strength of the signals is not corresponding to the actual position is easily caused, for example, the holding habit of the user on the mobile phone, the height of the mobile phone, the strength of the signals can be affected by different situations such as the mobile phone being put on the body or a backpack, the positioning effect and the key experience are different, the vehicle unlocking cannot be accurately realized through a fixed algorithm, and the success. Therefore, in view of the above problems, embodiments of the present disclosure provide a control method and apparatus for a vehicle, and an on-board device, which are described below with reference to specific application scenarios and embodiments.

Specifically, a control method of a vehicle may be executed by the vehicle or a server. Specifically, the vehicle end or the server may determine the identity and the relative position of the target object in the target image and the vehicle through the neural network model, and may determine the position of the terminal device relative to the vehicle through the positioning model. The execution subject of the training method of the neural network model and the positioning model may be the same as or different from the execution subject of the control method of the vehicle.

For example, in one application scenario, as shown in FIG. 1, the server 12 trains a neural network model as well as a positioning model. The vehicle 11 obtains the trained neural network model and the positioning model from the server 12, and the vehicle 11 determines the identity and position of the target object in the target image relative to the vehicle 11 through the trained neural network model. The target image can be obtained by shooting the vehicle 11 through a camera device, the application scene is that a positioning model and a neural network model are trained through the server 12 and transmitted to the vehicle end 11, the vehicle end 11 obtains the target image and a Bluetooth signal, an output result is obtained by using the positioning model and the neural network model, and the vehicle is controlled to execute unlocking operation according to the output result.

In another application scenario, the server 12 trains a neural network model as well as a positioning model. Further, the server 12 determines the identity and position of the target object in the target image relative to the vehicle 11 through the trained neural network model, and determines the position of the terminal through the trained positioning model. The target image received by the server 12 can be acquired by the vehicle 11 and transmitted to the server 12 for positioning, the server 12 transmits the identity information and the position information to the vehicle 11, the vehicle 11 performs the unlocking operation through the identity and the position information, in this application scenario, the vehicle 11 collects data and transmits the data to the server 12 for processing, the server 12 transmits the output result to the vehicle 11, and the vehicle 11 performs the unlocking operation according to the transmission result.

In yet another application scenario, the vehicle 11 trains a neural network model as well as a positioning model. Further, the vehicle 11 determines the identity and the position of the target object in the target image relative to the vehicle 11 through the trained neural network model, and determines the position of the terminal device through the trained positioning model.

It can be understood that the control method of the vehicle provided by the embodiment of the present disclosure is not limited to the above several possible scenarios.

Fig. 2 is a control method of a vehicle according to an embodiment of the present disclosure, which takes an application scenario in which a server 12 trains a positioning model and a neural network model and transmits the positioning model and the neural network model to a vehicle end 11, the vehicle end 11 obtains a target image and a bluetooth signal, obtains an output result by using the positioning model and the neural network model, and controls the vehicle to execute an unlocking operation according to the output result as an example, and specifically describes the following disclosed embodiments, including the following steps shown in fig. 2:

s210, a first target image comprising information around the vehicle is obtained, wherein the first target image comprises a target object.

It is understood that the vehicle comprises the vehicle-mounted device, the vehicle-mounted device has the functions of calculation and processing, and the control method of the vehicle can be specifically executed by the vehicle-mounted device. The vehicle is provided with one or more camera devices, the one or more camera devices can be in communication connection or electric connection with the vehicle-mounted equipment, images including the surroundings of the vehicle can be shot through the camera devices to serve as first target images, or each frame of image in video acquisition videos of the surroundings of the vehicle can be shot to serve as the first target images, wherein target objects included in the first target images can be images including people with human faces, and the vehicle is in a static state at a parking position.

Optionally, before acquiring the first target image, the method further includes: judging whether the detected terminal equipment is preset equipment or not; if so, the Bluetooth module in the vehicle is connected with the terminal equipment, namely whether the terminal equipment is matched with the vehicle or not is judged, and whether unlocking operation can be executed or not is judged.

Understandably, the terminal device carried by the user can send out signals in real time until the Bluetooth module of the vehicle detects the signals, and judges whether the terminal device sending the signals is a preset device or not according to the detected signals, namely whether the terminal device is matched with the vehicle or not, and the terminal device can be used as a Bluetooth key for unlocking the vehicle.

S220, receiving a first signal sent by the terminal device, and determining a first position of the terminal device relative to the vehicle according to the strength of the first signal.

Understandably, the vehicle may be equipped with one or more bluetooth modules, the one or more bluetooth modules may be integrated in the vehicle-mounted device, or the one or more bluetooth modules are not integrated in the vehicle-mounted device but are in communication connection or electrical connection with the vehicle-mounted device, the plurality of bluetooth modules may be installed at different positions of the vehicle, each bluetooth module is configured to receive a signal sent by the terminal device, the vehicle end may make a predetermined judgment on the strength of the received plurality of signals, retain the strength of the signals within a predetermined range, and determine a first position of the terminal device relative to the vehicle according to the strength of the plurality of signals within the predetermined range; the vehicle is provided with a Bluetooth module which can be arranged at the middle position of the vehicle, so that the Bluetooth signals sent by the terminal equipment can be received in an all-around manner, the first position of the terminal equipment relative to the vehicle is determined through the strength of the signals, namely, the distance between the terminal equipment and the vehicle, wherein the first signals can be understood as the specific numerical values of the Bluetooth signals sent by the terminal equipment at the current moment, the specific numerical values of the signals sent along with the movement of the terminal equipment can be different, at the moment, the first signals only represent the specific numerical values of the signals sent by the terminal equipment at the current moment, the signals sent by the terminal equipment can correspond to a plurality of specific data, the first position of the terminal equipment relative to the vehicle at the current moment is determined according to the specific numerical values, and the strengths of different signals can respectively correspond.

Optionally, receiving a first signal sent by the terminal device, and determining a first position of the terminal device relative to the vehicle according to the strength of the first signal includes: and receiving a first signal sent by the terminal equipment, and determining a first position of the terminal equipment relative to the vehicle by adopting a positioning model according to the strength of the first signal.

Understandably, the strength of the first signal is input into a positioning model which is trained in advance, and the position of the terminal device is output, wherein the positioning model can be constructed and trained by using a neural network or convolutional neural network framework, and the specific construction and training method is not limited.

It is understood that the terminal device may be a device configured with Bluetooth Low Energy/BLE (Bluetooth Low Energy) technology, and may be a device capable of transmitting a Bluetooth signal.

And S230, determining a second position of the target object relative to the vehicle according to the first target image.

It can be understood that, on the basis of the above S210, the second position of the target object relative to the vehicle is determined according to the first target image acquired by the camera device, that is, the distance between the target object and the vehicle is determined, where in principle, the distance between the terminal device and the target object is relatively close, but the signal sent by the terminal device is very easily affected by the environment, the terminal device is placed at different positions of the target object, and the sent bluetooth signals are different, in most cases, there is a deviation between the first position corresponding to the strength of the first signal of the terminal device and the second position corresponding to the first target image of the target object, and when the deviation is relatively large, the second position corresponding to the first target image of the target object may be used as a reference.

Optionally, determining a second position of the target object relative to the vehicle according to the first target image includes: and determining the target object as a preset target object by adopting a neural network model according to the first target image, and determining a second position of the target object relative to the vehicle.

Understandably, the acquired first target image is input into a neural network model, whether a target object contained in the first target image is a preset target object or not is identified through the pre-trained neural network model, that is, whether the target object in the acquired first target image is a driver of a vehicle or one or more preset target objects set by a user or not is judged, wherein the training process of the neural network model and the selection of the network type are not specifically limited. Meanwhile, if the target object is determined to be the preset target object, a second position of the target object relative to the vehicle, namely the distance between the target object and the vehicle, is determined, wherein the second position can also be determined by a neural network model, or can be determined by judging the proportion of the target object in the acquired first target image, and the corresponding relation between the size of the target object in different target images and the distance of the vehicle is established. The first target image is an image acquired by a camera device installed at the vehicle end in real time at different moments.

S240, judging whether the terminal equipment and the target object enter the target area or not according to the first position corresponding to the strength of the first signal and the second position corresponding to the first target image.

Understandably, on the basis of the above S220 and S230, whether the terminal device enters the target area is determined according to the first position corresponding to the strength of the first signal, and whether the target object enters the target area is determined according to the second position corresponding to the first target image, wherein the target area can be set according to the user requirement and the performance of the terminal device.

And S250, if the terminal equipment and the target object enter the target area and the unlocking information is obtained, unlocking the vehicle according to the unlocking information.

Understandably, on the basis of the above S240, if it is determined that the terminal device and the target object enter the target area through the first position and the second position, and when the unlocking information is acquired, the unlocking operation is performed on the vehicle according to the unlocking information, where the unlocking information may be a signal that a vehicle door is detected to be opened, an action that the target object is close to the vehicle door and is opened, and the like.

The control method of the vehicle provided by the embodiment of the disclosure includes the steps of obtaining a first target image including information around the vehicle, determining a second position of a target object in the first target image relative to the vehicle, receiving a first signal sent by a terminal device, determining a first position of the terminal device relative to the vehicle according to the strength of the first signal, determining whether the terminal device and the target object enter a target area according to the first position corresponding to the strength of the first signal and the second position corresponding to the first target image, if the terminal device and the target object enter the target area and unlocking information is obtained, performing unlocking operation on the vehicle according to the unlocking information, determining whether the terminal device and the target object enter the target area according to the positions of the target object and the terminal device, and having high positioning accuracy, being capable of more accurately performing vehicle unlocking operation and avoiding the phenomenon of mistaken unlocking, the accuracy of automatic unlocking of the vehicle is improved to the maximum extent.

On the basis of the foregoing embodiment, optionally, before determining whether the terminal device and the target object enter the target area according to the first position corresponding to the strength of the first signal and the second position corresponding to the first target image, the method further includes: determining the motion trend of the terminal device and the target object as approaching to the vehicle, specifically comprising the following steps as shown in fig. 3:

and S310, determining a first motion trend of the terminal equipment according to the change trend of the strength of the first signal.

Understandably, the vehicle receives a first signal sent by the terminal device, determines a variation trend of the intensity of the first signal, that is, the intensity of the first signal changes along with the movement of the terminal device carried by the target object toward the vehicle, and can determine a first movement trend of the terminal device according to the variation trend of the intensity of the first signal, acquire a signal generation data set sent by the terminal device within a preset time period to obtain the first signal, and determine a first movement trend of the terminal device according to the variation trend of the intensity of the first signal, that is, determine the moving direction of the terminal device according to the variation trend of the terminal device, so as to determine whether the terminal device is close to the vehicle.

S320, determining a second motion trend of the target object according to the change trend of the second position corresponding to the target object in the first target image.

Understandably, a camera device mounted on a vehicle acquires surrounding environment information of the vehicle to obtain a first target image, wherein the first target image is corresponding images acquired by the camera device at different moments, a second movement trend of a target object is determined according to a variation trend of a second position corresponding to the target object in the first target image, namely along with the movement of the target object, the ratio of the target object in the surrounding environment information of the vehicle acquired by the camera device is different, and the second movement trend of the target object can be determined according to the variation trend of the second position of the target object in the first target image acquired at different moments, wherein the variation trend can be that the target object moves towards or away from the vehicle.

S330, determining that the first movement trend and the second movement trend approach the vehicle.

Understandably, on the basis of S310 and S320, the first motion trend corresponding to the terminal device and the second motion trend corresponding to the target object are determined to be approaching to the vehicle, and only when the motion direction of the terminal device and the target object is determined to be approaching to the vehicle, the position of the terminal device is further judged to obtain a first position and a second position corresponding to the target object, and when the terminal device and the target object are far away from the vehicle, the positions of the terminal device and the target object relative to the vehicle do not need to be counted, wherein the first position is the distance between the terminal device and the vehicle, and the second position is the distance between the target object and the vehicle.

According to the control method of the vehicle, the first movement trend of the terminal device is determined according to the variation trend of the strength of the first signal, the second movement trend of the target object is determined according to the variation trend of the second position corresponding to the target object in the first target image, the first movement trend and the second movement trend are determined to be close to the vehicle, and the positions of the terminal device and the target object can be determined more accurately by judging the movement trends of the terminal device and the target object in advance.

On the basis of the foregoing embodiment, optionally, the target area includes a first sub-area and a second sub-area, and whether the terminal device and the target object enter the target area is determined according to a first position corresponding to the first signal strength and a second position corresponding to the first target image, including the following steps as shown in fig. 4:

s410, judging whether the terminal equipment and the target object enter the first sub-area or not according to the first position corresponding to the strength of the first signal and the second position corresponding to the first target image, receiving a second signal sent by the terminal equipment, and acquiring a second target image comprising the information around the vehicle.

Understandably, according to a first position corresponding to the strength of the first signal, that is, the position of the terminal device, and a second position corresponding to the first target image, that is, the position of the target object, it is determined whether the terminal device and the target object enter the first sub-area, and the vehicle surrounding information is continuously collected in real time to generate a second target image, and the terminal device continues to receive the second signal sent by the terminal device at the same time, and respectively determines whether the positions of the terminal device and the target object are located in the first sub-area, for example, the first sub-area may be an area within a distance of less than 10m and greater than 5m around the vehicle, and the first sub-area may be defined as a lock area.

S420, if so, determining a first position of the terminal equipment according to the strength of the second signal; determining a second position of the target object in the second target image; and judging whether the terminal equipment and the target object enter a second sub-area or not according to a first position corresponding to the strength of the second signal and a second position corresponding to the second target image, wherein the first sub-area comprises the second sub-area.

Understandably, on the basis of the above S410, the first position of the terminal device is determined according to the strength of the second signal, the second position of the target object is determined according to the second target image, and whether the terminal device and the target object enter the second sub-area is determined according to the first position corresponding to the strength of the second signal, that is, the position of the terminal device at the current time, and the second position corresponding to the second target image, that is, the position of the target object at the current time, where the first sub-area includes the second sub-area, and for example, the second sub-area may be an area within a distance less than 5m around the vehicle, and the second sub-area may be defined as an unlock area.

Optionally, if the target object enters the target area and the unlocking information is acquired, the unlocking operation is performed on the vehicle according to the unlocking information, including:

and determining that the target area is a second sub-area, and executing unlocking operation on the vehicle according to the unlocking information when the unlocking information is acquired.

Understandably, if the terminal device and the target object both enter the second sub-area, namely the unlocking area, the vehicle determines whether an action signal matched with the preset action signal is detected, if the action signal is detected, unlocking information is generated, and unlocking operation is performed on the vehicle according to the unlocking information, namely the necessary conditions for the vehicle to perform the unlocking operation include that the terminal device and the target object both enter the unlocking area and the action signal is detected.

Alternatively, the motion signal may include a motion of pulling the door, a motion of touching the door, a trajectory of sliding detected at another position of the door, a knocking of the door, or a detection of a voice of opening the door, etc., where the motion signal may be set by itself according to the actual needs of the user.

The control method of the vehicle provided by the embodiment of the disclosure judges whether the target object enters the first sub-area according to the first position corresponding to the intensity of the first signal and the second position corresponding to the first target image, receives the second signal sent by the terminal device, acquires the second target image including the information around the vehicle, if so, determines the first position of the terminal device according to the intensity of the second signal, determines the second position of the target object in the second target image, judges whether the terminal device and the target object enter the second sub-area according to the first position corresponding to the intensity of the second signal and the second position corresponding to the second target image, wherein the first sub-area includes the second sub-area, and the accuracy of automatic unlocking can be ensured to the maximum extent by accurately dividing the target area and corresponding different operating conditions to different areas, the property safety of the user is guaranteed, and the loss caused by mistaken unlocking is avoided.

On the basis of the foregoing embodiment, optionally, after the unlocking information is acquired, the method further includes the following steps as shown in fig. 5:

and S510, receiving a third signal sent by the terminal equipment, and determining a first position of the terminal equipment according to the strength of the third signal.

It can be understood that, on the basis of the above-mentioned embodiment, that is, when both the terminal device and the target object are located in the second sub-area and the unlocking information is generated according to the detected motion signal, the third signal sent by the terminal device at this time is continuously received, where the third signal can be understood as a specific value of the signal sent by the terminal device, which may be different from the first signal and the second signal, and the first position of the terminal device is determined according to the strength of the third signal, the distance between the terminal device and the vehicle can be understood as a variable, the strengths of the different signals correspond to different first positions, and the specific method for determining the first position is the same as the method in the above-mentioned embodiment.

S520, acquiring a third target image comprising the information around the vehicle, and determining a second position of the target object in the third target image.

It is understood that, on the basis of the above-mentioned embodiment, that is, in the case that the terminal device and the target object are both in the second sub-area and the unlocking information is generated according to the detected motion signal, the third target image including the vehicle surroundings information in the camera device is continuously acquired, where the third target image is generated in real time by the camera device, and the first target image, the second target image, and the third target image may be understood as images generated by the terminal device at different times, and the target object in the vehicle surroundings information included in the three may have changed, and then the second position of the target object in the third target image is determined, where a specific method for determining the second position is the same as the method in the above-mentioned embodiment.

S530, determining that the first position corresponding to the strength of the third signal and the second position corresponding to the third target image are in the second sub-area, and unlocking the vehicle according to the unlocking information.

Understandably, on the basis of the above S510 and S520, the first position corresponding to the strength of the third signal, that is, the position of the terminal device at this time, and the second position corresponding to the third target image, that is, the position of the target object at this time, are determined to be in the second sub-area, that is, the unlocking area, and the vehicle is unlocked according to the unlocking information.

Optionally, the method further comprises: and determining that the second position corresponding to the third target image is in the second sub-area and the first position corresponding to the intensity of the third signal is not in the second sub-area, so that the vehicle is not unlocked.

Understandably, on the basis of the above S510 and S520, the second position corresponding to the third target image, that is, the position of the target object at this time is within the second sub-area, and the first position corresponding to the strength of the third signal, that is, the position of the terminal device at this time is not within the second sub-area, that is, the unlocking area, is determined, so that the vehicle is not unlocked.

Optionally, after the vehicle is not unlocked, the method further includes: receiving a fourth signal sent by the terminal equipment, and determining a first position of the terminal equipment according to the strength of the fourth signal; receiving a fourth target image including information around the vehicle, and determining a second position of the target object in the fourth target image; and determining that a first position corresponding to the strength of a fourth signal and a second position corresponding to a fourth target image are in a second sub-area, and unlocking the vehicle according to the unlocking information, wherein the first signal strength, the second signal strength, the third signal strength and the fourth signal strength are sent by the terminal equipment in real time, and the first target image, the second target image, the third target image and the fourth target image are target images which are acquired in real time and comprise information around the vehicle.

Understandably, if the vehicle is not unlocked, the fourth signal sent by the terminal device is continuously received, and then the first position of the terminal device is determined according to the strength of the fourth signal, wherein the fourth signal also belongs to specific data values sent by the terminal device at different moments, that is, the vehicle door or other environmental factors influence the terminal device, so that the position of the moving terminal judged according to the strength of the signal is inaccurate, and at this moment, the user can move the terminal device or slightly leave away from the influencing substances, and continuously send the fourth signal to judge the position of the terminal; continuing to receive a fourth target image including information about the surroundings of the vehicle, the fourth target image being understood as above, determining a second position of the target object in the fourth target image; and determining that the first position corresponding to the strength of the fourth signal, namely the position of the terminal equipment, and the second position corresponding to the fourth target image, namely the position of the target object are both in the second sub-area, and unlocking the vehicle according to the unlocking information.

According to the control method of the vehicle, after the unlocking information is obtained, the first position of the terminal device is determined according to the strength of the third signal by receiving the third signal sent by the terminal device, the third target image including the information around the vehicle is obtained, the second position of the target object in the third target image is determined, the first position corresponding to the strength of the third signal and the second position corresponding to the third target image are determined to be in the second sub-area, and the vehicle is unlocked according to the unlocking information. Through position judgment for many times, the accuracy of vehicle unlocking can be improved, and data corresponding to different conditions can be acquired.

On the basis of the foregoing embodiment, fig. 6 is a schematic diagram of a control method of a vehicle according to an embodiment of the present disclosure, which exemplarily shows an application scenario of the control method of the vehicle, where fig. 6 specifically includes: 610 a first sub-area, 620 a second sub-area, 630 a bluetooth module, 640 cameras, 650 a vehicle, 660 a target object and 670 a terminal device, wherein a white box installed on the vehicle 650 in fig. 6 represents the cameras 640, i.e. one or more cameras 640 may be installed in the vehicle 650, and a black box installed on the vehicle 650 in fig. 6 represents the bluetooth module 630, i.e. one or more bluetooth modules 630 may be included in the vehicle 650, and the locations where the cameras 640 and the bluetooth modules 630 are installed in the vehicle 650 are not limited.

Illustratively, in fig. 6, the bluetooth module 630 receives a signal sent by the terminal device 670, the camera 640 obtains a target image containing the target object 660, the cart end 650 identifies the target object 660 and determines whether the target object 660 enters the first sub-area 610, and the second sub-area 620 is in the first sub-area 610, wherein the relationship between the terminal device 670 and the target object 660 may be that the terminal device 670 is placed in a hand, a bag, clothes, and other placement manners of the target object 660.

On the basis of the above embodiment, optionally, the control method of the vehicle further includes the following steps as shown in fig. 7:

s710, determining that the distance between a first position corresponding to the strength of the first signal and a second position corresponding to the first target image is larger than a preset threshold value.

Optionally, the preset threshold includes a first threshold and a second threshold, and the method further includes: when the second position corresponding to the first target image is in the first sub-area, determining a preset threshold as a first threshold; and when the second position corresponding to the first target image is in the second sub-area, determining the preset threshold as a second threshold, wherein the first threshold is larger than the second threshold.

Understandably, the distance between the first position and the second position is determined, the distance may be determined by calculating a difference or a ratio between the first position and the second position, when the second position corresponding to the first target image, i.e. the position of the target image, is within the first sub-area, the preset threshold may be determined as the first threshold, and when the second position corresponding to the first target image, i.e. the position of the target image, is within the second sub-area, the preset threshold is determined as the second threshold, wherein the first threshold is greater than the second threshold, that is, different sub-areas correspond to different thresholds, respectively.

S720, updating the positioning model according to the strength of the first signal and the second position corresponding to the first target image.

Understandably, on the basis of the above S710, if the distance between the first position corresponding to the strength of the first signal and the second position corresponding to the first target image is greater than the preset threshold, it may be considered that the first position determined by the positioning model may have a deviation, that is, the bluetooth signal sent by the terminal device is greatly affected by the environment, which results in a deviation in the corresponding relationship between the strength of the signal received by the vehicle and the actual distance; and establishing an association relationship between the strength of the signal and the second position, namely reestablishing the association relationship between the strength of the received signal sent by the terminal equipment and the second position determined according to the target object at present, namely the second position is the actual position corresponding to the strength of the current signal.

Understandably, the server side can correct the first position corresponding to the strength of the first signal, namely the first position has deviation compared with the actual second position, update the positioning model according to the association relation to obtain an updated positioning model, namely, the strength of the currently received signal and the actual corresponding second position are used as training samples, the positioning model is updated, and the updated positioning model is sent to the vehicle, so that the vehicle can conveniently configure the influence of the position of the terminal device on the strength of the signal according to the habit of the target object, and perform self-adaptive training on the positioning model, thereby obtaining the accurate first position according to the habit of the user.

For example, in the pre-training stage of the positioning model, the corresponding relationship between the first position and the strength of the signal is determined manually, and the data acquisition and the training of the positioning model are completed in a relatively ideal state, while when the first position is determined by the positioning model in the vehicle, the strength of the signal sent by the terminal equipment in different positions is deviated from the actual position generally because the position where the user places the terminal equipment is different, in the initial stage of the training of the positioning model, the terminal equipment is placed at the position of 2m to acquire the strength of the corresponding signal, at this time, the strength of the acquired signal is not affected by the surrounding environment, but the position of the user cannot be ensured, the accuracy of judging the position of the user by only the strength of the signal is relatively low, for example, when the positioning model is trained, the strength of the defined signal is 100db, the user is at a position of 10m relative to the vehicle, and the strength of the signal actually received by the vehicle is 70db, the position of the user relative to the vehicle can be erroneously judged to be 7m through the positioning model, but the user is actually at a position of 10 m; for example, the position of the user relative to the vehicle is determined to be 5m by vision, but the strength of the collected signal may be more or less than 50db corresponding to 5m in the positioning model, and is 80db or 30db, so that the accuracy of the vehicle unlocking operation can be ensured by updating the positioning model according to the habit of the user.

The embodiment of the disclosure provides a vehicle control method, which includes judging whether a difference between a first position and a second position is smaller than a preset difference, if not, establishing an association relation between the strength of a signal and the second position, sending the association relation to a server side, determining the relation between the first position and the second position, determining the position of a target object more accurately, updating a positioning model, enabling the positioning model to be more intelligent, having stronger adaptability, placing the position of a terminal device according to habits of a user, adjusting the corresponding relation between the strength of the signal sent by the terminal device at the current position and the first position according to the actual position of the terminal device, increasing unlocking accuracy, and improving user experience.

Fig. 8 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present disclosure. The control device of the vehicle according to the embodiment of the present disclosure may execute the processing flow provided in the control method of the vehicle according to the embodiment, as shown in fig. 8, the control device 800 of the vehicle includes:

an obtaining module 810 for obtaining a first target image including information around a vehicle, wherein the first target image includes a target object;

a receiving module 820, configured to receive a first signal sent by a terminal device, and determine a first position of the terminal device relative to a vehicle according to strength of the first signal;

a determining module 830 for determining a second position of the target object relative to the vehicle based on the first target image;

the judging module 840 is configured to judge whether the terminal device and the target object enter the target area according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image;

and the unlocking module 850 is used for executing unlocking operation on the vehicle according to the unlocking information if the terminal equipment and the target object enter the target area and the unlocking information is obtained.

Optionally, the apparatus 800 further includes a motion trend module, configured to determine whether the terminal device and the target object enter the target area according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image, and specifically: and determining the motion trend of the terminal equipment and the target object to approach the vehicle.

Optionally, the motion trend module determines that the motion trend of the terminal device and the target object approaches the vehicle, and is specifically configured to:

Optionally, the receiving module 820 receives a first signal sent by the terminal device, and determines a first position of the terminal device relative to the vehicle according to the strength of the first signal, where the first position is specifically used for:

Optionally, in the determining module 830, according to the first target image, the second position of the target object relative to the vehicle is determined, and specifically, the determining module is configured to:

Optionally, the target area in the determining module 840 includes a first sub-area and a second sub-area, and according to a first position corresponding to the first signal strength and a second position corresponding to the first target image, it is determined whether the terminal device and the target object enter the target area, where the determining module is specifically configured to:

Optionally, if the terminal device and the target object enter the target area and the unlocking information is acquired in the unlocking module 850, the unlocking operation is performed on the vehicle according to the unlocking information, and the unlocking operation is specifically used for:

and if the target area is determined to be the second sub-area, acquiring unlocking information, and unlocking the vehicle according to the unlocking information.

Optionally, after the unlocking information is acquired in the device 800, the device further includes a first verification module, which is specifically configured to:

Optionally, the apparatus 800 further includes an unlocking module, specifically configured to:

Optionally, the apparatus 800 further includes a second verification module after the vehicle is not unlocked:

and determining that a first position corresponding to the strength of a fourth signal and a second position corresponding to a fourth target image are in a second sub-area, and unlocking the vehicle according to the unlocking information, wherein the first signal strength, the second signal strength, the third signal strength and the fourth signal strength are sent by the terminal equipment in real time, and the first target image, the second target image, the third target image and the fourth target image are target images which are acquired in real time and comprise information around the vehicle.

Optionally, the apparatus 800 further includes an update module, specifically configured to:

Optionally, the update module is further configured to:

The control device of the vehicle shown in fig. 8 can be used to implement the technical solutions of the above method embodiments, and the implementation principle and technical effects are similar, and are not described herein again.

Fig. 9 is a schematic structural diagram of an on-vehicle device according to an embodiment of the present disclosure. The vehicle-mounted device provided by the embodiment of the present disclosure may execute the processing flow provided by the above-described embodiment, and as shown in fig. 9, the vehicle-mounted device 900 includes: the vehicle machine 910, one or more signal acquisition modules 920, and one or more camera devices 930. Wherein

One or more signal acquisition modules 920, configured to acquire a signal sent by a terminal device, and send the strength of the signal to the vehicle machine 910;

one or more cameras 930 configured to acquire a target image including information around the vehicle and transmit the target image to the in-vehicle device 910;

the vehicle machine 910 is configured to receive the intensity of the signal sent by the one or more signal acquisition modules 920 and the target image sent by the one or more camera devices 930, and execute the control method of the vehicle.

An embodiment of the present disclosure provides a vehicle, including

A vehicle body;

the power system is arranged on the vehicle body and used for providing power;

and the in-vehicle apparatus as described above.

Understandably, the power system can be installed in the vehicle body and used for providing power for the vehicle, the vehicle-mounted equipment respectively determines the positions of the mobile terminal and the target object relative to the vehicle according to the Bluetooth signal and the target image, and then judges whether the vehicle can be safely unlocked or not, and the vehicle can be unlocked under the condition that the vehicle is safely unlocked, so that the accuracy and the safety of unlocking the vehicle can be improved.

In addition, other configurations and functions of the vehicle according to the embodiment of the present disclosure are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method of a vehicle is applied to a static vehicle to be unlocked, and is characterized by comprising the following steps:

receiving a first signal sent by a terminal device, and determining a first position of the terminal device relative to the vehicle according to the strength of the first signal;

determining a second position of the target object relative to the vehicle from the first target image;

and if the terminal equipment and the target object enter a target area and unlocking information is obtained, unlocking the vehicle according to the unlocking information.

2. The method according to claim 1, wherein before determining whether the terminal device and the target object enter a target area according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image, the method further comprises:

and determining the motion trend of the terminal equipment and the target object as approaching to the vehicle.

3. The method of claim 2, wherein the determining the trend of the motion of the terminal device and the target object toward the vehicle comprises:

determining a second movement trend of the target object according to a variation trend of a second position corresponding to the target object in the first target image;

determining that the first motion trend and the second motion trend are approaching the vehicle.

4. The method of claim 1, wherein the receiving a first signal transmitted by a terminal device, determining a first position of the terminal device relative to the vehicle based on a strength of the first signal, comprises:

receiving a first signal sent by a terminal device, and determining a first position of the terminal device relative to the vehicle by adopting a positioning model according to the strength of the first signal.

5. The method of claim 1, wherein determining the second position of the target object relative to the vehicle from the first target image comprises:

6. The method according to claim 1, wherein the target area includes a first sub-area and a second sub-area, and the determining whether the terminal device and the target object enter the target area according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image includes:

if yes, determining a first position of the terminal equipment according to the strength of the second signal; determining a second position of the target object in the second target image; and judging whether the terminal equipment and the target object enter a second sub-area according to a first position corresponding to the strength of the second signal and a second position corresponding to the second target image, wherein the first sub-area comprises the second sub-area.

7. The method according to claim 6, wherein if the terminal device and the target object enter a target area and unlock information is acquired, unlocking the vehicle according to the unlock information, comprising:

8. The method of claim 7, wherein after the obtaining the unlocking information, the method further comprises:

acquiring a third target image comprising the information around the vehicle, and determining a second position of a target object in the third target image;

and determining that a first position corresponding to the strength of the third signal and a second position corresponding to the third target image are in the second sub-area, and unlocking the vehicle according to the unlocking information.

9. The method of claim 8, further comprising:

10. The method of claim 9, wherein after the vehicle is not unlocked, the method further comprises:

receiving a fourth target image including the vehicle surrounding information, and determining a second position of a target object in the fourth target image;

and determining that a first position corresponding to the strength of the fourth signal and a second position corresponding to the fourth target image are in the second sub-area, and unlocking the vehicle according to the unlocking information, wherein the first signal strength, the second signal strength, the third signal strength and the fourth signal strength are sent by the terminal equipment in real time, and the first target image, the second target image, the third target image and the fourth target image are target images which are received in real time and comprise the information around the vehicle.

11. The method of claim 4, further comprising:

and updating the positioning model according to the strength of the first signal and a second position corresponding to the first target image.

12. The method of claim 11, further comprising:

when the second position corresponding to the first target image is in the first sub-area, determining the preset threshold as a first threshold;

and when the second position corresponding to the first target image is in the second sub-area, determining that the preset threshold is a second threshold, wherein the first threshold is larger than the second threshold.

13. A control device of a vehicle, which is applied to a static vehicle to be unlocked, is characterized by comprising:

an acquisition module configured to acquire a first target image including information around the vehicle, wherein the first target image includes a target object;

the receiving module is used for receiving a first signal sent by terminal equipment and determining a first position of the terminal equipment relative to the vehicle according to the strength of the first signal;

the judging module is used for judging whether the terminal equipment and the target object enter a target area or not according to a first position corresponding to the strength of the first signal and a second position corresponding to the first target image;

and the unlocking module is used for unlocking the vehicle according to the unlocking information if the terminal equipment and the target object enter a target area and the unlocking information is obtained.

14. The method of claim 13, wherein the apparatus further comprises an updating module configured to determine that a distance between a first location corresponding to the strength of the first signal and a second location corresponding to the first target image is greater than a preset threshold; and updating the positioning model according to the strength of the first signal and the second position corresponding to the first target image.

15. The vehicle-mounted equipment is characterized by comprising a vehicle machine, one or more signal acquisition modules and one or more camera devices; wherein

The system comprises one or more signal acquisition modules, a vehicle-mounted device and a vehicle-mounted device, wherein the one or more signal acquisition modules are used for acquiring signals sent by terminal equipment and sending the strength of the signals to the vehicle-mounted device;

the vehicle machine is used for receiving the strength of the signals sent by the one or more signal acquisition modules and the target images sent by the one or more camera devices and executing the method according to any one of claims 1-12.

16. A vehicle, characterized by comprising:

a vehicle body;

the power system is arranged on the vehicle body and used for providing power;

and the in-vehicle apparatus according to claim 15.