CN114132291A - Automobile control method and device and computer storage medium - Google Patents
Automobile control method and device and computer storage medium Download PDFInfo
- Publication number
- CN114132291A CN114132291A CN202111512450.5A CN202111512450A CN114132291A CN 114132291 A CN114132291 A CN 114132291A CN 202111512450 A CN202111512450 A CN 202111512450A CN 114132291 A CN114132291 A CN 114132291A
- Authority
- CN
- China
- Prior art keywords
- target terminal
- positioning
- automobile
- vehicle
- position range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
- B60R25/243—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user with more than one way to gain access
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The embodiment of the application discloses a control method and device of an automobile and a computer storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: when a Bluetooth signal sent by a target terminal is detected by a positioning main module of the automobile, the target terminal is positioned by the positioning main module to obtain a position range of the target terminal, the position range is used for indicating whether the target terminal is positioned inside or outside the automobile, and the target terminal is a terminal capable of controlling the automobile; positioning the target terminal through a plurality of positioning slave modules corresponding to the position ranges to obtain the position information of the target terminal; and controlling the automobile to execute corresponding operation based on the position information of the target terminal. The embodiment of the application can position the target terminal twice, so that the accuracy of positioning the target terminal is improved, and the possibility that a user forgets the target terminal is very low, so that the automobile is controlled through the target terminal, the potential safety hazard of the automobile is reduced, and the control safety of the automobile is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle engineering, in particular to a control method and device of an automobile and a computer storage medium.
Background
Along with the improvement of the life quality of people, the holding capacity of automobiles is more and more, each automobile has one to two physical automobile keys, when a user uses the automobile, the automobile can be controlled through the physical automobile keys, for example, the automobile can be controlled to be unlocked and locked through the physical automobile keys.
However, sometimes, the driver may forget to carry the physical car key, so that the door cannot be unlocked, or after the driver gets off the vehicle, the physical car key may be left in the vehicle, so that a potential safety hazard is brought to the vehicle.
Disclosure of Invention
The embodiment of the application provides a control method and device of an automobile and a computer storage medium, which can be used for solving the problem of lower automobile safety caused by potential safety hazards when the automobile is controlled by an automobile key in the related technology. The technical scheme is as follows:
in one aspect, there is provided a control method of an automobile, the method including:
when a Bluetooth signal sent by a target terminal is detected by a positioning main module of an automobile, the target terminal is positioned by the positioning main module to obtain a position range of the target terminal, wherein the position range is used for indicating whether the target terminal is located inside or outside the automobile, and the target terminal is a terminal capable of controlling the automobile;
positioning the target terminal through a plurality of positioning slave modules corresponding to the position range to obtain the position information of the target terminal;
and controlling the automobile to execute corresponding operation based on the position information of the target terminal.
In some embodiments, the positioning the target terminal by the multiple positioning slave modules corresponding to the position ranges to obtain the position information of the target terminal includes:
when the position range of the target terminal indicates that the target terminal is outside the automobile, starting a plurality of automobile outside positioning slave modules installed outside the automobile;
positioning the target terminal through the plurality of vehicle exterior positioning slave modules to obtain vehicle exterior position information of the target terminal;
when the position range of the target terminal indicates that the target terminal is located in the automobile, starting a plurality of in-automobile positioning slave modules installed in the automobile;
and positioning the target terminal through the plurality of in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
In some embodiments, before controlling the vehicle to perform the corresponding operation according to the location information of the target terminal, the method further includes:
detecting the service condition of the automatic parking function of the automobile;
correspondingly, the controlling the automobile to execute corresponding operations based on the position information of the target terminal comprises the following steps:
when the position information of the target terminal indicates that the target terminal is located at the position outside the automobile and the target position is located in a parking safety region based on the position information of the target terminal, if the automatic parking function of the automobile is started and an automatic parking track is obtained, the automobile is controlled to automatically park through the automatic parking track.
In some embodiments, before controlling the vehicle to perform the corresponding operation based on the location information of the target terminal, the method further includes:
receiving a search instruction aiming at the target terminal;
correspondingly, the controlling the automobile to execute corresponding operations based on the position information of the target terminal comprises the following steps:
and when the target terminal is located at the position in the automobile, prompting the position of the target terminal in the automobile through first prompt information according to the position information of the target terminal.
In some embodiments, the positioning the target terminal by the positioning main module to obtain a position range of the target terminal includes:
sending a first positioning signal to the target terminal through the positioning main module;
when a first feedback signal returned by the target terminal is received, determining that the position range of the target terminal is in the vehicle;
and when the first feedback signal returned by the target terminal is not received within the time length threshold value, determining that the position range of the target terminal is outside the vehicle.
In some embodiments, the positioning the target terminal by the positioning main module to obtain a position range of the target terminal includes:
sending a first positioning signal to the target terminal through the positioning main module;
when a first feedback signal returned by the target terminal is received and the signal intensity of the first feedback signal is smaller than an intensity threshold value, determining that the position range of the target terminal is outside the vehicle;
and when the signal intensity of the first feedback signal is greater than or equal to the intensity threshold value, determining that the position range where the target terminal is located is in the vehicle.
In another aspect, there is provided a control apparatus of an automobile, the apparatus including:
the positioning system comprises a first positioning module, a second positioning module and a third positioning module, wherein the first positioning module is used for positioning a target terminal through a positioning main module when the positioning main module of an automobile detects a Bluetooth signal sent by the target terminal to obtain a position range of the target terminal, the position range is used for indicating whether the target terminal is located inside or outside the automobile, and the target terminal can control the automobile;
the second positioning module is used for positioning the target terminal through a plurality of positioning slave modules corresponding to the position ranges to obtain the position information of the target terminal;
and the control module is used for controlling the automobile to execute corresponding operation based on the position information of the target terminal.
In some embodiments, the second positioning module comprises:
the first starting submodule is used for starting a plurality of vehicle-exterior positioning slave modules installed outside the vehicle when the position range of the target terminal indicates that the target terminal is outside the vehicle;
the first positioning sub-module is used for positioning the target terminal through the plurality of vehicle-outside positioning slave modules to obtain vehicle-outside position information of the target terminal;
the second starting submodule is used for starting a plurality of in-vehicle positioning slave modules installed in the vehicle when the position range of the target terminal indicates that the target terminal is positioned in the vehicle;
and the second positioning submodule is used for positioning the target terminal through the plurality of in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
In some embodiments, the apparatus further comprises:
the detection module is used for detecting the service condition of the automatic parking function of the automobile;
accordingly, the control module is configured to:
when the position range of the target terminal indicates that the target terminal is outside the vehicle and the target position is determined to be in a parking safe region based on the position information of the target terminal, if the automatic parking function of the vehicle is started and the automatic parking track is obtained, the vehicle is controlled to automatically park through the automatic parking track.
In some embodiments, the apparatus further comprises:
the receiving module is used for receiving a search instruction aiming at the target terminal;
accordingly, the control module is configured to:
and when the position range of the target terminal indicates that the target terminal is positioned in the automobile, prompting the position of the target terminal in the automobile through first prompt information according to the position information of the target terminal.
In some embodiments, the first positioning module comprises:
the first sending submodule is used for sending a first positioning signal to the target terminal through the positioning main module;
the first determining submodule is used for determining that the position range of the target terminal is in the vehicle when a first feedback signal returned by the target terminal is received;
and the second determining submodule is used for determining that the position range of the target terminal is out of the vehicle when the first feedback signal returned by the target terminal is not received within the time length threshold value.
In some embodiments, the first positioning module comprises:
the second sending submodule is used for sending a first positioning signal to the target terminal through the positioning main module;
the third determining submodule is used for determining that the position range of the target terminal is out of the vehicle when the first feedback signal returned by the target terminal is received and the signal intensity of the first feedback signal is smaller than the intensity threshold value;
and the fourth determining submodule is used for determining that the position range of the target terminal is in the vehicle when the signal intensity of the first feedback signal is greater than or equal to the intensity threshold value.
In another aspect, a computer-readable storage medium is provided, which stores instructions that, when executed by a processor, implement any one of the steps of the control method of the vehicle provided in the above aspect.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
in the embodiment of the application, when the automobile detects the bluetooth signal sent by the target terminal, the positioning main module can be used for positioning the target terminal to obtain the position range of the target terminal, and then the target terminal can be accurately positioned through the corresponding positioning slave modules according to the position range of the target terminal, so that the accuracy of positioning the target terminal is improved. Meanwhile, the control of the automobile can be realized without the operation of the target terminal by the user, so that the operation of controlling the automobile is simplified, and in addition, the possibility that the user forgets the target terminal is very small, so that the automobile is controlled by the target terminal, the potential safety hazard of the automobile is reduced, and the control safety of the automobile is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of a control system architecture of an automobile according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a control method for a vehicle according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of another control method for a vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device of an automobile according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a second positioning module according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of another control device of an automobile according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of another control device of an automobile according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a first positioning module according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.
Before explaining the control method of the vehicle provided by the embodiment of the present application in detail, an implementation environment and a system architecture provided by the embodiment of the present application are explained first.
First, an implementation environment provided in the embodiments of the present application is explained.
Fig. 1 is a schematic diagram of an implementation environment provided in an embodiment of the present application, and referring to fig. 1, the implementation environment includes an automobile 101 and a target terminal 102. The communication connection between the car 101 and the target terminal 102 can be, for example, a bluetooth connection between the car 101 and the target terminal 102. The target terminal 102 can install a digital key application program, through the digital key application program, the target terminal 102 can perform relevant control on the automobile 101, and the target terminal can be a smart phone, a tablet computer, a notebook computer, a smart band, a smart watch or the like. The target terminal 102 may also be referred to by other names such as user equipment, a portable terminal, etc., and this is not limited in this embodiment.
Next, a system architecture provided in the embodiments of the present application is explained.
Fig. 2 is a schematic diagram of a control system architecture of an automobile according to an embodiment of the present application, and referring to fig. 2, the system architecture includes a positioning master module 1, a plurality of off-board positioning slave modules 2, and a plurality of in-vehicle positioning slave modules 3, wherein 4 off-board positioning slave modules 2 and 3 in-vehicle positioning slave modules 3 are illustrated as an example, and the number of the off-board positioning slave modules 2 and the number of the in-vehicle positioning slave modules 3 are not limited. The positioning main module 1 is respectively connected with the plurality of external positioning slave modules 2 and the plurality of internal positioning slave modules 3 through a vehicle body LIN (Local Interconnect Network) in a communication manner, and the positioning main module 1 can be connected with the target terminal 102 through bluetooth. Wherein, the positioning main module 1 is installed at or near the position of the main driving instrument desk of the automobile 101, for example, at the left side of the main driving instrument desk; the plurality of the outside-vehicle positioning slave modules 2 can be respectively arranged on the left side and the right side of a front bumper of the automobile and the left side and the right side of a rear bumper of the automobile; the plurality of in-vehicle positioning slave modules may be installed on a right side of the passenger console, a left side of the left rear seat, and a right side of the right rear seat, respectively.
As an example, the positioning main module 1 is configured to, when a bluetooth signal sent by a target terminal is detected, position the target terminal to obtain a position range of the target terminal; the plurality of vehicle exterior positioning slave modules 2 are used for positioning the target terminal when the target terminal is outside the vehicle to obtain the position information of the target terminal and sending the position information of the target terminal to the positioning master module 1; the plurality of in-vehicle positioning slave modules 3 are used for positioning the target terminal when the target terminal is in the vehicle to obtain the position information of the target terminal and sending the position information of the target terminal to the positioning master module 1; after receiving the position information of the target terminal, the positioning main module 1 sends the position information to a controller of the vehicle, for example, sends the position information to a BCM (body control module) or a PEPS (Passive Entry Passive Start) of the vehicle, so that the BCM or the PEPS controls the vehicle to perform a corresponding operation based on the position information of the target terminal.
It will be appreciated by those skilled in the art that the foregoing system architectures are merely exemplary, and that other existing or future components, which may be suitable for use in the present application, are also encompassed within the scope of the present application and are hereby incorporated by reference.
Fig. 3 is a flowchart of a control method for a vehicle according to an embodiment of the present disclosure, where the control method for a vehicle may include the following steps:
step 301: when the Bluetooth signal sent by the target terminal is detected through the positioning main module of the automobile, the target terminal is positioned through the positioning main module to obtain the position range of the target terminal, the position range is used for indicating whether the target terminal is located inside or outside the automobile, and the target terminal is a terminal capable of controlling the automobile.
Step 302: and positioning the target terminal through a plurality of positioning slave modules corresponding to the position range to obtain the position information of the target terminal.
Step 303: and controlling the automobile to execute corresponding operation based on the position information of the target terminal.
In the embodiment of the application, when the automobile detects the bluetooth signal sent by the target terminal, the positioning main module can be used for positioning the target terminal to obtain the position range of the target terminal, and then the target terminal can be accurately positioned through the corresponding positioning slave modules according to the position range of the target terminal, so that the accuracy of positioning the target terminal is improved. Meanwhile, the control of the automobile can be realized without the operation of the target terminal by the user, so that the operation of controlling the automobile is simplified, and in addition, the possibility that the user forgets the target terminal is very small, so that the automobile is controlled by the target terminal, the potential safety hazard of the automobile is reduced, and the control safety of the automobile is improved.
In some embodiments, the positioning the target terminal through a plurality of positioning slave modules corresponding to the position range to obtain the position information of the target terminal includes:
when the position range of the target terminal indicates that the target terminal is outside the automobile, starting a plurality of automobile outside positioning slave modules installed outside the automobile;
positioning the target terminal through the plurality of vehicle exterior positioning slave modules to obtain vehicle exterior position information of the target terminal;
when the position range of the target terminal indicates that the target terminal is located in the automobile, starting a plurality of in-automobile positioning slave modules installed in the automobile;
and positioning the target terminal through the plurality of in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
In some embodiments, before controlling the vehicle to perform the corresponding operation based on the location information of the target terminal, the method further includes:
detecting the service condition of the automatic parking function of the automobile;
correspondingly, based on the position information of the target terminal, the automobile is controlled to execute corresponding operations, including:
when the position range of the target terminal indicates that the target terminal is located at the position outside the automobile and the target position is located in the parking safety region based on the position information of the target terminal, if the automatic parking function of the automobile is started and the automatic parking track is obtained, the automobile is controlled to automatically park through the automatic parking track.
In some embodiments, before controlling the vehicle to perform the corresponding operation based on the location information of the target terminal, the method further includes:
receiving a search instruction aiming at the target terminal;
correspondingly, based on the position information of the target terminal, the automobile is controlled to execute corresponding operations, including:
when the position range of the target terminal indicates that the target terminal is located in the automobile, the position of the target terminal in the automobile is prompted through first prompt information according to the position information of the target terminal.
In some embodiments, the positioning the target terminal by the positioning main module to obtain the position range of the target terminal includes:
sending a first positioning signal to the target terminal through the positioning main module;
when a first feedback signal returned by the target terminal is received, determining that the position range of the target terminal is in the vehicle;
and when the first feedback signal returned by the target terminal is not received within the time length threshold value, determining that the position range of the target terminal is outside the vehicle.
In some embodiments, the positioning the target terminal by the positioning main module to obtain the position range of the target terminal includes:
sending a first positioning signal to the target terminal through the positioning main module;
when a first feedback signal returned by the target terminal is received and the signal intensity of the first feedback signal is smaller than an intensity threshold value, determining that the position range of the target terminal is outside the vehicle;
and when the signal intensity of the first feedback signal is greater than or equal to the intensity threshold value, determining that the position range of the target terminal is in the vehicle.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 4 is a flowchart of a control method for an automobile according to an embodiment of the present application, which is illustrated by applying the control method for an automobile to an automobile, and the control method for an automobile may include the following steps:
step 401: when the automobile detects the Bluetooth signal sent by the target terminal through the positioning main module, the positioning main module is used for positioning the target terminal to obtain the position range of the target terminal.
The target terminal can send the Bluetooth signal when the Bluetooth function is started, and when the distance between the target terminal and the automobile is short, the positioning main module of the automobile can detect the Bluetooth signal. In order to control the automobile, the automobile can position the target terminal through the positioning main module, and the position range of the target terminal is obtained.
Note that the position range is used to indicate whether the target terminal is located inside or outside the vehicle. The target terminal is a terminal capable of controlling the car, that is, the target terminal can serve as a key of the car to control the car.
As an example, the operation of the automobile locating the target terminal through the main locating module to obtain the location range of the target terminal includes: sending a first positioning signal to a target terminal through a positioning main module; when a first feedback signal returned by the target terminal is received, determining that the position range of the target terminal is in the vehicle; and when the first feedback signal returned by the target terminal is not received within the time length threshold value, determining that the position range of the target terminal is outside the vehicle. Or when the received first feedback signal of the target terminal is smaller than the intensity threshold value, determining that the position range of the target terminal is outside the vehicle; when the signal intensity of the first feedback signal is greater than or equal to the intensity threshold value, the position range where the intensity target terminal is located is in the vehicle.
It should be noted that, when the position range of the target terminal is determined in the above manner, the maximum positioning range of the positioning main module can cover the area in the vehicle, and in order to ensure the positioning accuracy, the bluetooth signal detection range is greater than the positioning range.
It should be noted that the duration threshold is set in advance according to the requirement, for example, the duration threshold is 3 seconds, 2 seconds, and the like. The signal strength threshold is also set in advance according to requirements, for example, the signal strength threshold is 10dbm (decibel-milliwatt), 5dbm, and the like.
When positioning is carried out, the positioning main module can send a first positioning signal to the target terminal, and the target terminal can return a first feedback signal to the positioning main module after receiving the first positioning signal; when the positioning main module can receive the first feedback signal, the target terminal is in the positioning range, and therefore the position range of the target terminal can be determined to be in the vehicle; when the positioning main module does not receive the first feedback signal within the time length threshold value, the target terminal is out of the positioning range, and therefore the position range of the target terminal can be determined to be outside the vehicle.
In some embodiments, the operation of the automobile for locating the target terminal through the locating main module not only includes the above manner, but also includes other manners, for example, the automobile can also send a second locating signal to the target terminal through the locating main module; determining a communication distance between the positioning main module and the target terminal and a relative angle between the positioning main module and the target terminal according to the second positioning signal; and determining the position range of the target terminal through the positioning main module according to the communication distance and the relative angle.
As an example, when the communication distance is greater than the first distance threshold, the position range of the target terminal can be determined to be outside the vehicle regardless of the relative angle; when the communication distance is smaller than or equal to the first distance threshold and larger than the second distance threshold, if the relative angle is located in the first angle range, the position range of the target terminal is determined to be inside the vehicle, and if the relative angle is located outside the first angle range, the position range of the target terminal is determined to be outside the vehicle; and when the communication distance is smaller than a second distance threshold value, if the relative angle is located within a second angle range, determining that the position range of the target terminal is outside the vehicle, and if the relative angle is located outside the second angle range, determining that the position range of the target terminal is inside the vehicle.
When the target terminal receives a second positioning signal sent by the positioning main module, the target terminal can return a second feedback signal to the positioning main module, so that the automobile can determine the communication distance between the automobile and the target terminal through the positioning main module according to the time difference between sending the second positioning signal and receiving the second feedback signal and the signal propagation speed; and when the positioning main module receives the second feedback signal, the angle for receiving the second feedback signal can be determined, and the angle is determined as the relative angle with the target terminal, so that the automobile can determine the position range of the target terminal through the positioning main module according to the communication distance and the relative angle between the positioning main module and the target terminal.
It should be noted that the first distance threshold, the second distance threshold, the first angle range, and the second angle range are set in advance according to requirements, for example, the first distance threshold is the farthest distance between the position where the main positioning module is located and the body of the automobile, and the second distance threshold is the farthest distance between the position where the main positioning module is located and the head of the automobile.
As an example, the positioning main module can be a module integrated with UWB (Ultra Wideband) and bluetooth functions, and thus the positioning main module can detect a bluetooth signal transmitted by a target terminal and can position the target terminal.
In some embodiments, the positioning master module of the car can detect the bluetooth signal transmitted by the target terminal through the low power consumption broadcast signal.
It should be noted that the target terminal may be a terminal having a bluetooth function, and an application for controlling an automobile, other communication modules, and the like may be installed in the target terminal. And the bluetooth function in the target terminal supports the common protocol bluetooth 5.1 and above.
In order to reduce the consumption of the quiescent current of the automobile, whenever the bluetooth signal of the target terminal is not detected in the vicinity of the automobile, the bluetooth function of the positioning main module is in a bluetooth low energy broadcast state, and the other functions of the positioning main module are in a sleep state.
In some embodiments, since the user may control the vehicle through the target terminal to perform more functions, the vehicle may further establish a bluetooth connection between the positioning main module and the target terminal before the positioning main module locates the target terminal, and start the positioning function of the positioning main module after establishing the bluetooth connection.
It should be noted that, when the vehicle establishes the bluetooth connection with the target terminal through the positioning main module, the authentication and identity authentication operations can be performed on the target terminal, and the authentication operations can refer to related technologies, which are not described in detail in this embodiment of the present application.
Step 402: and the automobile positions the target terminal through the plurality of positioning slave modules corresponding to the position range to obtain the position information of the target terminal.
The automobile can determine whether the target terminal is located in the automobile or outside the automobile through the positioning main module, detailed position information of the target terminal needs to be further confirmed, and the positioning slave modules used for determining the detailed position information are different due to different position ranges of the target terminal, so that the automobile needs to position the target terminal through the plurality of positioning slave modules corresponding to the position ranges of the target terminal, and the position information of the target terminal is obtained.
It should be noted that the target terminal may be located inside or outside the vehicle, and therefore, after the vehicle locates the target terminal through the plurality of positioning slave modules, the obtained position information of the target terminal may include in-vehicle position information or outside-vehicle position information.
As an example, the operation of locating the target terminal by the vehicle through the plurality of positioning slave modules corresponding to the position range where the target terminal is located to obtain the position information of the target terminal includes: when the position range of the target terminal indicates that the target terminal is outside the automobile, starting a plurality of automobile outside positioning slave modules installed outside the automobile; positioning the target terminal through a plurality of vehicle exterior positioning slave modules to obtain vehicle exterior position information of the target terminal; when the position range of the target terminal indicates that the target terminal is located in the automobile, starting a plurality of in-automobile positioning slave modules installed in the automobile; and positioning the target terminal through the plurality of in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
As can be seen from fig. 2, a plurality of positioning slave modules can be installed inside and outside the vehicle, and when the target terminal is located in different position ranges, the vehicle can select different positioning slave modules to perform secondary positioning on the target terminal for positioning accuracy. For ease of distinction, the plurality of off-board mounted positioning slave modules can be referred to as a plurality of off-board positioning slave modules, and the plurality of in-board mounted positioning slave modules can be referred to as a plurality of in-board positioning slave modules. And each in-vehicle positioning slave module and each out-vehicle positioning slave module can be modules integrated with UWB functions.
In some embodiments, the position information of the target terminal obtained by the vehicle from the module through a plurality of positioning may be a variable position or a fixed position. That is, the position information of the target terminal acquired by the automobile at least includes at least one of a position variation trend, a fixed position, and the like of the target terminal.
It should be noted that, the operation of locating the target terminal by the vehicle through the plurality of vehicle-exterior positioning slave modules and the operation of locating the target terminal by the vehicle through the plurality of vehicle-exterior positioning slave modules can refer to the related art, for example, the vehicle locates the target terminal through the TDOA mode, and this is not repeated one by one in the implementation of the present application.
Step 403: and the automobile controls the automobile to execute corresponding operation based on the position information of the target terminal.
Since the operation performed by the vehicle is different when the location information of the target terminal is different, the vehicle can control the vehicle to perform the corresponding operation according to the location information of the target terminal.
As an example, when the location information includes a location change trend of the target terminal, the automobile controls the automobile to perform corresponding operations based on the location information of the target terminal at least including: when the position range of the target terminal indicates that the target terminal is outside the automobile and the position change trend of the target terminal is a trend close to the automobile, if the target terminal enters a welcome area, the automobile is controlled to light the automobile, and if the target terminal enters an unlocking area, the automobile is controlled to unlock the automobile door; and when the position range of the target terminal indicates that the target terminal is outside the automobile and the position change trend of the target terminal is a trend far away from the automobile, controlling the automobile to carry out door locking operation.
When the target terminal is located outside the vehicle and the position change trend of the target terminal is a trend of approaching the vehicle, it indicates that the user approaches the vehicle, and then the user is likely to need to drive the vehicle, so that the vehicle can perform a door unlocking operation. When the target terminal is located outside the automobile and the position change trend of the target terminal is a trend away from the automobile, it indicates that the user is away from the automobile, and then the user is likely not to need to drive the automobile, so the automobile can perform the door locking operation.
It should be noted that the welcome area and the unlocking area of the automobile can be divided in advance according to requirements. After the automobile lights are turned on in the welcoming area, a user can observe the lighting condition of the automobile lights and the area of the surrounding environment of the automobile body, and the welcoming area can be overlapped with the unlocking area.
In some embodiments, the location information outside the vehicle may be obtained by the vehicle through a plurality of vehicle-outside positioning slave modules after the user moves from inside to outside of the vehicle, that is, since the location change of the user may be a change from inside to outside of the vehicle, the vehicle may detect that the location range of the target terminal changes from inside to outside of the vehicle through the main positioning module, and when the location range of the target terminal changes to outside of the vehicle, the vehicle may position the target terminal through the plurality of vehicle-outside positioning slave modules to obtain the vehicle-outside location information. In such a case, in order to avoid that the user forgets a child in the automobile, when it is detected that the position range of the target terminal is changed from the inside of the automobile to the outside of the automobile and the position information outside the automobile of the target terminal includes a tendency that the position change tendency of the target terminal is far away from the automobile, the automobile can perform living body detection on the environment inside the automobile through the plurality of in-automobile positioning slave modules; when other living bodies exist in the vehicle, sending second prompt information to the target terminal; and when detecting that no other living bodies exist in the automobile, controlling the automobile to perform door locking operation.
As an example, the location information can further include a fixed and invariable location of the target terminal, and thus, the controlling of the automobile to perform the corresponding operation according to the location information of the target terminal by the automobile at least includes: and when the position information outside the vehicle of the target terminal comprises that the target terminal is positioned at the tail of the vehicle outside the vehicle, and the stay time at the tail of the vehicle is longer than a first preset time, controlling the vehicle to open or close the trunk.
As an example, when the target terminal is located in a car, the target terminal is rarely moved, and therefore, the position information detected by the car may include a fixed and unchangeable position of the target terminal, and the control performed on the car is related to not only the position of the target terminal in the car but also the current operating state of the car. Therefore, the controlling the car to perform the corresponding operation based on the location information of the target terminal by the car can further include: when the target terminal is located in the automobile, the automobile can be controlled to execute corresponding operation according to the position information in the automobile of the target terminal and the current running state of the automobile.
In some embodiments, when the target terminal is located in the vehicle and the in-vehicle location information of the target terminal includes that the stay time of the target terminal in the position of the driver seat of the vehicle is longer than a second preset time and the vehicle is currently in a starting state, controlling the vehicle to start a navigation function and/or a multimedia function; when the target terminal is located in the automobile, the in-automobile location information of the target terminal comprises that the stay time of the target terminal in the position of the automobile driver seat is longer than a third preset time, and the automobile is currently in a starting state, controlling the automobile to open an air conditioner or a window or a skylight according to the current weather state; when the target terminal is located in the automobile and the door of a driver seat of the automobile is detected to be opened, the position of the target terminal is prompted through third prompt information according to the position information in the automobile of the target terminal, and the third prompt information can prompt a user to carry the prompt information of the target terminal.
It should be noted that the first preset time, the second preset time, and the third preset time can be set in advance according to requirements, for example, the first preset time is 3 seconds or 5 seconds, the second preset time is 3 seconds or 5 seconds, and the third preset time is 3 seconds or 5 seconds.
In some embodiments, since the user may drop the target terminal in the vehicle and forget the drop position, the vehicle can use a plurality of in-vehicle positioning slave modules to position the specific position of the target terminal in the vehicle, and therefore, the user can search for the target terminal through the search function of the vehicle. The automobile can also receive a search instruction aiming at the target terminal, and when the position range of the target terminal indicates that the target terminal is located in the automobile, the automobile can prompt the position of the target terminal in the automobile through the first prompt information according to the position information of the target terminal.
In some embodiments, since the user may also use the automatic parking function of the automobile, and the automobile sometimes requires the user to be located outside the automobile when performing the automatic parking function, and the user cannot be too close to or too far away from the automobile, the automobile can also determine whether the target terminal is in a parking safety region outside the automobile through a plurality of automobile outside positioning modules, and control the automobile to perform automatic parking when the target terminal is in the parking safety region. That is, the automobile can also detect the service condition of the automatic parking function of the automobile before controlling the automobile to execute corresponding operation based on the position information of the target terminal; when the position range of the target terminal indicates that the target terminal is outside the automobile and the target terminal target position is in a parking safety region based on the in-automobile position information of the target terminal, if the automatic parking function of the automobile is started and the automatic parking track is obtained, the automatic parking of the automobile is controlled through the automatic parking track.
The parking safety area can be divided in advance according to the requirement.
In some embodiments, before the automobile is controlled to perform the corresponding operation according to the position information of the target terminal, fourth prompt information for prompting the operation performed by the automobile may be further sent to the target terminal.
Because sometimes the user may not need to control the automobile, in order to accurately control the automobile, the automobile may further send fourth prompt information to the target terminal before controlling the automobile to execute corresponding operations according to the position information of the target terminal, and when the user needs to control the automobile, the user may not perform any operation on the target terminal or trigger a confirmation operation instruction through the target terminal. When the user does not need to control the automobile, a cancel operation instruction can be triggered through the target terminal, and the cancel operation instruction is used for indicating the automobile to cancel and controlling the automobile to execute corresponding operation according to the position information of the target terminal.
In the embodiment of the application, when the automobile detects a bluetooth signal sent by the target terminal, the automobile can establish connection with the target terminal through the positioning main module, position the target terminal through the positioning main module to obtain the position range of the target terminal, and then accurately position the target terminal through the corresponding positioning slave modules according to the position range of the target terminal, so that the accuracy of positioning the target terminal is improved. Meanwhile, the control of the automobile can be realized without the operation of the target terminal by the user, so that the operation of controlling the automobile is simplified, and in addition, the possibility that the user forgets the target terminal is very small, so that the automobile is controlled by the target terminal, the potential safety hazard of the automobile is reduced, and the control safety of the automobile is improved.
Fig. 5 is a schematic structural diagram of a control device of an automobile according to an embodiment of the present disclosure, where the control device of the automobile may be implemented by software, hardware, or a combination of the two. The control apparatus of the automobile may include: a first positioning module 501, a second positioning module 502, and a control module 503.
The first positioning module 501 is configured to, when a bluetooth signal sent by a target terminal is detected by a main positioning module of a vehicle, position the target terminal by the main positioning module to obtain a position range where the target terminal is located, where the position range is used to indicate whether the target terminal is located inside or outside the vehicle, and the target terminal is a terminal capable of controlling the vehicle;
a second positioning module 502, configured to position the target terminal through a plurality of positioning slave modules corresponding to the position range, to obtain position information of the target terminal;
and a control module 503, configured to control the vehicle to perform a corresponding operation based on the location information of the target terminal.
In some embodiments, referring to fig. 6, the second positioning module 502 includes:
the first starting submodule 5021 is used for starting a plurality of vehicle-exterior positioning slave modules installed outside the vehicle when the position range of the target terminal indicates that the target terminal is outside the vehicle;
the first positioning sub-module 5022 is used for positioning the target terminal through the plurality of vehicle-outside positioning slave modules to obtain vehicle-outside position information of the target terminal;
a second starting submodule 5023, configured to start a plurality of in-vehicle positioning slave modules installed in the vehicle when the position range of the target terminal indicates that the target terminal is in the vehicle;
the second positioning sub-module 5024 is configured to position the target terminal through the multiple in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
In some embodiments, referring to fig. 7, the apparatus further comprises:
the detection module 504 is used for detecting the service condition of the automatic parking function of the automobile;
accordingly, the control module 503 is configured to:
when the position range of the target terminal indicates that the target terminal is outside the automobile and the target position is determined to be in a parking safety region based on the position information of the target terminal, if the automatic parking function of the automobile is started and the automatic parking track is obtained, the automobile is controlled to automatically park through the automatic parking track.
In some embodiments, referring to fig. 8, the apparatus further comprises:
a receiving module 505, configured to receive a search instruction for the target terminal;
accordingly, the control module 503 is configured to:
and when the position range of the target terminal indicates that the target terminal is positioned in the automobile, prompting the position of the target terminal in the automobile through first prompt information according to the position information of the target terminal.
In some embodiments, referring to fig. 9, the first positioning module 501 comprises:
the first sending submodule 5011 is configured to send a first positioning signal to the target terminal through the positioning main module;
the first determining submodule 5012 is configured to determine that the location range of the target terminal is in the vehicle when receiving a first feedback signal returned by the target terminal;
the second determining submodule 5013 is configured to determine that the position range where the target terminal is located is outside the vehicle when the first feedback signal returned by the target terminal is not received within the time length threshold.
In some embodiments, the first positioning module 501 comprises:
the second sending submodule is used for sending a first positioning signal to the target terminal through the positioning main module;
the third determining submodule is used for determining that the position range of the target terminal is out of the vehicle when the first feedback signal returned by the target terminal is received and the signal intensity of the first feedback signal is smaller than the intensity threshold value;
and the fourth determining submodule is used for determining that the position range of the target terminal is in the vehicle when the signal intensity of the first feedback signal is greater than or equal to the intensity threshold value.
In the embodiment of the application, when the automobile detects a bluetooth signal sent by the target terminal, the automobile can establish connection with the target terminal through the positioning main module, position the target terminal through the positioning main module to obtain the position range of the target terminal, and then accurately position the target terminal through the corresponding positioning slave modules according to the position range of the target terminal, so that the accuracy of positioning the target terminal is improved. Meanwhile, the control of the automobile can be realized without the operation of the target terminal by the user, so that the operation of controlling the automobile is simplified, and in addition, the possibility that the user forgets the target terminal is very small, so that the automobile is controlled by the target terminal, the potential safety hazard of the automobile is reduced, and the control safety of the automobile is improved.
It should be noted that: in the control device for an automobile provided in the above embodiment, when controlling an automobile, only the division of the above functional modules is exemplified, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the control device of the vehicle provided by the above embodiment and the control method embodiment of the vehicle belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment and will not be described again.
The embodiment of the application also provides a non-transitory computer readable storage medium, and when instructions in the storage medium are executed by a processor of an automobile, the automobile is enabled to execute the control method of the automobile provided by the embodiment.
The embodiment of the present application further provides a computer program product containing instructions, which when running on an automobile, causes the automobile to execute the control method of the automobile provided by the above embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A control method of an automobile, characterized by comprising:
when a Bluetooth signal sent by a target terminal is detected by a positioning main module of an automobile, the target terminal is positioned by the positioning main module to obtain a position range of the target terminal, wherein the position range is used for indicating whether the target terminal is located inside or outside the automobile, and the target terminal is a terminal capable of controlling the automobile;
positioning the target terminal through a plurality of positioning slave modules corresponding to the position range to obtain the position information of the target terminal;
and controlling the automobile to execute corresponding operation based on the position information of the target terminal.
2. The method of claim 1, wherein the positioning the target terminal through a plurality of positioning slave modules corresponding to the position ranges to obtain the position information of the target terminal comprises:
when the position range of the target terminal indicates that the target terminal is outside the automobile, starting a plurality of automobile outside positioning slave modules installed outside the automobile;
positioning the target terminal through the plurality of vehicle exterior positioning slave modules to obtain vehicle exterior position information of the target terminal;
when the position range of the target terminal indicates that the target terminal is located in the automobile, starting a plurality of in-automobile positioning slave modules installed in the automobile;
and positioning the target terminal through the plurality of in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
3. The method of claim 1, wherein before controlling the vehicle to perform the corresponding operation based on the location information of the target terminal, further comprising:
detecting the service condition of the automatic parking function of the automobile;
correspondingly, the controlling the automobile to execute corresponding operations based on the position information of the target terminal comprises the following steps:
when the position range of the target terminal indicates that the target terminal is outside the vehicle and the target position is determined to be in a parking safe region based on the position information of the target terminal, if the automatic parking function of the vehicle is started and the automatic parking track is obtained, the vehicle is controlled to automatically park through the automatic parking track.
4. The method of claim 1, wherein before controlling the vehicle to perform the corresponding operation based on the location information of the target terminal, further comprising:
receiving a search instruction aiming at the target terminal;
correspondingly, the controlling the automobile to execute corresponding operations based on the position information of the target terminal comprises the following steps:
and when the position range of the target terminal indicates that the target terminal is positioned in the automobile, prompting the position of the target terminal in the automobile through first prompt information according to the position information of the target terminal.
5. The method according to claim 1, wherein the positioning the target terminal by the positioning main module to obtain the position range of the target terminal comprises:
sending a first positioning signal to the target terminal through the positioning main module;
when a first feedback signal returned by the target terminal is received, determining that the position range of the target terminal is in the vehicle;
and when the first feedback signal returned by the target terminal is not received within the time length threshold value, determining that the position range of the target terminal is outside the vehicle.
6. The method according to claim 1, wherein the positioning the target terminal by the positioning main module to obtain the position range of the target terminal comprises:
sending a first positioning signal to the target terminal through the positioning main module;
when a first feedback signal returned by the target terminal is received and the signal intensity of the first feedback signal is smaller than an intensity threshold value, determining that the position range of the target terminal is outside the vehicle;
and when the signal intensity of the first feedback signal is greater than or equal to the intensity threshold value, determining that the position range where the target terminal is located is in the vehicle.
7. A control device for a vehicle, characterized in that the device comprises:
the positioning system comprises a first positioning module, a second positioning module and a third positioning module, wherein the first positioning module is used for positioning a target terminal through a positioning main module when the positioning main module of an automobile detects a Bluetooth signal sent by the target terminal to obtain a position range of the target terminal, the position range is used for indicating whether the target terminal is located inside or outside the automobile, and the target terminal can control the automobile;
the second positioning module is used for positioning the target terminal through a plurality of positioning slave modules corresponding to the position ranges to obtain the position information of the target terminal;
and the control module is used for controlling the automobile to execute corresponding operation based on the position information of the target terminal.
8. The apparatus of claim 7, wherein the second positioning module comprises:
the first starting submodule is used for starting a plurality of vehicle-exterior positioning slave modules installed outside the vehicle when the position range of the target terminal indicates that the target terminal is outside the vehicle;
the first positioning sub-module is used for positioning the target terminal through the plurality of vehicle-outside positioning slave modules to obtain vehicle-outside position information of the target terminal;
the second starting submodule is used for starting a plurality of in-vehicle positioning slave modules installed in the vehicle when the position range of the target terminal indicates that the target terminal is positioned in the vehicle;
and the second positioning submodule is used for positioning the target terminal through the plurality of in-vehicle positioning slave modules to obtain in-vehicle position information of the target terminal.
9. The apparatus of claim 7, wherein the apparatus further comprises:
the detection module is used for detecting the service condition of the automatic parking function of the automobile;
accordingly, the control module is configured to:
when the position range of the target terminal indicates that the target terminal is outside the vehicle and the target position is determined to be in a parking safe region based on the position information of the target terminal, if the automatic parking function of the vehicle is started and the automatic parking track is obtained, the vehicle is controlled to automatically park through the automatic parking track.
10. A computer-readable storage medium having stored thereon instructions which, when executed by a processor, carry out the steps of the method of any of the preceding claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111512450.5A CN114132291B (en) | 2021-12-08 | 2021-12-08 | Automobile control method and device and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111512450.5A CN114132291B (en) | 2021-12-08 | 2021-12-08 | Automobile control method and device and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114132291A true CN114132291A (en) | 2022-03-04 |
| CN114132291B CN114132291B (en) | 2022-11-25 |
Family
ID=80386154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111512450.5A Active CN114132291B (en) | 2021-12-08 | 2021-12-08 | Automobile control method and device and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114132291B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115297434A (en) * | 2022-09-30 | 2022-11-04 | 小米汽车科技有限公司 | Service calling method and device, vehicle, readable storage medium and chip |
| WO2023193165A1 (en) * | 2022-04-07 | 2023-10-12 | 华为技术有限公司 | Positioning method, apparatus and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100156672A1 (en) * | 2008-12-19 | 2010-06-24 | Electronics And Telecommunications Research Institute | System and method for auto valet parking |
| CN108313053A (en) * | 2018-01-30 | 2018-07-24 | 吉利汽车研究院（宁波）有限公司 | A kind of method and system of parking based on Intelligent key |
| CN109100769A (en) * | 2018-08-01 | 2018-12-28 | 上海博泰悦臻电子设备制造有限公司 | The localization method and system of vehicle connection bluetooth key |
| CN109466505A (en) * | 2018-09-18 | 2019-03-15 | 广东远峰汽车电子有限公司 | Vehicle key-free control system and method based on RSSI and AOA |
| CN112562135A (en) * | 2020-12-07 | 2021-03-26 | 中国第一汽车股份有限公司 | Vehicle control method and device, vehicle and storage medium |
-
2021
- 2021-12-08 CN CN202111512450.5A patent/CN114132291B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100156672A1 (en) * | 2008-12-19 | 2010-06-24 | Electronics And Telecommunications Research Institute | System and method for auto valet parking |
| CN108313053A (en) * | 2018-01-30 | 2018-07-24 | 吉利汽车研究院（宁波）有限公司 | A kind of method and system of parking based on Intelligent key |
| CN109100769A (en) * | 2018-08-01 | 2018-12-28 | 上海博泰悦臻电子设备制造有限公司 | The localization method and system of vehicle connection bluetooth key |
| CN109466505A (en) * | 2018-09-18 | 2019-03-15 | 广东远峰汽车电子有限公司 | Vehicle key-free control system and method based on RSSI and AOA |
| CN112562135A (en) * | 2020-12-07 | 2021-03-26 | 中国第一汽车股份有限公司 | Vehicle control method and device, vehicle and storage medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023193165A1 (en) * | 2022-04-07 | 2023-10-12 | 华为技术有限公司 | Positioning method, apparatus and system |
| CN115297434A (en) * | 2022-09-30 | 2022-11-04 | 小米汽车科技有限公司 | Service calling method and device, vehicle, readable storage medium and chip |
| CN115297434B (en) * | 2022-09-30 | 2023-01-17 | 小米汽车科技有限公司 | Service calling method and device, vehicle, readable storage medium and chip |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114132291B (en) | 2022-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10055917B2 (en) | User proximity detection for activating vehicle convenience functions | |
| JP6372688B2 (en) | Vehicle communication system | |
| CN114132291B (en) | Automobile control method and device and computer storage medium | |
| US9894492B1 (en) | System and method for determining mobile device location relative to vehicle cabin | |
| JP6520283B2 (en) | User identification system, portable device for vehicle | |
| JP6451441B2 (en) | User identification system, portable device for vehicles | |
| JP2018035664A (en) | Vehicle communication system | |
| US20170019480A1 (en) | Mobile device, vehicle remote control system, and vehicle remote control method | |
| US10562540B2 (en) | Method and apparatus for vehicle valet control devices | |
| MX2015001755A (en) | Walk-away vehicle shutdown. | |
| CN205344821U (en) | Car does not have key entering, start -up system | |
| CN107433950B (en) | Self-learning system for reflecting environment | |
| US20230256937A1 (en) | Vehicle control method, vehicle-mounted apparatus, and mobile terminal | |
| KR20190046354A (en) | A vehicle and vehicle system | |
| CN114205775A (en) | Vehicle control method, mobile terminal, vehicle-mounted equipment and network equipment | |
| CN112109661A (en) | Vehicle keyless control method, automobile and storage medium | |
| CN112141042B (en) | Method and device for keyless control of a motor vehicle | |
| CN113539259A (en) | Voice communication method and device based on vehicle | |
| CN106945615B (en) | Method and system for controlling vehicle host unit pre-start by using geo-fence beacon | |
| CN112758045A (en) | Vehicle control system | |
| CN109515431B (en) | Integrated automatic parking system and automatic parking method | |
| CN214565192U (en) | Car searching system based on Bluetooth key | |
| KR101889056B1 (en) | An automobile | |
| JP2021148817A (en) | Vehicle control system, vehicle control method, and vehicle control program | |
| CN219948021U (en) | Vehicle with remote key control light vehicle searching function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |