CN218021540U - Vehicle access apparatus and autonomous vehicle - Google Patents

Abstract

The utility model provides a vehicle access to equipment and autopilot vehicle relates to the autopilot field, especially relates to vehicle access to equipment field. The vehicle entry apparatus is provided outside a vehicle, and includes: the device comprises a touch panel, a pressure sensor and a controller, wherein the touch panel is used for inputting an opening instruction, and the opening instruction is used for opening a vehicle door of a vehicle; the pressure sensor is connected with the touch panel and used for sensing an electric signal corresponding to the input opening instruction and sending the electric signal to the controller; and the controller is connected with the pressure sensor and is used for judging whether the input opening instruction is correct or not according to the electric signal.

Description

Vehicle access apparatus and autonomous vehicle

Technical Field

The present disclosure relates to the field of automated driving, and more particularly, to vehicle access device technology.

Background

With the rise and development of unmanned vehicles, the vehicle entering mode and the man-vehicle interaction mode outside the vehicle are changed accordingly. Traditional vehicle entering modes such as a mechanical key, a smart key, a Near Field Communication (NFC) card, a bluetooth key of a mobile phone and the like are just unable to meet the travel requirements of the current unmanned vehicle.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a vehicle entry apparatus and an autonomous vehicle.

According to an aspect of the present disclosure, there is provided a vehicle entry apparatus provided outside a vehicle, including: the device comprises a touch panel, a pressure sensor and a controller, wherein the touch panel is used for inputting an opening instruction, and the opening instruction is used for opening a vehicle door of a vehicle; the pressure sensor is connected with the touch panel and used for sensing an electric signal corresponding to the input opening instruction and sending the electric signal to the controller; and the controller is connected with the pressure sensor and is used for judging whether the input opening instruction is correct or not according to the electric signal.

According to another aspect of the present disclosure, there is provided an autonomous vehicle comprising: the central control system is connected with the vehicle access equipment and controls the opening of a vehicle door of the automatic driving vehicle under the condition that the opening instruction of the vehicle access equipment is input correctly; in the case where the input of the opening instruction of the vehicle entry device is erroneous, control refuses to open the door of the autonomous vehicle.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a block diagram of a vehicle entry device according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a touch panel according to an embodiment of the disclosure;

fig. 3 is a block diagram of another vehicle entry device according to an embodiment of the present disclosure;

fig. 4 is a block diagram of another vehicle entry device according to an embodiment of the present disclosure;

fig. 5 is a block diagram of another vehicle entry device according to an embodiment of the present disclosure;

fig. 6 is a block diagram of another vehicle entry device according to an embodiment of the present disclosure;

fig. 7 is a block diagram of another vehicle entry device according to an embodiment of the present disclosure;

FIG. 8 is a vehicle access apparatus installation schematic according to an embodiment of the present disclosure;

fig. 9 is a block diagram of an autonomous vehicle according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

At present, the access system of the passenger vehicle generally takes 'a main access mode, a user experience access mode and a temporary standby access mode' as a design principle, and is configured with three access schemes. The smart key is still the mainstream entering system configuration on the market at present, and compared with novel entering modes such as an NFC card, face recognition, two-dimensional code scanning and the like, the Bluetooth digital key gradually becomes the industry standard distribution trend, and the mechanical key serving as a standby scheme is used for solving the situation that a main key is out of power or damaged.

At present, the common vehicle entering mode has more or less defects such as dependence on keys, mobile phones, networks, bluetooth or personal privacy, and the like, and cannot really meet the scene requirement of free entering of the passengers of the unmanned operation vehicle. The details are as follows:

1) The intelligent key: the function realization relies on the key, intelligent entering and starting system (PEPS) and antenna, is not suitable for the passenger entering mode of unmanned operation car.

2) Bluetooth key: the function realization depends on the connection between the Bluetooth module of the whole vehicle and the mobile phone of the passenger and the system positioning precision, and relates to the system safety, the system platform and the development of the mobile phone Application program (APP), and the function realization can be used as one of the entering schemes of the unmanned operation vehicle.

3) A mechanical key: the function is realized needing to be equipped with the lock core, so can only be as unmanned operation car operator and the reserve entering scheme of security personnel, can not be used for the passenger to get into the mode.

4) Mobile phone NFC card: the function realization depends on the whole vehicle NFC antenna calibration and arrangement, and not all passenger's mobile phone brands and models have the NFC function, so can't be as the entering scheme of unmanned operation car.

5) And (3) two-dimensional code identification: no matter people sweep the car (the passenger sweeps the two-dimensional code that the sign indicating number pasted in automobile body department with the cell-phone) or the car sweeps the people (the car is out to arrange the camera and sweep the two-dimensional code that sign indicating number passenger cell-phone APP terminal shows), the operating procedure is all comparatively loaded down with trivial details and must rely on the connection condition of passenger's cell-phone network and bluetooth, passenger experience feels not good, so the suggestion will be as the entering mode of unmanned operation car with this.

6) Face recognition: the function realization depends on an external TOF camera, the algorithm is complex, the cost is high, and the passenger face data relates to personal information, so that the function realization is not suggested to be used as an entering mode of an unmanned operation vehicle.

7) The door is opened in the remote control of cell-phone APP: the function realization depends on the conditions of passenger mobile phones and network connection, and relates to the development of a system platform and a mobile phone APP, and the function realization can be used as one of the entering modes of unmanned operation vehicles.

Although the mobile phone APP can be used for remotely controlling the opening of the vehicle door and the Bluetooth key can be used as an access mode of an unmanned operation vehicle, the function of opening the vehicle door cannot be realized when a security officer or a passenger mobile phone is out of power or the connection of the mobile phone network/Bluetooth is abnormal. Meanwhile, in view of the fact that mobile phone accounts cannot be generally registered in the links of production, test, logistics, sale, after-sale and the like, the situation that the mobile phone accounts cannot be conveniently accessed also exists. Therefore, the problem of the external vehicle access system which does not depend on a mobile phone and can meet the unmanned vehicle operation scene is urgently solved.

In order to solve the technical problem, the embodiment of the present disclosure provides an outside-vehicle access device capable of implementing outside-vehicle identity confirmation and access of an unmanned vehicle, that is, a passenger inputs a verification code by clicking the outside-vehicle access device, so that functions of outside-vehicle identity confirmation, sideslip door opening, copilot unlocking and the like can be directly implemented. The technical solution provided by the present disclosure is described in detail below with reference to specific embodiments.

Fig. 1 is a block diagram of a configuration of a vehicle entry apparatus provided outside a vehicle, as shown in fig. 1, according to an embodiment of the present disclosure, the vehicle entry apparatus including: a touch panel 101, a pressure sensor 102, and a controller 13, wherein,

the touch panel 101 is configured to input an opening command, where the opening command is used to open a door of the vehicle.

According to an alternative embodiment of the present disclosure, the material of the touch panel 101 is acrylic board and PC board.

The touch panel 101 provided in the embodiment of the present disclosure is a mirror-type touch screen (LENS panel), and the materials mainly adopt two materials, namely acrylic (PMMA) and Polycarbonate (PC), and include on the back of the LENS panel: the Printed Circuit board comprises a Printed character layer, a lead Circuit layer, a Flexible Printed Circuit (FPC) flat cable and an ultrahigh-viscosity adhesive tape (Very High Bond, VHB) back glue layer. The touch panel is used for interaction with a user, and when the user presses the touch panel 101, a pressure signal input from the user side is received and converted into an electrical signal.

As an alternative embodiment, the opening command is a verification code, for example, the verification code is 12345, that is, the door is opened when 12345 is input on the touch panel.

The pressure sensor 102 is connected to the touch panel 101, and senses an electrical signal corresponding to an input start command and transmits the electrical signal to the controller 103.

According to the pressure sensor 102 provided in the embodiment of the present disclosure, when the passenger touches and presses the surface of the touch panel 101, the pressure sensor 102 will capture the position of the change of the electrical signal and transmit the electrical signal to the CB assembly (and the controller 103) through the FPC cable.

And the controller 103 is connected with the pressure sensor 102 and used for judging whether the opening instruction input by the user side is correct or not according to the electric signal sent by the pressure sensor 102.

In the embodiment of the present disclosure, a Printed Circuit Board (PCB) assembly is used as the controller 103, and is configured to process a touch signal received by the vehicle entry device from the user side and feed back a processing result.

Through the vehicle access equipment, the dependence of a traditional vehicle access system on mobile terminal equipment such as a mechanical key and a mobile phone can be avoided, and the defects that an external display screen is high in cost and cannot meet the requirements of vehicle specifications and the like can be overcome; need not to sweep the sign indicating number, also increased the use viscidity of passenger to unmanned operation car when promoting people's car interactive experience and feel and get into the convenience.

The vehicle intelligent entry system scheme for the exclusive unmanned operation vehicle traveling scene can greatly improve brand over-price and product competitiveness.

Fig. 2 is a schematic structural diagram of a touch panel according to an embodiment of the disclosure, and as shown in fig. 2, the touch panel 101 includes: a first display region 10101, a second display region 10102, and a third display region 10103, the first display region 10101 including: the system comprises a starting key circuit and a guide aperture, wherein the starting key circuit is used for activating a touch panel, and the guide aperture is used for indicating a target object to click the starting key circuit; the second display region 10102 includes: the digital key circuit is used for inputting a starting instruction; the third display region 10103 includes a delete key circuit and a confirm key circuit, where the delete key circuit is used to delete an input start instruction, and the confirm key circuit is used to perform a confirmation operation after the start instruction is input by the target object.

As shown in fig. 2, the display area of the touch panel 101 mainly comprises three parts, 10101, 10102 and 10103, wherein 10101 is a panel start key circuit and a guide aperture, 10102 is a 0-9 verification code digital input key area, and 10103 is a verification code input delete key and a confirmation key. The 10101 display effect can be white, red (flashing) and green according to the state of the whole vehicle and the panel and the input result of the verification code, and the 10102 and the 10103 display effect can be divided into a display effect (white backlight) and a non-display effect (black screen effect) by being collectively called as an input key area.

Fig. 3 is a block diagram of another vehicle entry apparatus according to an embodiment of the present disclosure, as shown in fig. 3, the vehicle entry apparatus further includes: an upper casing 104 and a lower casing 105, wherein the upper casing 104 and the lower casing 105 form a cavity structure, and the touch panel 101 is arranged on the outer surface of the upper casing 101, and the outer surface is the outer side surface of the cavity structure; a pressure sensor 102 disposed on an inner surface of the upper housing 101, the inner surface being located inside the cavity structure; and the controller 103 is arranged inside the cavity structure.

Through the cavity structure that upper housing and lower casing constitute, can play certain guard action to above-mentioned each part of vehicle access equipment.

Fig. 4 is a block diagram of another vehicle entry apparatus according to an embodiment of the present disclosure, as shown in fig. 4, the vehicle entry apparatus further includes: the piezoelectric thin film module 106 is disposed on an inner surface of the upper housing 104, and configured to generate a potential difference according to a pressure generated by an input operation of the opening instruction on the touch panel 101, where the potential difference is a voltage difference between an upper surface and a lower surface of the piezoelectric thin film module 106.

In this embodiment, the piezoelectric film module is disposed on the inner side surface of the upper housing, and is used for generating pressure when a user touches and presses the touch panel, the piezoelectric film module 106 pressed by the touch panel 101 forms a potential difference on the upper and lower surfaces thereof, and the pressure sensing can be realized by detecting a change of a potential difference signal.

Fig. 5 is a block diagram of another vehicle entry apparatus according to an embodiment of the present disclosure, as shown in fig. 5, the vehicle entry apparatus further includes: and the vibration motor 107 is arranged on the inner surface of the upper shell 104, is connected with the piezoelectric film module 106, realizes pressure induction through detecting signal change of potential difference, and drives the upper shell 104 to vibrate up and down after realizing the pressure induction.

In the present embodiment, the vibration motor is provided on the inner surface of the upper case, is connected to the piezoelectric thin film group inside the upper case, and detects a potential difference signal generated by the piezoelectric thin film group, and outputs the state of the case based on the potential difference signal, thereby causing the case to exhibit vertical vibration. Thereby driving the touch panel to realize vibration feedback.

In a specific embodiment, each time a user presses a key (a numeric key, a delete key, or a confirm case), the touch panel realizes vibration feedback to remind the user of the success of pressing the key.

Fig. 6 is a block diagram of another vehicle entry apparatus according to an embodiment of the present disclosure, as shown in fig. 6, the vehicle entry apparatus further including: and a light guide 108 disposed inside the touch panel 101 for displaying a plurality of light colors.

In this embodiment, a light guide is disposed inside the touch panel, and the light guide can display lights of multiple colors.

The functions of the light guide body are described below in conjunction with a use scheme of the vehicle entry apparatus provided by the present disclosure.

The vehicle entering equipment and the cabin controller are in LIN communication, and the specific working state and display effect are as follows:

1) When the vehicle reaches a designated station (the vehicle speed is 0 km/h), the start button and the guide aperture in the first display area 10101 on the touch panel 101 are in a white breathing light flashing effect for guiding the passenger to click the button and activate the touch panel 101.

2) When a passenger approaches a vehicle, the vehicle key controller judges whether a vehicle Bluetooth module is connected with a passenger mobile phone terminal Bluetooth, if so, a starting key and a guide aperture in a first display area 10101 are displayed in green, and a number key in a second display area 10102, a deleting key and a confirming key in a third display area 10103 are all displayed in a lighting mode, and meanwhile, the vehicle automatically opens a side sliding door and unlocks a secondary driving door lock; if not, when the passenger clicks the start key in 10101, the first display region 0101, the second display region 10102 and the third display region 10103 are all displayed in white, indicating that the control panel 101 is activated and the passenger can press a prompt to input the verification code.

3) When the passenger clicks the key regions of the second display region 10102 and the third display region 10103 to input the verification code, the corresponding key performs vibration feedback, and the input verification code can be deleted and re-input by clicking the delete key in the input process; after the verification code is input, clicking a confirmation key to confirm the input; after the input is finished, the input verification code is verified and fed back by the cockpit controller. If the passenger verification code is correctly input, the first display area 10101 on the touch panel is displayed as green, and the second display area 10102 and the third display area 10103 on the touch panel are displayed as white; if the verification code is incorrectly input, the first display area 10101 on the touch panel 101 flashes red, and the second display area 10102 and the third display area 10103 are displayed as white by the key area. When the input error is performed N times, the first display region 10101 is restored to white display by red flashing; when the panel is activated or no operation is performed N minutes after the input of the verification code is incorrect, the first display area 10101 is restored to be displayed in white, and the second display area 10102 and the third display area 10103 are not displayed in the key area.

4) When the vehicle runs (the speed is more than or equal to 5 km/h), the panel display area is completely extinguished, and an integral black visual effect is presented.

The light with different colors displayed in the display area of the touch panel is realized through the light guide body.

Fig. 7 is a block diagram of another vehicle entry apparatus according to an embodiment of the present disclosure, as shown in fig. 7, the vehicle entry apparatus further including: a wire harness 109 and a plug-in unit 110, wherein the wire harness 109 is used for realizing signal transmission among various components included in the vehicle access equipment; a plug-in unit 110 for physically connecting components included in the vehicle entry apparatus.

In this embodiment, the vehicle access device performs signal transmission between the components through a wire harness, and the components are physically connected through connectors.

As an alternative embodiment, the touch panel of the vehicle access device is made of acrylic plate and PC plate.

In the embodiment, the plate made of the composite material of acrylic and PC materials is selected, so that the 3D glass effect can be realized, the advantages of low cost and strong falling resistance are achieved, and the plate is a common panel material for electronic communication products.

Fig. 8 is a schematic view of a vehicle access device installation according to an embodiment of the present disclosure, as shown in fig. 8, in an alternative embodiment of the present disclosure, the vehicle access device is installed at a window frame of a side sliding door.

Fig. 9 is a block diagram of a structure of an autonomous vehicle according to an embodiment of the present disclosure, as shown in fig. 9, the autonomous vehicle includes: the central control system 90 uses the vehicle access device 92, wherein the central control system 90 is connected with the vehicle access device 92 and controls the opening of the door of the automatic driving vehicle under the condition that the opening instruction of the vehicle access device 92 is input correctly; in the case where the input of the opening instruction of the vehicle entry device is erroneous, control refuses to open the door of the autonomous vehicle.

In the embodiment, a central control system is connected with a vehicle access device to realize the control of the vehicle access device on the vehicle, a user inputs a verification code through the vehicle access device, and if the verification code is correct, the central control system sends a vehicle door opening instruction to a door lock to control the vehicle to automatically open the door; if the verification code is wrong, the central control system refuses to send a door opening instruction to the door lock, and the door of the vehicle is kept in the original closed state.

As an alternative embodiment, the autonomous vehicle further comprises: the communication module is used for sending a notification message to the central control system under the condition of successful matching with the communication module of the target terminal equipment; and the central control system controls to open the door of the automatic driving vehicle under the condition of receiving the notification message.

In the embodiment, when a passenger approaches to a vehicle, the whole vehicle key controller judges whether a whole vehicle Bluetooth module is connected with a passenger mobile phone terminal Bluetooth, and if the whole vehicle Bluetooth module is connected with the passenger mobile phone terminal Bluetooth, the whole vehicle automatically opens a side sliding door and unlocks a secondary driving door lock; if not, the touch panel is activated, and the passenger can input the verification code according to the prompt

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the customs of public sequences.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims (10)

1. A vehicle entry device, provided outside a vehicle, comprising: a touch panel, a pressure sensor, and a controller, wherein,

the touch panel is used for inputting an opening instruction, wherein the opening instruction is used for opening a vehicle door of a vehicle;

the pressure sensor is connected with the touch panel and used for sensing an electric signal corresponding to the input starting instruction and sending the electric signal to the controller;

and the controller is connected with the pressure sensor and is used for judging whether the input opening instruction is correct or not according to the electric signal.

2. The vehicle entry device of claim 1, wherein the touch panel comprises: a first display area, a second display area, and a third display area, wherein,

the first display area includes: the touch control device comprises a starting key circuit and a guide aperture, wherein the starting key circuit is used for activating the touch control panel, and the guide aperture is used for indicating a target object to click the starting key circuit;

the second display area includes: the digital key circuit is used for inputting the starting instruction;

the third display area comprises a deleting key circuit and a confirming key circuit, wherein the deleting key circuit is used for deleting the input opening instruction, and the confirming key circuit is used for executing confirming operation after the target object inputs the opening instruction.

3. The vehicle entry device of claim 1, further comprising: an upper shell and a lower shell, wherein the upper shell and the lower shell form a cavity structure,

the touch panel is arranged on the outer surface of the upper shell, and the outer surface is positioned outside the cavity structure;

the pressure sensor is arranged on the inner surface of the upper shell, and the inner surface is positioned inside the cavity structure;

the controller is arranged inside the cavity structure.

4. The vehicle entry device of claim 3, further comprising:

and the piezoelectric film module is arranged on the inner surface of the upper shell and used for generating a potential difference according to the pressure generated by the input operation of the opening instruction on the touch panel, wherein the potential difference is a voltage difference value of the upper surface and the lower surface of the piezoelectric film module.

5. The vehicle entry device of claim 4, further comprising:

the vibrating motor is arranged on the inner surface of the upper shell, is connected with the piezoelectric film module, realizes pressure induction by detecting signal change of the potential difference, and drives the upper shell to vibrate up and down after the pressure induction is realized.

6. The vehicle entry device of claim 1, further comprising:

and the light guide body is arranged inside the touch panel and is used for displaying various light colors.

7. The vehicle entry device of claim 1, further comprising: a wire harness and a plug-in unit, wherein,

the wire harness is used for realizing signal transmission among various components included in the vehicle entrance equipment; and/or

The plug connector is used for physically connecting components included in the vehicle access equipment.

8. The vehicle entry device of claim 1, the touch panel being made of acrylic and PC board materials.

9. An autonomous vehicle comprising: a central control system and the vehicle entry device of any one of claims 1 to 8,

the central control system is connected with the vehicle access equipment and controls the opening of a vehicle door of the automatic driving vehicle under the condition that the opening instruction of the vehicle access equipment is input correctly; controlling to refuse to open a door of the autonomous vehicle in a case where an input of an open instruction of the vehicle entry device is erroneous.

10. The autonomous-capable vehicle of claim 9, wherein the autonomous-capable vehicle further comprises: the communication module is used for sending a notification message for opening the vehicle door through the central control system to the central control system under the condition that the communication module of the target terminal device is successfully matched with the communication module of the target terminal device; and the central control system is also used for controlling the opening of the vehicle door of the automatic driving vehicle under the condition of receiving the notification message.

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