CN-122009084-A - Vehicle control method and device and vehicle

CN122009084ACN 122009084 ACN122009084 ACN 122009084ACN-122009084-A

Abstract

The present disclosure relates to a method and apparatus for vehicle control, and a vehicle, the method comprising: and responding to the condition that the mobile terminal of the user meets the unlocking triggering condition of the target vehicle, acquiring the motion trail of the mobile terminal, and triggering the target vehicle to execute the welcome operation, wherein the triggering basis of the welcome operation comprises the motion trail. According to the method and the device for unlocking the mobile terminal, unlocking triggering conditions are combined with movement track analysis of the mobile terminal, and the situation that the greeting operation is triggered by mistake only because the user approaches the vehicle is avoided, so that user experience and safety of the vehicle are improved.

Inventors

LIU JIANJIAN
HUANG YU
LIU JING
LIU MANMAN
XU ZHIHANG

Assignees

比亚迪股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260209

Claims (10)

1. A method of vehicle control, the method comprising: Responding to the condition that a mobile terminal of a user meets an unlocking trigger condition of a target vehicle, and acquiring a motion track of the mobile terminal, wherein the mobile terminal is used for unlocking the target vehicle; And triggering the target vehicle to execute the welcome operation, wherein the triggering basis of the welcome operation comprises the motion track.
2. The method of claim 1, wherein the triggering the target vehicle to perform a greeting operation comprises: and triggering the target vehicle to execute the welcome operation under the condition that the motion trail meets the preset welcome condition.
3. The method of claim 1, wherein the preset greeting conditions include one or more of the following conditions: The motion trail characterizes that the mobile terminal is in a preset identification area, and the preset identification area is an area preset based on the door handle position of the target vehicle door; The motion trail represents that the time of the mobile terminal in the preset identification area is greater than or equal to a preset time threshold; the motion trail characterizes that the user approaches the target vehicle and the user is in a deceleration state; And the motion trail represents that the radial speed of the mobile terminal is smaller than or equal to a preset speed threshold.
4. The method of claim 1, wherein the acquiring the motion profile of the mobile terminal comprises: acquiring the position information of the mobile terminal through an ultra-wideband communication UWB module of the target vehicle; Acquiring first point cloud data of a plurality of objects around the target vehicle through a laser radar of the target vehicle; determining target point cloud data corresponding to the mobile terminal based on the position information and the first point cloud data; And acquiring the motion trail based on the target point cloud data.
5. The method of claim 4, wherein the determining target point cloud data corresponding to the mobile terminal based on the location information and the first point cloud data comprises: Clustering the first point cloud data of the plurality of objects to obtain a plurality of clusters; determining a target cluster corresponding to the mobile terminal from the plurality of cluster clusters based on the position information; and taking the point cloud data in the target cluster as the target point cloud data.
6. The method of claim 5, wherein determining, based on the location information, a target cluster corresponding to the mobile terminal from the plurality of clusters comprises: based on the position information, obtaining a confidence coefficient corresponding to each cluster, wherein the confidence coefficient characterizes the confidence degree of the cluster as a target cluster; and taking the cluster with the highest confidence as the target cluster.
7. The method of claim 1, wherein the unlock trigger condition comprises: The user is authenticated, and/or, The distance between the mobile terminal and the target vehicle is smaller than or equal to a first preset distance threshold.
8. The method of any one of claims 1 to 7, wherein the welcome operation comprises one or more of: Controlling the lighting of the welcome lamp and/or the ground projection lamp; Unlocking the vehicle; unlocking the vehicle, and opening a door closest to the mobile terminal in the vehicle at a preset angle.
9. An electronic device, comprising: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-8.
10. A vehicle, characterized in that it comprises an electronic device as claimed in claim 9.

Description

Vehicle control method and device and vehicle Technical Field The present disclosure relates to the field of computer technology, and in particular, to a method and apparatus for controlling a vehicle, and a vehicle. Background The current intelligent automobile welcome function mainly depends on a near field communication technology or a single biological recognition means. Such a solution presents challenges in practical applications. When a user carries the mobile terminal and stays around the vehicle for a short time, for example, the user bypasses a parking lot to check the condition of the vehicle or talks with other people at the side of the vehicle, the system is easy to misjudge as the intention of getting on the vehicle, the accidental unlocking of the vehicle door or the lighting of welcome light are caused without any reason, the normal activities of the user are disturbed, and potential safety hazards such as rainwater infiltration and the like can be caused under severe weather conditions. In complex environmental scenarios, such as busy mall parks, users may stay in the vicinity of the vehicle for long periods of time to finish items or wait for peers, but the system cannot effectively distinguish such non-boarding intended approaching behavior from the actual boarding preparation, thereby falsely triggering an unlocking operation, resulting in privacy exposure or property loss risks. Disclosure of Invention The disclosure aims to provide a vehicle control method and device and a vehicle. To achieve the above object, according to a first aspect of the present disclosure, there is provided a method of vehicle control, the method including: Responding to the condition that a mobile terminal of a user meets an unlocking trigger condition of a target vehicle, and acquiring a motion track of the mobile terminal, wherein the mobile terminal is used for unlocking the target vehicle; And triggering the target vehicle to execute the welcome operation, wherein the triggering basis of the welcome operation comprises the motion track. Optionally, the triggering the target vehicle to perform the welcome operation includes: and triggering the target vehicle to execute the welcome operation under the condition that the motion trail meets the preset welcome condition. Optionally, the preset greeting condition includes one or more of the following conditions: The motion trail characterizes that the mobile terminal is in a preset identification area, and the preset identification area is an area preset based on the door handle position of the target vehicle door; The motion trail represents that the time of the mobile terminal in the preset identification area is greater than or equal to a preset time threshold; the motion trail characterizes that the user approaches the target vehicle and the user is in a deceleration state; And the motion trail represents that the radial speed of the mobile terminal is smaller than or equal to a preset speed threshold. Optionally, the acquiring the motion trail of the mobile terminal includes: acquiring the position information of the mobile terminal through an ultra-wideband communication UWB module of the target vehicle; Acquiring first point cloud data of a plurality of objects around the target vehicle through a laser radar of the target vehicle; determining target point cloud data corresponding to the mobile terminal based on the position information and the first point cloud data; And acquiring the motion trail based on the target point cloud data. Optionally, the determining, based on the location information and the first point cloud data, the target point cloud data corresponding to the mobile terminal includes: Clustering the first point cloud data of the plurality of objects to obtain a plurality of clusters; determining a target cluster corresponding to the mobile terminal from the plurality of cluster clusters based on the position information; and taking the point cloud data in the target cluster as the target point cloud data. Optionally, the determining, based on the location information, a target cluster corresponding to the mobile terminal from the plurality of clusters includes: based on the position information, obtaining a confidence coefficient corresponding to each cluster, wherein the confidence coefficient characterizes the confidence degree of the cluster as a target cluster; and taking the cluster with the highest confidence as the target cluster. Optionally, the unlocking triggering condition includes: The user is authenticated, and/or, The distance between the mobile terminal and the target vehicle is smaller than or equal to a first preset distance threshold. Optionally, the welcome operation includes one or more of: Controlling the lighting of the welcome lamp and/or the ground projection lamp; Unlocking the vehicle; unlocking the vehicle, and opening a door closest to the mobile terminal in the vehicle at a preset angle. According to a second