Vehicle-mounted table control methods, devices, vehicles and electronic devices

Abstract

This invention discloses a method, device, vehicle, and electronic device for controlling an in-vehicle table, relating to the field of vehicle technology. The method includes: acquiring the table's state, road condition information, posture data, height data, and offset data; responding to the table being in an open state, determining the table's adjustment angle and adjustment speed based on the road condition information, posture data, height data, and offset data, wherein the adjustment speed is the speed at which the table's tilt angle is adjusted; and adjusting the table based on the adjustment angle and adjustment speed to maintain the table in a horizontal and stable state. This invention solves the technical problems of related technologies that rely on user-controlled methods to control the state of in-vehicle tables, resulting in low stability, low security, low automation, and weak anti-interference capabilities.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a method, apparatus, vehicle, and electronic device for controlling an in-vehicle table. Background Technology

[0002] With the rapid development of vehicle technology, in-vehicle devices have become increasingly sophisticated. In-vehicle tray tables, as a common feature, offer significant convenience to users. However, in-vehicle tray tables are difficult to maintain balance while the vehicle is in motion, and items on them are prone to bouncing or falling, causing user loss or complaints. Therefore, developing control methods for in-vehicle tray tables is essential.

[0003] Currently, the status of the vehicle-mounted table is controlled through methods such as user-manual protection. However, this method relies too heavily on human intervention and cannot accurately avoid the impact of various road conditions, resulting in low stability, low security, low automation, and weak anti-interference ability.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method, apparatus, vehicle, and electronic device for controlling a vehicle-mounted table, thereby at least solving the technical problems of related technologies that control the state of a vehicle-mounted table through user-controlled protection, resulting in low stability, low security, low automation, and weak anti-interference ability.

[0006] According to one embodiment of the present invention, a vehicle-mounted table control method is provided, comprising: acquiring the table status, road condition information, posture data, height data, and offset data of the vehicle, wherein the table status is used to indicate the usage state of the table in the vehicle, the road condition information is used to indicate the road condition on which the vehicle is traveling, the posture data is used to indicate the orientation and posture of the vehicle, the height data is used to indicate the ground clearance of the vehicle chassis, and the offset data is used to indicate the longitudinal offset angle and offset frequency of the vehicle; in response to the table status being in an open state, determining the adjustment angle and adjustment speed of the table according to the road condition information, posture data, height data, and offset data, wherein the adjustment speed is the speed at which the tilt angle of the table is adjusted; and adjusting the table based on the adjustment angle and adjustment speed to keep the table in a horizontal and stable state.

[0007] Optionally, determining the adjustment angle and adjustment speed of the table based on road condition information, attitude data, height data, and offset data includes: in response to the road condition information being a slope and the longitudinal offset angle being greater than a first angle, determining the adjustment angle based on attitude data; and determining the adjustment speed based on height data, offset frequency, and vehicle speed.

[0008] Optionally, determining the adjustment angle and speed of the table based on road condition information, attitude data, height data, and offset data includes: responding to the road condition information that the road surface is bumpy, determining the height difference within a preset time period based on the height data; responding to the height difference being greater than a height threshold and the longitudinal offset angle being greater than a second angle, determining the adjustment angle based on the attitude data; and determining the adjustment speed based on the height data, offset frequency, and vehicle speed.

[0009] Optionally, determining the adjustment angle and speed of the table based on road condition information, attitude data, height data, and offset data includes: determining the adjustment angle based on attitude data in response to road condition information indicating a turning road and a longitudinal offset angle greater than the third angle; and determining the adjustment speed based on height data, offset frequency, and vehicle speed.

[0010] Optionally, determining the adjustment speed based on altitude data, offset frequency, and vehicle speed includes: determining a first weight value and a second weight value corresponding to the vehicle type, wherein the first weight value is used to represent the influence of offset frequency and vehicle speed on the adjustment speed, and the second weight value is used to represent the influence of altitude data on the adjustment speed; and determining the adjustment speed based on the first weight value, the second weight value, altitude data, offset frequency, and vehicle speed.

[0011] Optionally, the method further includes: acquiring vehicle status information, wherein the status information includes vehicle speed, power status, and engine status; in response to the status information satisfying preset conditions, performing de-jitter processing on attitude data and height data to obtain de-jitter data, wherein the de-jitter data is used to represent the attitude data and height data of the vehicle after de-jitter processing; and performing zero-point calibration processing on the table based on the de-jitter data to obtain calibration data, wherein the calibration data includes horizontal position calibration data and height calibration data of the table.

[0012] Optionally, determining the adjustment angle and adjustment speed of the tabletop based on road condition information, attitude data, height data, and offset data includes: determining the adjustment angle and adjustment speed of the tabletop based on calibration data, road condition information, attitude data, height data, and offset data.

[0013] According to one embodiment of the present invention, a vehicle-mounted table control device is also provided, comprising: an acquisition module, configured to acquire the table status, road condition information, posture data, height data, and offset data of a vehicle, wherein the table status indicates the usage state of the table in the vehicle, the road condition information indicates the road condition on which the vehicle is traveling, the posture data indicates the vehicle's orientation and posture, the height data indicates the vehicle's chassis ground clearance, and the offset data indicates the vehicle's longitudinal offset angle and offset frequency; a determination module, configured to determine the adjustment angle and adjustment speed of the table based on the road condition information, posture data, height data, and offset data in response to the table status being in an open state, wherein the adjustment speed is the speed at which the tilt angle of the table is adjusted; and an adjustment module, configured to adjust the table based on the adjustment angle and adjustment speed to keep the table in a horizontal and stable state.

[0014] Optionally, the determining module is also used to determine the adjustment angle based on attitude data in response to road condition information that the road is sloping and the longitudinal offset angle is greater than the first angle; and to determine the adjustment speed based on altitude data, offset frequency and vehicle speed.

[0015] Optionally, the determining module is also configured to, in response to road condition information indicating a bumpy road surface, determine the height difference within a preset time period based on height data; in response to the height difference being greater than a height threshold and the longitudinal offset angle being greater than a second angle, determine the adjustment angle based on attitude data; and determine the adjustment speed based on height data, offset frequency, and vehicle speed.

[0016] Optionally, the determining module is also used to determine the adjustment angle based on attitude data in response to road condition information indicating a turning road and a longitudinal offset angle greater than a third angle; and to determine the adjustment speed based on altitude data, offset frequency, and vehicle speed.

[0017] Optionally, the determining module is further configured to determine a first weight value and a second weight value corresponding to the vehicle model, wherein the first weight value is used to represent the influence of offset frequency and vehicle speed on the adjustment speed, and the second weight value is used to represent the influence of altitude data on the adjustment speed; the adjustment speed is determined based on the first weight value, the second weight value, altitude data, offset frequency, and vehicle speed.

[0018] Optionally, the acquisition module is also used to acquire vehicle status information, including vehicle speed, power status, and engine status; in response to the status information meeting preset conditions, the attitude data and height data are subjected to de-jitter processing to obtain de-jitter data, wherein the de-jitter data is used to represent the vehicle's attitude data and height data after de-jitter processing; and the table is subjected to zero-point calibration processing based on the de-jitter data to obtain calibration data, wherein the calibration data includes the table's horizontal position calibration data and height calibration data.

[0019] Optionally, the determining module is also used to determine the adjustment angle and adjustment speed of the table based on calibration data, road condition information, attitude data, altitude data, and offset data.

[0020] According to one embodiment of this application, a vehicle-mounted table control system is also provided. The vehicle-mounted table control system includes: a vehicle body attitude sensor, a vehicle body height sensor, a vehicle body control system, a vehicle-mounted table stability control system, a gyroscope sensor, and a table stability adjuster. The vehicle-mounted table control system is used to execute the vehicle-mounted table control method in any of the above claims.

[0021] According to one embodiment of this application, a vehicle is also provided, which is used to perform the vehicle-mounted table control method described in any of the above claims.

[0022] According to one embodiment of the present invention, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute the vehicle table control method described above when running on a computer or processor.

[0023] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle table control method described in any of the above claims.

[0024] In this embodiment of the invention, by acquiring the vehicle's table status, road condition information, posture data, height data, and offset data, where the table status indicates the usage state of the table in the vehicle, the road condition information indicates the road condition the vehicle is traveling on, the posture data indicates the vehicle's orientation and posture, the height data indicates the vehicle's chassis ground clearance, and the offset data indicates the vehicle's longitudinal offset angle and offset frequency, in response to the table status being in the open state, the adjustment angle and adjustment speed of the table are determined based on the road condition information, posture data, height data, and offset data. The adjustment speed is the speed at which the tilt angle of the table is adjusted, and the table is adjusted based on the adjustment angle and adjustment speed to keep the table in a horizontal and stable state. This allows for automatic real-time adjustment of the vehicle's onboard table according to the actual vehicle conditions, achieving the technical effect of automated adjustment of the onboard table. This results in high stability, high security, high automation, and strong anti-interference capability, thus solving the technical problems of related technologies that rely on user-controlled protection to control the state of the onboard table, leading to low stability, low security, low automation, and weak anti-interference capability. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0026] Figure 1 This is a structural diagram of a vehicle-mounted table control system according to one embodiment of the present invention;

[0027] Figure 2 This is a flowchart of a vehicle-mounted table control method according to one embodiment of the present invention;

[0028] Figure 3 This is a flowchart illustrating a vehicle-mounted table control method according to one embodiment of the present invention;

[0029] Figure 4 This is a structural block diagram of a vehicle-mounted table control device according to one embodiment of the present invention. Detailed Implementation

[0030] For ease of understanding, some concepts related to the embodiments of the present invention are explained by way of example for reference.

[0031] As shown below:

[0032] Vehicle vibration reduction treatment refers to the treatment and reduction of vibrations or shaking that occur during vehicle operation. During driving, vehicles may be affected by factors such as uneven road surfaces, unstable suspension systems, faulty braking systems, and uneven tires, leading to vibrations or shaking that affect ride stability and driving comfort. The purpose of vehicle vibration reduction treatment is to improve driving comfort and handling stability, reduce driver fatigue and its impact on vehicle control, and enhance driving safety.

[0033] Horizontal zero-point calibration: This refers to placing an instrument or equipment in a horizontal position and calibrating it to establish its horizontal position as the zero point, which is then used as a reference for subsequent measurements.

[0034] Zero-point calibration: This refers to placing an instrument or equipment at a certain height and calibrating it so that the measured height value is recognized as the zero point and used as a reference for subsequent measurements.

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] According to one embodiment of the present invention, an embodiment of a vehicle-mounted table control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0038] This method embodiment can be executed in an electronic device, similar control device, or system that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the electronic device. For example, the electronic device may include more or fewer components than described above, or have a different configuration than described above.

[0039] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0040] The memory can be used to store computer programs, such as the computer program corresponding to the vehicle-mounted table control method in this embodiment of the invention. The processor implements the aforementioned vehicle-mounted table control method by running the computer program stored in the memory. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0041] Communication devices are used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the communication device includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the communication device may be a radio frequency (RF) module used for wireless communication with the Internet.

[0042] The display device can be, for example, a touchscreen liquid crystal display (LCD) and a touch display (also referred to as a "touchscreen" or "touch screen"). This LCD allows the user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows the user to interact with the GUI by touching and / or gesturing on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, a call interface, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0043] This embodiment provides a vehicle-mounted table control system, which includes: a vehicle body attitude sensor, a vehicle body height sensor, a vehicle body control system, a vehicle-mounted table stability control system, a gyroscope sensor, and a table stability adjuster. The vehicle-mounted table control system is used to execute the vehicle-mounted table control method of one embodiment of the present invention.

[0044] Figure 1 This is a structural diagram of a vehicle-mounted table control system according to one embodiment of the present invention, as shown below. Figure 1 As shown, Figure 1 It includes a vehicle attitude sensor 100, a vehicle height sensor 200, a vehicle control system 300, an on-board table stability control system 400, a gyroscope sensor 500, and a table stabilizer adjuster 600.

[0045] The vehicle attitude sensor 100 monitors vehicle attitude changes and sends tilt data. The vehicle height sensor 200 monitors the vehicle's ground clearance and calculates the ground clearance of the onboard table. The vehicle controller 300 acquires the vehicle's current speed, power status, and engine status. The onboard table stability control system 400 initializes the adjustment function based on the table's horizontal position within the vehicle. The gyroscope sensor 500 monitors the magnitude and frequency of the vehicle's horizontal offset. The table stability adjuster 600 executes the adjustment function in real time.

[0046] The above Figure 1In practical application, the vehicle-mounted table control system acquires tilt data through the vehicle attitude sensor 100 and the vehicle height sensor 200 to obtain the table's ground clearance. These tilt and table clearance values ​​are then sent to the vehicle control system controller 300. The controller 300 obtains the vehicle's current speed, power status, and engine status information, and performs zero-point calibration of the table's ground clearance and horizontal position based on this data. After initial calibration, the controller 300 sends the calibration data to the vehicle-mounted table stability control system 400. Simultaneously, the gyroscope sensor 500 sends vehicle stability offset data to the system. Upon receiving this data, the system initializes the adjustment function based on the table's horizontal position within the vehicle. The vehicle control system 300 then sends commands to open the table and activate stability adjustment to the system. Upon receiving the command, the vehicle-mounted table stability control system 400 sends an opening command to the table stability adjuster 600 and activates the adjustment function. The table stability adjuster 600 executes the vehicle-mounted table opening action, thereby completing the adjustment of the vehicle-mounted table. This embodiment of the invention is not limited.

[0047] This embodiment provides a method for controlling an in-vehicle table running on an electronic device. Figure 1 This is a flowchart of a vehicle-mounted table control method according to one embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0048] Step S20: Obtain the vehicle's table status, road condition information, attitude data, height data, and offset data;

[0049] Among them, the table status indicates the usage status of the table in the vehicle, the road condition information indicates the road condition on which the vehicle is traveling, the attitude data indicates the vehicle's orientation and posture, the height data indicates the vehicle's chassis ground clearance, and the offset data indicates the vehicle's longitudinal offset angle and offset frequency.

[0050] The longitudinal offset angle of a vehicle can be understood as the tilt angle between the vehicle and the horizontal plane. The road conditions can include slopes, bumpy roads, curves, etc., which are not limited in this embodiment of the invention. This step can be understood as obtaining the usage status of the table in the vehicle, the road conditions on which the vehicle is traveling, the orientation and posture of the vehicle, the ground clearance of the vehicle chassis, the tilt angle and offset frequency of the vehicle with respect to the horizontal plane.

[0051] Alternatively, it can be done through the above Figure 1The vehicle-mounted table control system acquires the usage status of the table in the vehicle, the road conditions on which the vehicle is traveling, the vehicle's orientation and posture, the vehicle's chassis ground clearance, the vehicle's tilt angle and offset frequency relative to the horizontal plane, that is, it acquires the vehicle's table status, road condition information, posture data, height data and offset data. This embodiment of the invention is not limited.

[0052] Specifically, it can be achieved through the above Figure 1 The current usage status of the vehicle-mounted table is determined by the command status of the table stabilizer 600 in the vehicle-mounted table control system. Through the above... Figure 1 The vehicle attitude sensor 100 in the vehicle-mounted table control system monitors changes in vehicle attitude and sends tilt data, thus acquiring vehicle attitude data. Through the above... Figure 1 The vehicle height sensor 200 in the vehicle-mounted table control system monitors the vehicle's ground clearance data, i.e., acquires the vehicle's height data. Through the above... Figure 1 The gyroscope sensor 500 in the vehicle-mounted table control system monitors the horizontal offset amplitude and frequency of the vehicle, that is, it obtains the vehicle's offset data. This embodiment of the invention is not limited.

[0053] Step S21: In response to the table being in the open state, determine the adjustment angle and adjustment speed of the table based on road condition information, attitude data, height data, and offset data;

[0054] The adjustment speed refers to the speed at which the tilt angle of the table is adjusted.

[0055] Understandably, when the table is in the open state, it indicates that the table is currently in use. At this time, it is necessary to adjust the in-vehicle table according to the actual situation to ensure the safety and stability of its use. This step can be understood as follows: when the table is in the open state, i.e., in use, the table is being adjusted based on the road conditions, the vehicle's orientation and posture, the vehicle's ground clearance, and the vehicle's tilt angle and offset frequency relative to the horizontal plane, determining the table's adjustment angle and the speed at which to adjust the tilt angle.

[0056] Alternatively, it can be done through the above Figure 1 This step is implemented using the vehicle-mounted table control system described above, and this embodiment of the invention is not limited thereto. Specifically, it can be achieved through the above-described... Figure 1 The vehicle-mounted table stability control system 400 determines the adjustment angle of the table and the speed of adjusting the tilt angle of the table based on the road conditions on which the vehicle is traveling, the vehicle's orientation and posture, the vehicle's chassis ground clearance, the vehicle's tilt angle and offset frequency relative to the horizontal plane. That is, it determines the adjustment angle and adjustment speed of the table. This embodiment of the invention does not limit this.

[0057] Step S22: Adjust the tabletop based on the adjustment angle and adjustment speed to keep the tabletop in a horizontal and stable state.

[0058] This step can be understood as adjusting the tabletop based on the adjustment angle and the speed of the tabletop's tilt angle, so as to keep the tabletop in a horizontal and stable state. Optionally, this can be achieved through the above... Figure 1 The vehicle-mounted table control system in the invention implements this step, but this embodiment is not limited thereto. Specifically, the above... Figure 1 The vehicle-mounted table stability control system 400 sends an adjustment command to the table stability adjuster 600 and activates the adjustment function. The table stability adjuster 600 performs the vehicle-mounted table adjustment action. This embodiment of the invention is not limited.

[0059] Through the above steps, by acquiring the vehicle's tray table status, road condition information, posture data, height data, and offset data—where tray table status indicates the usage status of the tray table, road condition information indicates the road conditions the vehicle is traveling on, posture data indicates the vehicle's orientation and posture, height data indicates the vehicle's chassis ground clearance, and offset data indicates the vehicle's longitudinal offset angle and offset frequency—and responding to the tray table being in an open state, the adjustment angle and speed of the tray table are determined based on the road condition information, posture data, height data, and offset data. The adjustment speed is the rate at which the tray table's tilt angle is adjusted, and the tray table is adjusted based on the adjustment angle and speed to maintain a horizontal and stable state. This allows for automatic real-time adjustment of the vehicle's tray table according to the actual vehicle conditions, achieving the technical effect of automated tray table adjustment. This results in high stability, high safety, high automation, and strong anti-interference capabilities, thus solving the technical problems of related technologies that rely on user-controlled tray table status, leading to lower stability, lower safety, lower automation, and weaker anti-interference capabilities.

[0060] Optionally, in step S21, determining the adjustment angle and speed of the tabletop based on road condition information, attitude data, height data, and offset data may include the following steps:

[0061] Step S210: In response to the road condition information that the road is sloping and the longitudinal offset angle is greater than the first angle, the adjustment angle is determined based on the attitude data;

[0062] It is understandable that vehicles may encounter various working conditions during operation, and the stability of the onboard table varies under different working conditions, meaning that the adjustment angle of the table needs to be determined based on different road condition information.

[0063] The first angle can be understood as the maximum angle that ensures the normal use of the vehicle table when the vehicle is traveling on a slope, for example, it can be 20°, and this embodiment of the invention does not limit it. That is, if the vehicle's offset angle exceeds this maximum angle, the normal use of the vehicle table cannot be guaranteed when the vehicle is traveling on a slope, which may cause items on the table to bounce up or fall off, causing loss and inconvenience to the user. In this case, the vehicle table needs to be adjusted to avoid the occurrence of accidents.

[0064] This step can be understood as follows: when the road condition on which the vehicle is traveling is a slope and the longitudinal offset angle is greater than the first angle, that is, when the vehicle's offset angle exceeds the maximum angle that ensures the normal use of the in-vehicle table, it means that the vehicle is traveling on a slope and the normal use of the in-vehicle table cannot be guaranteed. At this time, the adjustment angle is determined based on the vehicle's orientation and posture.

[0065] For example, when the road condition on which the vehicle is traveling is a slope and the longitudinal offset angle is greater than 20°, it means that the vehicle is traveling on a slope and the normal use of the vehicle table cannot be guaranteed. In this case, the adjustment angle is determined based on the vehicle's orientation and posture, which is not limited in this embodiment of the invention.

[0066] Step S211: Determine the adjustment speed based on altitude data, offset frequency, and vehicle speed.

[0067] This step can be understood as determining the adjustment speed based on the vehicle's chassis ground clearance, offset frequency, and vehicle speed. Optionally, it can be achieved through the above... Figure 1 This step is implemented using the vehicle-mounted table control system described above, and this embodiment of the invention is not limited thereto. Specifically, it can be achieved through the above-described... Figure 1 The vehicle speed is obtained by the vehicle attitude sensor 100 in the vehicle-mounted table control system, through the above... Figure 1 The vehicle table stability control system 400 in the vehicle table control system determines the adjustment speed based on the vehicle's chassis ground clearance, offset frequency and vehicle speed. This embodiment of the invention is not limited to this.

[0068] Optionally, in step S21, determining the adjustment angle and speed of the tabletop based on road condition information, attitude data, height data, and offset data may include the following steps:

[0069] Step S212: In response to the road condition information indicating a bumpy road surface, determine the height difference within a preset time period based on the height data;

[0070] The height difference within a preset time period can be understood as the difference in the vehicle's chassis height from the ground within a certain time period. The preset time period can be set according to actual conditions, for example, it can be 1 second, and this embodiment of the invention does not limit it. This step can be understood as determining the difference in the vehicle's chassis height from the ground within a certain time period based on height data when the road condition on which the vehicle is traveling is a bumpy road surface.

[0071] For example, when the road condition on which the vehicle is traveling is a bumpy road surface, the ground clearance of the vehicle's chassis is obtained at any two time points within 1 second, and the height difference is determined based on the two ground clearances. This embodiment of the invention is not limited.

[0072] Step S213: In response to the height difference being greater than the height threshold and the longitudinal offset angle being greater than the second angle, determine the adjustment angle based on the attitude data;

[0073] The height threshold can be understood as the minimum threshold for a vehicle experiencing significant bumps on a rough road surface, for example, 4cm, which is not limited in this embodiment of the invention. That is, anything greater than this minimum threshold indicates that the vehicle is currently experiencing significant bumps on a rough road surface. The second angle can be understood as the maximum angle that ensures the normal use of the in-vehicle table when the vehicle is traveling on a rough road surface, for example, 15°, which is not limited in this embodiment of the invention. That is, if the height difference of the vehicle is greater than the aforementioned minimum threshold and the offset angle exceeds the aforementioned maximum angle, the normal use of the in-vehicle table cannot be guaranteed when the vehicle is traveling on a rough road surface. This may cause items on the table to bounce or fall, resulting in user loss and inconvenience. In this case, the in-vehicle table needs to be adjusted to avoid accidents.

[0074] This step can be understood as follows: when the road condition on which the vehicle is traveling is bumpy, if the height difference is greater than the height threshold and the longitudinal offset angle is greater than the second angle, that is, when the height difference of the vehicle is on a bumpy road and the degree of bumpiness is large and the offset angle of the vehicle exceeds the maximum angle to ensure the normal use of the vehicle table, it means that the vehicle is traveling on a bumpy road and the degree of bumpiness is large and the normal use of the vehicle table cannot be guaranteed. At this time, the adjustment angle is determined based on the vehicle's orientation and posture.

[0075] For example, when the road condition on which the vehicle is traveling is bumpy, if the height difference of the vehicle is greater than 4cm and the longitudinal offset angle is greater than 15°, it means that the vehicle is traveling on a bumpy road and the degree of bumpiness is large, and the normal use of the vehicle table cannot be guaranteed. In this case, the adjustment angle is determined based on the vehicle's orientation and posture, and this embodiment of the invention does not limit it.

[0076] Step S214: Determine the adjustment speed based on altitude data, offset frequency, and vehicle speed.

[0077] This step can be understood as determining the adjustment speed based on the vehicle's chassis ground clearance, offset frequency, and vehicle speed. Optionally, it can be achieved through the above... Figure 1 This step is implemented using the vehicle-mounted table control system described above, and this embodiment of the invention is not limited thereto. Specifically, it can be achieved through the above-described... Figure 1 The vehicle speed is obtained by the vehicle attitude sensor 100 in the vehicle-mounted table control system, through the above... Figure 1The vehicle table stability control system 400 in the vehicle table control system determines the adjustment speed based on the vehicle's chassis ground clearance, offset frequency and vehicle speed. This embodiment of the invention is not limited to this.

[0078] Optionally, in step S21, determining the adjustment angle and speed of the tabletop based on road condition information, attitude data, height data, and offset data may include the following steps:

[0079] Step S215: In response to the road condition information that it is a turning road and the longitudinal offset angle is greater than the third angle, the adjustment angle is determined based on the attitude data;

[0080] The third angle can be understood as the maximum angle that ensures the normal use of the in-vehicle table when the vehicle is turning, for example, it can be 15°, and this embodiment of the invention does not limit it. That is, if the vehicle's offset angle exceeds this maximum angle, the normal use of the in-vehicle table cannot be guaranteed when the vehicle is turning, which may cause items on the table to bounce or fall, causing loss and inconvenience to the user. In this case, the in-vehicle table needs to be adjusted to avoid the occurrence of accidents.

[0081] This step can be understood as follows: when the road condition on which the vehicle is traveling is a curve and the longitudinal offset angle is greater than the third angle, that is, when the vehicle's offset angle exceeds the maximum angle that ensures the normal use of the in-vehicle table, it means that the vehicle is traveling on a curve and the normal use of the in-vehicle table cannot be guaranteed. At this time, the adjustment angle is determined based on the vehicle's orientation and posture.

[0082] For example, when the road condition on which the vehicle is traveling is a curve and the longitudinal offset angle is greater than 15°, it means that the vehicle is traveling on a curve and the normal use of the vehicle table cannot be guaranteed. In this case, the adjustment angle is determined based on the vehicle's orientation and posture, which is not limited in this embodiment of the invention.

[0083] Step S216: Determine the adjustment speed based on altitude data, offset frequency, and vehicle speed.

[0084] This step can be understood as determining the adjustment speed based on the vehicle's chassis ground clearance, offset frequency, and vehicle speed. Optionally, it can be achieved through the above... Figure 1 This step is implemented using the vehicle-mounted table control system described above, and this embodiment of the invention is not limited thereto. Specifically, it can be achieved through the above-described... Figure 1 The vehicle speed is obtained by the vehicle attitude sensor 100 in the vehicle-mounted table control system, through the above... Figure 1 The vehicle table stability control system 400 in the vehicle table control system determines the adjustment speed based on the vehicle's chassis ground clearance, offset frequency and vehicle speed. This embodiment of the invention is not limited to this.

[0085] Optionally, in step S21, determining the adjustment speed based on altitude data, offset frequency, and vehicle speed may include the following steps:

[0086] Step S217: Determine the first weight value and the second weight value corresponding to the vehicle model;

[0087] The first weight value represents the influence of offset frequency and vehicle speed on the adjustment speed, while the second weight value represents the influence of altitude data on the adjustment speed.

[0088] This step can be understood as determining a first weight value corresponding to the vehicle model, representing the influence of offset frequency and vehicle speed on the adjustment speed, and determining a second weight value corresponding to the vehicle model, representing the influence of height data on the adjustment speed.

[0089] Optionally, the influence of offset frequency and vehicle speed on the adjustment speed and the influence of altitude data on the adjustment speed can be calibrated based on a large amount of experimental data according to different vehicle models. That is, the first weight value and the second weight value corresponding to the vehicle model can be calibrated. This embodiment of the invention does not limit this.

[0090] Step S218: Determine the adjustment speed based on the first weight value, the second weight value, the altitude data, the offset frequency, and the vehicle speed.

[0091] This step can be understood as determining the speed at which the tilt angle of the adjustment table is adjusted based on the influence of offset frequency and vehicle speed on the adjustment speed, the influence of height data on the adjustment speed, the ground clearance of the vehicle chassis, offset frequency, and vehicle speed.

[0092] Optionally, the change in the longitudinal angle of the vehicle can be denoted as Δθ, and the vehicle's offset frequency f can be calculated using a mathematical formula. The specific calculation process is shown in the following formula (1):

[0093] f=Δθ / (t2-t1) (1)

[0094] In the formula (1) above, t1 represents the start time of the preset time period and t2 represents the end time of the preset time period, thereby determining the vehicle's offset frequency. This embodiment of the invention does not impose any restrictions.

[0095] Optionally, the first weight value can be denoted as K, the second weight value as N, the vehicle speed as v, and the vehicle height data as c. Then, the speed a for adjusting the tilt angle of the table can be calculated using a mathematical formula. The specific calculation process is shown in the following formula (2):

[0096] a=K*f*v+N*c (2)

[0097] The speed at which the tilt angle of the tabletop is adjusted is thus determined, i.e., the adjustment speed, which is not limited in the embodiments of the present invention.

[0098] Optionally, step S20 may also include the following execution steps:

[0099] Step S200: Obtain vehicle status information;

[0100] The status information includes vehicle speed, power status, and engine status.

[0101] This step can be understood as obtaining the vehicle's speed, power status, and engine status. Optionally, this can be achieved through the above... Figure 1 This step is implemented by the vehicle-mounted table control system in the present invention, and the embodiments of the present invention are not limited thereto.

[0102] Specifically, it can be achieved through the above Figure 1 The vehicle body control system 300 in the vehicle table control system obtains the vehicle's current speed information, power status information, and engine status information. This embodiment of the invention is not limited.

[0103] Step S201: In response to the state information meeting the preset conditions, de-jitter processing is performed on the attitude data and altitude data to obtain de-jitter data;

[0104] Among them, the de-shake data is used to represent the vehicle's attitude and height data after de-shake processing.

[0105] The preset conditions can be understood as representing the state in which the vehicle shakes or vibrates, such as the state in which the vehicle speed is zero, the power is on, and the engine is started. This embodiment of the invention does not limit this.

[0106] This step can be understood as follows: when the state information meets the preset conditions, that is, when the state information meets the condition that the vehicle is shaking or vibrating, the attitude data and height data are processed to obtain the attitude data and height data of the vehicle after the shaking is processed.

[0107] Optionally, vehicle vibration can be reduced by adjusting the vehicle's suspension system parameters, and this embodiment of the invention is not limited thereto. For example, changing the operating mode of the shock absorbers in the vehicle or adjusting the suspension height can improve vehicle stability and reduce vibration, thereby obtaining the vehicle's attitude and height data after vibration reduction, i.e., vibration reduction data, and thus eliminating the influence of the vehicle's own startup vibration on adjusting the in-vehicle table, and this embodiment of the invention is not limited thereto.

[0108] Step S202: Perform zero-point calibration on the tabletop based on the de-jitter data to obtain calibration data.

[0109] The calibration data includes the horizontal position calibration data and the height calibration data of the tabletop.

[0110] This step can be understood as performing zero-point calibration on the table based on the vehicle's attitude and height data after the de-shaking process, to obtain the table's horizontal position calibration data and height calibration data.

[0111] Optionally, in step S21, determining the adjustment angle and speed of the tabletop based on road condition information, attitude data, height data, and offset data may include the following steps:

[0112] Step S219: Determine the adjustment angle and adjustment speed of the table based on calibration data, road condition information, attitude data, height data, and offset data.

[0113] This step can be understood as determining the adjustment angle of the table and the speed at which the tilt angle of the table is adjusted based on the horizontal position calibration data and height calibration data of the table, the road conditions on which the vehicle is traveling, the ground clearance of the vehicle's chassis, and the longitudinal offset angle and offset frequency of the vehicle.

[0114] Alternatively, it can be done through the above Figure 1 This step is implemented using the vehicle-mounted table control system described above, and this embodiment of the invention is not limited thereto. Specifically, it can be achieved through the above-described... Figure 1 The vehicle-mounted table stability control system 400 in the vehicle-mounted table control system determines the adjustment angle of the table and the speed of adjusting the tilt angle of the table based on the horizontal position calibration data and height calibration data of the table, the road conditions on which the vehicle is traveling, the ground clearance of the vehicle chassis, and the longitudinal offset angle and offset frequency of the vehicle. This embodiment of the invention does not limit this.

[0115] Figure 3 This is a flowchart illustrating a vehicle-mounted table control method according to one embodiment of the present invention, as shown below. Figure 3 The diagram illustrates the specific implementation process of the above steps. Figure 3The vehicle-mounted table control method, when executed, first sends the detected data from the vehicle height sensor and vehicle attitude sensor to the vehicle control system after the vehicle is powered on. The vehicle control system then obtains overall vehicle status information, including vehicle speed, power supply, and engine status. When initialization conditions are met, the vehicle control system performs zero-point calibration of the table's height and horizontal position based on the obtained data. After calibration, the vehicle control system sends the calibration data to the vehicle-mounted table stability control system. Simultaneously, the gyroscope sensor sends vehicle stability data to the vehicle-mounted table stability control system. Upon receiving this data, the vehicle-mounted table stability control system initializes the adjustment function based on the table's horizontal position within the vehicle. Pressing the table's power switch triggers a stability adjustment activation command to the vehicle-mounted table stability control system. Upon receiving this command, the system sends an activation command to the table stability adjuster and activates the adjustment function. The vehicle-mounted table stability control system determines whether adjustment conditions are met based on real-time vehicle information and stability offset data sent by gyroscope sensors. If the conditions are met, the system intelligently calculates the adjustment value based on a calculation model of the wireless charging platform's horizontal position within the vehicle and sends this value to the table stabilizer. The stabilizer then continuously adjusts the table and feeds the results back to the system. Pressing the table-off switch triggers a command from the vehicle control system to disable the adjustment function, causing the stabilizer to retract the table and complete the adjustment process.

[0116] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0117] This embodiment also provides a vehicle-mounted table control device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0118] Figure 4 This is a structural block diagram of a vehicle-mounted table control device according to one embodiment of the present invention, such as... Figure 4 As shown, taking a vehicle-mounted table control device 400 as an example, the device includes: an acquisition module 401, which is used to acquire the table status, road condition information, posture data, height data, and offset data of the vehicle, wherein the table status is used to indicate the usage status of the table in the vehicle, the road condition information is used to indicate the road condition on which the vehicle is traveling, the posture data is used to indicate the vehicle's orientation and posture, the height data is used to indicate the vehicle's chassis ground clearance, and the offset data is used to indicate the vehicle's longitudinal offset angle and offset frequency; a determination module 402, which is used to determine the adjustment angle and adjustment speed of the table based on the road condition information, posture data, height data, and offset data in response to the table status being in the open state, wherein the adjustment speed is the speed at which the tilt angle of the table is adjusted; and an adjustment module 403, which is used to adjust the table based on the adjustment angle and adjustment speed to keep the table in a horizontal and stable state.

[0119] Optionally, the determining module 402 is further configured to, in response to road condition information indicating a slope and a longitudinal offset angle greater than a first angle, determine an adjustment angle based on attitude data; and determine an adjustment speed based on altitude data, offset frequency, and vehicle speed.

[0120] Optionally, the determining module 402 is further configured to, in response to road condition information indicating a bumpy road surface, determine the height difference within a preset time period based on height data; in response to the height difference being greater than a height threshold and the longitudinal offset angle being greater than a second angle, determine the adjustment angle based on attitude data; and determine the adjustment speed based on height data, offset frequency, and vehicle speed.

[0121] Optionally, the determining module 402 is further configured to, in response to road condition information indicating a turning road and a longitudinal offset angle greater than a third angle, determine an adjustment angle based on attitude data; and determine an adjustment speed based on altitude data, offset frequency, and vehicle speed.

[0122] Optionally, the determining module 402 is further configured to determine a first weight value and a second weight value corresponding to the vehicle model, wherein the first weight value is used to represent the influence of offset frequency and vehicle speed on the adjustment speed, and the second weight value is used to represent the influence of altitude data on the adjustment speed; the adjustment speed is determined based on the first weight value, the second weight value, altitude data, offset frequency and vehicle speed.

[0123] Optionally, the acquisition module 401 is further configured to acquire vehicle status information, including vehicle speed, power status, and engine status; in response to the status information meeting preset conditions, perform de-jitter processing on the attitude data and height data to obtain de-jitter data, wherein the de-jitter data is used to represent the vehicle's attitude data and height data after de-jitter processing; and perform zero-point calibration processing on the table based on the de-jitter data to obtain calibration data, wherein the calibration data includes the table's horizontal position calibration data and height calibration data.

[0124] Optionally, the determining module 402 is also used to determine the adjustment angle and adjustment speed of the table based on calibration data, road condition information, attitude data, height data and offset data.

[0125] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0126] Embodiments of this application also provide a vehicle for performing the steps in any of the above method embodiments.

[0127] Optionally, in this embodiment, the vehicle may be configured to store a computer program for performing the following steps:

[0128] Step S1: Obtain the vehicle's table status, road condition information, attitude data, height data, and offset data;

[0129] Step S2: In response to the table being in the open state, determine the adjustment angle and adjustment speed of the table based on road condition information, attitude data, height data, and offset data;

[0130] Step S3: Adjust the tabletop based on the adjustment angle and adjustment speed to keep the tabletop in a horizontal and stable state.

[0131] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when run on a computer or processor.

[0132] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0133] Step S1: Obtain the vehicle's table status, road condition information, attitude data, height data, and offset data;

[0134] Step S2: In response to the table being in the open state, determine the adjustment angle and adjustment speed of the table based on road condition information, attitude data, height data, and offset data;

[0135] Step S3: Adjust the tabletop based on the adjustment angle and adjustment speed to keep the tabletop in a horizontal and stable state.

[0136] Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0137] Embodiments of the present invention also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0138] Optionally, in this embodiment, the processor in the above-described electronic device may be configured to run a computer program to perform the following steps:

[0139] Step S1: Obtain the vehicle's table status, road condition information, attitude data, height data, and offset data;

[0140] Step S2: In response to the table being in the open state, determine the adjustment angle and adjustment speed of the table based on road condition information, attitude data, height data, and offset data;

[0141] Step S3: Adjust the tabletop based on the adjustment angle and adjustment speed to keep the tabletop in a horizontal and stable state.

[0142] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0143] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0144] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0146] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0147] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0148] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0149] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle desk control method, characterized by, The method comprises the following steps: acquiring a table board state, road condition information, attitude data, height data and offset data of a vehicle, wherein the table board state is used to represent a use state of a table board in the vehicle, the road condition information is used to represent a road state on which the vehicle travels, the attitude data is used to represent an orientation and posture of the vehicle, the height data is used to represent a chassis ground clearance of the vehicle, and the offset data is used to represent a longitudinal offset angle and offset frequency of the vehicle; in response to the table board state being an open state, determining an adjustment angle and an adjustment speed of the table board according to the road condition information, the attitude data, the height data and the offset data, wherein the adjustment speed is a speed of adjusting an inclination angle of the table board; adjusting the table board based on the adjustment angle and the adjustment speed, so that the table board is kept in a horizontally stable state; the step of determining the adjustment angle and the adjustment speed of the table board according to the road condition information, the attitude data, the height data and the offset data comprises the following steps: in response to the road condition information being a slope and the longitudinal offset angle being greater than a first angle, determining the adjustment angle based on the attitude data; determining the adjustment speed based on the height data, the offset frequency and a vehicle speed; the step of determining the adjustment angle of the table board according to the road condition information, the attitude data, the height data and the offset data further comprises the following steps: in response to the road condition information being a bumpy road, determining a height difference in a preset time period according to the height data; in response to the height difference being greater than a height threshold and the longitudinal offset angle being greater than a second angle, determining the adjustment angle based on the attitude data; the step of determining the adjustment angle of the table board according to the road condition information, the attitude data, the height data and the offset data further comprises the following step: in response to the road condition information being a turning road and the longitudinal offset angle being greater than a third angle, determining the adjustment angle based on the attitude data; the step of determining the adjustment speed based on the height data, the offset frequency and the vehicle speed comprises the following steps: determining a first weight value and a second weight value corresponding to a vehicle model of the vehicle, wherein the first weight value is used to represent an influence of the offset frequency and the vehicle speed on the adjustment speed, and the second weight value is used to represent an influence of the height data on the adjustment speed; determining the adjustment speed based on the first weight value, the second weight value, the height data, the offset frequency and the vehicle speed.

2. The method of claim 1, wherein, The method further comprises the following steps: acquiring state information of the vehicle, wherein the state information comprises a vehicle speed, a power supply state and an engine state of the vehicle; in response to the state information satisfying a preset condition, performing a de-bouncing processing on the attitude data and the height data to obtain de-bounced data, wherein the de-bounced data is used to represent the attitude data and the height data of the vehicle after the de-bouncing processing; performing a zero-point calibration processing on the table board based on the de-bounced data to obtain calibration data, wherein the calibration data comprises horizontal position calibration data and height calibration data of the table board.

3. The method of claim 2, wherein, The determining the adjusting angle and the adjusting speed of the table board according to the road condition information, the attitude data, the height data and the offset data comprises: The determining the adjusting angle and the adjusting speed of the table board according to the calibration data, the road condition information, the attitude data, the height data and the offset data.

4. A vehicle table control system, characterized by, The vehicle-mounted table board control system comprises a vehicle body attitude sensor, a vehicle body height sensor, a vehicle body control system, a vehicle-mounted table board stability control system, a gyroscope sensor and a table board stability adjuster, and is used for executing the vehicle-mounted table board control method in any one of claims 1 to 3.

5. A vehicle desk control device characterized by comprising: Comprise: The acquisition module is used for acquiring the table board state, road condition information, attitude data, height data and offset data of a vehicle, wherein the table board state is used for indicating the use state of a table board in the vehicle, the road condition information is used for indicating the road state traveled by the vehicle, the attitude data is used for indicating the orientation and posture of the vehicle, the height data is used for indicating the chassis ground clearance of the vehicle, and the offset data is used for indicating the longitudinal offset angle and offset frequency of the vehicle. The determining module is used for, in response to the table board state being an open state, determining the adjusting angle and the adjusting speed of the table board according to the road condition information, the attitude data, the height data and the offset data, wherein the adjusting speed is the speed of adjusting the inclination angle of the table board. The adjusting module is used for adjusting the table board based on the adjusting angle and the adjusting speed, so as to keep the table board in a horizontal stable state. The determining module is further used for, in response to the road condition information being a slope and the longitudinal offset angle being greater than a first angle, determining the adjusting angle based on the attitude data; and determining the adjusting speed based on the height data, the offset frequency and the vehicle speed. The determining module is further used for, in response to the road condition information being a bumpy road, determining the height difference in a preset time period according to the height data; and in response to the height difference being greater than a height threshold and the longitudinal offset angle being greater than a second angle, determining the adjusting angle based on the attitude data. The determining module is further used for, in response to the road condition information being a turning road and the longitudinal offset angle being greater than a third angle, determining the adjusting angle based on the attitude data. The determining module is further used for determining a first weight value and a second weight value corresponding to the vehicle model of the vehicle, wherein the first weight value is used for indicating the influence of the offset frequency and the vehicle speed on the adjusting speed, and the second weight value is used for indicating the influence of the height data on the adjusting speed; and determining the adjusting speed based on the first weight value, the second weight value, the height data, the offset frequency and the vehicle speed.

6. A vehicle characterized by comprising: The vehicle is used for executing the vehicle-mounted table board control method in any one of claims 1 to 3.

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