Vehicle control method, vehicle control device and vehicle

Abstract

The invention provides a vehicle control method, a vehicle control device and a vehicle, the method is applied to the field of vehicles, and the method comprises the steps that in response to a target instruction, a tail door of the vehicle is controlled to be opened; acquiring a target position of the target area; determining a target angle based on the target position; wherein the target angle is a rotation angle of a target seat in the vehicle on a target plane; the target plane is a plane where a cushion of the target seat is located; and the target seat is controlled to rotate by the target angle on the target plane, so that the target seat faces the target area. According to the method, the orientation of the fishing seat can be automatically adjusted, so that an ideal effect is achieved when a user catches, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the automotive field, and more specifically, to a vehicle control method, a vehicle control device and a vehicle in the field of vehicle control technology. Background Art

[0002] With the development of science and technology and the improvement of people's material living standards, cars are not only a means of transportation, but also a carrier for people's outdoor leisure and entertainment. More and more people like to use cars for outdoor activities such as camping and fishing. In order to meet such needs, the design and functions of vehicles are constantly optimized to better support the comfort and convenience of people's outdoor activities.

[0003] In the prior art, some vehicles have a fishing mode that can adjust the posture of the rear seats so that the seats face the outside of the vehicle and convert the rear seats into fishing seats. Therefore, how to achieve precise control of the fishing mode in the vehicle and improve the user experience is an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle control method, a vehicle control device and a vehicle. The method can achieve precise control of the fishing mode in the vehicle and improve the user experience.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] In response to a target instruction, the tailgate of the vehicle is controlled to open; a target position of a target area is obtained; based on the target position, a target angle is determined; wherein the target angle is a rotation angle of a target seat in the vehicle on a target plane; the target plane is a plane where a seat cushion of the target seat is located; the target seat is controlled to rotate on the target plane by a target angle so that the target seat faces the target area.

[0007] It should be understood that the target instruction is used to indicate the instruction to turn on the vehicle fishing mode. The target seat is the seat in the last row of the vehicle.

[0008] In an embodiment of the present application, in response to a target instruction for starting a fishing mode of a vehicle, the tailgate of the vehicle is controlled to open, and a target angle is determined by acquiring the position of a target area; a target seat in the vehicle is controlled to rotate at a target angle on a plane where its seat cushion is located; since the position of the target area is obtained, a precise target angle can be determined based on the position of the target area, and the target seat is controlled to rotate at the target angle so that the seat faces the target area; in the above scheme, since the target seat can be controlled to rotate based on the precise target angle, precise control of the vehicle in fishing mode can be achieved, thereby improving the user experience.

[0009] In conjunction with the first aspect, in some possible implementations, determining a target angle based on a target position includes:

[0010] Determine a first distance between the position of the target seat and the target position; wherein the first distance is a straight-line distance between the target seat and the target position; and determine a target angle based on a projection length of the first distance.

[0011] In an embodiment of the present application, the straight-line distance between the position of the target seat and the position of the target area is determined, and based on the projected length of the straight-line distance between the position of the target seat and the position of the target area, the target angle is determined so that the target seat faces the target area after being rotated by the target angle. Since the straight-line distance between the position of the target seat and the position of the target area is determined, the projected length of the straight-line distance on other planes can be obtained, and the precise target angle can be calculated through the projected length. Calculating the precise target angle can ensure that the seat is adjusted so that the seat faces the target area accurately, ensuring precise control of the fishing mode in the vehicle.

[0012] In combination with the first aspect and the foregoing implementation manner, in some possible implementation manners, determining the target angle based on the projection length of the first distance includes:

[0013] A first angle is determined based on a first projection length and a second projection length of the first distance, wherein the first projection length is the projection length of the first distance in the vehicle's body length direction, and the second projection length is the projection length of the first distance in the vehicle's body width direction; a target angle is determined based on the first angle and the position of a target seat.

[0014] In an embodiment of the present application, the first angle is determined by the projection length of the straight-line distance between the position of the target seat and the position of the target area in the vehicle body length and vehicle body width directions; the target angle is determined based on the first angle and the position of the target seat; the target seat is controlled to rotate the target angle so that the seat is accurately oriented toward the target area. Since the position of the current target seat is fully considered when determining the target angle, the problem of adjusting the target seat to the wrong direction each time the target seat is adjusted is avoided because the initial position of the target seat is different. The above scheme ensures that the seat can be accurately aligned with the target area after the angle is adjusted.

[0015] In combination with the first aspect and the above implementations, in some possible implementations, the present invention further includes:

[0016] Determine whether the first distance is greater than a preset distance threshold; control the target seat to rotate a target angle on a target plane, including: if the first distance is greater than the preset distance threshold, control the target seat to rotate a target angle on the target plane, and move a second distance in the direction of the target area.

[0017] In an embodiment of the present application, by judging whether the first distance is greater than a preset threshold, it is determined whether the distance between the current seat and the target area is large. If the distance is large, the seat is controlled to rotate to the target angle and move a second distance in the direction of the target area. By judging the distance between the target seat and the target area, when the distance is large, the seat can be controlled to rotate and move in the direction of the target area, thereby providing a more flexible solution for seat adjustment in fishing mode, thereby reducing the relative distance between the seat and the target area and avoiding affecting the user's fishing experience due to the long distance.

[0018] In combination with the first aspect and the above implementations, in some possible implementations, a target camera is configured on the tailgate, further comprising:

[0019] Obtain a target image captured by a target camera; obtain a target position of a target area, including: determining a first coordinate of the target area in a target camera coordinate system based on the target image and a first parameter of the target camera; wherein the first parameter is an intrinsic parameter of the target camera; based on a second parameter of the target camera, converting the first coordinate to a second coordinate in a vehicle coordinate system; wherein the second parameter is an extrinsic parameter of the target camera; and obtaining a target position based on the second coordinate.

[0020] In an embodiment of the present application, by acquiring a target image captured by a target camera configured on the tailgate of a vehicle, the image area of ​​the target area can be acquired based on the target image; based on the image area of ​​the target area, the two-dimensional coordinates of the target area in the image can be determined; using the internal parameters of the target camera, the two-dimensional coordinates of the target area in the image are converted to the first coordinates in the target camera coordinate system; using the external parameters of the target camera, the first coordinates in the target camera coordinate system are converted to the vehicle coordinate system to obtain the second coordinate, and the target position of the target area can be determined. Through the above scheme, using the internal and external parameters of the target camera and the acquired image, the position of the target area relative to the vehicle can be accurately located, which facilitates the subsequent determination of the adjustment angle of the target seat so that the target seat faces the target area, thereby achieving precise control of the target seat in the fishing mode.

[0021] In combination with the first aspect and the above implementations, in some possible implementations, the present invention further includes:

[0022] Detect whether there is a complete image of the target area in the target image; if there is no complete image of the target area in the target image, adjust the field of view angle of the target camera so that a complete image of the target area exists in the target image captured by the target camera.

[0023] In the embodiment of the present application, when the target camera fails to capture the image of the target area completely, the shooting field angle of the target camera is adjusted; therefore, when the camera fails to capture the complete image of the target area, the shooting field angle of the target camera can be adjusted in time to ensure the integrity of the image of the target area. Since the integrity of the image of the target area is ensured, the target position of the target area can be accurately identified, thereby improving the accuracy of locating the target position.

[0024] In combination with the first aspect and the above implementations, in some possible implementations, the tailgate is provided with an insect repellent component, further comprising:

[0025] Get the current date; if the current date is within a preset date range, control the insect repellent component to turn on; or, if an opening instruction of the insect repellent component is detected, control the insect repellent component to turn on.

[0026] In an embodiment of the present application, an insect repellent component is configured on the tailgate of the vehicle. In one implementation, by obtaining the current date, if the current date belongs to the preset date range, the insect repellent component is turned on; the preset date range can be set based on the seasonal law of mosquito activity, and the insect repellent component is automatically turned on in the date range when mosquitoes are more active, and mosquito protection is carried out in time, which can ensure the user's concentration when fishing and improve the user experience. In another implementation, after detecting the opening instruction, the insect repellent component is turned on, and control can be achieved according to the needs of the user to meet the user's usage needs.

[0027] In combination with the first aspect and the above implementations, in some possible implementations, the present invention further includes:

[0028] Acquire the current gear position of the vehicle; and control the tailgate of the vehicle to open in response to a target command, including: if the current gear position is a parking gear position, control the tailgate to open in response to the target command.

[0029] In an embodiment of the present application, the current gear position of the vehicle is obtained, and when it is determined that the current gear position is the parking gear position, the target command is responded to and the tailgate is controlled to open. Through the above scheme, the safety problem caused by the vehicle responding to the target command and controlling the tailgate to open when the vehicle is not parked can be avoided, thereby improving the safety of the vehicle's fishing mode.

[0030] In a second aspect, a vehicle control device is provided, the device comprising:

[0031] An acquisition module, which acquires the target position of the target area;

[0032] A processing module is used to control the opening of the tailgate of a vehicle in response to a target instruction; determine a target angle based on a target position; wherein the target angle is the rotation angle of a target seat in the vehicle on a target plane; the target plane is the plane where the seat cushion of the target seat is located; and control the target seat to rotate on the target plane by a target angle so that the target seat faces a target area.

[0033] It should be understood that the expansion, limitation, explanation and description of the relevant contents in the above-mentioned first aspect also apply to the same contents in the second aspect.

[0034] In a third aspect, a vehicle is provided, comprising a memory and a processor; the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0035] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0036] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application;

[0038] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0040] Figure 4 is a schematic diagram of another vehicle control method provided in an embodiment of the present application;

[0041] Figure 5 is a schematic diagram of adjusting a seat angle provided in an embodiment of the present application;

[0042] Figure 6 is a schematic diagram of another vehicle control method provided in an embodiment of the present application;

[0043] Figure 7is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0044] Figure 8 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0045] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0047] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0048] With the development of science and technology and the improvement of people's material living standards, cars are not only used as a means of transportation, but also gradually become a carrier of outdoor leisure and entertainment. More and more people like to use vehicles for outdoor activities such as camping and fishing. In order to meet this demand, the design and functions of vehicles are constantly optimized to improve the comfort and convenience of outdoor activities. In the following, the fishing scene will be described. However, it should be understood that the present application is not limited to this scene, and can also be applied to other scenes such as camping.

[0049] In the prior art, some vehicles are designed with a fishing mode, which can be converted into a fishing seat by flipping the vehicle seat from a first posture to a second posture, so that the seat cushion faces the rear of the vehicle and the backrest of the seat faces the top of the vehicle. In this fishing mode, the user can park the vehicle near the pool and fish through the fishing seat. However, in some cases, due to the influence of the terrain, the vehicle cannot be parked in a position facing the pool from the rear, which affects the observation angle of fishing, resulting in the user being unable to achieve the desired effect when fishing on the seat. In view of this, the embodiment of the present application provides a vehicle control method, a vehicle control device and a vehicle; through the vehicle control method provided by the embodiment of the present application, in response to the target instruction to turn on the vehicle fishing mode, the tailgate of the vehicle is controlled to open, and the target angle is determined by obtaining the position of the target area; the last row of seats in the vehicle is controlled to rotate the target angle on the plane where the seat cushion is located; because the position of the target area is obtained, the accurate target angle can be determined based on the position of the target area, and the last row of seats is controlled to rotate the target angle so that the seat faces the target area.

[0050] It should be understood that the target instruction is used to indicate an instruction to turn on the vehicle fishing mode.

[0051] Combine the following Figure 1 The schematic diagram of the application scenario of this solution is described with examples.

[0052] Figure 1 It is a schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application.

[0053] For example, Figure 1 The scene in the figure includes a pool 110, a vehicle 120, a tailgate 130, a seat 140 and a camera 150; wherein the seat 140 is the last row of seats in the vehicle.

[0054] For example, the vehicle responds to the opening instruction of the fishing mode, controls the tailgate 130 of the vehicle to open, and determines the location of the pool 110 through the image obtained by the camera 150, such as Figure 1 As shown in (a), the pool 110 is located on the left side behind the vehicle 120. The target angle is determined based on the position of the pool 110 relative to the vehicle 120, and the seat 140 is controlled to rotate the target angle on the plane where the seat cushion is located, toward the pool direction, that is, the left side behind the vehicle; Figure 1As shown in (b), the pool 110 is located on the right side behind the vehicle 120. The target angle is determined based on the position of the pool 110 relative to the vehicle 120, and the seat 140 is controlled to rotate on the plane where the seat cushion is located to the target angle, toward the pool, that is, the right side behind the vehicle. Since the seat 140 can be rotated based on the position of the pool 110, the vehicle can be accurately controlled in the fishing mode, which improves the user experience.

[0055] Combine the following Figures 2 to 6 A vehicle control method provided in an embodiment of the present application is described in detail.

[0056] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application. Figure 2 As shown, the method 200 includes S210 to S240, and S210 to S240 are described in detail below.

[0057] For example, Figure 2 The illustrated vehicle control method 200 may be executed by a vehicle; or, executed by a processor in a vehicle; or, executed by a chip mounted in a processor in a vehicle.

[0058] It should be noted that in the solution of the present application, the vehicle includes: an electric vehicle, a hybrid vehicle or a fuel vehicle; it can also be a multi-purpose vehicle (MPV) equipped with a fishing mode.

[0059] S210: In response to the target command, control the tailgate of the vehicle to open.

[0060] Among them, the target instruction is used to represent the activation instruction of the fishing mode of the vehicle; after the vehicle receives the activation instruction of the fishing mode, the tailgate of the vehicle is controlled to open in response to the activation instruction.

[0061] Exemplarily, a sound pickup device is configured in the vehicle, and the sound pickup device collects the user's audio data to determine the user's command. Optionally, the vehicle can perform keyword detection on the audio data collected by the sound pickup device, and parse the keywords in the audio data; determine the user's command based on the keywords. When the user's command is a target command, the tailgate of the vehicle is controlled to open. For example, the target command can be a voice command of "turn on fishing mode".

[0062] Exemplarily, a touch screen is configured in the vehicle, and the user input command is determined by detecting the user's touch operation on the touch screen. Optionally, the touch screen displays the target control of the fishing mode, and when the user clicks the target control, the fishing mode of the vehicle is operated; when the fishing mode is operated, the tailgate of the vehicle is controlled to open, and the seat in the vehicle is controlled to rotate. The touch screen includes a central control screen in the vehicle, or a screen configured on a seat of the vehicle.

[0063] In one implementation, the method further includes:

[0064] Acquire the current gear position of the vehicle; and control the tailgate of the vehicle to open in response to a target command, including: if the current gear position is a parking gear position, control the tailgate to open in response to the target command.

[0065] In an embodiment of the present application, the current gear position of the vehicle is detected, and if the current gear position is the parking gear position, the tailgate of the vehicle is controlled to open in response to an input target command.

[0066] For example, the vehicle may detect gear information through a gear sensor, or determine whether the vehicle is in the parking gear by detecting the handbrake status of the vehicle.

[0067] Through the above scheme, the current gear position of the vehicle is obtained. When it is determined that the current gear position is the parking gear, the target command is responded to and the tailgate is controlled to open. This can avoid the safety problems caused by the vehicle responding to the target command and controlling the tailgate to open when the vehicle is not in the parking state, thereby improving the safety of the vehicle's fishing mode.

[0068] S220: Obtain a target position of the target area.

[0069] Optionally, for the fishing mode of the vehicle, the target area is a pond area used for fishing; and the target position is a position of the pond area relative to the vehicle.

[0070] In one implementation, a target camera is configured on the tailgate of the vehicle, and the method further includes:

[0071] Obtain the target image captured by the target camera;

[0072] The above-mentioned method of obtaining the target position of the target area includes: determining the first coordinate of the target area in the target camera coordinate system based on the target image and the first parameter of the target camera; converting the first coordinate to the second coordinate in the vehicle coordinate system based on the second parameter of the target camera; and obtaining the target position based on the second coordinate.

[0073] Exemplarily, the target camera is configured on the tailgate of the vehicle; the target camera can be a wide-angle camera, a binocular camera, etc. The number of target cameras is one or more, which can capture the environmental image around the vehicle and can clearly image under different lighting conditions. Among them, the first parameter of the target camera is the internal parameter, which includes parameters such as focal length, distortion coefficient, and optical center position; the second parameter of the target camera is the external parameter, which includes parameters such as rotation matrix and translation vector, which are used to describe the position and posture of the target camera relative to the vehicle. These parameters can be obtained through calibration when the camera is installed.

[0074] In an embodiment of the present application, a target image is captured by a target camera configured on a tailgate of a vehicle, and an image recognition algorithm is used to obtain an image area of ​​the target area based on the target image; based on the image area of ​​the target area, the two-dimensional coordinates of the target area in the image are determined; using the internal parameters of the target camera, the two-dimensional coordinates of the target area in the image are converted into first coordinates; using the external parameters of the target camera, the first coordinates are converted into second coordinates, and the target position of the target area can be determined; wherein the first coordinate is a three-dimensional coordinate in the coordinate system of the target camera, and the second coordinate is a three-dimensional coordinate in the vehicle coordinate system.

[0075] Exemplarily, the target image captured by the target camera configured on the tailgate of the vehicle is obtained, and the pool area is determined from the image using an image recognition algorithm. This step can usually use a convolutional neural network model, a pre-trained deep learning model, or a bounding box detection algorithm. Based on the pool area image, the two-dimensional coordinates of the pool area in the image are determined, and the two-dimensional coordinates are used to identify the position of the center point of the pool area or other specific reference points in the image. Then, using the internal parameters of the target camera, the two-dimensional coordinates of the pool area in the image are converted into three-dimensional coordinates in the target camera coordinate system. The conversion to the three-dimensional coordinates in the target camera coordinate system requires obtaining the distance from the pool to the camera. The distance from the pool to the camera can be obtained using a depth sensor, such as a time of flight (ToF) sensor, or estimated from an object of known size. For example, there is an object within the field of view of the target camera, which can be a component on the tailgate, and its size is known; this size can be obtained by pre-measurement, a database, or other information sources; through the pixel length of the component in each dimension in the image, the depth information of the pool is estimated using a similar triangle correlation algorithm. Then, based on the external parameters of the target camera, the three-dimensional coordinates in the target camera coordinate system are converted into the three-dimensional coordinates in the vehicle coordinate system through the coordinate conversion formula to determine the target position of the pool.

[0076] The image captured by the target camera is processed based on the image processing algorithm to determine the pool area in the image; the image processing algorithm includes image segmentation, edge detection, color segmentation, etc.; for example, the characteristics of the pool, such as reflectivity, color and texture, are extracted from the image captured by the target camera, and then the image recognition algorithm is used to identify and classify the objects in the image to determine the pool area; for example, a convolutional neural network is used to identify and classify the objects in the image.

[0077] It should be noted that the training dataset of the convolutional neural network model should contain a large number of pool samples at different angles and lighting conditions to improve the generalization ability of the model.

[0078] Optionally, the target camera can be a binocular camera, and a stereoscopic vision algorithm is used to determine the target position of the pool. The stereoscopic vision algorithm refers to shooting the same scene from different perspectives with different cameras, and obtaining three-dimensional information using the disparity information between the captured images; for example, after obtaining images collected by different cameras, an image block matching or feature matching algorithm is used to obtain corresponding points of the same object in different images, and disparity information is obtained based on the coordinate difference of the corresponding points in different images. The three-dimensional information is obtained based on the calculated disparity information, the focal length of different cameras, and the distance between different cameras, and finally the three-dimensional structure of the scene is reconstructed based on the three-dimensional information.

[0079] Optionally, after the target camera captures the image, the acquired image is transmitted to a graphics processing unit (GPU) for preprocessing operations to improve image quality and improve the efficiency and accuracy of subsequent pool identification. After the preprocessing operations, the GPU performs pool identification. The GPU is responsible for rendering and drawing the content to be displayed on the display screen.

[0080] For example, preprocessing operations include graying, filtering denoising and image enhancement algorithms. Graying is the process of converting a color image into a grayscale image, which is used to reduce the complexity of the image, reduce the amount of data, and facilitate further processing and analysis. Filtering denoising is an algorithm for reducing noise by smoothing the image, with the aim of retaining useful information in the image while removing irrelevant noise as much as possible. Among them, noise is interference information in the image that does not belong to the original image, caused by sensor errors, transmission problems or environmental interference. For example, commonly used filtering methods include mean filtering, median filtering and Gaussian filtering, etc., which are not limited in the embodiments of the present application. Image enhancement algorithms are used to improve the visual effect of the image or highlight certain features, making the image more suitable for human eye observation or further computer analysis, and generally include histogram equalization, contrast stretching, edge enhancement and gamma correction, etc.

[0081] Through the above scheme, by utilizing the internal and external parameters of the target camera and the acquired image, the position of the target area relative to the vehicle can be accurately located, which is used to subsequently determine the adjustment angle of the target seat so that the target seat faces the target area, providing accurate position data for achieving precise control of the target seat.

[0082] In one implementation, the method further includes:

[0083] Detect whether there is a complete image of the target area in the target image; if there is no complete image of the target area in the target image, adjust the field of view angle of the target camera so that a complete image of the target area exists in the target image captured by the target camera.

[0084] The field of view of a camera refers to the imaging range that the camera can cover in the horizontal, vertical or diagonal direction, usually expressed as an angle. The field of view determines the size of the scene that the camera can see at a given distance.

[0085] In an embodiment of the present application, when the target camera fails to completely capture the image of the pool area, the field of view of the target camera is adjusted so that the captured image includes a complete image of the pool area.

[0086] Optionally, when the pool is large and the target camera cannot obtain images of the complete pool area under various field of view angles, the pool area and surrounding terrain are evaluated, and the most suitable pool area for fishing is determined based on the evaluation results.

[0087] Through the above scheme, when the target camera fails to completely capture the image of the target area, the shooting field angle of the target camera is adjusted; therefore, when the camera fails to capture the complete image of the target area, the shooting field angle of the target camera can be adjusted in time to ensure the integrity of the target area image. Since the integrity of the target area image is ensured, the target position of the target area can be accurately identified, thereby improving the accuracy of control.

[0088] S230: Determine a target angle based on the target position.

[0089] The target angle is the angle at which the target seat needs to rotate on the target plane.

[0090] In one implementation, the method includes:

[0091] A first distance between the position of the target seat and the target position is determined; and a target angle is determined based on a projected length of the first distance.

[0092] Among them, the first distance is the straight-line distance between the center of the target seat and the center of the target position, and the center refers to the geometric center, that is, the position where the midpoints of the length and the width meet; for example, the center of the target seat refers to the position where the length and width meet on the plane where the seat cushion of the last row of seats is located; the center of the target position refers to the position where the length and width meet on the plane where the water surface of the pool area is located.

[0093] In an embodiment of the present application, the straight-line distance between the position of the target seat and the position of the target area is determined, and the target angle is determined based on the projection length of the straight-line distance between the position of the target seat and the position of the target area, so that the rear seat is rotated by the target angle to face the target area. Through the above scheme, since the straight-line distance between the position of the target seat and the position of the target area is determined, the projection length of the straight-line distance on other planes can be obtained, and the precise target angle can be calculated through the projection length. By obtaining the precise target angle, it can be ensured that the seat is accurately oriented to the target area, which is conducive to precise control of the fishing mode in the vehicle.

[0094] In one implementation, the method includes:

[0095] A first angle is determined based on a first projection length and a second projection length of the first distance, wherein the first projection length is the projection length of the first distance in the vehicle's body length direction, and the second projection length is the projection length of the first distance in the vehicle's body width direction; a target angle is determined based on the first angle and the position of a target seat.

[0096] In an embodiment of the present application, a first angle is determined by the projection length of the straight-line distance between the position of the target seat and the position of the target area in the vehicle length and vehicle width directions; a target angle is determined based on the first angle and the position of the target seat; and the target seat is controlled to rotate to the target angle so that the seat is precisely facing the target area.

[0097] For example, Figure 3 As shown in (a) of FIG. 1 , a camera 150 is disposed on the tailgate 130 of the vehicle 120. The camera 150 captures an image of the pool 110, and determines the pixel position of the pool 110 in the image through an image recognition algorithm. Based on the internal and external parameters of the camera 150, the straight-line distance between the position of the pool 110 and the position of the seat 140 is determined, as shown in FIG. Figure 3As shown in (b), based on the straight-line distance, the projection of the straight-line distance on a rectangular coordinate system in a two-dimensional plane can be determined. Since the seat 140 is rotated on the plane where the seat cushion of the seat 140 is located, the plane is determined as the two-dimensional plane to be projected; the straight-line distance between the position of the pool and the seat position is projected to the body length direction 310 and the body width direction 320 of the vehicle 120. According to the projection length of the straight-line distance in two directions, the first angle can be determined using the trigonometric function relationship. The first angle is the angle between the direction of the straight line between the pool 110 and the seat 140 and the body length direction 310. Based on the position of the seat 140 and the first angle, the target angle is determined, for example, Figure 3 As shown in (a) in FIG. 1 , the initial position of the seat 140 is toward the vehicle's forward direction, that is, toward the front of the vehicle in the direction 310. After the position of the pool 110 is determined by the camera 150, the first angle is determined to be 45 degrees. The target rotation position of the seat is an acute angle of 45 degrees with the direction 310 and toward the rear of the vehicle. Therefore, the angle between the position of the seat and the direction of the target rotation position is 135 degrees. Therefore, the seat 140 is controlled to rotate 135 degrees counterclockwise toward the direction of the pool 110, as shown in FIG. Figure 3 As shown in (b) in .

[0098] In some cases, when the distance between the seat position and the target position is detected to be 0, for example, when the vehicle is parked on a slope with a large inclination angle, or when the vehicle and the target area are at the same position on a plane parallel to the ground, the projection length of the straight-line distance between the center of the target seat and the center of the target position in the length and width directions of the vehicle body is detected to be 0 or close to 0, and the initial position of the seat is detected to be facing the front of the vehicle. At this time, the seat is controlled to rotate 180 degrees counterclockwise so that the seat faces the rear of the vehicle. Optionally, the direction of rotation is a preset seat rotation direction in the vehicle, which can be clockwise or counterclockwise, and the embodiments of the present application are not limited to this.

[0099] In the above scheme, since the position of the current target seat is fully considered when determining the target angle, the problem of adjusting the target seat to the wrong direction each time due to the different initial positions of the target seat is avoided. Therefore, the above scheme ensures that the seat can be accurately aligned with the target area after the angle adjustment.

[0100] S240: Control the target seat to rotate to a target angle on the target plane so that the target seat faces the target area.

[0101] The target plane is the plane where the seat cushion of the target seat is located.

[0102] In one implementation, the method further includes:

[0103] Determine whether the first distance is greater than a preset distance threshold; control the target seat to rotate a target angle on a target plane, including: if the first distance is greater than the preset distance threshold, control the target seat to rotate a target angle on the target plane, and move a second distance in the direction of the target area.

[0104] In an embodiment of the present application, by judging whether the first distance is greater than a preset threshold, it is determined whether the distance between the current seat and the target area is large. If the distance is large, the seat is controlled to rotate to the target angle and move a second distance in the direction of the target area.

[0105] In one implementation, when the seat is controlled to rotate, the angle of the seat in the vehicle remains unchanged, that is, it can be understood that the angle between the seat cushion and the backrest of the seat is the same as before the rotation.

[0106] For example, Figure 4 As shown in (a), the first angle is determined to be 45 degrees based on the projection of the straight-line distance d between the seat 140 and the pool 110 in the directions 310 and 320, and then the target angle is determined to be 135 degrees based on the first angle and the seat position. After determining the target angle, it is determined whether the straight-line distance d is greater than a preset distance threshold. If it is greater than the preset threshold, the seat and the sliding track configured at the bottom of the seat are controlled to rotate 135 degrees counterclockwise, and the seat is controlled to move along the sliding track toward the pool 110, and the length of the movement is the moving distance l. There is a mapping relationship between the moving distance l and the straight-line distance d between the seat 140 and the pool 110, and the moving distance is in direct proportion to the straight-line distance within a certain range.

[0107] Table 1

[0108] Straight line distance d (m) Moving distance l(m) 0-2 0 2-4 0.1 4-6 0.2 6-8 0.3 8-10 0.4 …… ……

[0109] Exemplarily, the mapping relationship between the straight-line distance between the position of the seat and the position of the pool area and the seat movement distance is shown in Table 1; when the straight-line distance is within the range of 0-2 meters, the seat movement distance is 0 meter, that is, no movement is performed; when the straight-line distance is within the range of 2-4 meters, the seat movement distance is 0.1 meter; when the straight-line distance is within the range of 4-6 meters, the seat movement distance is 0.2 meter; when the straight-line distance is within the range of 6-8 meters, the seat movement distance is 0.3 meter; when the straight-line distance is within the range of 8-10 meters, the seat movement distance is 0.4 meter.

[0110] It should be understood that the above is an example of the mapping relationship between the straight-line distance d between the center of the seat and the center of the pool and the seat movement distance l, and the present application does not limit this.

[0111] Exemplarily, based on the target position of the target area, the position is transmitted to the central controller of the vehicle system in the form of a digital signal, and the target angle is determined based on the received position information and sent to vehicle components such as the electric adjustment components of the seat and the camera angle rotation components through the vehicle's controller area network (CAN).

[0112] Among them, the central controller is preset with algorithms and logic that can implement the method provided by the embodiments of the present application; the CAN bus is a communication network widely used in modern vehicles, allowing different electronic control units or controllers to exchange information within the vehicle.

[0113] Through the above scheme, the distance between the target seat and the pool area is judged. When the distance is large, the seat can be controlled to rotate and move toward the pool area, providing a more flexible solution for seat adjustment in fishing mode, thereby reducing the relative distance between the seat and the pool area and avoiding affecting the user's observation experience due to the long distance.

[0114] In another embodiment of the present application, when it is detected that the angle between the vehicle's driving plane and the ground is greater than a preset angle, the seat cushion is controlled to adjust its angle in a direction perpendicular to the plane where the seat cushion is currently located, so that the seat cushion plane is not parallel to the vehicle's driving surface; thereby preventing the user from sliding down from the seat when the vehicle is on a slope and the fishing mode is turned on, thereby improving the user experience.

[0115] For example, Figure 5 As shown in (a), the vehicle is parked on a slope, and the plane where the seat cushion of the seat 140 is located is parallel to the driving plane of the vehicle. When it is detected that the angle between the driving plane of the vehicle and the ground is greater than a preset angle, the seat cushion, or the angle between the seat cushion and the backrest is adjusted, such as Figure 5 As shown in (b) of FIG. 1 , the seat cushion and the backrest of the seat 140 are controlled to adjust the angle upward; or, as shown in FIG. Figure 5 As shown in (c) in the figure, the seat cushion of the seat 140 is controlled to adjust its angle upward.

[0116] In one implementation, when the seat is controlled to rotate, the angle of the seat in the vehicle remains unchanged, that is, it can be understood that the angle between the seat cushion and the backrest is the same as before rotation; the above process of adjusting the seat angle is performed after controlling the seat rotation.

[0117] Among them, the vehicle is equipped with an acceleration sensor or a gyroscope to measure the angle between the vehicle's driving plane and the ground; the seat has a multi-directional electric adjustment function, and the electric motor in the seat can control the seat to adjust the vertical, horizontal and inclination.

[0118] Through the above scheme, when the angle between the driving plane of the vehicle and the ground is large, the plane where the seat cushion is located can be adjusted so that the plane where the seat cushion is located and the driving surface of the vehicle are not parallel, ensuring that the user can fish in a comfortable posture and avoiding the user from sliding off the vehicle due to gravity when sitting on the seat, causing safety problems.

[0119] It should be understood that the above embodiments can be combined in any way to form optional embodiments of the present application, which will not be described in detail herein. In one implementation, the above method further includes:

[0120] Get the current date; if the current date is within a preset date range, control the insect repellent component to turn on; or, if an opening instruction of the insect repellent component is detected, control the insect repellent component to turn on.

[0121] Among them, the insect repellent component includes a mosquito detection module and an insect repellent module; the mosquito detection module can include one or more of image recognition detection, ultrasonic detection, and biosensor detection; the insect repellent module can include one or more of ultrasonic insect repellent, fragrance insect repellent, and insect repellent lamp repellent.

[0122] Implementation method 1:

[0123] In an embodiment of the present application, the current date of a built-in clock and calendar system is obtained, and if the current date falls within a preset date range, the insect repellent component is directly turned on.

[0124] For example, Figure 6 As shown, the tailgate 130 of the vehicle is provided with a camera 140 and an insect repellent component 160. If the date today is within the preset date range, the insect repellent component 160 is turned on. After the insect repellent component 160 is turned on, the camera 150 rotates to a vertical downward detection angle. For example, when acquiring a target image, the rotation state of the camera is as follows: Figure 6 As shown in (b), the camera 160 includes a rotating camera 170 and a spherical joint chamber 180. After the insect repellent component 160 is turned on, the state of the multi-dimensional rotating camera 170 is changed from Figure 6 (b) in the switch to Figure 6 In the mosquito detection state shown in (c), if a mosquito is detected, the insect repellent component 160 emits sound waves of a specific frequency downward to interfere with the hearing or nervous system of the mosquito, thereby achieving a repelling effect.

[0125] It should be noted that the preset date range is the dates when mosquitoes are more active, which can be from May to October every year.

[0126] Optionally, the vehicle is equipped with a temperature sensor and / or a humidity sensor, which detects the temperature and / or humidity in and near the vehicle. If the temperature and / or humidity are detected to exceed a preset threshold, the insect repellent component is automatically turned on.

[0127] Through the above scheme, by obtaining the current date, if the current date belongs to the preset date range, the insect repellent component is turned on; the preset date range can be set based on the seasonal pattern of mosquito activities, and the insect repellent component is automatically turned on in the date range when mosquitoes are more active, so as to provide timely mosquito protection, ensure the user's concentration when fishing, and improve the user experience.

[0128] Implementation method 2:

[0129] In an embodiment of the present application, the current date of a built-in clock and calendar system is obtained. If the current date does not fall within a preset date range, the insect repellent component is turned on after an opening instruction of the insect repellent component is detected.

[0130] For example, Figure 6 As shown, when the tailgate 130 of the vehicle is opened, after detecting the opening command of the insect repellent component, the insect repellent component 160 is activated to open; after the insect repellent component 160 is turned on, the camera 150 rotates to a vertical downward detection angle. If a mosquito is detected, the insect repellent component 160 emits sound waves of a specific frequency downward to interfere with the hearing or nervous system of the mosquito, thereby achieving a repelling effect.

[0131] Exemplarily, the audio data collected by the sound pickup device configured in the vehicle is subjected to keyword detection, and the target instruction contained in the audio data is parsed out. For example, the target instruction may be "turn on the insect repellent function."

[0132] For example, the vehicle may be equipped with a touch screen, and the input target adjustment command is received by detecting the user's touch operation on the touch screen. Alternatively, the vehicle may generate a selection interface for whether to start the insect repellent function and display it on the touch screen, and the user may input the target command through the interface, and the vehicle then receives and executes these commands. The touch screen may be a central control screen in the vehicle, or a screen equipped on a vehicle seat.

[0133] Through the above scheme, after the start-up command is detected, the insect repellent component is turned on, which can realize autonomous control according to the needs of the user and is beneficial to saving the energy of the vehicle.

[0134] Optionally, the camera configured on the tailgate can be used for the trunk item detection function. When the vehicle is parked at a preset location, the camera detects the items in the trunk and generates a reminder message to remind the user to take the items in the trunk; the reminder method of the reminder message can be configured by the user.

[0135] In the above embodiment, in response to the target instruction, the tailgate of the vehicle is controlled to open, and the target angle is determined by obtaining the position of the target area; the rearmost row of seats of the vehicle is controlled to rotate at the target angle on the plane where the seat cushions are located; since the position of the target area is obtained, the precise target angle can be determined based on the position of the target area, and the rearmost row of seats is controlled to rotate at the target angle so that the seats face the target area; in the above scheme, since the rearmost row of seats can be controlled to rotate based on the precise target angle, the vehicle can be precisely controlled in fishing mode, thereby improving the user experience.

[0136] Combine the following Figure 7 Another vehicle control method provided in an embodiment of the present application is illustrated by way of example.

[0137] Figure 7 FIG. 1 is a schematic flow chart of a specific application of another vehicle control method provided in an embodiment of the present application. Figure 7 As shown, the method 700 includes S701 to S713, and S701 to S713 are described in detail below.

[0138] S701: Detect a command to start the fishing mode and obtain the current gear position of the vehicle.

[0139] In an embodiment of the present application, a voice command issued by a user is detected, an audio signal issued by the user is obtained through a sound pickup device in the vehicle, the voice command is detected based on the audio signal, and if the voice command is recognized as a command to start the fishing mode, the current gear position of the vehicle is obtained.

[0140] Exemplarily, a sound pickup device is configured in the vehicle, and the sound pickup device collects the user's audio data to determine the user's command. Optionally, the vehicle can perform keyword detection on the audio data collected by the sound pickup device, and parse the keywords in the audio data; determine the user's command based on the keywords. When the user's command is a target command, the tailgate of the vehicle is controlled to open. For example, the target command can be a voice command of "turn on fishing mode".

[0141] In another implementation, a touch screen is configured in the vehicle, and the user input command is determined by detecting the user's touch operation on the touch screen. Optionally, the touch screen displays a target control of the fishing mode, and when a user clicks on the target control, the fishing mode of the vehicle is run; when the fishing mode is run, the tailgate of the vehicle is controlled to open. The touch screen includes a central control screen in the vehicle, or a screen configured on a seat of the vehicle.

[0142] S702: Determine whether the current gear position of the vehicle is the parking gear position. If so, execute S703; if not, execute S702 again after a preset time interval.

[0143] The current gear position of the vehicle is detected. If the current gear position is the parking gear position, the tailgate of the vehicle is controlled to open in response to the input target command.

[0144] Exemplarily, if it is detected that the current gear position is not the parking gear position, a reminder message is generated to remind the user that the current gear position of the vehicle is not the parking gear position; the reminder message can be issued as a voice reminder through the audio equipment in the vehicle, or a text reminder can be generated through the screen in the vehicle.

[0145] When it is detected that the current gear position of the vehicle is the parking gear position, it can be determined that the current state of the vehicle is the parking state. At this time, the tailgate of the vehicle is controlled to open. The implementation method of controlling the opening of the tailgate of the vehicle is shown in S703; if it is detected that the current gear position is not the parking gear position, the vehicle may be in a driving state. At this time, if the tailgate of the vehicle is controlled to open, it may be dangerous. Therefore, S702 is re-executed after a preset interval to determine the current state of the vehicle.

[0146] S703: In response to the opening instruction of the fishing mode, control the tailgate of the vehicle to open.

[0147] Optionally, the implementation of S703 can refer to Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0148] S704: Determine whether the target image captured by the detection target camera includes a complete image of the pool. If yes, execute S706 to S708; if not, execute S705 to S708.

[0149] When it is detected that the target image captured by the target camera does not include a complete image of the pool, it is necessary to adjust the shooting field angle of the target camera to ensure the integrity of the pool image. For the implementation method of adjusting the shooting field angle of the target camera, see S705; if the target image includes a complete image of the pool, the target position is determined based on the complete image of the pool and the internal and external parameters of the target camera. For the implementation method of determining the target position based on the complete image of the pool and the internal and external parameters of the target camera, see S706.

[0150] S705: Adjust the field of view of the target camera so that the target image captured by the target camera includes a complete image of the pool.

[0151] The field of view angle refers to the imaging range that the camera can cover in the horizontal, vertical or diagonal direction, usually expressed as an angle. The field of view angle determines the size of the scene that the camera can see at a given distance.

[0152] In an embodiment of the present application, when the target camera fails to completely capture the image of the pool, the field of view of the target camera is adjusted so that the captured image includes the complete image of the pool.

[0153] For example, Figure 6 As shown in (a), the target camera may be a rotatable camera. When the target camera fails to completely capture the image of the pool area, the rotating camera 170 may be rotated so that the captured image includes a complete image of the pool area.

[0154] Optionally, when the pool is large and the target camera cannot obtain images of the complete pool area under various field of view angles, the pool area and surrounding terrain are evaluated, and the most suitable pool area for fishing is determined based on the evaluation results.

[0155] S706: Determine the target position based on the complete image of the pool and the internal and external parameters of the target camera.

[0156] In an embodiment of the present application, by acquiring a complete image including a water pool captured by a target camera and applying an image recognition algorithm, the two-dimensional pixel coordinates of the water pool in the image can be determined; based on the internal parameters of the target camera, the three-dimensional coordinates of the water pool in the target camera coordinate system can be determined; based on the external parameters of the target camera, the three-dimensional coordinates of the water pool in the vehicle coordinate system can be determined, thereby determining the target position of the water pool.

[0157] Optionally, the implementation of S706 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0158] S707: Determine a first angle based on a projection length of a first distance between the target position and the target seat position in the vehicle body length and vehicle body width directions, and determine a target angle based on the first angle.

[0159] The first distance is the straight-line distance between the target seat and the target position; the target angle is the angle at which the target seat needs to rotate on the target plane.

[0160] In an embodiment of the present application, a first angle is determined based on the projection length of the first distance in the length direction and the width direction of the vehicle body using a trigonometric function relationship; a target angle is determined based on the first angle and the position of a target seat so that the rear seats are rotated by the target angle to face the pool.

[0161] Optionally, the implementation of S707 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0162] S708: Determine whether the first distance is greater than a preset distance threshold. If so, execute S709 and S711; if not, execute S710 and S711.

[0163] If the first distance is greater than the preset distance threshold, it means that the vehicle is far away from the pool. At this time, it is necessary to control the target seat to rotate to the target angle on the target plane and move the second distance in the direction of the pool. See S709 for the specific implementation method; if the first distance is less than or equal to the preset distance threshold, it means that the vehicle is close to the pool. At this time, the target seat needs to be controlled to rotate to the target angle on the target plane. See S710 for the specific implementation method.

[0164] S709: Control the target seat to rotate by a target angle on the target plane and move a second distance toward the direction of the pool.

[0165] The target plane is the plane where the seat cushion of the target seat is located.

[0166] Exemplarily, if the distance between the last row of seats and the pool is greater than a preset distance threshold, the last row of seats and the sliding tracks arranged at the bottom of the seats are controlled to rotate to a target angle on the plane where the seat cushions are located, and the seats are controlled to move a second distance along the sliding tracks toward the pool.

[0167] Optionally, the implementation of S709 can refer to Figure 2 The relevant description in S240 will not be repeated here.

[0168] S710: Control the target seat to rotate to a target angle on the target plane.

[0169] Exemplarily, the water pool is located 45 degrees to the left of the rear of the vehicle, the target angle is 135 degrees, and the target seat is controlled to rotate 135 degrees on the plane where the seat cushion is located so that the target seat faces the direction of the water pool.

[0170] Optionally, the implementation of S710 can refer to Figure 2 The relevant description in S240 will not be repeated here.

[0171] S711, determine whether the current date belongs to the preset date range. If yes, execute S712; if no, execute S713.

[0172] The preset date range is usually the date when mosquitoes are more active, which can be set in advance or personalized by the user.

[0173] If the current date falls within the preset date range, it means that mosquitoes are active frequently on the current date, and the insect repellent component is controlled to be turned on. For specific implementation methods, see S712; if the current date does not fall within the preset date range, it means that mosquitoes are not active frequently on the current date. When the opening instruction of the insect repellent component is detected, the insect repellent component is controlled to be turned on. For specific implementation methods, see S713.

[0174] S712, control the insect repellent component to turn on.

[0175] Exemplarily, if the current date falls within a preset date range, the insect repellent component is controlled to turn on, the image detection mosquito function is turned on, and if mosquitoes are detected, the ultrasonic insect repellent is turned on.

[0176] Optionally, the implementation of S712 can refer to Figure 2 The relevant description of implementation method 1 in S240 will not be repeated here.

[0177] S713: Detect an opening instruction of the insect repellent component and control the insect repellent component to open.

[0178] Exemplarily, if the current date does not fall within the preset date range, after detecting the start instruction of the insect repellent component, the insect repellent component is controlled to turn on, and the image detection mosquito function is turned on. If mosquitoes are detected, the ultrasonic insect repellent is turned on.

[0179] Optionally, the implementation of S713 can refer to Figure 2 The relevant description of the second implementation method in S240 will not be repeated here.

[0180] In the above embodiment, in response to the target instruction, the tailgate of the vehicle is controlled to open, and the target angle is determined by obtaining the position of the water pool; the seats in the last row of the vehicle are controlled to rotate to the target angle on the plane where the seat cushions are located; since the position of the water pool is obtained, the precise target angle can be determined based on the position of the water pool, and the last row of seats can be controlled to rotate to the target angle so that the seats face the water pool; in the above scheme, since the last row of seats can be controlled to rotate based on the precise target angle, the vehicle can be accurately controlled in fishing mode, thereby improving the user experience.

[0181] Combination of the above Figures 1 to 7 A vehicle control method provided by an embodiment of the present application is described in detail; Figure 8 and Fig. 9 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0182] Figure 8 800 is a schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0183] Among them, the acquisition module 810 is used to obtain the target position of the target area; the processing module 820 is used to control the opening of the tailgate of the vehicle in response to the target instruction; if the target position of the target area is obtained, the target angle is determined based on the target position; wherein the target angle is the rotation angle of the target seat in the vehicle on the target plane; the target plane is the plane where the seat cushion of the target seat is located; the target seat is controlled to rotate the target angle on the target plane so that the target seat faces the target area.

[0184] Optionally, as an embodiment, the processing module 820 is specifically configured to:

[0185] Determine a first distance between the position of the target seat and the target position; wherein the first distance is a straight-line distance between the target seat and the target position; and determine a target angle based on a projection length of the first distance.

[0186] Optionally, as an embodiment, the processing module 820 is specifically configured to:

[0187] A first angle is determined based on a first projection length and a second projection length of the first distance, wherein the first projection length is the projection length of the first distance in the vehicle's body length direction, and the second projection length is the projection length of the first distance in the vehicle's body width direction; a target angle is determined based on the first angle and the position of a target seat.

[0188] Optionally, as an embodiment, the processing module 820 is further configured to:

[0189] Determine whether the first distance is greater than a preset distance threshold; control the target seat to rotate a target angle on a target plane, including: if the first distance is greater than the preset distance threshold, control the target seat to rotate a target angle on the target plane, and move a second distance in the direction of the target area.

[0190] Optionally, as an embodiment, the processing module 820 is further configured to:

[0191] Obtain a target image captured by a target camera; obtain a target position of a target area, including: determining a first coordinate of the target area in a target camera coordinate system based on the target image and a first parameter of the target camera; wherein the first parameter is an intrinsic parameter of the target camera; based on a second parameter of the target camera, converting the first coordinate to a second coordinate in a vehicle coordinate system; wherein the second parameter is an extrinsic parameter of the target camera; and obtaining a target position based on the second coordinate.

[0192] Optionally, as an embodiment, the processing module 820 is further configured to:

[0193] Detect whether there is a complete image of the target area in the target image; if there is no complete image of the target area in the target image, adjust the field of view angle of the target camera so that a complete image of the target area exists in the target image captured by the target camera.

[0194] Optionally, as an embodiment, the processing module 820 is further configured to:

[0195] Get the current date; if the current date is within a preset date range, control the insect repellent component to turn on; or, if an opening instruction of the insect repellent component is detected, control the insect repellent component to turn on.

[0196] Optionally, as an embodiment, the processing module 820 is further configured to:

[0197] Acquire the current gear position of the vehicle; and control the tailgate of the vehicle to open in response to a target command, including: if the current gear position is a parking gear position, control the tailgate to open in response to the target command.

[0198] It should be noted that the vehicle control device 800 is implemented in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0199] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application-specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0200] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0201] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0202] Exemplarily, vehicle 900 includes: a processor 910 , a memory 920 , and an executable program code 930 .

[0203] Exemplarily, the vehicle 900 includes one or more processors 910, which can support the vehicle 900 to implement the vehicle generation method in the method embodiment. The processor 910 can be a general-purpose processor or a special-purpose processor. For example, the processor 910 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit, a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0204] Exemplarily, the processor 910 may be used to control the vehicle 900, execute software programs, and process data of the software programs. The vehicle 900 may also include a communication unit to implement input (reception) and output (transmission) of signals.

[0205] Exemplarily, the vehicle 900 may include one or more memories 920 on which executable program code 930 is stored. The executable program code 930 can be executed by the processor 910 to generate instructions, so that the processor 910 executes the generation method described in the above method embodiment according to the instructions.

[0206] Optionally, data may be stored in the memory 920. Optionally, the processor 910 may read data stored in the memory 920, which may be stored at the same storage address as the executable program code 930, or may be stored at a different storage address from the executable program code 930.

[0207] Exemplarily, the processor 910 and the memory 920 may be provided separately or integrated together, for example, integrated on a system on chip (System On Chip, SOC) of the terminal device.

[0208] Exemplarily, the memory 920 can be used to store relevant programs of the vehicle generation method provided in the embodiment of the present application, and the processor 920 can be used to call the executable program code 930 stored in the memory 920 when controlling the vehicle to execute the vehicle control method of the embodiment of the present application.

[0209] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the aforementioned embodiments.

[0210] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0211] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0212] In addition, the electronic device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the electronic device may include a connected processor and a memory; wherein the memory is used to store instructions, and when the electronic device is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above-mentioned embodiments.

[0213] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0214] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0215] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0216] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: In response to the target command, controlling the tailgate of the vehicle to open; Get the target position of the target area; Based on the target position, a target angle is determined; wherein the target angle is a rotation angle of a target seat in the vehicle on a target plane; and the target plane is a plane where a seat cushion of the target seat is located; The target seat is controlled to rotate by the target angle on the target plane so that the target seat faces the target area.

2. The method according to claim 1, characterized in that The step of determining a target angle based on the target position includes: Determine a first distance between the position of the target seat and the target position; wherein the first distance is a straight-line distance between the target seat and the target position; The target angle is determined based on a projected length of the first distance.

3. The method according to claim 2, characterized in that The determining the target angle based on the projection length of the first distance includes: Determine a first angle based on a first projection length and a second projection length of the first distance; wherein the first projection length is a projection length of the first distance in a body length direction of the vehicle; and the second projection length is a projection length of the first distance in a body width direction of the vehicle; The target angle is determined based on the first angle and the position of the target seat.

4. The method according to claim 2 or 3, characterized in that: Also includes: Determining whether the first distance is greater than a preset distance threshold; The controlling the target seat to rotate the target angle on the target plane comprises: If the first distance is greater than the preset distance threshold, the target seat is controlled to rotate by the target angle on the target plane and move a second distance in the direction of the target area.

5. The method according to any one of claims 1 to 3, characterized in that The tailgate is provided with a target camera, and further comprises: Acquire a target image captured by the target camera; The step of obtaining a target position of a target area includes: Based on the target image and a first parameter of the target camera, determining a first coordinate of the target area in the target camera coordinate system; wherein the first parameter is an internal parameter of the target camera; Based on a second parameter of the target camera, converting the first coordinate to a second coordinate in the vehicle coordinate system; wherein the second parameter is an external parameter of the target camera; Based on the second coordinates, the target position is obtained.

6. The method according to claim 5, characterized in that Also includes: Detecting whether there is a complete image of the target area in the target image; If a complete image of the target area does not exist in the target image, the field of view of the target camera is adjusted so that a complete image of the target area exists in the target image captured by the target camera.

7. The method according to any one of claims 1 to 3, characterized in that The tailgate is provided with an insect repellent component, and further comprises: Obtaining the current date; if the current date is within a preset date range, controlling the insect repellent component to turn on; or, If an opening instruction of the insect repellent component is detected, the insect repellent component is controlled to be opened.

8. The method according to any one of claims 1 to 3, characterized in that Also includes: Obtaining the current gear position of the vehicle; The method of controlling the tailgate of the vehicle to open in response to the target command includes: If the current gear is the parking gear, the tailgate is controlled to open in response to the target command.

9. A vehicle control device, characterized in that: The device comprises: An acquisition module, used for acquiring a target position of a target area; A processing module, used for controlling the opening of the tailgate of a vehicle in response to a target instruction; determining a target angle based on the target position; wherein the target angle is the rotation angle of a target seat in the vehicle on a target plane; the target plane is the plane where the seat cushion of the target seat is located; controlling the target seat to rotate on the target plane by the target angle so that the target seat faces the target area.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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