Vehicle control method, vehicle control device, and vehicle

Abstract

The application provides a vehicle control method, a vehicle control device and a vehicle. The method is applied to the field of vehicles. The method comprises the following steps: in response to a target instruction, a tail door of a vehicle is controlled to be opened; a target position of a target area is acquired; a target angle is determined based on the target position; the target angle is a rotation angle of a target seat in the vehicle on a target plane; the target plane is a plane on which a cushion of the target seat is located; and the target seat is controlled to be rotated by the target angle on the target plane, so that the target seat is directed to the target area. The method can automatically adjust the direction of a fishing seat, so that a user can achieve an ideal effect when fishing, and the user experience is improved.

Description

Technical Field

[0001] This 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 Technology

[0002] With the development of science and technology and the improvement of people's living standards, automobiles are no longer just a means of transportation, but are gradually becoming a vehicle for outdoor leisure and entertainment. More and more people enjoy using vehicles for outdoor activities such as camping and fishing. To meet these needs, vehicle design and functions are constantly being optimized to better support the comfort and convenience of people's outdoor activities.

[0003] In existing technologies, some vehicles have a "fishing mode" that allows the rear seats to be adjusted to face outwards, effectively transforming them into "fishing seats." Therefore, achieving precise control of this fishing mode in vehicles to enhance the user experience is a pressing issue that needs to be addressed. Summary of the Invention

[0004] This application provides a vehicle control method, a vehicle control device, and a vehicle. The method enables precise control of the fishing mode in the vehicle, thereby improving the user experience.

[0005] Firstly, a vehicle control method is provided, the method comprising:

[0006] In response to the target command, control the opening of the vehicle's tailgate; obtain the target position of the target area; determine the target angle 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; control the target seat to rotate the target angle on the target plane so that the target seat faces the target area.

[0007] It should be understood that the target command is used to instruct the activation of the vehicle's fishing mode. The target seat is the last row of seats in the vehicle.

[0008] In the embodiments of this application, in response to the target command to activate the vehicle fishing mode, the tailgate of the vehicle is opened, and the target angle is determined by obtaining the location of the target area; the target seat in the vehicle is controlled to rotate by the target angle on the plane where its cushion is located; since the location of the target area is obtained, a precise target angle can be determined based on the location of the target area, and the target seat is controlled to rotate by the target angle so that the seat faces the target area; in the above solution, 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, improving the user experience.

[0009] In conjunction with the first aspect, among some possible implementations, the target angle is determined based on the target location, including:

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

[0011] In the embodiments of this application, the straight-line distance between the position of the target seat and the position of the target area is determined. Based on the projected length of the straight-line distance between the position of the target seat and the position of the target area, a target angle is determined so that the target seat faces the target area after rotating 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 this straight-line distance on other planes can be obtained. The precise target angle can be calculated from the projected length. Calculating the precise target angle ensures that the seat is adjusted so that it accurately faces the target area, ensuring precise control of the fishing mode in the vehicle.

[0012] Combining the first aspect and the above implementation methods, in some possible implementation methods, the target angle is determined based on the projected length of the first distance, including:

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

[0014] In the embodiments of this application, a first angle is determined by projecting the straight-line distance between the target seat and the target area onto the length and width of the vehicle body; a target angle is determined based on the first angle and the position of the target seat; and the target seat is rotated by the target angle to ensure that the seat is precisely oriented towards the target area. Because the current position of the target seat is fully considered when determining the target angle, the problem of adjusting to the wrong orientation due to the different initial positions of the target seat is avoided each time it is adjusted. The above solution ensures that the seat is accurately aligned with the target area after angle adjustment.

[0015] In combination with the first aspect and the above implementation methods, some possible implementation methods also include:

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

[0017] In the embodiments of this application, by determining 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 at the target angle and move a second distance in the direction of the target area. By determining the size of 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, 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 the impact of a large distance on the user's fishing experience.

[0018] In combination with the first aspect and the above-mentioned implementation methods, some possible implementations include a target camera mounted on the tailgate, and also include:

[0019] Acquire the target image captured by the target camera; obtain the target location of the target area, including: determining the first coordinates of the target area in the target camera coordinate system based on the target image and the first parameter of the target camera; wherein the first parameter is the intrinsic parameter of the target camera; transforming the first coordinates to the second coordinates in the vehicle coordinate system based on the second parameter of the target camera; wherein the second parameter is the extrinsic parameter of the target camera; and obtaining the target location based on the second coordinates.

[0020] In the embodiments of this application, by acquiring a target image from a target camera mounted on the vehicle's tailgate, an image region of the target area can be obtained based on the target image. Based on the image region of the target area, the two-dimensional coordinates of the target area in the image are determined. Using the intrinsic parameters of the target camera, the two-dimensional coordinates of the target area in the image are converted into first coordinates in the target camera coordinate system. Using the extrinsic parameters of the target camera, the first coordinates in the target camera coordinate system are converted into second coordinates in the vehicle coordinate system, thus determining the target position of the target area. Through the above scheme, using the intrinsic and extrinsic parameters of the target camera and the acquired image, the position of the target area relative to the vehicle can be accurately located, facilitating the subsequent determination of the adjustment angle of the target seat so that the target seat faces the target area, achieving precise control of the target seat in fishing mode.

[0021] In combination with the first aspect and the above implementation methods, some possible implementation methods also include:

[0022] Detect whether a complete image of the target region exists in the target image; if a complete image of the target region does not exist in the target image, adjust the field of view of the target camera so that a complete image of the target region exists in the target image captured by the target camera.

[0023] In the embodiments of this application, when the target camera fails to capture a complete image of the target area, the shooting field of view of the target camera is adjusted. Therefore, when the camera fails to capture a complete image of the target area, the shooting field of view of the target camera can be adjusted in a timely manner, ensuring the integrity of the target area image. Because the integrity of the target area image is ensured, the target location of the target area can be accurately identified, thereby improving the accuracy of target location.

[0024] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the tailgate is equipped with an insect-repellent component, and also includes:

[0025] Get the current date; if the current date is within the preset date range, control the insect repellent component to turn on; or, if an activation command for the insect repellent component is detected, control the insect repellent component to turn on.

[0026] In embodiments of this application, an insect repellent component is configured on the vehicle's tailgate. In one implementation, the insect repellent component is activated if the current date falls within a preset date range. This allows for setting a preset date range based on the seasonal patterns of mosquito activity, automatically activating the component during peak mosquito activity periods to provide timely mosquito protection and ensure the user's focus while fishing, thus improving the user experience. In another implementation, the insect repellent component is activated upon detecting an activation command, enabling control based on user needs and fulfilling their usage requirements.

[0027] In combination with the first aspect and the above implementation methods, some possible implementation methods also include:

[0028] Obtain the vehicle's current gear; in response to a target command, control the opening of the vehicle's tailgate, including: if the current gear is the parking gear, in response to the target command, control the tailgate to open.

[0029] In the embodiments of this application, the current gear of the vehicle is obtained. If the current gear is determined to be the parking gear, the tailgate is opened in response to the target command. Through the above solution, the safety problems caused by the vehicle responding to the target command and opening the tailgate in a non-parking state can be avoided, thus improving the safety of the vehicle's fishing mode.

[0030] Secondly, a vehicle control device is provided, the device comprising:

[0031] The acquisition module retrieves the target location within the target area.

[0032] The processing module is used to respond to the target command and control the opening of the vehicle's tailgate; determine the target angle 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; and control the target seat to rotate the target angle on the target plane so that the target seat faces the target area.

[0033] It should be understood that the extensions, limitations, explanations and descriptions of the relevant content in the first aspect above also apply to the same content in the second aspect.

[0034] Thirdly, a vehicle is provided, including 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, causing the vehicle to perform the vehicle control method in the first aspect or any possible implementation thereof.

[0035] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to execute the vehicle control method in the first aspect or any possible implementation thereof.

[0036] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the vehicle control method of the first aspect or any possible implementation thereof. Attached Figure Description

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

[0038] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

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

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

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

[0042] Figure 6 This is a schematic diagram of another vehicle control method provided in the embodiments of this application;

[0043] Figure 7This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

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

[0045] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0047] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0048] With the development of technology and the improvement of people's living standards, automobiles are no longer just a means of transportation, but are gradually becoming a vehicle for outdoor leisure and entertainment. More and more people enjoy using vehicles for outdoor activities such as camping and fishing. To meet this demand, vehicle design and functions are constantly being optimized to improve the comfort and convenience of outdoor activities. The following description will use fishing as an example. However, it should be understood that this application is not limited to this scenario and can also be applied to other scenarios such as camping.

[0049] In existing technology, some vehicles are designed with a fishing mode, which can be converted into a fishing seat by flipping the vehicle seat from a first position to a second position, so that the seat cushion faces the rear of the vehicle and the seat back faces the upper part of the vehicle. In this fishing mode, users can park the vehicle near a pond and fish from the fishing seat. However, in some cases, due to terrain limitations, the vehicle cannot be parked with the rear facing the pond, affecting the observation angle for fishing and preventing users from achieving ideal results while fishing from the seat. In view of this, embodiments of this application provide a vehicle control method, a vehicle control device, and a vehicle; the vehicle control method provided by this application, in response to a target command to activate the vehicle fishing mode, controls the opening of the vehicle's tailgate, determines the target angle by obtaining the location of the target area, and controls the rear seats of the vehicle to rotate by the target angle on the plane of their seat cushions; since the location of the target area is obtained, a precise target angle can be determined based on the location of the target area, and the rear seats can be rotated by the target angle so that the seats face the target area.

[0050] It should be understood that the target instruction is used to instruct the activation of the vehicle's fishing mode.

[0051] The following is combined Figure 1 The application scenarios of this solution are illustrated with examples.

[0052] Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle control method provided in an embodiment of this application.

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

[0054] For example, in response to the fishing mode activation command, the vehicle controls the tailgate 130 to open, and determines the location of the pool 110 using the image acquired by the camera 150. Figure 1 As shown in (a), the pool 110 is located on the left rear of the vehicle 120. Based on the position of the pool 110 relative to the vehicle 120, a target angle is determined, and the seat 140 is controlled to rotate by the target angle on the plane of its seat cushion, facing the pool, i.e., the left rear of the vehicle; as shown in (a), the target angle is determined, and the seat 140 rotates on the plane of its seat cushion, facing the direction of the pool, i.e., the left rear of the vehicle. Figure 1As shown in (b), the pool 110 is located on the right rear of the vehicle 120. A 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 at the target angle on the plane of its seat cushion, facing the pool, i.e., the right rear of the vehicle. Because the seat 140 can rotate based on the position of the pool 110, precise control of the vehicle in fishing mode can be achieved, improving the user experience.

[0055] The following is combined Figures 2 to 6 A vehicle control method provided in the embodiments of this application will be described in detail.

[0056] Figure 2 This is a schematic flowchart illustrating a vehicle control method provided in an embodiment of this application. Figure 2 As shown, method 200 includes steps S210 to S240, which are described in detail below.

[0057] For example, Figure 2 The vehicle control method 200 shown can be executed by the vehicle; or by the processor in the vehicle; or by a chip in the processor of the vehicle.

[0058] It should be noted that the vehicles in this application include: electric vehicles, hybrid vehicles, or fuel vehicles; they can also be multi-purpose vehicles (MPVs) equipped with a fishing mode.

[0059] S210, in response to the target command, controls the opening of the vehicle's tailgate.

[0060] The target instruction is used to indicate the activation instruction of the vehicle's fishing mode; after receiving the activation instruction of the fishing mode, the vehicle controls the tailgate to open in response to the activation instruction.

[0061] For example, the vehicle is equipped with a microphone to collect the user's audio data and determine the user's command. Optionally, the vehicle can perform keyword detection on the audio data collected by the microphone and parse out the keywords in the audio data; based on the keywords, the user command is determined. When the user command is the target command, the vehicle's tailgate is opened. For example, the target command could be a voice command to "activate fishing mode".

[0062] For example, the vehicle is equipped with a touchscreen, and the user's input command is determined by detecting the user's touch operation on the touchscreen. Optionally, the touchscreen displays a target control for a fishing mode. When a user clicks on the target control is detected, the vehicle's fishing mode is activated. While the fishing mode is activated, the tailgate of the vehicle is opened, and the seats in the vehicle are rotated. The touchscreen may be a central control screen in the vehicle or a screen mounted on the vehicle's seats.

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

[0064] Obtain the vehicle's current gear; in response to a target command, control the opening of the vehicle's tailgate, including: if the current gear is the parking gear, in response to the target command, control the tailgate to open.

[0065] In the embodiments of this application, the current gear of the vehicle is detected. If the current gear is the parking gear, the tailgate of the vehicle is controlled to open in response to the input target command.

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

[0067] By using the above method, the vehicle's current gear is obtained. If the current gear is determined to be the parking gear, the tailgate is opened in response to the target command. This avoids the safety issues caused by the vehicle responding to the target command and opening the tailgate when it is not in a parking state, thus improving the safety of the vehicle's fishing mode.

[0068] S220, Obtain the target location of the target area.

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

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

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

[0072] The above-mentioned acquisition of the target location of the target area includes: determining the first coordinates of the target area in the target camera coordinate system based on the first parameters of the target image and the target camera; transforming the first coordinates to the second coordinates in the vehicle coordinate system based on the second parameters of the target camera; and obtaining the target location based on the second coordinates.

[0073] For example, the target camera is mounted on the tailgate of a vehicle. The target camera can be a wide-angle camera, a binocular camera, etc., and there can be one or more target cameras. It is capable of capturing images of the environment surrounding the vehicle and can produce clear images under various lighting conditions. The first parameter of the target camera is an intrinsic parameter, including parameters such as focal length, distortion coefficient, and optical center position. The second parameter of the target camera is an extrinsic parameter, including parameters such as rotation matrix and translation vector, used to describe the position and orientation of the target camera relative to the vehicle. These parameters can be obtained through calibration during camera installation.

[0074] In the embodiments of this application, by acquiring a target image from a target camera mounted on the vehicle tailgate, and using an image recognition algorithm, an image region of the target area can be obtained based on the target image; based on the image region of the target area, the two-dimensional coordinates of the target area in the image are determined; using the intrinsic parameters of the target camera, the two-dimensional coordinates of the target area in the image are converted into a first coordinate; using the extrinsic parameters of the target camera, the first coordinate is converted into a second coordinate, thereby determining the target position of the target area; wherein, the first coordinate is a three-dimensional coordinate in the target camera coordinate system, and the second coordinate is a three-dimensional coordinate in the vehicle coordinate system.

[0075] For example, the target image captured by the target camera mounted on the vehicle's tailgate is acquired. An image recognition algorithm is used to determine the pool area from the image. This step typically uses 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. These two-dimensional coordinates are used to identify the position of the center point or other specific reference point of the pool area in the image. Next, using the intrinsic 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's coordinate system. This conversion requires obtaining the distance from the pool to the camera. This distance 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 might be an object within the target camera's field of view, such as a component on the tailgate, whose size is known. This size can be obtained through pre-measurement, a database, or other information sources. The depth information of the pool is estimated using the pixel lengths of this component in various dimensions of the image, employing a similar triangle correlation algorithm. Then, based on the extrinsic parameters of the target camera, the three-dimensional coordinates in the target camera coordinate system are converted into three-dimensional coordinates in the vehicle coordinate system using a coordinate transformation formula to determine the target location of the pool.

[0076] Image processing algorithms are used to process images captured by a target camera to determine the pool area in the image. These algorithms include image segmentation, edge detection, and color segmentation. For example, features of the pool, such as reflectivity, color, and texture, are extracted from the image captured by the target camera. Then, image recognition algorithms are used to identify and classify objects in the image to determine the pool area. For example, convolutional neural networks are used to identify and classify objects in the image.

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

[0078] Optionally, the target camera can be a binocular camera, using stereo vision algorithms to determine the target location in the pool. Stereo vision algorithms refer to capturing the same scene from different perspectives using different cameras, and using the parallax information between the captured images to obtain 3D information; for example, after acquiring images from different cameras, image patch matching or feature matching algorithms are used to obtain the corresponding points of the same object in different images, and the parallax information is obtained based on the coordinate difference of the corresponding points in different images. Based on the calculated parallax information, the focal length of different cameras, and the distance between different cameras, 3D information is obtained, and finally, the 3D structure of the scene is reconstructed based on this 3D information.

[0079] Optionally, after the target camera captures the image, the acquired image is transmitted to the Graphics Processing Unit (GPU) for preprocessing to improve image quality and enhance the efficiency and accuracy of subsequent water pool recognition. After preprocessing, the GPU performs water pool recognition. The GPU is responsible for rendering and drawing the content to be displayed on the screen.

[0080] For example, preprocessing operations include algorithms such as grayscale conversion, filtering and denoising, and image enhancement. Grayscale conversion is the process of converting a color image into a grayscale image, used to reduce image complexity, reduce data volume, and facilitate further processing and analysis. Filtering and denoising is an algorithm that reduces noise by smoothing the image, aiming to retain useful information in the image while removing irrelevant noise as much as possible. Noise refers to 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, which are not limited in the embodiments of this application. Image enhancement algorithms are used to improve the visual effect of an image or highlight certain features, making the image more suitable for human observation or further computer analysis, and typically include histogram equalization, contrast stretching, edge enhancement, and gamma correction.

[0081] By utilizing the intrinsic and extrinsic parameters of the target camera and the acquired images, the position of the target area relative to the vehicle can be accurately located. This information is then used to determine the adjustment angle of the target seat so that it faces the target area, providing precise positional data for accurate control of the target seat.

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

[0083] Detect whether a complete image of the target region exists in the target image; if a complete image of the target region does not exist in the target image, adjust the field of view of the target camera so that a complete image of the target region exists in the target image captured by the target camera.

[0084] The field of view (FOP) of a camera refers to the imaging range that the camera can cover in the horizontal, vertical, or diagonal directions, and is usually expressed in angles. The FOP determines the size of the scene that the camera can see at a given distance.

[0085] In the embodiments of this application, when the target camera fails to capture a complete 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, if the pool area is large and the target camera cannot obtain a complete image of the pool area from 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] The above solution adjusts the field of view of the target camera when it fails to capture a complete image of the target area. Therefore, it can adjust the field of view of the target camera in a timely manner when the camera fails to capture a complete image of the target area, ensuring the integrity of the target area image. Because 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 the 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 above method includes:

[0091] Determine the first distance between the position of the target seat and the target position; determine the target angle based on the projected length of the first distance.

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

[0093] In the embodiments of this application, the straight-line distance between the position of the target seat and the position of the target area is determined. Based on the projected length of the straight-line distance between the target seat and the target area, a target angle is determined so that the rear seat faces the target area after rotating by the target angle. Through this scheme, since the straight-line distance between the target seat and the target area is determined, the projected length of this straight-line distance on another plane can be obtained. The precise target angle can be calculated from the projected length. Obtaining the precise target angle ensures that the seat is accurately facing the target area, which is beneficial for precise control of the fishing mode in the vehicle.

[0094] In one implementation, the above method includes:

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

[0096] In the embodiments of this 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 directions of vehicle length and vehicle width; 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 by the target angle so that the seat is accurately oriented toward the target area.

[0097] For example, such as Figure 3 As shown in (a), a camera 150 is installed on the tailgate 130 of the vehicle 120. The camera 150 captures an image of the pool 110, determines the pixel position of the pool 110 in the image using an image recognition algorithm, and determines the straight-line distance between the position of the pool 110 and the position of the seat 140 based on the intrinsic and extrinsic parameters of the camera 150. Figure 3As shown in (b), based on this straight-line distance, its projection onto a Cartesian coordinate system in a two-dimensional plane can be determined. Since seat 140 is rotated around the plane containing its cushion, this plane is chosen as the two-dimensional plane to be projected. The straight-line distance between the pool position and the seat position is projected onto the length direction 310 and width direction 320 of vehicle 120. Based on the projected lengths of this straight-line distance in the two directions, a first angle can be determined using trigonometric relationships. The first angle is the angle between the direction of the straight line between pool 110 and seat 140 and the length direction 310 of the vehicle. Based on the position of seat 140 and the first angle, a target angle is determined, for example, as shown in... Figure 3 As shown in (a), the initial position of seat 140 is facing the vehicle's forward direction, i.e., facing the front of the vehicle in direction 310. After the position of pool 110 is determined by 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 direction 310 and facing the rear of the vehicle. Therefore, the angle between the seat's facing direction and the target rotation position is 135 degrees. Therefore, after controlling seat 140 to rotate counterclockwise by 135 degrees, it faces the direction of pool 110. Figure 3 As shown in (b) of the diagram.

[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 projected 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. The initial position of the seat is detected as facing forward 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; the embodiments of this application do not limit this.

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

[0100] S240, Control the target seat to rotate at 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 above method further includes:

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

[0104] In the embodiments of this application, by determining 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 at the target angle and move a second distance in the direction of the target area.

[0105] In one implementation, when the seat is rotated, the angle of the seat in the vehicle remains unchanged, which can be understood as the angle between the seat cushion and the backrest being the same as before the rotation.

[0106] For example, such as 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 onto directions 310 and 320. 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 counterclockwise by 135 degrees, and the seat is controlled to move along the sliding track towards the pool 110. The length of the movement is the moving distance l. The moving distance l has a mapping relationship with the straight-line distance d between the seat 140 and the pool 110, and the moving distance and the straight-line distance are directly proportional within a certain range.

[0107] Table 1

[0108] Straight-line distance d (meters) The distance moved is l (meters). 0-2 0 2-4 0.1 4-6 0.2 6-8 0.3 8-10 0.4 …… ……

[0109] For example, the mapping relationship between the straight-line distance between the location of the seat and the location of the pool area and the distance the seat moves is shown in Table 1; when the straight-line distance is in the range of 0-2 meters, the seat moves 0 meters, that is, it does not move; when the straight-line distance is in the range of 2-4 meters, the seat moves 0.1 meters; when the straight-line distance is in the range of 4-6 meters, the seat moves 0.2 meters; when the straight-line distance is in the range of 6-8 meters, the seat moves 0.3 meters; when the straight-line distance is in the range of 8-10 meters, the seat moves 0.4 meters.

[0110] It should be understood that the above is an example illustrating 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 this application does not limit it.

[0111] For example, based on the target location of the target area, the location is transmitted to the central controller of the vehicle system in the form of a digital signal. Based on the received location information, the target angle is determined and sent to vehicle components such as the electric adjustment components of the seat and the camera angle rotation components via the vehicle's Controller Area Network (CAN) bus.

[0112] The central controller is pre-configured with algorithms and logic that enable the methods provided in the embodiments of this 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] By using the above method, the distance between the target seat and the pool area can be determined. When the distance is large, the seat can be rotated and moved towards the pool area. This provides a more flexible solution for seat adjustment in fishing mode, thereby reducing the relative distance between the seat and the pool area and avoiding the impact on the user's observation experience due to the distance.

[0114] In another embodiment of this application, when the angle between the vehicle's driving plane and the ground is detected to be 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 road surface; this prevents the user from sliding off the seat when the vehicle is on a slope and the fishing mode is activated, thus improving the user experience.

[0115] For example, such as Figure 5 As shown in (a), the vehicle is parked on a slope, and the plane of the seat cushion of seat 140 is parallel to the vehicle's driving plane. When the angle between the vehicle's driving plane and the ground is detected to be greater than a preset angle, the seat cushion, or the angle between the seat cushion and the backrest, is adjusted. Figure 5 As shown in (b), the seat cushion and backrest of the control seat 140 are adjusted upwards at an angle; or, as shown in (b), Figure 5 As shown in (c), the seat cushion of the control seat 140 is adjusted upwards at an angle.

[0116] In one implementation, when the seat is rotated, the angle of the seat in the vehicle remains unchanged, which can be understood as the angle between the seat cushion and the backrest being the same as before the rotation; the process of adjusting the seat angle is performed after the seat is rotated.

[0117] The vehicle is equipped with an acceleration sensor or gyroscope to measure the angle between the vehicle's driving plane and the ground; the seats have multi-directional electric adjustment functions, and the electric motor in the seat can control the seat to adjust vertically, horizontally, and tilt.

[0118] The above solution allows users to fish in a comfortable posture when the angle between the vehicle's driving plane and the ground is large. This is achieved by adjusting the plane of the seat so that it is not parallel to the road surface, thus preventing users from sliding off the vehicle due to gravity and causing safety issues.

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

[0120] Get the current date; if the current date is within the preset date range, control the insect repellent component to turn on; or, if an activation command for the insect repellent component is detected, control the insect repellent component to turn on.

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

[0122] Implementation Method 1:

[0123] In the embodiments of this application, the current date of the built-in clock and calendar system is obtained. If the current date falls within a preset date range, the insect repellent component is activated directly.

[0124] For example, such as Figure 6 As shown, the tailgate 130 of the vehicle is equipped with a camera 140 and a pest repellent component 160. If the current date falls within a preset date range, the pest repellent component 160 is activated. After the pest repellent component 160 is activated, the camera 150 rotates to a vertically downward detection angle. For example, when acquiring a target image, the camera's rotation state is as follows: Figure 6 As shown in (b), the camera 160 includes a rotating camera 170 and a ball joint chamber 180. After the insect repellent component 160 is activated, the state of the multi-dimensional rotating camera 170 changes from... Figure 6 Switch to (b) in the middle 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 downwards to interfere with the mosquito's hearing or nervous system, thereby achieving a repelling effect.

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

[0126] Optionally, the vehicle is equipped with a temperature sensor and / or humidity sensor. By detecting the temperature and / or humidity inside and near the vehicle, if the temperature and / or humidity exceeds a preset threshold, the insect repellent component is automatically activated.

[0127] The above solution obtains the current date and activates the insect repellent component if the current date falls within a preset date range. It can set a preset date range based on the seasonal patterns of mosquito activity and automatically activate the insect repellent component during periods when mosquitoes are more active, providing timely mosquito protection and ensuring the user's focus while fishing, thus improving the user experience.

[0128] Implementation Method Two:

[0129] In the embodiments of this application, the current date of the built-in clock and calendar system is obtained. If the current date is not within the preset date range, the insect repellent component is activated after detecting the activation command of the insect repellent component.

[0130] For example, such as Figure 6 As shown, when the vehicle's tailgate 130 is opened, the insect repellent component 160 is activated after the activation command of the insect repellent component is detected. After the insect repellent component 160 is activated, the camera 150 rotates to a vertically downward detection angle. If mosquitoes are detected, the insect repellent component 160 emits sound waves of a specific frequency downward to interfere with the mosquitoes' hearing or nervous system, thereby achieving a repelling effect.

[0131] For example, audio data collected by a pickup device installed in the vehicle is analyzed for keywords, and the target instruction contained in the audio data is parsed out. For example, the target instruction could be "turn on the insect repellent function".

[0132] For example, the vehicle may be equipped with a touchscreen that receives input of target adjustment commands by detecting user touch operations on the touchscreen. Optionally, the vehicle may generate a selection interface for whether to activate the insect repellent function and display it on the touchscreen, through which the user can input target commands, which the vehicle then receives and executes. The touchscreen may be a central control screen in the vehicle or a screen mounted on the vehicle seat.

[0133] The above solution activates the insect repellent component upon detecting the activation command, enabling autonomous control based on user needs and saving vehicle energy.

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

[0135] In the above embodiments, in response to the target command, the tailgate of the vehicle is opened, and the target angle is determined by obtaining the location of the target area; the last row of seats in the vehicle is controlled to rotate by the target angle on the plane where the seat cushion is located; since the location of the target area is obtained, a precise target angle can be determined based on the location of the target area, and the last row of seats can be controlled to rotate by the target angle so that the seats face the target area; in the above solution, since the rotation of the last row of seats can be controlled based on the precise target angle, precise control of the vehicle in fishing mode can be achieved, improving the user experience.

[0136] The following is combined Figure 7 Another vehicle control method provided in the embodiments of this application will be illustrated by example.

[0137] Figure 7 This is a schematic flowchart illustrating a specific application of another vehicle control method provided in this application. For example... Figure 7 As shown, method 700 includes S701 to S713, which are described in detail below.

[0138] S701: The fishing mode activation command was detected, and the current gear of the vehicle was obtained.

[0139] In the embodiments of this application, a user's voice command is detected, the audio signal issued by the user is obtained through the audio pickup device in the vehicle, the voice command is detected based on the audio signal, and if the voice command is identified as a command to activate the fishing mode, the current gear of the vehicle is obtained.

[0140] For example, the vehicle is equipped with a microphone to collect the user's audio data and determine the user's command. Optionally, the vehicle can perform keyword detection on the audio data collected by the microphone and parse out the keywords in the audio data; based on the keywords, the user command is determined. When the user command is the target command, the vehicle's tailgate is opened. For example, the target command could be a voice command to "activate fishing mode".

[0141] In another implementation, the vehicle is equipped with a touchscreen, and the user's input command is determined by detecting touch operations on the touchscreen. Optionally, the touchscreen displays a target control for a fishing mode. When a user click on the target control is detected, the vehicle's fishing mode is activated; while the fishing mode is running, the vehicle's tailgate is opened. The touchscreen may include the vehicle's central control screen or a screen located on the vehicle's seats.

[0142] S702. Determine if the vehicle's current gear is park. If yes, execute S703; otherwise, re-execute S702 after a preset interval.

[0143] Detect the vehicle's current gear. If the current gear is park, respond to the input target command and control the vehicle's tailgate to open.

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

[0145] If the vehicle's current gear is detected to be in the parking gear, the vehicle's current state can be determined to be parked. At this time, the tailgate of the vehicle is opened. The implementation method for opening the tailgate of the vehicle is shown in S703. If the current gear is not detected to be in the parking gear, the vehicle may be in a driving state. If the tailgate of the vehicle is opened in this case, it may be dangerous. Therefore, S702 is executed again after a preset time interval to determine the current state of the vehicle.

[0146] S703, in response to the fishing mode activation command, controls the opening of the vehicle's tailgate.

[0147] Alternatively, the implementation of S703 can be found in [reference needed]. Figure 2 The relevant descriptions 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 no, execute S705 to S708.

[0149] When the target image captured by the target camera does not include a complete image of the pool, the shooting field of view of the target camera needs to be adjusted to ensure the integrity of the pool image. The implementation method for adjusting the shooting field of view of the target camera is shown in 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 intrinsic and extrinsic parameters of the target camera. The implementation method for determining the target position based on the complete image of the pool and the intrinsic and extrinsic parameters of the target camera is shown in 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 (FOP) refers to the imaging range that a camera can cover in the horizontal, vertical, or diagonal directions, and is usually expressed in angles. The FOP determines the size of the scene that the camera can see at a given distance.

[0152] In embodiments of this application, when the target camera fails to capture a complete image of the pool, the field of view of the target camera is adjusted so that the captured image includes a complete image of the pool.

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

[0154] Optionally, if the pool area is large and the target camera cannot obtain a complete image of the pool area from 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 location based on the complete image of the pool and the intrinsic and extrinsic parameters of the target camera.

[0156] In the embodiments of this application, by acquiring a complete image of the pool captured by the target camera, and through an image recognition algorithm, the two-dimensional pixel coordinates of the pool in the image can be determined; based on the intrinsic parameters of the target camera, the three-dimensional coordinates of the pool in the target camera coordinate system can be determined; based on the extrinsic parameters of the target camera, the three-dimensional coordinates of the pool in the vehicle coordinate system can be determined, thus determining the target position of the pool.

[0157] Alternatively, the implementation of S706 can be found in [reference needed]. Figure 2 The relevant descriptions of the implementation method in S220 will not be repeated here.

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

[0159] Wherein, 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 the embodiments of this application, a first angle is determined using trigonometric functions based on the projected lengths of the first distance in the vehicle length direction and the vehicle width direction; a target angle is determined based on the first angle and the position of the target seat, so that the rear seat faces the pool after rotating by the target angle.

[0161] Alternatively, the implementation of S707 can be found in [reference needed]. Figure 2 The relevant descriptions of the implementation method in S230 will not be repeated here.

[0162] S708. Determine whether the first distance is greater than the preset distance threshold. If yes, execute S709 and S711; if no, execute S710 and S711.

[0163] If the first distance is greater than the preset distance threshold, it means that the vehicle is far from the pool. In this case, it is necessary to control the target seat to rotate the target angle on the target plane and move the target seat a second distance in the direction of the pool. The specific implementation method is shown in S709. If the first distance is less than or equal to the preset distance threshold, it means that the vehicle is close to the pool. In this case, it is necessary to control the target seat to rotate the target angle on the target plane. The specific implementation method is shown in S710.

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

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

[0166] For example, 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 rails configured at the bottom of the seats are controlled to rotate by a target angle on the plane where the seat cushion is located, and the seats are controlled to move along the sliding rails a second distance in the direction of the pool.

[0167] Alternatively, the implementation of S709 can be found in [reference needed]. Figure 2 The relevant descriptions in S240 will not be repeated here.

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

[0169] For example, the pool is located 45 degrees to the left of the rear of the vehicle, with a target angle of 135 degrees. The target seat is rotated 135 degrees on the plane of the seat cushion so that the target seat faces the direction of the pool.

[0170] Alternatively, the implementation of S710 can be found in [reference needed]. Figure 2 The relevant descriptions in S240 will not be repeated here.

[0171] S711. Determine whether the current date falls within the preset date range. If yes, proceed to S712; otherwise, proceed to S713.

[0172] The preset date range is usually set during periods when mosquitoes are most active. It can be preset or customized by the user.

[0173] If the current date falls within the preset date range, it indicates that mosquito activity is frequent on the current date, and the insect repellent component is activated. The specific implementation method is shown in S712. If the current date does not fall within the preset date range, it indicates that mosquito activity is not frequent on the current date, and the insect repellent component is activated upon detecting the activation command. The specific implementation method is shown in S713.

[0174] S712, Control the opening of the insect repellent component.

[0175] For example, if the current date falls within a preset date range, the insect repellent component is activated, and the image detection function for mosquitoes is enabled. If mosquitoes are detected, the ultrasonic insect repellent is activated.

[0176] Alternatively, the implementation of S712 can be found in [reference needed]. Figure 2 The relevant description of the first implementation method in S240 will not be repeated here.

[0177] S713: Detects the activation command of the insect repellent component and controls the insect repellent component to activate.

[0178] For example, if the current date is not within the preset date range, after detecting the activation command of the insect repellent component, the insect repellent component is controlled to be activated, the image detection mosquito function is activated, and if mosquitoes are detected, the ultrasonic insect repellent is activated.

[0179] Alternatively, the implementation of S713 can be found in [reference needed]. 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 command, the tailgate of the vehicle is opened, and the target angle is determined by obtaining the location of the pool; the last row of seats in the vehicle is rotated by the target angle on the plane of its seat cushion; since the location of the pool is obtained, the precise target angle can be determined based on the location of the pool, and the last row of seats can be rotated by the target angle so that the seats face the pool; in the above solution, since the rotation of the last row of seats can be controlled based on the precise target angle, the precise control of the vehicle in fishing mode can be achieved, improving the user experience.

[0181] The above text combined Figures 1 to 7 This application provides a detailed description of a vehicle control method based on its embodiments; the following will be combined with... Figure 8 and Figure 9 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0182] Figure 8 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The device 800 includes an acquisition module 810 and a processing module 820.

[0183] The acquisition module 810 is used to acquire 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 command; if the target position of the target area is acquired, 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 one embodiment, the processing module 820 is specifically used for:

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

[0186] Optionally, as one embodiment, the processing module 820 is specifically used for:

[0187] A first angle is determined based on the first projection length and the second projection length of the first distance; wherein the first projection length is the projection length of the first distance in the length direction of the vehicle body; the second projection length is the projection length of the first distance in the width direction of the vehicle body; and a target angle is determined based on the first angle and the position of the 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 the target angle on the target plane, including: if the first distance is greater than the preset distance threshold, control the target seat to rotate the target angle on the target plane and move the target seat a second distance in the direction of the target area.

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

[0191] Acquire the target image captured by the target camera; obtain the target location of the target area, including: determining the first coordinates of the target area in the target camera coordinate system based on the target image and the first parameter of the target camera; wherein the first parameter is the intrinsic parameter of the target camera; transforming the first coordinates to the second coordinates in the vehicle coordinate system based on the second parameter of the target camera; wherein the second parameter is the extrinsic parameter of the target camera; and obtaining the target location based on the second coordinates.

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

[0193] Detect whether a complete image of the target region exists in the target image; if a complete image of the target region does not exist in the target image, adjust the field of view of the target camera so that a complete image of the target region 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 the preset date range, control the insect repellent component to turn on; or, if an activation command for 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] Obtain the vehicle's current gear; in response to a target command, control the opening of the vehicle's tailgate, including: if the current gear is the parking gear, in response to the target command, control the tailgate to open.

[0198] It should be noted that the aforementioned vehicle control device 800 is embodied in the form of a functional unit. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0199] For example, a "module" can be a software program, hardware circuitry, or a combination of both that implements the above-described functions. Hardware circuitry may include application-specific integrated circuits (ASICs), electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components that support the described functions.

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

[0201] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0202] For example, vehicle 900 includes processor 910, memory 920 and executable program code 930.

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

[0204] For example, the processor 910 can be used to control the vehicle 900, execute software programs, and process data from the software programs. The vehicle 900 may also include a communication unit for receiving and transmitting signals.

[0205] For example, 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 run by the processor 910 to generate instructions, causing the processor 910 to execute the generation method described in the above method embodiments according to the instructions.

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

[0207] For example, the processor 910 and memory 920 can be configured separately or integrated together, for example, integrated on the system-on-chip (SOC) of the terminal device.

[0208] For example, the memory 920 can be used to store the relevant program of the vehicle generation method provided in the embodiments of this 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 embodiments of this application.

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

[0210] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROM), microdrives, and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), dynamic random access memory (DRAM), 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] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method as described in the above embodiments.

[0212] In addition, the electronic device provided in the embodiments of this application may specifically be a chip, component or module. The electronic device may include a connected processor and a memory. The memory is used to store instructions. When the electronic device is running, the processor may call and execute the instructions to make the chip execute a vehicle control method in the above embodiments.

[0213] 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 be referred to the beneficial effects of the corresponding vehicle control method provided above, and will not be repeated here.

[0214] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0216] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: In response to the target command, control the opening of the vehicle's tailgate; Obtain the target location within the target area; Determine a first distance between the position of a target seat in the vehicle and the target position; wherein the first distance is the straight-line distance between the target seat and the target position; Based on the projected length of the first distance, a target angle is determined, wherein the target angle is the rotation angle of the target seat 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 by the target angle on the target plane so that the target seat faces the target area; Wherein, controlling the target seat to rotate the target angle on the target plane includes: If the first distance is greater than a 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.

2. The method according to claim 1, characterized in that, Determining the target angle based on the projection length of the first distance includes: A first angle is determined based on the first projection length and the second projection length of the first distance; wherein, the first projection length is the projection length of the first distance in the length direction of the vehicle body; and the second projection length is the projection length of the first distance in the width direction of the vehicle body. The target angle is determined based on the first angle and the position of the target seat.

3. The method according to claim 1 or 2, characterized in that, The tailgate is equipped with a target camera and also includes: Acquire the target image captured by the target camera; The acquisition of the target location of the target area includes: Based on the target image and the first parameter of the target camera, the first coordinates of the target region in the target camera coordinate system are determined; wherein, the first parameter is an intrinsic parameter of the target camera; Based on the second parameter of the target camera, the first coordinates are transformed to the second coordinates in the vehicle coordinate system; wherein, the second parameter is the extrinsic parameter of the target camera; The target location is obtained based on the second coordinates.

4. The method according to claim 3, characterized in that, Also includes: Detect whether a complete image of the target region exists in the target image; If the target image does not contain a complete image of the target region, the field of view of the target camera is adjusted so that the target image captured by the target camera contains a complete image of the target region.

5. The method according to claim 1 or 2, characterized in that, The tailgate is equipped with an insect-repellent component and also includes: Get the current date; if the current date falls within a preset date range, control the insect repellent component to turn on; or, If an activation command for the insect repellent component is detected, the insect repellent component is activated.

6. The method according to claim 1 or 2, characterized in that, Also includes: Obtain the current gear of the vehicle; The method of controlling the opening of the vehicle's tailgate in response to a target command includes: If the current gear is the parking gear, the tailgate is opened in response to the target command.

7. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the target location within the target area; A processing module is configured to, in response to a target command, control the opening of the vehicle's tailgate; determine a first distance between the position of a target seat in the vehicle and the target position; wherein the first distance is the straight-line distance between the target seat and the target position; determine a target angle based on the projected length of the first distance, wherein the target angle is the rotation angle of the target seat on a target plane; the target plane is the plane where the seat cushion of the target seat is located; control the target seat to rotate the target angle on the target plane so that the target seat faces the target area; wherein controlling the target seat to rotate the target angle on the target plane includes: if the first distance is greater than a preset distance threshold, controlling the target seat to rotate the target angle on the target plane and move a second distance in the direction of the target area.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 6.

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