Vehicle convertible control method and system and vehicle

Abstract

The invention discloses a vehicle convertible control method and system, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: responding to a vehicle convertible control signal, when the control signal is judged to be valid, analyzing the control signal, and generating a corresponding control instruction; in response to the control instruction, capturing a motion track image of the vehicle convertible on the basis of a preset frame rate, and according to a convertible recognition algorithm, recognizing a motion boundary and obstacle information of the motion track image; based on preset motion track information, calculating the difference degree between the identified motion track image and the motion track information according to an image matching algorithm; and on the basis of the difference degree between the identified motion track image and the motion track information, executing a corresponding convertible control logic, and displaying the state of the vehicle convertible in real time. The system has the advantages of being high in automation degree, safety and intelligence degree, high in adaptability and the like, and the use experience of the vehicle convertible can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle convertible control method, system, electronic equipment, storage medium and vehicle. Background Art

[0002] At present, with the continuous development of automobile technology and the improvement of consumers' demand for automobile functions and driving experience, convertible cars, as a type of car that can provide a unique driving experience, have been loved by more and more consumers. However, the traditional convertible car control system has many shortcomings in automation, safety and intelligence, such as cumbersome operation, low safety and low intelligence.

[0003] In the prior art, the control of convertible cars is mainly achieved by controlling the operation of hydraulic pumps and the opening and closing of control valves to achieve the lifting or unfolding of the roof. However, this method requires manual operation, which is cumbersome and prone to errors, and has certain safety hazards. In addition, with the development of intelligent automobile technology, consumers have an increasing demand for intelligent control of convertible cars, and traditional control systems cannot meet this demand.

[0004] Therefore, the present application provides a vehicle convertible control method to solve the above technical problems. Summary of the invention

[0005] The object of the present invention is to provide a vehicle convertible control method, system, electronic device, storage medium and vehicle, which can solve at least one of the technical problems mentioned above.

[0006] In order to solve the above technical problems, the present invention provides a vehicle convertible control method, comprising:

[0007] In response to a vehicle convertible control signal, when it is determined that the control signal is valid, analyzing the control signal and generating a corresponding control instruction;

[0008] In response to the control instruction, capturing a motion trajectory image of the vehicle convertible based on a preset frame rate, and identifying a motion boundary and obstacle information of the motion trajectory image according to a convertible recognition algorithm;

[0009] Based on the preset motion trajectory information, according to the image matching algorithm, calculating the difference between the recognized motion trajectory image and the motion trajectory information;

[0010] Based on the difference between the identified motion trajectory image and the motion trajectory information, the corresponding convertible control logic is executed, and the status of the vehicle convertible is displayed in real time, wherein the convertible control logic includes executing an emergency processing mechanism when the obstacle information exists.

[0011] In some specific embodiments, in response to a vehicle convertible control signal, when it is determined that the control signal is valid, parsing the control signal and generating a corresponding control instruction specifically includes:

[0012] In response to a physical touch or a virtual touch, triggering the generation of the vehicle convertible control signal, wherein the physical touch comprises touching a physical button, and the virtual touch comprises touching a screen icon;

[0013] Analyzing the vehicle convertible top control signal to determine whether it is a valid opening or closing instruction;

[0014] When it is a valid opening and closing instruction, the corresponding control instruction is generated.

[0015] In some specific embodiments, in response to the control instruction, capturing the motion trajectory image of the vehicle convertible based on a preset frame rate, and identifying the motion boundary and obstacle information of the motion trajectory image according to the convertible recognition algorithm specifically include:

[0016] Preprocessing the motion trajectory image;

[0017] The convertible recognition algorithm includes an edge detection algorithm and a target detection algorithm;

[0018] Based on the preprocessed motion trajectory image, edge extraction is performed according to the edge detection algorithm to identify the motion boundary;

[0019] Performing obstacle identification according to the target detection algorithm to identify the obstacle information, wherein the obstacle information includes position, size and distance;

[0020] The obstacle information is data-encoded.

[0021] In some specific embodiments, based on the preset motion trajectory information, according to the image matching algorithm, calculating the difference between the recognized motion trajectory image and the motion trajectory information specifically includes:

[0022] Based on the image matching algorithm, construct a multi-scale space of the image;

[0023] In the multi-scale space, determining key points in the image by detecting local extreme points;

[0024] Based on the gradient direction distribution characteristics of the pixels in the key point area, assign at least one direction to each of the key points;

[0025] In the scale space of each key point, a fixed-size neighborhood window is selected, and gradient information of pixels in the neighborhood window is counted to generate a descriptor;

[0026] The descriptor of the identified motion trajectory image is matched with the descriptor of the motion trajectory information to calculate the difference.

[0027] In some specific embodiments, based on the difference between the identified motion trajectory image and the motion trajectory information, the corresponding convertible control logic is executed, and the state of the vehicle convertible is displayed in real time, wherein the convertible control logic includes, when the obstacle information exists, executing an emergency processing mechanism, specifically including:

[0028] The control logic includes adjusting the action of the vehicle tent based on a PID control algorithm;

[0029] Determine the PID algorithm parameters, including proportional coefficient, integral coefficient and differential coefficient;

[0030] Acquire the current position and speed status information of the vehicle convertible in real time;

[0031] Calculating an error between a target position and an actual position of the vehicle convertible top;

[0032] Calculating a control output parameter based on the error and the PID algorithm parameter;

[0033] adjusting the speed and direction of the vehicle convertible based on the control output parameter;

[0034] The emergency handling mechanism includes deceleration, stopping and obstacle avoidance actions. When the obstacle information exists, the corresponding emergency handling mechanism is executed;

[0035] The status of the convertible top of the vehicle is displayed in real time.

[0036] In some specific embodiments, the status of the convertible top of the vehicle is displayed in real time, specifically including:

[0037] When the obstacle information exists, a prompt is issued to the user;

[0038] When the difference between the identified motion trajectory image and the motion trajectory information is large, prompting the user to perform maintenance;

[0039] The prompts include image display and voice prompts.

[0040] Based on the same concept, the present invention also provides a vehicle convertible control system, comprising:

[0041] A control instruction generation module is configured to respond to a vehicle convertible control signal, and when it is determined that the control signal is valid, analyze the control signal and generate a corresponding control instruction;

[0042] a vehicle convertible recognition module, configured to capture a motion trajectory image of the vehicle convertible based on a preset frame rate in response to the control instruction, and recognize a motion boundary and obstacle information of the motion trajectory image according to a convertible recognition algorithm;

[0043] A difference calculation module is configured to calculate the difference between the identified motion trajectory image and the motion trajectory information based on the preset motion trajectory information and according to an image matching algorithm;

[0044] The vehicle convertible control module is configured to execute corresponding convertible control logic based on the difference between the identified motion trajectory image and the motion trajectory information, and display the status of the vehicle convertible in real time, wherein the convertible control logic includes executing an emergency processing mechanism when the obstacle information exists.

[0045] Based on the same concept, the present invention also provides an electronic device, including: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle convertible control method.

[0046] Based on the same concept, the present invention also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the vehicle convertible control method.

[0047] Based on the same concept, the present invention also provides a vehicle, wherein the vehicle is provided with the vehicle convertible control system as described above.

[0048] Compared with the prior art, the invention has the following beneficial effects:

[0049] The present invention discloses a vehicle convertible control method, system, electronic equipment, storage medium and vehicle, which have the characteristics of high automation, high safety, high intelligence and strong adaptability, and can significantly improve the user experience of the vehicle convertible. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a flow chart of a vehicle convertible control method in some specific embodiments of the present invention;

[0051] Figure 2 It is a schematic diagram of the process architecture of a vehicle convertible control method of the present invention in some applications;

[0052] Figure 3 It is a flow chart of a vehicle convertible control method in some applications of the present invention;

[0053] Figure 4 is another flow chart of a vehicle convertible control method of the present invention in some applications;

[0054] Figure 5 It is a schematic diagram of the structure of a vehicle convertible control system in some specific embodiments of the present invention;

[0055] Figure 6 It is a schematic diagram of the structure of an electronic device in some specific embodiments of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0057] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0058] It should be understood that the term "and / or" used in this article 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 represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0059] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0060] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0061] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0062] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0063] Reference Figure 1 , a vehicle convertible control method, comprising:

[0064] S101, in response to a vehicle convertible control signal, when it is determined that the control signal is valid, analyzing the control signal and generating a corresponding control instruction;

[0065] It is understandable that in this step, the convertible control signal is received through a user interface (such as a touch screen, button, etc.) or a communication interface with other systems (such as a vehicle control system, smart key, etc.). Signals include various types, such as manual control signals (such as a user pressing an "open" or "close" button), timing control signals (such as a preset daily automatic opening or closing time), remote control signals (such as instructions sent through a smartphone APP), etc. The validity of the signal is judged based on the reliability of the signal source and the correctness of the signal format. For example, check whether the signal comes from an authorized device or user, and whether the signal format complies with the preset communication protocol. When it is determined that the control signal is valid, the signal is parsed.

[0066] Take the manual control signal as an example. When the user presses the "open" button, the received signal contains the binary code of the "open" command. The code is decoded and the "open" command is identified. According to the analysis result, the corresponding control command is generated to control the movement of the convertible mechanism.

[0067] Taking the manual control signal as an example, after parsing the "open" command, an instruction packet containing the "open" command and corresponding parameters is generated. The parameters in the instruction packet include movement speed, acceleration, movement trajectory, etc. The instruction packet is sent to the actuator of the convertible mechanism (such as a motor driver) to control the movement of the convertible mechanism.

[0068] In some of the applications, in response to a vehicle convertible control signal, when the control signal is determined to be valid, the control signal is parsed and a corresponding control instruction is generated. In response to a physical touch or a virtual touch, the generation of a vehicle convertible control signal is triggered. The physical touch includes touching a physical button, and the virtual touch includes touching a screen icon. The vehicle convertible control signal is parsed to determine whether it is a valid opening and closing instruction. When it is a valid opening and closing instruction, a corresponding control instruction is generated.

[0069] It is understandable that in this application, a physical button is set inside the vehicle to directly control the opening and closing of the convertible. When the user needs to open or close the convertible, the corresponding physical button can be directly touched. For example, two buttons "Open" and "Close" are set on the center console or the inside of the door of the vehicle, and the user can press the corresponding button as needed. For example, the user wants to open the convertible and presses the "Open" button on the center console. After the physical touch action is detected, a vehicle convertible control signal is generated, and the signal contains the "Open" instruction. A virtual control interface is integrated in the infotainment system inside the vehicle, and the user can control the opening and closing of the convertible by touching the icons on the screen. For example, a "Convertible Control" option is added to the main menu of the infotainment system. After the user clicks to enter, the two icons "Open" and "Close" are seen, and the control signal is sent by touching these icons. For example, the user wants to close the convertible by touching the screen while driving. Select the "Convertible Control" option in the main menu of the infotainment system, and then touch the "Close" icon. After receiving the virtual touch action, a vehicle convertible control signal is generated, and the signal contains the "Close" instruction.

[0070] When the vehicle convertible control signal is judged to be a valid opening and closing instruction, a corresponding control instruction will be generated and sent to the actuator to control the opening and closing action of the convertible. According to the instruction type and parameter information obtained by parsing, the corresponding control instruction is generated. Including parameters such as target state (such as "open" or "closed"), speed, acceleration, etc. The generated control instruction is sent to the actuator (such as a motor driver) through the communication interface. The actuator controls the movement of the convertible mechanism according to the received instruction to realize the opening and closing action.

[0071] In some of these applications, real-time display of the status of the vehicle's convertible top includes prompting the user when there is obstacle information; when the difference between the recognized motion trajectory image and the motion trajectory information is large, prompting the user to perform repairs; the prompts include image display and voice prompts.

[0072] It is understandable that in this application, the vehicle convertible status is monitored in real time by the vehicle system and displayed to the driver or passengers. This includes the open / closed status of the convertible, the current position, the movement speed, etc. It is displayed through the infotainment system inside the vehicle or the display screen on the dashboard. When an obstacle is detected near the vehicle convertible, the obstacle information prompt function is activated.

[0073] For example, the vehicle is driving and the driver decides to open the convertible. At this time, a tree branch obstacle is detected above the convertible. The camera first captures the image of the tree branch, and the image processing algorithm identifies the location and size of the obstacle. Then a warning image is displayed on the display of the infotainment system, marking the location of the obstacle in the image, and the driver is prompted by voice: "Please note that there is an obstacle above the convertible, please operate with caution."

[0074] The motion trajectory image of the convertible is obtained in real time through sensors (such as motor encoders, position sensors, etc.), and is compared with the preset motion trajectory information. When the difference between the recognized motion trajectory image and the preset motion trajectory information exceeds a preset threshold, it is determined that the convertible may have a fault or abnormality.

[0075] For example, the driver has successfully opened the convertible, but the convertible's motion trajectory is significantly different from the preset normal motion trajectory. It is found that the convertible has an abnormal pause or jitter during the opening process. At this time, the difference in the motion trajectory is calculated, and it is determined whether it exceeds the preset threshold (such as the difference exceeds 10%). If the difference exceeds the threshold, a fault image is displayed on the infotainment system's display screen, and the driver is prompted by voice: "Please note that the convertible's motion trajectory is abnormal, please check and repair it as soon as possible."

[0076] There are two types of prompts: image display and voice prompt. Image display is achieved through the display screen of the infotainment system, which can intuitively display information such as obstacle location and fault image. Voice prompt is achieved through the vehicle audio system, which can instantly convey key information to the driver. The combination of the two methods can ensure that the driver receives prompt information about the convertible status in a timely manner during driving.

[0077] S102, in response to the control instruction, capturing a motion trajectory image of the vehicle convertible based on a preset frame rate, and identifying a motion boundary and obstacle information of the motion trajectory image according to a convertible recognition algorithm;

[0078] It is understandable that in this step, in response to the vehicle convertible control command, the motion trajectory image of the vehicle convertible is captured at a preset frame rate, and the convertible recognition algorithm is used to identify the motion boundary and obstacle information in the motion trajectory image. When the vehicle convertible control command is triggered, the image capture function is started. In order to ensure that a continuous and clear image sequence is captured, the preset frame rate is used for image capture. The selection of the preset frame rate depends on actual needs. For example, in order to capture the motion trajectory more accurately, a higher frame rate (such as 30 frames / second or 60 frames / second) is selected.

[0079] For example, the user triggers the command "open the convertible" through a physical button or a virtual icon. After receiving the command, the camera is immediately started and starts capturing an image sequence of the convertible opening process at a frame rate of 30 frames per second.

[0080] After capturing the motion trajectory image, the convertible recognition algorithm is used to process the image to identify the motion boundary of the convertible. The motion boundary refers to the position change trajectory of the edge of the convertible in the image during the opening or closing process.

[0081] For example, in the captured image sequence, an image processing algorithm (such as an edge detection algorithm) is first used to detect the edge of each frame to extract the edge information of the convertible. Then, the edge information in consecutive frames is tracked and matched by a tracking algorithm (such as an optical flow method or a Kalman filter) to identify the motion boundary of the convertible.

[0082] While identifying the moving boundary, the obstacle information in the image is identified using the open-top recognition algorithm. The obstacle information includes the location, size, shape and other features of the obstacle.

[0083] In some of the applications, in response to a control instruction, a motion trajectory image of a vehicle convertible is captured based on a preset frame rate, and the motion trajectory image is preprocessed by identifying the motion boundary and obstacle information in the motion trajectory image according to a convertible recognition algorithm; the convertible recognition algorithm includes an edge detection algorithm and a target detection algorithm; based on the preprocessed motion trajectory image, edge extraction is performed according to the edge detection algorithm to identify the motion boundary; obstacle recognition is performed according to the target detection algorithm to identify obstacle information, which includes position, size and distance; and the obstacle information is data-encoded.

[0084] It is understandable that in this application, before image recognition, the captured motion trajectory image is preprocessed, including noise suppression, contrast enhancement, image scaling, etc., to improve image quality and reduce errors in the subsequent recognition process.

[0085] For example, the captured original image size is 1920x1080 pixels. In order to reduce the computational complexity and improve the recognition speed, the image is scaled to 960x540 pixels. At the same time, a median filter is used to suppress the image noise to reduce the noise interference in the image.

[0086] The convertible recognition algorithm includes edge detection algorithm and target detection algorithm. The edge detection algorithm is used to extract edge information in the image to identify the moving boundary of the convertible; the target detection algorithm is used to detect obstacles in the image and identify the location, size and distance of the obstacles. First, the edge detection algorithm is applied to the preprocessed image.

[0087] For example, the Canny edge detection algorithm is selected to process the image. By setting threshold parameters (such as a low threshold of 50 and a high threshold of 150), edge information in the image is extracted, thereby identifying the moving boundary of the convertible.

[0088] After identifying the motion boundary, the object detection algorithm is used to identify obstacles in the image.

[0089] For example, the YOLOv3 algorithm is selected as the target detection algorithm. By training and tuning the model, it can identify obstacles in the image (such as branches, wires, etc.). The bounding box of the obstacle is output, which contains information such as the location of the obstacle (upper left corner and lower right corner coordinates), size (width and height), and confidence.

[0090] In order to facilitate subsequent processing and analysis, the identified obstacle information is encoded in data, and the encoding method can adopt common data exchange formats such as JSON or XML.

[0091] For example, the obstacle information is encoded in JSON format. Each obstacle can be represented as a JSON object containing the following fields:

[0092]

[0093] Through the above method, the identified obstacle information is stored and transmitted in a structured form, which is convenient for subsequent processing and analysis.

[0094] S103, based on the preset motion trajectory information, according to an image matching algorithm, calculating the difference between the recognized motion trajectory image and the motion trajectory information;

[0095] It is understood that in this step, based on the preset motion trajectory information, the difference between the recognized motion trajectory image and the preset motion trajectory information is calculated by an image matching algorithm. The preset motion trajectory information refers to parameter information such as the expected motion path and speed of the vehicle convertible during the opening or closing process.

[0096] For example, when the convertible top of a vehicle is opened, the preset motion trajectory information includes the path of the convertible top from the initial position to the final position, the speed and time stamp of each key point, etc. It is expressed as a series of point coordinates and corresponding time stamps to form an expected trajectory curve.

[0097] The image matching algorithm is used to match and compare the recognized motion trajectory image with the preset motion trajectory information.

[0098] For example, an image matching algorithm based on feature points is used. First, feature points, such as edge intersections and corner points, are extracted from the identified motion trajectory image. Then, these feature points are matched with key points in the preset motion trajectory information. During the matching process, algorithms such as RANSAC or least squares method are used to optimize the matching results.

[0099] The calculation of the difference is based on multiple indicators, such as position deviation, speed deviation, time deviation, etc. The specific calculation method depends on the actual application requirements and scenarios.

[0100] For example, position deviation and speed deviation are used as calculation indicators of difference. First, for each feature point in the identified motion trajectory image, find its corresponding nearest point in the preset motion trajectory information. Then, calculate the position deviation between the two points, and accumulate the position deviations of all feature points to obtain the total position deviation. Similarly, the speed deviation can be calculated. Finally, the position deviation and speed deviation are weighted and summed according to certain weights to obtain the final difference value.

[0101] For example, the weight of position deviation is 0.6, and the weight of speed deviation is 0.4. For a certain feature point, its position deviation is 0.05 meters, and its speed deviation is 0.1 meters per second. Then the difference contribution of this point is: 0.6*0.05+0.4*0.1=0.07. By adding up the difference contributions of all feature points, the difference value of the entire motion trajectory can be obtained.

[0102] The calculated difference value is used to evaluate the degree of deviation between the actual motion trajectory and the preset motion trajectory. If the difference value is small, it means that the actual trajectory is close to the expected trajectory and can operate normally; if the difference value is large, corresponding control or adjustment measures need to be taken, such as adjusting the convertible's movement speed, direction or path, to ensure that the actual trajectory can follow the preset trajectory.

[0103] In some of the applications, based on preset motion trajectory information and according to an image matching algorithm, the difference between the recognized motion trajectory image and the motion trajectory information is calculated, and a multi-scale space of the image is constructed based on the image matching algorithm; in the multi-scale space, the key points in the image are determined by detecting local extreme points; based on the gradient direction distribution characteristics of the pixels in the key point domain, at least one direction is assigned to each key point; in the scale space of each key point, a fixed-size domain window is selected, and the gradient information of the pixels in the neighborhood window is counted to generate a descriptor; the descriptor of the recognized motion trajectory image is matched with the descriptor of the motion trajectory information to calculate the difference.

[0104] It can be understood that in this application, by constructing a multi-scale space of the image, detecting local extreme points as key points, generating a descriptor for each key point, and finally calculating the difference by matching the descriptors. The multi-scale space of the image is constructed by the Gaussian pyramid.

[0105] For example, the size of the original image is 512x512 pixels, and a 4-layer Gaussian pyramid is constructed, with the image size of each layer being 512x512, 256x256, 128x128, and 64x64 pixels, respectively.

[0106] In multi-scale space, key points in the image, such as corner points, edge points, etc., are determined by detecting local extreme points.

[0107] For example, the SI FT algorithm is used to detect key points. At each scale, the pixel points are compared with the 8 adjacent pixels and the 9x2 pixels corresponding to the upper and lower adjacent scales, a total of 26 pixels. If the current pixel point is an extreme point among these points, it is marked as a key point.

[0108] Based on the gradient direction distribution characteristics of the pixels in the key point area, at least one direction is assigned to each key point.

[0109] For example, for each key point, the gradient direction and magnitude of its neighboring pixels are counted, and the distribution of the gradient direction is counted using a histogram. The direction corresponding to the peak of the histogram is the main direction of the key point, and other peaks exceeding 80% of the main direction peak can be assigned to the key point as auxiliary directions.

[0110] In the scale space of each key point, a fixed-size domain window (such as 16x16 pixels) is selected and divided into smaller sub-regions (such as 4x4 pixels). The gradient information (such as direction and size) of the pixels in each sub-region is counted to generate a descriptor.

[0111] For example, for each key point, first determine the scale space layer it is in, and then select a 16x16 pixel neighborhood window in its scale space layer. Divide the window into 4x4 sub-regions, and count the gradient information in 8 directions in each sub-region to form an 8-dimensional vector. Connect the vectors of all sub-regions to form a 128-dimensional descriptor.

[0112] The descriptor of the recognized motion trajectory image is matched with the descriptor of the motion trajectory information, and the difference is calculated. The matching process can use metrics such as Euclidean distance and Hamming distance.

[0113] For example, the FLANN library is used to match descriptors. For each key point descriptor in the motion trajectory image, the closest descriptor is found in the descriptor set of the motion trajectory information as a matching pair. Then the sum of the distances or the average distance of all matching pairs is calculated as a measure of the difference.

[0114] S104, executing corresponding convertible control logic based on the difference between the identified motion trajectory image and the motion trajectory information, and displaying the status of the vehicle convertible in real time, wherein the convertible control logic includes executing an emergency processing mechanism when the obstacle information exists.

[0115] It can be understood that in this step, the corresponding convertible control logic is executed according to the calculated difference. The control logic includes multiple levels such as normal operation, early warning prompt and emergency processing:

[0116] Normal operation: When the difference is within the preset threshold range, the actual trajectory is considered to be basically consistent with the expected trajectory, and the normal convertible operation logic is executed, such as controlling the opening or closing of the convertible according to the preset speed and schedule.

[0117] Warning prompt: When the difference exceeds the threshold but does not reach the emergency handling level, a warning prompt is issued to remind the driver or passenger to pay attention to the status of the convertible and be prepared to take appropriate measures.

[0118] Emergency handling mechanism: When the difference reaches or exceeds the emergency handling threshold, or when obstacle information is detected, the emergency handling mechanism is executed. The emergency handling mechanism includes immediately stopping the convertible operation, retracting the convertible to a safe position, activating the vehicle braking system, or issuing an emergency alarm.

[0119] For example, the preset difference threshold is 10% and the emergency handling threshold is 20%. In a convertible closing operation, if the difference calculation result is 8%, the normal operation is performed and the convertible continues to close; if the difference reaches 15%, a warning prompt is issued, such as flashing warning lights on the dashboard or sound alarms to remind the driver; if the difference suddenly increases to 25%, or an obstacle is detected in the convertible path, the emergency handling mechanism is immediately activated, the convertible closing operation is stopped, and the convertible is tried to be retracted to a safe position.

[0120] In some of the applications, based on the difference between the identified motion trajectory image and the motion trajectory information, the corresponding convertible control logic is executed, and the status of the vehicle convertible is displayed in real time. The convertible control logic includes, when there is obstacle information, executing the emergency processing mechanism, the control logic includes adjusting the action of the vehicle tent based on the PID control algorithm; determining the PID algorithm parameters, including the proportional coefficient, the integral coefficient and the differential coefficient; obtaining the current position and speed status information of the vehicle convertible in real time; calculating the error between the target position and the actual position of the vehicle convertible; calculating the control output parameters based on the error and the PID algorithm parameters; adjusting the speed and direction of the vehicle convertible based on the control output parameters; the emergency processing mechanism includes deceleration, stopping and obstacle avoidance actions, and when there is obstacle information, the corresponding emergency processing mechanism is executed; and the status of the vehicle convertible is displayed in real time.

[0121] It can be understood that, in this application, the proportional coefficient (Kp), integral coefficient (Ki) and differential coefficient (Kd) of the PID control algorithm are first determined.

[0122] For example, after debugging and testing, it is determined that the proportional coefficient Kp of the PID control algorithm is 1.5, the integral coefficient Ki is 0.2, and the differential coefficient Kd is 0.1.

[0123] Get the current position and speed status information of the vehicle convertible in real time.

[0124] For example, a position sensor is used to measure the current position of the hood, and a speed sensor is used to measure the current speed of the hood. Assume that the current position is 50% (indicating that the hood is half closed) and the current speed is 2% closed per second.

[0125] The position error is calculated based on the target position of the vehicle's convertible top (such as fully closed, i.e., 100%) and the current position acquired in real time. Then, the control output parameter is calculated based on the error and the PID algorithm parameters.

[0126] For example, if the target position is 100% and the current position is 50%, the position error is 50%. According to the PID algorithm, the control output parameter = Kp*error + Ki*error integral + Kd*error differential. Substitute the known Kp, Ki, Kd and error values ​​to calculate the control output parameter.

[0127] The speed and direction of the vehicle's convertible top are adjusted according to the control output parameter calculated by the PID control algorithm. If the control output parameter is positive, the convertible top closing speed is increased; if it is negative, the speed is reduced or the direction is changed (such as opening the convertible top).

[0128] For example, if the control output parameter is a positive number, it means that the closing speed needs to be increased. Therefore, a command is sent to the convertible driving mechanism to close the convertible at a higher speed.

[0129] When an obstacle is detected, the emergency handling mechanism is executed, which includes deceleration, stopping, and obstacle avoidance.

[0130] For example, if an obstacle is detected, the car first tries to slow down to reduce the risk of a collision. If deceleration is ineffective or the obstacle is too close, the convertible's movement is immediately stopped. In some cases, obstacle avoidance actions can also be performed, such as changing the convertible's trajectory to avoid the obstacle.

[0131] Real-time display of vehicle convertible status information, including current location, speed, movement trajectory, and whether it is in emergency processing status, etc. Displayed through the vehicle's dashboard, central control screen or mobile phone application interface.

[0132] For example, the current position of the convertible (such as the percentage of the degree of closure), speed (such as the percentage of closure per second), and whether it is in an emergency state (such as a red warning light or text prompt) are displayed in real time on the vehicle's central control screen. In this way, the driver or passenger can understand the working status of the convertible at any time.

[0133] Combine the following Figure 2-Figure 4 The following describes some examples of the vehicle convertible control method of the present invention in some applications:

[0134] In this embodiment, it includes a vehicle body, a convertible motion mechanism, a switch, a visual perception device, an image storage system, an image processing system, a control system and an information output device. The convertible motion mechanism is an actuator for opening and closing the convertible, and is controlled by a control system. The switch does not need to be pressed for a long time, and the convertible can be opened and closed with one click. The visual perception device is fixed on the vehicle body, and its visual perception range can cover the motion trajectory of the entire motion mechanism. The image storage system can store the images perceived by the visual perception device, and can store information based on computer simulation. The image processing system can analyze, process, compare and other tasks perceived by the visual perception device, and convert the relevant information into digital signals and transmit them to the control system. The control system can execute the corresponding control logic based on the digital signals processed by the image processing system to control the action execution of the convertible motion mechanism. The information output device can transmit the current convertible status information to the user and make corresponding prompts.

[0135] like Figure 2 As shown, in this embodiment, it includes a vehicle body 1, a convertible movement mechanism 2, a switch 3, a visual perception device 4, an image storage system 5, an image processing system 6, a control system 7 and an information output device 8.

[0136] like Figure 3 and Figure 4 As shown, the convertible motion mechanism is the actuator for opening and closing the convertible, which is controlled by the control system. The switch does not need to be pressed for a long time, and the convertible can be opened and closed with one click. The visual perception device is fixed on the vehicle body, and its visual perception range can cover the motion trajectory of the entire motion mechanism. During the process of opening and closing the folding roof of the convertible, its motion trajectory is monitored and other people or objects on the motion trajectory are identified. The image storage system can store the image perceived by the visual perception device, that is, the actual motion trajectory of the convertible roof; and can store information based on computer simulation, that is, the theoretical motion trajectory of the convertible simulated by the computer. The image processing system can analyze, process, compare and other tasks perceived by the visual perception device, and convert the relevant information into digital signals and transmit them to the control system, such as whether the actual motion trajectory is consistent with the theoretical motion trajectory, and whether there are people or other obstacles on the predicted motion trajectory. The control system can execute the corresponding control logic based on the digital signal processed by the image processing system. When it detects that there is a person or obstacle on the track of the convertible movement mechanism, it will command the convertible movement mechanism to stop moving, and transmit images or sounds through the information output device to prompt the occupants. When the person or obstacle leaves the movement track, the convertible movement mechanism will be controlled to continue moving. At the same time, when the degree of consistency between the actual movement track and the theoretical movement track is lower than a certain limit, it means that there may be a problem with the movement mechanism, and the information output device will transmit images to prompt the user to repair it.

[0137] For the method steps disclosed in the above embodiments, the method steps are described as a series of action combinations for the purpose of simple description, but those skilled in the art should know that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0138] like Figure 5 As shown, the present invention also provides a vehicle convertible control system, comprising:

[0139] The control instruction generation module 201 is configured to respond to the vehicle convertible control signal, and when it is determined that the control signal is valid, analyze the control signal and generate a corresponding control instruction;

[0140] The vehicle convertible recognition module 202 is configured to capture the motion trajectory image of the vehicle convertible based on a preset frame rate in response to the control instruction, and recognize the motion boundary and obstacle information of the motion trajectory image according to the convertible recognition algorithm;

[0141] The difference calculation module 203 is configured to calculate the difference between the identified motion trajectory image and the motion trajectory information based on the preset motion trajectory information and according to the image matching algorithm;

[0142] The vehicle convertible control module 204 is configured to execute corresponding convertible control logic based on the difference between the identified motion trajectory image and the motion trajectory information, and display the status of the vehicle convertible in real time, wherein the convertible control logic includes executing an emergency processing mechanism when the obstacle information exists.

[0143] It is worth noting that although only some basic functional modules are disclosed in the embodiments of the present invention, it does not mean that the composition of the present system is limited to the above basic functional modules. On the contrary, what the present embodiment wants to express is that on the basis of the above basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. In other words, the present system is open rather than closed. Just because the present embodiment only discloses individual basic functional modules, it cannot be considered that the protection scope of the claims of the present invention is limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above devices are described in terms of functions and are described separately in various units and modules. Of course, when implementing the present invention, the functions of each unit and module can be implemented in the same or one or more software and / or hardware.

[0144] like Figure 6As shown, the present invention also provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle convertible control method.

[0145] Figure 6 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 6 The electronic device provided in the embodiment of the present invention includes: one or more processors 710 and a storage device 720; the processor 710 in the electronic device may be one or more, Figure 6 A processor 710 is taken as an example; the storage device 720 is used to store one or more programs; the one or more programs are executed by the one or more processors 710, so that the one or more processors 710 implement the vehicle convertible control method as described in any one of the embodiments of the present invention.

[0146] The electronic device may further include: an input device 730 and an output device 740 .

[0147] The processor 710, storage device 720, input device 730 and output device 740 in the electronic device can be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0148] The storage device 720 in the electronic device is a computer-readable storage medium that can be used to store one or more programs, which can be software programs, computer executable programs, and modules, such as program instructions / modules corresponding to the vehicle convertible control method provided in the embodiment of the present invention. The processor 710 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the storage device 720, that is, the vehicle convertible control method in the above method embodiment is implemented.

[0149] The storage device 720 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the storage device 720 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device 720 may further include a memory remotely arranged relative to the processor 710, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0150] The input device 730 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 740 may include a display device such as a display screen.

[0151] The present invention also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the vehicle convertible control method.

[0152] Specifically, the computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0153] The present invention also provides a vehicle, wherein the vehicle is provided with the vehicle convertible top control system as described above.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle convertible control method, characterized in that: include: In response to a vehicle convertible control signal, when it is determined that the control signal is valid, analyzing the control signal and generating a corresponding control instruction; In response to the control instruction, capturing a motion trajectory image of the vehicle convertible based on a preset frame rate, and identifying a motion boundary and obstacle information of the motion trajectory image according to a convertible recognition algorithm; Based on the preset motion trajectory information, according to the image matching algorithm, calculating the difference between the recognized motion trajectory image and the motion trajectory information; Based on the difference between the identified motion trajectory image and the motion trajectory information, the corresponding convertible control logic is executed, and the status of the vehicle convertible is displayed in real time, wherein the convertible control logic includes executing an emergency processing mechanism when the obstacle information exists.

2. The vehicle convertible control method according to claim 1, characterized in that: In response to the vehicle convertible control signal, when it is determined that the control signal is valid, the control signal is parsed to generate a corresponding control instruction, specifically including: In response to a physical touch or a virtual touch, triggering the generation of the vehicle convertible control signal, wherein the physical touch comprises touching a physical button, and the virtual touch comprises touching a screen icon; Analyzing the vehicle convertible top control signal to determine whether it is a valid opening or closing instruction; When it is a valid opening and closing instruction, the corresponding control instruction is generated.

3. The vehicle convertible control method according to claim 1, characterized in that: In response to the control instruction, capturing the motion trajectory image of the vehicle convertible based on a preset frame rate, and identifying the motion boundary and obstacle information of the motion trajectory image according to the convertible recognition algorithm, specifically including: Preprocessing the motion trajectory image; The convertible recognition algorithm includes an edge detection algorithm and a target detection algorithm; Based on the preprocessed motion trajectory image, edge extraction is performed according to the edge detection algorithm to identify the motion boundary; Performing obstacle identification according to the target detection algorithm to identify the obstacle information, wherein the obstacle information includes position, size and distance; The obstacle information is data-encoded.

4. The vehicle convertible control method according to claim 1, characterized in that: Based on the preset motion trajectory information, according to the image matching algorithm, calculating the difference between the recognized motion trajectory image and the motion trajectory information, specifically including: Based on the image matching algorithm, construct a multi-scale space of the image; In the multi-scale space, determining key points in the image by detecting local extreme points; Based on the gradient direction distribution characteristics of the pixels in the key point area, assign at least one direction to each of the key points; In the scale space of each key point, a fixed-size neighborhood window is selected, and gradient information of pixels in the neighborhood window is counted to generate a descriptor; The descriptor of the identified motion trajectory image is matched with the descriptor of the motion trajectory information to calculate the difference.

5. The vehicle convertible control method according to claim 1, characterized in that: Based on the difference between the identified motion trajectory image and the motion trajectory information, the corresponding convertible control logic is executed, and the state of the vehicle convertible is displayed in real time, wherein the convertible control logic includes, when the obstacle information exists, executing an emergency processing mechanism, specifically including: The control logic includes adjusting the action of the vehicle tent based on a PID control algorithm; Determine the PID algorithm parameters, including proportional coefficient, integral coefficient and differential coefficient; Acquire the current position and speed status information of the vehicle convertible in real time; Calculating an error between a target position and an actual position of the vehicle convertible top; Calculating a control output parameter based on the error and the PID algorithm parameter; adjusting the speed and direction of the vehicle convertible based on the control output parameter; The emergency handling mechanism includes deceleration, stopping and obstacle avoidance actions. When the obstacle information exists, the corresponding emergency handling mechanism is executed; The status of the convertible top of the vehicle is displayed in real time.

6. The vehicle convertible control method according to claim 1, characterized in that: The status of the convertible top of the vehicle is displayed in real time, including: When the obstacle information exists, a prompt is issued to the user; When the difference between the identified motion trajectory image and the motion trajectory information is large, prompting the user to perform maintenance; The prompts include image display and voice prompts.

7. A vehicle convertible control system, characterized in that: include: A control instruction generation module is configured to respond to a vehicle convertible control signal, and when it is determined that the control signal is valid, analyze the control signal and generate a corresponding control instruction; a vehicle convertible recognition module, configured to capture a motion trajectory image of the vehicle convertible based on a preset frame rate in response to the control instruction, and recognize a motion boundary and obstacle information of the motion trajectory image according to a convertible recognition algorithm; A difference calculation module is configured to calculate the difference between the identified motion trajectory image and the motion trajectory information based on the preset motion trajectory information and according to an image matching algorithm; The vehicle convertible control module is configured to execute corresponding convertible control logic based on the difference between the identified motion trajectory image and the motion trajectory information, and display the status of the vehicle convertible in real time, wherein the convertible control logic includes executing an emergency processing mechanism when the obstacle information exists.

8. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: It stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the method described in any one of claims 1 to 6.

10. A vehicle, characterized in that: The vehicle is provided with the vehicle convertible top control system according to claim 7.

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